• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.667-675
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• 2013

This paper presents vision-based techniques for underwater landmark detection, map-based localization, and SLAM (Simultaneous Localization and Mapping) in structured underwater environments. A variety of underwater tasks require an underwater robot to be able to successfully perform autonomous navigation, but the available sensors for accurate localization are limited. A vision sensor among the available sensors is very useful for performing short range tasks, in spite of harsh underwater conditions including low visibility, noise, and large areas of featureless topography. To overcome these problems and to a utilize vision sensor for underwater localization, we propose a novel vision-based object detection technique to be applied to MCL (Monte Carlo Localization) and EKF (Extended Kalman Filter)-based SLAM algorithms. In the image processing step, a weighted correlation coefficient-based template matching and color-based image segmentation method are proposed to improve the conventional approach. In the localization step, in order to apply the landmark detection results to MCL and EKF-SLAM, dead-reckoning information and landmark detection results are used for prediction and update phases, respectively. The performance of the proposed technique is evaluated by experiments with an underwater robot platform in an indoor water tank and the results are discussed.

• Membrane and Water Treatment
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• v.9 no.5
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• pp.373-383
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• 2018

Fouling by solids and microorganisms is the major obstacle limiting the efficient use of membrane wastewater treatment. In our previous study, two stages microalgae/membrane filtration system was proposed to treat anaerobic digested palm oil mill effluent (AnPOME). This two stages microalgae/membrane filtration system had showed great potential for the treatment of AnPOME with high removal of COD, $NH_3-N$, $PO_4{^{3-}}$, TSS, turbidity, and colour. However, fouling behavior of the membrane in this two stages microalgae/membrane filtration system was still unknown. In this study, empirical models that describe permeate flux decline for dead-end filtration (pore blocking - complete, intermediate, and standard; and cake layer formation) presented by Hermia were used to fit the experimental results in identifying the fouling mechanism under different experimental conditions. Both centrifuged and non-centrifuged samples were taken from the medium with 3 days RT intervals, from day 0 to day 12 to study their influence on fouling mechanisms described by Hermia for ultrafiltration (UF), nanofiltration (NF), and reverse osmosis (RO) filtration mode. Besides, a more detailed study on the use of resistance-in-series model for deadend filtration was done to investigate the fouling mechanisms involved in membrane filtration of AnPOME collected after microalgae treatment. The results showed that fouling of UF and NF membrane was mainly caused by cake layer formation and it was also supported by the analysis for resistance-in-series model. Whereas, fouling of RO membrane was dominated by concentration polarization.

• Korean Journal of Food Science and Technology
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• v.5 no.2
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• pp.119-128
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• 1973

Tocopherol, Se and garlic powder were dieted to hatched chick breeding. The Se content of certain organs is influenced by garlic powder supply. The high Se content for the testis was a function of the vitamin E uptake. Effect of low dose of Se on the growth and survival of rat were examined under the diet of $2\;{\mu}g/ml$ of Se in drinking water either in the form of $Na_2SeO_3$ or $Na_2SeO_4$. The females were dead in early ages while the males were not influenced by dieting the selenite did not make males dying rapidly at early ages and males were less growth depressed. The previously known fact that garlic act as a tonics may be attributable to its high contents of Se and sulfur-containing amino acids which are closely related to vitamin E. Further details on the dietary mechanisms of the Se, vitamin E, and garlic powder are described in this paper.

• ALGAE
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• v.27 no.4
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• pp.303-313
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• 2012

Cyanobacteria are well known for their production of a multitude of highly toxic and / or allelopathic compounds. Among the photosynthetic microorganisms, cyanobacteria, belonging to the genus Nostoc are regarded as good candidate for producing biologically active secondary metabolites which are highly toxic to humans and other animals. Since so many reports have been published on the poisoning of different animals from drinking water contaminated with cyanobacteria toxins, it might be assumed that bioactive compounds are found only in aquatic species causes toxicity. However, the discovery of several dead dogs, mice, ducks, and fish around paddy fields, prompted us to study the toxic compounds in a strain of Nostoc which is most abundant in the paddy fields of Iran, using polymerase chain reaction and liquid chromatography coupled with a diode array detector and mass spectrophotometer. Results of molecular analysis demonstrated that the ASN_M strain contains the nosF gene. Also, the result of ion chromatograms and $MS^2$ fragmentation patterns showed that while there were three different peptidic compound classes (anabaenopeptin, cryptophycin, and nostocyclopeptides), there were no signs of the presence of anatoxin-a, homoanatoxin-a, hassallidin or microcystins. Moreover, a remarkable antifungal activity was identified in the methanolic extracts. Based on the results, this study suggests that three diverse groups of potentially bioactive compounds might account for the death of these animals. This case is the first documented incident of toxicity from aquatic cyanobacteria related intoxication in dogs, mice, and aquatic organisms in Iran.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.32 no.3
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• pp.310-316
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• 1999

Physiological responses (cortisol, glucose, GPT, GOT, total protein, hematocrit, sodium, chloride, potassium, total calcium and osmolality), growth and survival rates of grey mullet (Mugil cephalus) and Nile tilapia (Oreochromis niloticus) by the manipulation of salinity were studied. Salinity was increased directly from freshwater to $33\%_{\circ}$ and remained for 15 days. Then, salinity was decreased directly from seawater to freshwater and remained for other 15 days. All tilapias were dead at the third day, but $96.5\%$ of grey mullet were survived at the 30th day. The grey mullet showed no significant differences for cortisol and glucose concentrations in the seawater and freshwater. However, those of the Nile tilapia were increased in seawater. The grey mullet showed no significant differences for sodium, chloride and potassium concentrations during experimental period. However, those of the Nile tilapia were significantly increased when exposed to seawater. The osmolality of grey mullet ranged between 293.5 mOsm/kg and 335.0 mOsm/kg for the whole experimental period.

