• 로봇학회논문지
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• 제8권1호
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• pp.51-57
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• 2013

Recently, the number of jellyfish has been rapidly grown because of the global warming, the increase of marine structures, pollution, and etc. The increased jellyfish is a threat to the marine ecosystem and induces a huge damage to fishery industries, seaside power plants, and beach industries. To overcome this problem, a manual jellyfish dissecting device and pump system for jellyfish removal have been developed by researchers. However, the systems need too many human operators and their benefit to cost is not so good. Thus, in this paper, the design, implementation, and experiments of autonomous jellyfish removal robot system, named JEROS, have been presented. The JEROS consists of an unmanned surface vehicle (USV), a device for jellyfish removal, an electrical control system, an autonomous navigation system, and a vision-based jellyfish detection system. The USV was designed as a twin hull-type ship, and a jellyfish removal device consists of a net for gathering jellyfish and a blades-equipped propeller for dissecting jellyfish. The autonomous navigation system starts by generating an efficient path for jellyfish removal when the location of jellyfish is received from a remote server or recognized by a vision system. The location of JEROS is estimated by IMU (Inertial Measurement Unit) and GPS, and jellyfish is eliminated while tracking the path. The performance of the vision-based jellyfish recognition, navigation, and jellyfish removal was demonstrated through field tests in the Masan and Jindong harbors in the southern coast of Korea.

• 공업화학
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• 제35권1호
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• pp.54-60
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• 2024

본 연구에서는 자포동물인 보름달물해파리의 면역반응을 유도하여 추출한 점액물질(jellyfish extract at immunity reaction, JEI)을 활용하여 하수처리장 처리수 내 잔존하는 미량오염물질(중금속과 미세플라스틱)의 제거 가능성에 대해 평가하였다. 실험은 자-테스터(jar-tester)를 이용한 lab 규모와 자체 개발한 관접속형 혼화반응 시스템과 농축일체형 분리장치를 연계한 pilot system 규모의 두 방법으로 수행하였다. 모든 실험 조건에서 JEI는 기존 음이온 고분자에 비해 미량오염물질 제거효율이 유사하거나 높은 것으로 분석되었다. 특히 pilot system 규모로 JEI를 하수처리장의 방류수와 혼합하여 사용하면 두 번의 혼합과정에 의해 JEI와 미량오염물질의 결합이 극대화되고 이로 인해 미량오염물질 제거율이 매우 향상됨을 확인하였다. 이러한 실험 결과를 토대로 본 기술을 기존의 방식에서 벗어나 생태계 위해성이 적고 무기성 폐기물 발생을 최소화할 수 있는 미량오염물질 제거 방법으로 제안하는 바이다.