• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.5
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• pp.557-565
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• 2021

Path-following control is considered as one of the most fundamental skills to realize autonomous navigation of marine vessels in the ocean. This study addresses with the path-following control for a ship in which there are environmental disturbances in the directions of the surge, sway, and yaw motions. The guiding principle and back-stepping method was utilized to solve the ship's tracking problem on the reference path generated by a virtual ship. For path-following control, error dynamics is one of the most important skills, and it extends to the research fields of automatic collision avoidance and automatic berthing control. The algorithms for the guiding principles and error variables have been verified by numerical simulation. As a result, most error variables converged to zero values with the controller except for the yaw angle error. One of the most interesting results is that the tracking errors of path-following control between two ships are smaller than the existing safe passing distances considering interaction forces from near passing ships. Moreover, a trade-off between tracking performance and the ship's safety should be considered for determining the proper control parameters to prevent the destructive failure of actuators such as propellers, fins, and rudders during the path-following of marine vessels.

• Korean Journal of Ecology and Environment
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• v.54 no.3
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• pp.229-239
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• 2021

Thamnaconus modestus, distributed in the Northwest Pacific, has high economic value and is used in various seafood. In this study, the morphological and genetic characteristics of T. modestus and T. septentrionalis were compared and analyzed. We observed the external and internal morphology of T. modestus, sketched skeletal elements, and analyzed phylogenetic evolutionary relationships using the cytochrome c oxidase subunit I (COI) gene on mitochondrial DNA compared to T. septentrionalis. The T. modestus observed in this study had blackish-brown patterns irregularly scattered on the gray-brown body, and the fins were blue-green. Genetic analysis results based on the COI sequences of T. modestus showed seven types of base sequence variation; however, the homology was more than 98.8%. In addition, as a result of comparison of the COI nucleotide sequences and phylogenetic analysis in Tetraodontiformes, two T. septentrionalis sequences (JN813099, MW485059) were similar to T. modestus with 99% homology, and the other two T. septentrionalis sequences (EF607583, KP267619) were similar to those of species belonging to another genus Thamnaconus with 95% homology with T. modestus. It was not easy to classify the species based on morphological characteristics, and phylogenetic analysis between T. modestus and T. septentrionalis confirmed the difference in classification. These results provide the external and internal morphology of T. modestus and will be used as important information for the taxonomic study of T. modestus and T. septentrionalis.

• Korean Journal of Ichthyology
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• v.33 no.2
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• pp.148-154
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• 2021

Two specimens (1770~1850 mm disc width) of Mobula thurstoni, belonging to the family Myliobatidae, order Myliobatiformes, were first collected from the central coast of the Southern Sea of Korea in September 2018. This species is characterized by an anterior margin of disc with double curvature, a white-tipped dorsal fin, and the absence of a caudal spine. This species is morphologically similar to Mobula kuhlii, but has an anterior margin of pectoral fins with a double curvature and the dorsal coloration is bluish black rather than white. In addition, M. thurstoni was well distinguished from M. kuhlii as determined by mitochondrial DNA 16S rRNA sequences with genetic distances ranging from 0.030 to 0.069. The Korean name 'Mae-kkeun-kko-li-jwi-ga-o-li' is proposed for the species M. thurstoni.

• Korean Journal of Ichthyology
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• v.33 no.3
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• pp.167-176
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• 2021

This study was carried out to clarify the egg, larvae and juveniles development of Abbottina springeri. For the experiments, the matured adults were collected at the Seowon-cheon, Dangjin-si, Chungcheongnam-do, in Korea. The amount of spawning of female A. springeri was about 1,225~2,100 (1,662±437, n=10). The fertilized eggs were circular in shape and 1.05~1.13 (1.08±0.02, n=30) mm in diameter. The hatching time was required 72 hours to 80 hours after fertilization under water temperature of 22℃. The newly hatched larvae were 2.10~2.23 (2.16±0.04, n=10) mm in total length and had egg yolk in the abdomen but the mouth was not opened. At 5 days after hatching, the preflexion larvae were 3.19~3.30 (3.24±0.03, n=10) mm in total length and the most of yolk-sac was absorbed. At the 15 days after hatching, the flexion larvae were 4.97~5.30 (5.13±0.12, n=10) mm in total length and the tip of the caudal fin was began to bend upward. At the 25 days after hatching, the postflexion larvae were 8.97~9.60 (9.44±0.16, n=10) mm in total length and the tip of the caudal fin was bent at 45°. At the 35 days after hatching, the juvenile were 12.0~13.5 (12.7±0.53, n=10) mm in total length and all fin-rays (iii7 dorsal fin, iii6 anal fin, i7 ventral fins) were reached a constant number of each part.

