• 대한기계학회논문집A
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• 제31권1호
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• pp.36-42
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• 2007

This paper presents mechanical design, fabrication and test of a biomimetic fish robot actuated by a unimorph piezoceramic actuator, LIPCA(Lightweight Piezo-Composite curved Actuator.) We have designed a linkage mechanism that can convert bending motion of the LIPCA into the caudal fin movement. This linkage system consists of a rack-pinion system and four-bar linkage. Four types of artificial caudal fins that resemble caudal fin shapes of ostraciiform subcarangiform, carangiform, and thunniform fish, respectively, are attached to the posterior part of the robotic fish. The swimming test under 300 $V_{pp}$ input with 0.6 Hz to 1.2 Hz frequency was conducted to investigate effect of tail beat frequency and shape of caudal fin on the swimming speed of the robotic fish. At the frequency of 0.9 Hz, the maximum swimming speeds of 1.632 cm/s, 1.776 cm/s, 1.612 cm/s and 1.51 cm/s were reached for fish robots with ostraciiform, subcarangiform carangiform and thunniform caudal fins, respectively. The Strouhal number, which means the ratio between unsteady force and inertia force, or a measure of thrust efficiency, was calculated in order to examine thrust performance of the present biomimetic fish robot. The calculated Strouhal numbers show that the present robotic fish does not fall into the performance range of a fast swimming robot.

• Smart Structures and Systems
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• 제10권6호
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• pp.501-515
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• 2012

We design and test a shape memory alloy (SMA)-based actuation system that can be used to propel a fish robot. The actuator in the system is composed of a 0.1 mm diameter SMA wire, a 0.5 mm-thick glass/epoxy composite strip, and a fixture frame. The SMA wire is installed in a pre-bent composite strip that provides initial tension to the SMA wire. The actuator can produce a blocking force of about 200 gram force (gf) and displacement of 3.5 mm at the center of the glass/epoxy strip for an 8 V application. The bending motion of the actuator is converted into the tail-beat motion of a fish robot through a linkage system. The fish robot is evaluated by measuring the tail-beat angle, swimming speed, and thrust produced by the tail-beat motion. The tail-beat angle is about $20^{\circ}$, the maximum swimming speed is about 1.6 cm/s, and the measured average thrust is about 0.4 gf when the fish robot is operated at 0.9 Hz.

• 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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• 제31권1호
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• pp.74-83
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• 1995

모형 그물에 대한 어군행동의 수치모델링에 관한 연구의 일환으로서 어군행동의 모델링을 위하여 어군행동을 나타내는 운동방정식을 구성하는 각종 힘들의 parameter를 추정하기 위한 기초자료를 제공하고자, 모형 그물을 설치하지 않은 상태에서의 유속 변화에 따른 무지개송어의 유영행동을 화성처리하여 각 개체 위치좌표로부터 계산된 유영속도, 유영깊이, 수조의 변과 개체 사이의 거리, 개체상호간의 최근접거리, 어구의 3차원적 구조 등의 유역특성을 조사 분석한 결과는 다음과 같다. 유영궤적으로부터 무지개송어의 유영행동을 살펴보면, 정수상태에서는 수종 중앙부에서 유영하는 빈도가 높았으며, 수조 벽면으로부터 상당히 떨어져서 유회운동을 하는 것으로 나타났다. 정수상태에서의 평균 유영속도는 21.6~23.6cm/sec(2.5~2.9BL cm/sec)로서 개체수가 많을수록 체장당 유영속도가 빠른 것으로 나타났으며, 유속의 변화에 따른 어군의 평균유영속도는 유속이 증가할수록 유영속도도 증가하여 유속이 25cm/sec인 경우에는 유영속도가 30.6 cm/secd(3.8BLcm/sec)에 달하였다. 어군의 평균 유영깊이는 17~38cm로서 주로 중층의 깊이에서 유영하였으며, 유속이 빨라질수록 유영 깊이가 깊어지고 유영 깊이의 변화가 적어졌다. 수조의 벽과 개체 사이의 평균 거리는 17.6~21.4cm였으며, 유속이 빨라질수록 수조의 벽과 개체사이의 거리가 다소 멀어지는 경향을 나타내었다. 개체상호간의 최근거리는 개체수가 많을수록 가까워지며, 유속의 변화에 따른 개체상호간의 최근접거리 평균치는 3.0~5.9cm(0.4~0.7BL cm)로 나타났다. 어군의 3차원적 구조는 군을 형성하는 개체수가 증가함에 따라 군의 형상이 길이, 폭 및 깊이의 모든 방향으로 넓어지며, 유속이 빨라질수록 길이방향과 폭 방향의 크기가 깊이 방향에 비해 상대적으로 커져 각 방향의 평균 상태비는 2.8 : 2.7 : 1이었다.

