• 수산해양기술연구
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• 제43권4호
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• pp.347-354
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• 2007

This paper describes on the real-time monitoring of net setting and hauling process for fishing operations of Danish seine vessels in the southern waters of Korea as an application of a PC based ECDIS system. Tracking of fishing process was performed for the large scale Danish seine vessel of G/T 90 and 350 PS class using the fishing gear which the length of net, ground rope, head rope and sweep line including warp in both sides were 86m, 104m, 118m and 3,200m, respectively. Tracking information for net setting and hauling process was continuously recorded for 23 fishing operations performed on November and December, 2003. All measurement data, such as trawl position, heading, towing course and past track which was individually time stamped during data acquisition, was processed in real time on the ECDIS and displayed simultaneously on the ENC chart. The results indicated that after the separation of a marker buoy from Danish seiner, the averaged running speed of vessel and the averaged setting period while shooting the seine on the course of diamond shape to surround the fish school in the 23 fishing operations were 8.3 knots and 13.1 minutes, respectively. And with the maker buoy taken on board, the averaged running speed of vessel and the averaged towing period while closing the seine on the straight route was 1.0 knots and 47.0 minutes, respectively. After the closing stage of hand rope, the hand rope was towed by the averaged speed of 2.2 knots during the 13.0 minutes. The average area for route of diamond shape swept by sweep lines of the seine in 23 fishing grounds was $709,951.6m^2$. Further investigation is also planed to provide more quantitative tracking information and to achieve more effective surveillance and control of Danish seine vessels in EEZ fishing grounds.

• Fisheries and Aquatic Sciences
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• 제24권1호
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• pp.32-40
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• 2021

Monitoring fish movement is important to understand how physiology adapts to environmental change. To explore the applicability of a video tracking system for determining if chemical cues attract or repel aquatic animals, the movement patterns of rock bream, Oplegnathus fasciatus, were analyzed upon exposure to various materials, including extracts of sea urchin, rock worm, bait worm, krill, barley kernel, and commercial fish feed. Pellets were prepared by mixing freeze-dried tissues with a cellulose and corn flour mixture. Behavioral analysis was carried out with five fish that had been acclimated in the adaptation zone of a Y-shaped tank. Preference toward chemical cues was quantified by assessing the frequency rock bream were observed in a discrete zone around the test material located at the end of each arm and the duration each fish stayed in each zone. The analysis of fish movement upon exposure to commercial feed and barley kernel at each end, respectively, indicated a clear preference toward the feed relative to the barley kernel. Movement responses were further tested with pellets containing extracts of sea urchin, one of the species collected on a large scale, and other materials including krill and worms. A stronger preference toward sea urchin (100%) was observed based on the duration of stay in the test zone, compared to krill (90.1 ± 44.2%), bait worm (81.1 ± 39.1%), rock worm (73.7 ± 28.9%), and barley (63.9 ± 25.9%), under the conditions tested. A detailed comparison of rock bream movements toward each material revealed significant differences in frequency and duration, respectively, between pairs of test materials including krill (74 ± 29.8 and 375.6 ± 118.9) vs. rock worm (41.5 ± 18.7 and 160.2 ± 42.6), krill (86.3 ± 22.9 and 477.1 ± 84) vs. bait worm (36.2 ± 5.5 and 166.1 ± 50.7), and rock worm (45.9 ± 26.2 and 213.7 ± 100.1) vs. bait worm (34.6 ± 21.7 and 159.5 ± 98.5). Rock bream exhibited preference for the test materials in the following order: commercial fish feed > sea urchin > krill > rock worm > bait worm > barley. The results suggest a higher potency of sea urchin extract as a rock bream fishing bait compared to the other materials that are used as commercial bait.

