• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.249-256
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• 2004

KRISO/KORDI is currently developing a deep-sea unmanned underwater vehicle (UUV) system which is composed of a launcher, an ROV, and an AUV. Two USBL acoustic positioning systems will be used for UUV's navigation. One is for the deep sea positioning of all three vehicles and the other is for AUV's guidance to the docking device on the launcher. In order to increase the position accuracy MFSK(Multiple Frequency Shift Keying) broadband signal will be used. As the first step to the implementation of a USBL system, this paper studies USBL positioning algorithm using MFSK signals. Firstly, the characteristics of MFSK signal is described with various MFSK parameters: number of frequencies, frequency step, center frequency, and pulse length. Time and phase delays between two received signals are estimated by using cross-correlation and cross-spectrum methods. Finally an USBL positioning algorithm is derived by converting the delays to difference of distances and applying trigonometry. The simulation results show that the position accuracy is improved highly when both cross-correlation and cross-spectrum of MFSK signals are used simultaneously.

• Korean Journal of Ichthyology
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• v.30 no.1
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• pp.46-54
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• 2018

The habitat characteristics and the age of endangered miho spine loach, Cobitis choii, were investigated in Ji Stream, Guem River, Korea in 2011 to provide baseline data for its restoration. The habitat of the C. choii was the downstream portion composed of sand, and the sand particle sizes was mostly 0.21~1.18 mm (88.7%). Juveniles (age 0+) preferred slower water velocity (0~25 cm/sec) and a lower water depth (5~20 cm) than did individuals who were more than 1 year old, as this group inhabited rapids with 10~25 cm/sec of water velocity and 20~50 cm of water depth. The C. choii rapidly grew during the active period from April to October and they stopped growing during the hibernating period from November to March. The estimated age of the C. choii (females) based on their total length distribution during the spawning period (June) indicated that 1-, 2-, 3- and more than 4-year-old were 40~61 mm, 64~79 mm, 80~91 mm and 92~106 mm, respectively.