• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.306-311
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• 2003

This paper presents a novel localization paradigm for mobile robots based on artificial and natural landmarks. A model-based object recognition method detects natural landmarks and conducts the global and topological localization. In addition, a metric localization method using artificial landmarks is fused to complement the deficiency of topology map and guide to action behavior. The recognition algorithm uses a modified local Zernike moments and a probabilistic voting method for the robust detection of objects in cluttered indoor environments. An artificial landmark is designed to have a three-dimensional multi-colored structure and the projection distortion of the structure encodes the distance and viewing direction of the robot. We demonstrate the feasibility of the proposed system through real world experiments using a mobile robot, KASIRI-III.

• 한국해양학회지
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• v.6 no.2
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• pp.104-106
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• 1971

In enumerating salmon spawning population by the tag-recovery method, the error caused by the emigration of the tagged fish into the non-statistical area and the misjudgement of the tagged fish as untagged, which is caused by bear predation, appear to give a bias to the estimate of population size. Efforts were made in the present study to remove such bias by estimating population size under certain assumtion and by introducing a correction equation for the sample tag-ratios.

• 공원문화
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• s.3
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• pp.41-41
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• 1976

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.4B
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• pp.413-420
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• 2006

The construction of a submerged breakwater has become increasing due to their multiple effects on the coastal zone. Recently, marker rocks have been installed on the submerged breakwater to indicate its position to the vessels instead of buoy systems, since a buoy is not only improper for the ocean view, but also its mooring system may be damaged by the impulsive wave force caused by wave breaking on the breakwater. The accurate estimation of wave forces on such rocks is deemed necessary for their stability design. In this study, the characteristics of irregular wave forces acting on a marker rock, which was installed on a submerged breakwater, was investigated on the basis of laboratory experiments. It was revealed that the dimensionless highest one-third wave force tends to decrease with increasing the installation distance of a marker rock from the leading crown edge of a submerged breakwater. Also, the drag and inertia coefficients for irregular wave forces, which were obtained using the Morison equation, were investigated in relation to K.C. number.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.12 no.2
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• pp.112-120
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• 2007

This paper reviews the use of parasites as 'biological tags' for studying stock analysis of salmonid fishes. Numerous definitions of stock concepts exist, but most of them essentially define a group of fish as having similar biological characteristics and being self-reproducing as stocks. It is important to manage fish stocks for human consumption and sustainable production and especially for salmonid fishes. Because these fry are considered as each country's property, it is necessary to identify and discriminate each fish stock in the open sea. Methods of separating fish stocks are very diverse. Artificial tags, parasites, otoliths scales and genetic characters have been used for stock analysis and each method has advantages and disadvantages. Of these parasites can be good biological tags because they are applied by nature at no cost. Parasites can be infected with susceptible host fishes when they enter into certain areas. Then if they move to the outside and are caught researchers can infer that the fish had been in the endemic area for a period of time during their life. Hence the host fish can be considered as naturally 'tagged' by parasites. However, if they do not pass the parasites-endemic. area, they will harbour no parasites. Therefore, researchers can discriminate each fish stocks and trace their migration routes with these biological tags. In this paper, several examples on the use of parasites as biological tags for studying salmonids, as well as other species, are listed. The advantages and limitations of parasites as biological tags are also discussed. Chum salmon (Oncorhynchus keta), the main salmonid species migrating to Korea, is distributed all around the North Pacific. Korean chum salmon are generally thought to move to the Sea of Okhotsk, the western North Pacific and the Bering Sea. However, there is no clear information on the distribution and migration pathways of Korean chum salmon, and no markers exist for separating them from others yet. Recent Korean chum salmon stock analysis including parasites information are mentioned.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.205-216
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• 2016

The localization of the robot is one of the most important factors of navigating mobile robots. The use of featured information of landmarks is one approach to estimate the location of the robot. This approach can be classified into two categories: the natural-landmark-based and artificial-landmark-based approach. Natural landmarks are suitable for any environment, but they may not be sufficient for localization in the less featured or dynamic environment. On the other hand, artificial landmarks may generate shaded areas due to space constraints. In order to improve these disadvantages, this paper presents a novel development of the localization system by using artificial and natural-landmarks-based approach on a topological map. The proposed localization system can recognize far or near landmarks without any distortion by using landmark tracking system based on top-view image transform. The camera is rotated by distance of landmark. The experiment shows a result of performing position recognition without shading section by applying the proposed system with a small number of artificial landmarks in the mobile robot.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.4
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• pp.442-448
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• 2011

There are many research results about a self-localization technique of mobile robot. In this paper we present a self-localization technique based on the features of ceiling vision using a fisheye lens. The features obtained by SIFT(Scale Invariant Feature Transform) can be used to be matched between the previous image and the current image and then its optimal function is derived. The fisheye lens causes some distortion on its images naturally. So it must be calibrated by some algorithm. We here propose some methods for calibration of distorted images and design of a geometric fitness model. The proposed method is applied to laboratory and aile environment. We show its feasibility at some indoor environment.

• Journal of Aquaculture
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• v.9 no.2
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• pp.109-115
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• 1996

Tagging method, recapture frequencies and mortalities were investigated to obtain the basic data for the effective release technique of abalone, Haliotis discus hannai. Tagged and untagged H. discus hannai were reared for 90 days in the laboratory. Attachment of plastic piece by Alteco was used as tag material. The growth, mortality and falling rate of tags were examined. Data from stock in natural condition showed that fishing rate, fishing mortality and natural mortality of tagged group were 0.04, 0.0195 and 0.4652, respectively.