• 동력기계공학회지
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• 제21권4호
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• pp.42-50
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• 2017

A velocity controller using a modified model reference adaptive controller (M-MRAC) and a projection operator for a fish sorting belt conveyor system with uncertainty parameters, input saturation and bounded disturbances is proposed in this paper. To improve the tracking performance and robustness of the proposed controller in the presence of bounded disturbances, the followings are done. Firstly, the reference model for the conventional model reference adaptive controller (CMRAC) is replaced by a modified reference model for a M-MRAC to reduce unexpected high frequency oscillation in control input signal when the adaptation rate is increased. Secondly, estimated parameters in an adaptive law are varied smoothly under bounded external disturbances and a projection operator is utilized in an adaptive law for the proposed M-MRAC controller to be robust. Thirdly, an auxiliary error vector is introduced for compensating the error dynamics of the system when the saturation input occurs. Finally, the experimental results are shown to verify the better effectiveness and performance of the proposed controller under the bounded disturbance and saturated input than that of a CMRAC.

• Journal of Multimedia Information System
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• 제6권1호
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• pp.23-30
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• 2019

A communications profile is a system that acquires information from communication links to an ambulance or other vehicle moving on a road and compiles a database based on this information. The equipment (six sets of HDTVs, fish-eye camera, satellite antenna with tracking system, and receiving power from the satellite beacon of the N-star) mounted on the roof of the vehicle, image data were obtained at Yokohama Japan. From these data, the polygon of the building was actually produced and has arranged on the map of the Geographical Survey Institute of a 50 m-mesh. The optical study (relationship between visibility rate and elevation angle) were performed on actual data taken by fish-eye lens, and simulated data by 3D-Map with polygons. There was no big difference. This 3D map system then predicts the communication links that will be available at a given location. For line-of-sight communication, optical analysis allows approximation if the frequency is sufficiently high. For non-line-of-sight communication, previously obtained electric power data can be used as reference information for approximation in certain cases when combined with predicted values calculated based on a 3D map. 3D maps are more effective than 2D maps for landing emergency medical helicopters on public roadways in the event of a disaster. Using advanced imaging technologies, we have produced a semi-automatic creation of a high-precision 3D map at Yokohama Yamashita Park and vicinity and assessed its effectiveness on telecommunications and ambulatory merits.

• 제어로봇시스템학회논문지
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• 제19권6호
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• pp.547-554
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• 2013

This paper proposes a novel formation algorithm of identical robots based on object tracking method using omni-directional images obtained through fisheye lenses which are mounted on the robots. Conventional formation methods of multi-robots often use stereo vision system or vision system with reflector instead of general purpose camera which has small angle of view to enlarge view angle of camera. In addition, to make up the lack of image information on the environment, robots share the information on their positions through communication. The proposed system estimates the region of robots using SURF in fisheye images that have $360^{\circ}$ of image information without merging images. The whole system controls formation of robots based on moving directions and velocities of robots which can be obtained by applying Lucas-Kanade Optical Flow Estimation for the estimated region of robots. We confirmed the reliability of the proposed formation control strategy for multi-robots through both simulation and experiment.

• 대한원격탐사학회지
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• 제17권1호
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• pp.45-56
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• 2001

해저면의 정보를 얻기 위하여 사이드 스캔 소나(Side Scan Sonar)를 이용하여 해저면의 모자이 영상을 생성하였다. 경사거리 보정에 필요한 Tow-Fish의 수증고도 산출을 위해 short time energy 함수를 각 ping의 음압 레벨에 적용하였으며, 수주(water column) 영역이 제거된 모자익 영상을 생성할 수 있었다. 모자익 영상 생성시 각 화소의 음압 대표값으로 최대값, 최근값 및 평균값을 사용하였으며, 평균값 사용시 일정 방향으로 발사된 음파의 음악값만을 대상으로 평균값을 구하여 해저면의 3차원 정보를 보존하였다. 모자익 영상 생성 방법으로 Im/pixel 이상의 저해상도로 전테 탐사 영역에 대한 조자익 영상을 생성한 후 관심 대상 영역을 선택하여 0.1m/pixel의 공간 해상도를 가진 고화질의 모자익 영상을 생성하였으며, 해저면의 암석, 연흔, 개펄, 인공 어초 등의 해저 물체를 확인할 수 있었다.