• Korean Journal of Ichthyology
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• v.32 no.4
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• pp.222-231
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• 2020

The egg development and early life history of Sharpbelly Hemiculter leucisculus were investigated. For the experiments, the mature adults were collected at the Lake Yedang in Korea. The eggs from the females were obtained by injecting 10 IU/g of human chorionic gonadotropin and inseminated by wet method in the laboratory. The fertilized eggs were 0.97±0.02 mm (0.9~1.0 mm n=30) in diameter. The embryo began to hatch about 32 hrs after fertilization under water temperature of 22±1℃. The newly-hatched larvae were 3.0±0.2 mm (2.6~3.4 mm, n=15) in total length, and they haven't Melanophore. Six days after hatching, the Preflexion larva were 5.7±0.1 mm (5.4~5.8 mm, n=15) in total length, and they began to eat a Rotifer. 17 days after hatching, the Flexion larva were 6.8±0.2 mm (6.5~7.0 mm, n=15) in total length, and a gas bladder develop above the intestine. 30 days after hatching, the Postflexion larva were 8.8±0.7 mm (7.9~10.3 mm, n=15) in total length, three dorsal fin rays began to develop in the membrane fins. 50 days after hatching, the Juvenile were 20.8±0.8 mm (18.8~24.6 mm, n=15) in total length, and all their fin-rays were formed.

• Korean Journal of Ichthyology
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• v.34 no.2
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• pp.86-95
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• 2022

Egg development and morphological change of larvae and juvenile of the Roughscale sole, Clidoderma asperrimum, were investigated in the present study. Adult fishes were collected on the East Sea, Korea, from 2017 to 2018 and reared in a circular water tank (Ø 6×1 m) at water temperature of 12.8±1.9℃. Fertilized eggs ranged from 1.42 to 1.59 mm (mean 1.51±0.04 mm, n=50) in diameter. The eggs were spherical in shape, transparent, floating and colorless. The egg yolk was separated from the egg membrane 60 mins post-fertilization (PF), and an embryo was formed in 62 hrs PF. More than 50% of the eggs hatched within 144 hrs PF in the range of 10.2~11℃(mean 10.8℃). The size of the newly hatched larvae were 4.22~4.64 mm (mean 4.53±0.16 mm) in total length (TL), their mouth and anus were not open yet. At 10 days after hatching, the preflexion larvae reached 5.88~6.62 mm (mean 6.31±0.33 mm) in TL, and the yolk absorption was completed and the mouth began to open. At 55 days after hatching the larvae reached to flexion larvae stage and they were 10.4~13.3 mm (mean 12.7±1.3 mm) in TL, and the tip of notochord was bent upward. At 120 days after hatching the larvae reached to juvenile stage and they were 35.3~40.5 mm (mean 39.5±2.4 mm) in TL. Their all fins had completed set of the fin-rays (D. 79~94: A. 63~75) and the juveniles adopted a benthic life.

• Korean Journal of Ichthyology
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• v.34 no.4
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• pp.231-243
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• 2022

To investigate the taxonomic status of undescribed species Acheilognathus sp. HR from Korean Acheilognathidae discovered from the Dalcheon River, a tributary of the Hangang River, molecular phylogenetic and morphological characteristics were compared and analyzed with previous studies. As a result of molecular phylogenetic analysis, A. sp. HR formed the same genetic clade as the five subspecies of Acheilognathus tabira, but formed a separate monophyletic group based on the unique genotype, showing clear differences. As a result of morphological analyses, the dorsal fin color in males is grayish and the nuptial coloration of the outer edge of the anal fin is white. The outer edges of the dorsal and anal fins are convexly rounded. A black blotch is present on the dorsal fin of the juvenile, but there is a black blotch absent on the dorsal fin of the small adult female. In the counts, the number of branched dorsal rays is 12~13. In the measurements, the length of the barbels is short and the body depth is deep. Therefore, the A. sp. HR of Hangang River is considered at the level of a distinct species distinguished from each other by the five subspecies of A. tabira by molecular phylogenetic, morphological, and limited distributional characteristics.