• Proceedings of the Korean Aquaculture Society Conference
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• 2004.05a
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• pp.355-355
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• 2004

난생 경골어류의 성분화는 내인성 및 외인성 성스테로이드 호르몬의 영향을 받는 것으로 알려져 있지만, 해산 태생 경골어류의 성분화 과정에서 성스테로이드 호르몬의 작용은 아직 명확하게 밝혀져 있지 않다. 본 연구에서는 유용 양식어종의 하나인 해산 태생어류 조피볼락 Sebastes schlegeli를 대상으로 이 종의 성분화에 미치는 성스테로이드 호르몬의 영향을 조사하였다. 실험에 사용한 조피볼락은 출산후 일령 45일 전후의 성이 미분화한 개체들이었다. 실험어는 3개 실험군으로 나누어 (각각 3반복), 1개월간 각각 estradiol-l7${\beta}$ 또는 methyltestosterone을 처리하였고, 하나의 실험군은 호르몬 처리를 하지 않았다 처리기간 동안에는 각 실험군으로부터 무작위 sampling을 실시하여, 호르몬 처리에 따른 체내 성스테로이드 호르몬 변화를 조사하였으며, 각 실험군의생식소 분화과정을 조직학적으로 조사하였다. 성스테로이드 호르몬은 diethylether로 추출한후, rndioirmmunoassay 방법 (RIA)으로 분석하였다. 실험결과 대조구의 실험어는 1:1의 자연성비에 부합하는 성분화 결과를 나타내었지만, estradiol-17${\beta}$ 처리구는 자성화, methyltestosterone 처리구는 웅성화하는 경향을 나타내었으며, 이러한 성분화 shift는 외부에서 투여한 호르몬이 실재 내부호르몬양의 변화를 초래하여 이루어졌음이 RIA 분석에 의해 부분적으로 확인되었다. 본 연구의 결과는 해산 태생 경골어류의 성분화 역시 성스테로이 드호르몬의 작용에 의하여 매개 또는 조절되어진다는 사실을 제시한다. 하지만 태생어류에서 이 호르몬의 실질적 작용 메카니즘 및 명확한 작용시기에 대해서는 보다 많은 연구가 요구되어 진다.을 설계하는 것이 가능하였다.적(最適) 온도(溫度)는 $30^{\circ}C$, avicelase와 ${\beta}-glucosidase$의 최적(最適) pH는 5.0, CMCase는 pH 5.5 이었으며, 균사(菌絲) 생육(生育)은 pH 5.0에서 양호(良好)하였다. 배양(培養) 기간(期間)은 avicelase가 8일(日), CMCase가 10일(日), ${\beta}-glucosidase$는 16 일간(日間) 배양(培養)하였을 때 최대치(最大値)를 보였고, 균사(菌絲) 생육(生育)은 12일(日) 배양(培養)했을 때 가장 양호(良好)하였다.가한 반면, 중국인들은 고소한 향의 강도, 고소한 향의 기호도, 전체적인 맛에서 뚜렷하게 일본참기름을 우수하게 평가하였다.s의 항체(抗體)로 반응(反應)시킨 후 protein-A gold(15 nm)로 표식(標識)시킨 바 제일 바깥 상층(上層)의 keratinocyte에 있어서 세포막표면(細胞膜表面)을 따라 표식(標識)되어 세포막항원(細胞膜抗元)을 나타내었으며, 이와 같은 소견(所見)으로 미루어 정상피부(正常皮膚) 중층편평상피세포(重層扁平上皮細胞)에서도 동일(同一)한 소견(所見)을 관찰(觀察)할 수 있다고 본다.al remnants, Resorption of fetus로 관찰된 것이다. Fetal death는 수정후 $14{\sim}18$일까지의 사망으로써 Maceration of fetus로 관찰되는 것이다. 통계학적 분석은 각 Group의 착상 을과 자궁 내 사망 율을 산출할 때에는 각 임신마우스에 따라 발생빈도가 크게 다르기 때문에 통계처리에는 Non parametric 검정인 Kluskal Wallis 검정을 사용하여 분석하였다. 또한 개체 Level 영향인 착상을, 태아사망,

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.3
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• pp.164-173
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• 2014

In underwater robotics, vision would be a key element for recognition in underwater environments. However, due to turbidity an underwater optical camera is rarely available. An underwater imaging sonar, as an alternative, delivers low quality sonar images which are not stable and accurate enough to find out natural objects by image processing. For this, artificial landmarks based on the characteristics of ultrasonic waves and their recognition method by a shape matrix transformation were proposed and were proven in Part 1. But, this is not working properly in undulating and dynamically noisy sea-bottom. To solve this, we propose a framework providing a selection phase of likelihood candidates, a selection phase for final candidates, recognition phase and tracking phase in sequence images, where a particle filter based selection mechanism to eliminate fake candidates and a mean shift based tracking algorithm are also proposed. All 4 steps are running in parallel and real-time processing. The proposed framework is flexible to add and to modify internal algorithms. A pool test and sea trial are carried out to prove the performance, and detail analysis of experimental results are done. Information is obtained from tracking phase such as relative distance, bearing will be expected to be used for control and navigation of underwater robots.