• 수산해양기술연구
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• 제55권2호
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• pp.129-137
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• 2019

This study was conducted to investigate the effects of underwater noise caused by pile driving during marine construction on fish. In this study, the three gray rockfish were released about 1 km away from the construction site of wind power generation on July 18, 2018 and traced using two acoustic telemetry techniques. The behavior of the fish was analyzed by calculating the moving distance, swimming speed and direction of the gray rockfish. In the results of the acoustic tracking using the ship, the rockfish moved about 2.11 km for about two hours at a speed of $0.28{\pm}0.14m/s$ (0.94 TL/s). The bottom depth of the trajectory of the rockfish was $1.0{\pm}0.6m$ on average. There was a significant directionality in swimming direction of the gray rockfish, and there was no significant correlation between the swimming direction and tidal current direction. Moving distance during 5 minutes (5MD) during pile driving and finishing operations between rock surface and bedrock were 0.94-0.96 times (76.0-77.0 m) and 1.81-2.73 times (146.0-219.5 m), respectively, compared with no pile driving. This study is expected to be used as a basic data of fish behavior research on underwater noise.

• 수산해양기술연구
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• 제39권3호
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• pp.218-229
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• 2003

이상의 연구 성과를 정리하면 다음과 같다. 1) 장비의 설치 및 취급이 간편하고, 해양생물의 순간적인 상세한 행동을 비교적 쉽게 추적할 수 있는 새로운 바이오텔레메터리 방식을 개발하였다. 바이오텔레메터리 방식에서 핑거에 수온, 압력센서 등의 추가는 핑거를 부착하는 어류에 많은 부담이 되기 때문에 수신계를 고도화함으로써 행동추적을 행하는 방법으로 하였다. 이 방식은 거리-방위의 측정원리를 이용한다. 즉, 거리를 계측하기 위해서 핑거동기 방식을 이용하고, 방위를 계측하기 위해서 SSBL방식을 채용하여, 거리와 방위를 조합(SPB 방식)함으로서 대상어의 수파기에 대한 상대위치를 구한다. 최대감도방식은 어류의 상세한 위치를 특정하기가 어렵고, 음원측위방식은 항주하는 선박에 의해 넓은 범위의 추적이 곤란하며, 또한 장비의 설치나 취급이 간편하지 못하였으나, SPB 방식에 의해 이들 결점을 대폭 해결할 수 있었다. 2) 새로운 방식으로서 개발한 SPB 방식의 시스템을 설계하였으며, 시작시스템을 제작하였다. 설계에서는 SSBL 방식과 핑거동기 방식의 기술을 조합함과 동시에 각각의 기술을 고도화하여 SPB 방식에 의해 고정도 또는 광범위 검지가 가능하도록 하였다. 따라서, 수파기는 1개로 하여 어레이의 구성의 변환에 의해 검지범위 또는 방위측정정도를 선택할 수 있도록 2개의 빔 모드로 구성 하였다. 주파수는 70kHz로 하였으며, 음원음압 136dB에서 최대검지거리 258m와 457m, 검지빔폭 76$\circ$와 29$\circ$ 를 실현할 수 있었다. 전체적인 시작시스템은 핑거, 2개의 빔모드로 구성된 수파기, 2개의 빔 모드용에 각 2개의 채널로 구성된 수신기, 디지털오실로스코프, 퍼스널컴퓨터로 구축하였다. 핑거동기 방식의 이용에 따른 측정거리오차는 수온변화에 의한 송신주기의 변화를 측정하여 최소화하도록 하였다. 핑거 부근의 수온을 알 수 있다면 핑거 송신주기의 수온특성을 보정하여 74%정도 측정거리오차를 줄일 수 있지만, 장기간에 걸쳐 추적을 하기 위해서는 다른 보정방법의 개발이 필요함을 알 수 있었다.