• Korean Journal of Ichthyology
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• v.13 no.3
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• pp.181-189
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• 2001

Spawning behavior of the Takifugu pardarlis (Temminck et Schlegel) was observed on the Jook-do coast in Tongyong from March 1997 to June 1999. The spawning ground was locted in the intertidal zone between Tongyong and Koje-do. Its bottom was mainly gravels and stones, and its depth was 0.5~1.0 m. Spawning season was from the end of the March to the middle of May. During the spawning season, the mature fishes formed school a of 10~30 individuals, then moved to the spawning ground together. When a mature female spawned eggs, the attendant males fertilized them at the same time. The fertilized eggs obtained from the parent fishes caught at the spawning ground were adhesive, opaque and spherical, measuring 1.14~1.24 mm (mean 1.19 mm, n = 50) in diameter with numerous tiny oil globules. Hatching period was about 205 hours after fertilization at water temperature of $18.0{\pm}0.5^{\circ}C$. The newly hatched larvae were 2.92~3.10 mm (mean 3.01 mm, n = 20) in total length (TL), had a large yolk, and 11~13+14~15 = 25~28 myomeres. At 5 days, the larvae had attained 3.79~3.85 mm (mean 3.82 mm, n = 20) in TL and had transformed into the postlarval stage. At 15 days, the postlarvae had attained 7.78~7.90 mm (mean 7.84 mm, n = 20) in TL. At 21 days, had larvae attained 10.15~10.27 mm (mean 10.21 mm, n = 20) in TL and had reached the juvenile stage. All fins were formed with a complete set of fin rays having the following counts: dorsal fin rays 11~12; anal fin rays 9; pectoral fin rays 14~15; caudal fin rays 11~12.

• Korean Journal of Ichthyology
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• v.11 no.1
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• pp.94-101
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• 1999

This study was conducted to observe the early life history of sea bass, Lateolabrax japonicus. The fertilized eggs were spherical in shape and turned out to be separative and floated. Their membrane and yolk having 1~5 oil globule were transparent. Fertilized eggs were measured to be 1.33~1.46 mm in diameter. Hatching of eggs were started at 74 hrs 15 mins, 54 hrs 55 mins, 50 hrs 45 mins, after fertilization in water temperature $16.0^{\circ}C$, $18.0^{\circ}C$, $20.0^{\circ}C$ respectively. The newly hatching larvae were 3.79~3.97 mm in total length with 35~37 myomeres, and mouth and anus were closed. Melanophores were distributed on the up side of head, upper jaw and margins of the body. The 5 days after hatching larvae measured 4.78~5.24 mm in total length, yolk were completely absorbed, and transformed to postlarval stage. In this time, mouth of larvae was opened, and also melanophores were presented on the lower jaw. Head of larvae grew remarkably. The 21~22 days after hatching, total length of the larvae was 7.15~8.12 mm, the caudal fin rays began to differentiation. In 31 days after hatching, the larva were 8.46~9.16 mm in total length, and tip of the caudal notochord flexed $45^{\circ}$. The larvae reached to the juvenile stage with all the fins were developed at 61 days after hatching and attained 16.28~17.31 mm in total length.

• Korean Journal of Ichthyology
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• v.4 no.1
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• pp.1-13
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• 1992

The gobiid fish, Luciogobius guttalus Gill has an anguilliform with some blackish and reddish brown color in life. It grows up to 90mm in total length. The specimens have been collected from several localities in the southern parts of Korea and Hokkaido, Japan. During the ebb tide, the fish was found in high level of intertidal zone exposed to the air among pebbles in the hollows and slopes of rocks. There are also some other small gobiid fishes comprising 3 species of relative gobies and 1 species of blennioid fish. A total of 5 egg masses were collected from the coast of Haeundae in April to May 1990. Each egg mass was deposited in one layer on the underside of a stone embedded in pebbles and guarded by the male parent. The eggs are club-shaped ranging from 2.71 to 2.80mm in long axis and from 0.65 to 0.74mm in short axis. The eggs were hatched in 98 hours after incubatied at the temperature varying from 19.5 to $25.5^{\circ}C$The newly hatched larvae were from 3.85 to 4.00mm in total length with 35~36 myomeres. In eleven days after hatching, total length reached 5.50mm. The part of the fin-fold of the future dorsal and anal fins became high. In sixteen days after hatching, the lavae averaged 6.20mm in total length and the caudal notochord flex at $45^{\circ}$. The larvae reached the juvenile stage in 48~50 days after hatching and attained 12.80~14.00mm in total length, and all fin-rays was formed. Ossification of the cranium took place at 5.50mm of mean total length in parasphenoid and basioccipital. Ossification of the visceral skeleton occurred in areas where active movements of bones are required, notalbly in the parts of feeding and respiration. Vertebrae began to develop from the anterior end to ossify posteriorly. Neural and haemal spines of vertebrae ossified always prior to the corresponding centra. When larvae reached to about 6.60mm in mean total length (17~18 days after hatching), jaw bones were more repidly ossified than vertebrae and cranium. Ossification of all bones nearly completed when the larvae reached to 13.40mm in mean total length (47~50 days after hatching).