We construct the Numerical Galaxy Catalog ($ u$GC), based on a semi-analytic model of galaxy formation combined with high-resolution N-body simulations in a $Lambda$-dominated flat cold dark matter ($Lambda$CDM) cosmological model. The model includes several essential ingredients for galaxy formation, such as merging histories of dark halos directly taken from N-body simulations, radiative gas cooling, star formation, heating by supernova explosions (supernova feedback), mergers of galaxies, population synthesis, and extinction by internal dust and intervening HI clouds. As the first paper in a series using this model, we focus on basic photometric, structural and kinematical properties of galaxies at present and high redshifts. Two sets of model parameters are examined, strong and weak supernova feedback models, which are in good agreement with observational luminosity functions of local galaxies in a range of observational uncertainty. Both models agree well with many observations such as cold gas mass-to-stellar luminosity ratios of spiral galaxies, HI mass functions, galaxy sizes, faint galaxy number counts and photometric redshift distributions in optical pass-bands, isophotal angular sizes, and cosmic star formation rates. In particular, the strong supernova feedback model is in much better agreement with near-infrared (K-band) faint galaxy number counts and redshift distribution than the weak feedback model and our previous semi-analytic models based on the extended Press-Schechter formalism. (Abridged)
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