• 수산해양기술연구
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• 제35권3호
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• pp.301-311
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• 1999

The investigation to evaluate the possible effects of fish behaviour on acoustic target strength was carried out during the 1997 and 1998 hydroacoustic-demersal trawl surveys in the southern waters of Korea.The swimming speed and the target strength of individual, acoustically resolved fished swimming through the sound beam were measured using the split-beam tracking method on board R/V Kaya.The results obtained can be summarized as follows:1. The alongship and athwartship angles between -3dB poionts of a hull mounted 38 kHz split beam tranducer used in these surveys was >$3.76^{\circ}\;and\;6.74^{\circ}$ respectively, and the equal energy contour obtained from the measured beam pattern showed approximately the circular pattern. 2. The swimming speed measured off the south coast of Sorido in 23 January 1997 ranged 0.10 to 0.80 m/s with the average swimming spped of 0.36 m/s, and the target strength ranged -64.8 to -31.7 dB with the average target strength of -52.7 dB. The most dominant species sampled in this survey area were Japanese scaled sardine, Sardinella zunasi and Konoshiro gizzard shad, Konosirus punctatus, respectively.3. The swimming speed measured off the east coast of Kojedo in 24 March 1997 ranged 0.10 to 1.10 m/s with the average swimming speed of 0.40 m/s, and the target strength ranged -64.8 to -51.5 dB with the average target strength of -59.2 dB. The most dominant species sampled in this survey area were Swordtip squid, Photololigo edulis, Konoshiro gizzard shad and Japanese flying squid, Toddarodes pacificus, respectively and the swimming activity of these species seems to be controlled at speeds between 0.20 and 0.60 m/s. 4. The swimming speed measured the south coast of Kojedo in 25 March 1997 ranged 0.10 to 1.40 m/s with the average swimming speed of 0.51 m/s and the target strength ranged -64.3 to -47.7 dB with the average target strength of -55.1 dB. The most dominant species sampled in this survey area were Swordtip squid, Blotchy sillage, Sillago maculata and japanese scaled sardine, respectively and the swimming activity of these species seems to be controlled at speeds between 0.20 and 0.70 m/s.5. The swimming speed measured during morning twilight in the southeastern water of Cheju Island in 11 July 1998 ranged 0.20 to 1.0 m/s with the average swimming speed of 0.53 m/s, and the target strength ranged -65.0 to -47.0 dB with the average target strength of -57.1 dB. The most dominant species sampled in this survey area were Swordtip squid, Black scraper, Thamnaconus modesutus and japanese flying squid, respectively and the tile angle ranged$ +28^{\circ}\;to\;+2^{\circ}$ with the average tilt angle of -8.1$^{\circ}$ showing the downward migration.

• 한국지구과학회지
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• 제24권5호
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• pp.467-476
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• 2003

사이드 스캔 소-나를 이용한 해저면 음향영상자료의 처리과정에서 가장 첫 번째 단계는 수중예인체의 절대위치를 결정하는 것이다. 예인체를 조사선박에 부착하지 않고 후미에서 수중예인하기 때문이다. 수중에서 음향을 이용하여 위치를 추적하는 장치나 예인체의 움직임을 관측하는 추가적인 지원장비 없이도 절대위치를 계산할 수 있는 기술적인 알고리즘이 제안되었다. 예인항적으로 작성된 모자이크 결과도면에서, 인접한 측선 간의 불일치나 모호하게 접합되는 해저형태를 발견할 수 없었다. 절대위치 계산과정에서 수중예인체의 진행방향이 부드럽게 되는 부차적인 효과가 있다. 그 결과 진행방향에 대하여 수직으로 분포하는 영상자료의 펼침형태가 안정적으로 배열되며 음향조사역(音響照射域)의 평면투영에서 자료의 유실현상도 현저하게 줄어든다. 수중에서 예인하는 방식의 다른 분야 해양조사에서도 이 연구결과의 적절한활용이 기대된다.