• The Journal of Korea Robotics Society
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• v.16 no.1
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• pp.35-40
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• 2021

As the robot industry develops, industrial automation uses industrial robots in many parts of the manufacturing industry. However, rigidity-based conventional robots have a disadvantage in that they are challenging to use in environments where they grab fragile objects or interact with people because of their high rigidity. Therefore, researches on soft robot have been actively conducted. The soft robot can hold or manipulate fragile objects by using its compliance and has high safety even in an atypical environment with human interaction. However, these advantages are difficult to use in dynamic situations and control by the material's nonlinear behavior. However, for the soft robot to be used in the industry, control is essential. Therefore, in this paper, real-time PD control is applied, and the behavior of the soft actuator is analyzed by providing various waveforms as inputs. Also, Iterative learning control (ILC) is applied to reduce errors and select an ILC type suitable for soft actuators.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.8 no.3
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• pp.285-294
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• 2003

To select an appropriate sampler for the environmental monitoring survey in coastal waters of Saemangeum, Jeollabuk-do, a macrobenthic sampling was conducted in April 2002. Employed samplers were dredge (type Charcot), a semi-quantitative sampler and Smith-McIntyre (SM) and van Veen grab (VV) as quantitative ones. One haul was tried for dredge and 3 replicates (0.1 ㎡${\times}$3) for SM and W at each of 11 stations. Comparisons of sediment volume in sampler bucket and of precision of biological parameters (i.e., density, biomass, species number and diversity index, H') were made between SM and VV. Sediment volume was significantly different (SM > VV) at p-value of 0.0050 (paired t-test) and, in average, 3 replicate samples of SM and VV satisfied a precision level of 0.2 by applying 4th root transformation. Patterns of observed and expected species numbers and H' were compared. Dredge-VV samples showed higher affinity than any other pair. Several dominant species in the area were underestimated in dredge samples (e.g., polychaete Heteromastus filiformis. Aricidea assimilis etc.). Quantifying the agreement pattern of multi-species responses was accomplished by estimating correlations between similarity matrices. Correlation between dredge and VV was slightly higher, but near-per-fect matches were found in general. Different ranks and composition among principal species lists were presumably linked to the effect of penetration depth that differs among samplers. Lower level of some species' abundance in VV samples (ca. 50％ compared with those of SM) was explained in this context. It seem appropriate to regard the effect as a probable cause of relatively higher correlations in dredge-VV, Overall bio-logica1 features indicated that a better choice could be SM in situations of requiring high data quality. The others work well, however, on observing and defining faunal characteristics and their capability cannot be questionted if we do not expect a first-order quality.

• Korean Journal of Environmental Biology
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• v.29 no.4
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• pp.326-344
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• 2011

Although anthropogenic disturbance of 20 years duration affects benthic habitats, few studies have examined its effects on the macrobenthic communities of a bay. The aim of this study was to determine the influence of environmental variables on the macrobenthic communities after the construction of the Hwaong dike. Macrobenthos were collected at 22 sites using a Smith McIntyre grab (0.1 $m^2$) in August 2007 and February 2008. Total organic content was very low around the Hwaong dike. Sediment grain size increased from the Hwaong dike to the outer bay. In total, 317 species of macrobenthic fauna were collected and the mean density was 1,155 ind. $m^{-2}$, both of which were higher than the results of previous studies. The dominant species, $Hetermastus$ $filiformis$, known to be a potential pollution indicator, was more abundant near the Hwaong dike. Conversely, species sensitive to organic pollution, such as the polychaete $Ampharete$ $arctica$ and the ophiuroid $Amphioplus$ $squamata$, exhibited higher mean densities in areas distant from the dike. A cluster analysis indicated that the macrobenthic community was divided into two distinct groups: group I near the dike and group II in the outer bay, which were affected by sediment grain size and total organic content. This study suggests that variations in sediment grain size and organic content after dike construction are important factors controlling the macrobenthic community in Asan Bay.