• Fisheries and Aquatic Sciences
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• 제25권3호
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• pp.151-157
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• 2022

Various approaches have been applied to transform aquaculture from a manual, labour-intensive industry to one dependent on automation technologies in the era of the fourth industrial revolution. Technologies associated with the monitoring of physical condition have successfully been applied in most aquafarm facilities; however, real-time biological monitoring systems that can observe fish condition and behaviour are still required. In this study, we used a video recorder placed on top of a fish tank to observe the swimming patterns of rock bream (Oplegnathus fasciatus), first one fish alone and then a group of five fish. Rock bream in the video samples were successfully identified using the you-only-look-once v3 algorithm, which is based on the Darknet-53 convolutional neural network. In addition to recordings of swimming behaviour under normal conditions, the swimming patterns of fish under abnormal conditions were recorded on adding an anaesthetic or lowering the salinity. The abnormal conditions led to changes in the velocity of movement (3.8 ± 0.6 cm/s) involving an initial rapid increase in speed (up to 16.5 ± 3.0 cm/s, upon 2-phenoxyethanol treatment) before the fish stopped moving, as well as changing from swimming upright to dying lying on their sides. Machine learning was applied to datasets consisting of normal or abnormal behaviour patterns, to evaluate the fish behaviour. The proposed algorithm showed a high accuracy (98.1%) in discriminating normal and abnormal rock bream behaviour. We conclude that artificial intelligence-based detection of abnormal behaviour can be applied to develop an automatic bio-management system for use in the aquaculture industry.

• 한국물환경학회지
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• 제21권1호
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• pp.79-83
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• 2005

Foraging behaviour of false dace, Pseudorasbora parva, was investigated in water flowing at various velocities with the existence of a cavity for rest. The pursuit comprised three succeeding processes such as, approaching, chasing and attacking. Angles between the fish body and the water flow direction and swimming speeds increased in the latter stages of approaching, chasing and attacking. All pursuit angles, swimming speeds and distances increased with flow velocity and peaked at the flow velocity of 7 cm/sec. At higher velocities, however, the fish avoided the use of much energy against the large drag force. The probability of capture and the feeding rate steadily decreased with increasing flow velocity. Under the fast flow, the fish adjusted their swimming speed to get the optimum velocity relative to the flowing water for the energetic budget. Fish spent more time in the cavity as flow velocity increased to avoid the energy expenditure necessitated by the high velocity.

• Fisheries and Aquatic Sciences
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• 제5권3호
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• pp.212-218
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• 2002

The response behavior of a fish school to an approaching vessel was observed using scanning sonar. The evaluation using six parameters, which signify characteristics of school shape and behavior by sonar image processing, was proposed. Ten fish schools were analyzed and among them, three fish schools were identified for their changing shape, swimming direction, and swimming speed. Moreover, by tracing fish schools on stack of sonar images, these fish schools were seen to exhibit an apparent change of school shape and behavior. Therefore, the evaluation method of fish school behavior using six characteristic parameters indicating fish school shape and behavior by sonar image processing is useful.

• 한국양식학회지
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• 제12권2호
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• pp.115-122
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• 1999

Exposure experiments during the egg development were conducted to assess the influences of 5 different concentrations (0, 25, 50, 75 and 100%) of water-soluble fraction (WSF) of Kuwait crude oil on the eggs and larvae of black seabream (Acanthopagrus schlegeli), red seabream (Pagrus major) and olive flounder (Paralichthys olivaceus). All experiments were triplicated. Hatching time and hatching rate were examined on the eggs. The median lethal time ($LT_{50}$), morphological abnormality and swimming activity (swimming frequency and speed) of larvae were also investigated. The time and rate of egg hatching were not significantly influenced by WSF on the eggs of the fishes. The larvae exposed to WSF during the egg development were also not significantly influenced on the $LT_{50}$ and swimming activity. But the higher morphological abnormalities of notochord were observed from the larvae in 100% WSF exposure.

• 수산해양기술연구
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• 제34권2호
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• pp.174-184
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• 1998

In order to accumulate fundamental. data for control of fishes’ behavior at the real fishing ground, the fitness of the numerical model for describing the behavior of fishes was examined by the marine fish. Mullet, Mugil cephalus were used as experimental fishes. The numerical model of fishes’ behavior presented in our earlier paper was modified on the vertical movement of fish school. For the comparision of parameters of the modified numerical model between mullet and rainbow trout, the estimated values of parameters were identified with dimension. The fitness of the modified numerical model was examined by the comparision between experiment and simulation on the several indexes represented by fishes’ swimming characteristics. The obtained result are summarized a follows : 1. The non-dimensional parameter a’ of propulsive force and kb’ of interactive force by the experiment without model net showed a similarity, but the non-dimensional parameter k sub(c’) of schooling force for rainbow trout was lager than one for mullet and the non-dimensional parameter k sub(w’) of repulsive force for mullet was lager than one for rainbow trout. 2. The non-dimensional parameter a’ and k sub(b’) for rainbow trout by the experiment with model net were a little lager than ones for mullet, but non-dimensional parameter k sub(c’) and k sub(w’) for mullet were lager than ones for rainbow trout. 3. The non-dimensional parameter k sub(c’) and k sub(b’) showed the largest and the smallest value among the non-dimensional parameters for rainbow trout and mullet, respectively. 4. The fitness of the modified numerical model was confirmed by means of the compulsion between experiment and simulation on the swimming trajectory of fishes, the mean distance of individual from wall, the mean swimming speed, the mean swimming depth and the mean distance between the nearest individuals. Especially, the similarity of mean swimming depth was improved by using the modified numerical model.

• 한국수자원학회논문집
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• 제41권4호
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• pp.423-432
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• 2008

어류는 생존과 번식을 위해 회유 또는 이동을 하며, 이러한 회유나 이동은 어종에 따라 넓은 범위에서 이루어 질수도 있고 국지적으로 이루어 질 수도 있다. 피라미는 한국의 강과 하천에 우점종으로 서식하는 어종이다. 그러나 하천에 설치된 댐, 보, 암거 등은 어류가 이동하거나 번식하는데 많은 장애가 되고 있다. 실제로 어류 서식처간의 연결부가 배수암거(culvert)로 설치되어 있는 경우에는 평상시 피라미와 같이 몸집이 작은 어류가 이동하는데 장애를 줄 정도의 빠른 유속과 낮은 수심이 발생되고 있다. 그러나 국내에서는 국내 하천에 서식하고 있는 민물고기의 유영특성에 관한 연구가 충분치 않아 현실적으로 어도기능을 위한 합리적인 배수암거 설계기준을 마련하기가 어려운 실정이다. 본 연구의 목적은 배수암거의 평상시 어도기능을 위한 설계유속을 제시하기 위해 국내 하천의 우점종이자 국지회유성 어종인 피라미의 유영특성을 분석하고자 함이다. 피라미의 유영특성을 파악하기 위한 실험은 증진유속방법(incremental velocity test)과 고정유속방법(fixed velocity test)을 병행하여 수행하였다. 실험 결과 피라미(체장 8.9cm)의 유영특성 중 한계유영속도는 0.7 m/s 정도로 나타났다. 따라서 홍수기를 제외한 평상시 유량조건에서 배수암거 설계유속은 피라미(체장 8.9cm)를 대상어종으로 할 경우 0.7 m/s 를 초과하지 않아야 할 것으로 판단된다. 최소수심은 등지느러미까지 충분히 물속에 잠길 수 있는 수심이 필요한 것으로 파악되었다.