• 한국해양학회지
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• v.29 no.3
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• pp.304-318
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• 1994

Macrobenthic fauna in three Keum-Mankyung-Dongjin Estuaries and their nieghbouring coastal region in the west coast of Korea were sampled as 39 stations with van Veen grab to describe the distribution patterns of macrobenthos. Total 61 taxa from 10 faunal taxonomic groups and 5,636 individuals were collected. Abundance, species number, and faunal composition varied among three estuaries and coastal region. Dominant species from estuaries were similar to each other, but different from those of coastal region. Dominant species in estuarine regions were Prionospio cirrifera, potamocorbula amurensis. Nephtys californiensis, Glycera chiron and Glycinde sp, those from coastal area were Mactra chinensis. Magelona japonica, Owenia fusiformis. Anaitides Korean and Nephtys polybranchia. Two most dominant species in estuaries, Potamocorbula amanuensis and Prionospio cirrifer were not found elsewhere in Korean waters. The patchy distribution of dominant species and low species richness were reflected in the low species diversity Filter feeders were a major component in estuaries. High proportion of carnivores and low percentage of subsurface deposit feeders seemed to be a typical trophic composition in the study area. the distribution pattern of macrobenthos was related with the salinity and sediment types.

• Korean Journal of Environmental Biology
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• v.34 no.4
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• pp.329-345
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• 2016

In order to study the community structure and distribution pattern of macrobenthos in the subtidal area of Shia Sea between Haenam peninsula and Shinan-Jindo area at southwest coast of Korea, duplicate sediment samples were taken seasonally by van Veen grab (surface area, $0.1m^2$) from 49 stations between November 2001 and August 2002. The surface sediment facies were muddy sandy gravel near Mokpo-Gu channel, gravel in the Myoungrang channel with high tidal currents, and sandy muddy in the southern Uido area. Ignition loss in the sediment ranged from 0.5 to 1.5% with a mean of 0.6%. A total of 271 taxa were collected with a mean density of $166ind.\;m^{-2}$ and a mean biomass of $29.2g\;m^{-2}$. Polychaetes were dominant faunal group in terms of species richness and abundance, accounting for 34% and 40% of total species number and abundance, respectively. Molluscs accounted for 44% of biomass. Bio-Env analysis revealed that sediment composition and ignition loss affected the spatial distribution of subtidal macrobenthic community in the study area. Major dominant species were Photis longicaudata, Septifer keenae, Maldane cristata, Lumbrineris longifolia, Heteromastus filiformis and Coptothyris grayi. Based on cluster analysis, four station groups were classified. They were associated with sediment types. Bivalve, Striarca symmetrica, polychaetes, Glycera chirori, Heteromastus filiformis and decapod Latreutes planirostris were major contributing fauna in station group A, B, C, and D, respectively. These results suggest that macrobenthic community of the Shia Sea is normally influenced by sediment type and related ignition loss.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.17 no.2
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• pp.76-86
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• 2012

Macrozoobenthos were collected from 24 sites using small grab ($0.05m^2$) in order to see the spatial distribution of them at Sueocheon stream at the northern part of Gwangyang Bay during summer season when the maximum ecological processes are occurring. A total of 44 species of macrozoobenthos occurred, and their mean density was $789individuals/m^2$. Mollusks was the dominant faunal group accounted for 43.1% and 86.8% of the whole community density and biomass, respectively. Top five dominant species were a molluscan, Corbicula japonica (40.7%), two polychaete worms, Neanthes japonica (19.3%) and Heteromastus filiformis( 8.1%), and two crustaceans, Paranthura japonica (6.9%) and Jaeropsis sp. (6.9%). Species diversity index was very low with mean value of 1.12 and maximum value was recorded at the river mouth. At the upper stream, a brackish water species such as Corbicula japonica showed their maximum population density. The overall distribution of stream macrobenthos showed a rather simple pattern along with salinity and grain size gradients with few brackish water species occurring at coarse sediments in the stream but more diverse faunas inhabiting fine sediments in the river mouth.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.3
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• pp.333-341
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• 2014

Since distribution and preservation of cultural artifacts in the submarine sediments are directly affected by not only ocean currents and tides, but also their composition, it is very important to investigate geological characteristics of sediments and ocean-sediment interactions for maritime archaeological survey. Physical properties of submarine sediments, which are collected by grab sampler and vibro-corer, are analyzed in order to investigate effects of submarine environment on development of maritime archaeological survey techniques. Result of physical property analysis showed that bulk density, shear strength, and magnetic susceptibility increase with depth, while water contents and porosity decrease with depth. Since the magnetic susceptibility of bedrock is about 40 times that of submarine sediments, it might impact greatly on the response of magnetic survey. Physical properties of sediments with depth and sediment classification by Folk's ternary diagram indicate that submarine sediment mainly consists of silt, and cultural artifacts can not penetrate no deeper than 1.5 m in sediments.

• Journal of Advanced Marine Engineering and Technology
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• v.41 no.3
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• pp.269-275
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• 2017

Shipwreck remains below the seabed not only effect the ocean currents and tides, but influence the physical properties of sediments and sedimentary environments that comprise the seabed. In particular, the influence of local shipwrecks discovered buried in the seabed on the sediment is visible. In this study, sediments were collected from the surrounding area of Taean Mado No.3 shipwreck using grab samplers and vibro-corers. The physical properties of these sediments were analyzed to evaluate the impact of the Taean Mado shipwreck No.3 remains. Sediment core analysis by means of density and ultrasonic velocity showed that shear strength tended to increase with depth, whereas moisture content and porosity tended to decrease with depth. Grain size analysis results are shown in terms of Folk's classification, where the grain size of the core samples in the study area indicate mud or sandy mud, and that of the grab sample indicates a muddy sand. Results of the sedimentation rate analysis indicate a rate of 2.84 cm/year and carbon dating of the 150 cm deep seashell indicates the Neolithic age. These sediments were analyzed for the study of the relationship between the Taean Mado shipwreck No.3 remains and the physical properties of the sediment.

• Journal of Korean Society of Environmental Engineers
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• v.22 no.4
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• pp.689-698
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• 2000

The quality of stormwater runoff has been a major concern in water quality preservation. Characteristics of heavy metals and conventional pollutants in surface runoff from industrial complex, during the first flush, were not completely understood, Generally, separated sewer system is known for their water quality with untreated wastewater during storm events. In this study, the quality and characteristics of surface runoff from the industrial complex were investigated. The target area in the industrial complex catchment was divided 4 sub-areas, and the quality of stormwater runoff from the selected drainage areas was investigated using a grab sampling method. The petro-chemical industry and the junkyard discharged relatively high concentration of conventional pollutants, such as BOD, COD, SS, and TN through the first flush runoff samples. On the other hand, a higher level of heavy metals was found in the first flush runoff from the metal-mechanical industry and the scrap storage yard. For metals, Fe, Zn and Cu were the most prevalent species found in the first flush runoff from all sites for every surface runoff samples, while Pb, As, Cd, Cr and Ni were the least prevalent species and Hg was not found in any sample at any site. These results suggest that the nature of pollutants in surface runoff from the industrial complex was related to the type of industry, and the concentration of pollutants was determinated by the degree of exposed pollutant sources and the characteristic of rainfall events at the sites.

• Journal of Korean Society of Environmental Engineers
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• v.37 no.1
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• pp.45-51
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• 2015

PBDEs (polybrominated diphenyl ehters) are rarely dissolved in water due to their strong hydrophobicity and large molecular mass so not many researches were done in aqueous environment compared to other environmental compartments. However, the mass loading from wastewater treatment plant into aquatic environment, re-suspension from bottom sediment and partitioning from floating particles and colloids may not be negligible. It is, therefore, important but also difficult to investigate PBDEs in water environment. Recent overcoming resolution towards this barrier to monitor hydrophobic organic compounds in aquatic environment is using passive sampling technique like semipermeable membrane device. By using passive sampling, it might be possible to obtain long-term reproducible monitoring result and detect the trace amounts of PBDEs, with controlling fluctuation of surrounding environmental factors during the sampling event. So therefore, this study is purposed to confirm the possibility of using SPMD (semi-permeable membrane device) as water monitoring tool. Grab samples, composite samples and SPMDs were applied in river bank to evaluate the concentration difference and temporal fluctuation by various water sampling method, and to assess the water concentration prediction capability of SPMD for the PBDEs.