• Journal of radiological science and technology
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• v.26 no.2
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• pp.49-56
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• 2003

The purposes of this study are to improve the ultrasound resolution of various nylon and metallic mono-filament wires, therefore, it was tested that it analyze on nylon mono-filament wire of 0.1 mm in A Co.'s ultrasonic phantom and synthesis of C15 g tissue mimicking materials(TMM), analyze resolution of nylon and metallic mono-filament wires in water and TMM. The results obtained were summarized as follows: 1. Metallic mono-filament wire of 0.1 mm and nylon mono-filament wire of 0.12 mm, 180 denier showed that it cleared dot echo pattern. 2. Metallic and nylon mono-filament wire of 0.2 mm showed that it cleared comet tail echo by reverberation artifact. 3. Nylon and metallic mono-filament wire of 0.1 mm showed that it can used for dead zone and axial resolution test. 4. Nylon mono-filament wire compared with metallic mono-filament wire showed that it satisfy elasticity and construction. 5. Degree of hardness of na not changed mono-filament's echo textures.

• Journal of Wetlands Research
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• v.19 no.4
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• pp.451-458
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• 2017

In this study, the removal efficiency of the wetland in terms of particulate matter and dead water zone through the application of baffles in the sedimentation were simulated with the use of Computational Fluid Dynamics (CFD) to determine the design of a cost-effective constructed wetland. As a result, it was analyzed that the application of the baffle in the sedimentation tank affect the flow and sedimentation rate. Fine particles such as $2{\mu}m$ and $5{\mu}m$ showed high sedimentation rate when the baffles are installed horizontally. large particles such as $10{\mu}m$ and $20{\mu}m$ showed also high deposition rate when the baffles are installed vertically. In addition, the vertical baffles is considered to be more efficient than other baffle types in terms of maintenance since the particulate matter are concentrated in narrow areas. Therefore, it is considered that the selection of the most applicable type of baffle depends on the design purpose of the wetland to be constructed.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.38 no.4
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• pp.265-275
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• 2005

A prerequisite for deriving the abundance estimates from acoustic surveys for commercially important fish species is the identification of target strength measurements for selected fish species. In relation to these needs, the goal of this study was to construct a data bank for converting the acoustic measurements of target strength to biological estimates of fish length and to simultaneously obtain the target strength-fish length relationship. Laboratory measurements of target strength on 15 commercially important fish species were carried out at five frequencies of 50, 70, 75, 120 and 200 kHz by single and split beam methods under the controlled conditions of the fresh and the sea water tanks with the 389 samples of dead and live fishes. The target strength pattern on individual fish of each species was measured as a function of tilt angle, ranging from $-45^{\circ}$ (head down aspect) to $+45^{\circ}$ (head up aspect) in $0.2^{\circ}$ intervals, and the averaged target strength was estimated by assuming the tilt angle distribution as N $(-5.0^{\circ},\;15.0^{\circ})$. The TS to fish length relationship for each species was independently derived by a least-squares fitting procedure. Also, a linear regression analysis for all species was performed to reduce the data to a set of empirical equations showing the variation of target strength to a fish length, wavelength and fish species. For four of the frequencies (50, 75, 120 and 200 kHz), an empirical model for fish target strength (TS, dB) averaged over the dorsal sapect of 602 fishes of 10 species and which spans the fish length (L, m) to wavelength (\Lambda,\;m)$ ratio between 5 and 73 was derived: $TS=19.44\;Log(L)+0.56\;Log(\Lambda)-30.9,\;(r^2=0.53)$.

• Fisheries and Aquatic Sciences
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• v.12 no.4
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• pp.350-353
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• 2009

As a result of human industrial development, carbon dioxide ($CO_2$) is currently accumulating in the atmosphere and dissolving into the oceans. Sequestration into the deep sea has been proposed as a possible solution to this increasing atmospheric $CO_2$, although the impact of such a program on marine ecosystems is unknown. We examined the effects of increased $CO_2$ levels on the growth of the olive flounder, Paralichthys olivaceus. Juvenile olive flounder 40 days post hatching were exposed to two levels of $CO_2$ (3.60-7.55 and 4.05-11.46 kPa) in running seawater for 26 days. During the exposure period, the pH and $CO_2$ levels of the water were measured, and the numbers of dead individuals were counted in each aquarium. Following the exposure period, the total lengths (mm) and body weights (mg) of the juvenile fish were measured. Both $CO_2$ treatments significantly increased fish mortality compared to controls ($19.87\pm4.53%$ vs. 7.14% and $75.96\pm1.36%$ vs. 7.14% for high and low doses, respectively). After the high $CO_2$ treatment, total length ($14.98\pm6.58$ mm vs. $19.52\pm1.83$ mm) and body weight ($28.92\pm13.85$ mg vs. $67.35\pm18.32$ mg) of the exposed flounder were reduced compared to the control fish; however, no significant differences in these values were observed after the low $CO_2$ dose. These results suggested that $CO_2$ exposure inhibits growth in the juvenile stage and that $CO_2$-enriched seawater is toxic in the early life stages of olive flounder.

• Herbal Formula Science
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• v.13 no.1
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• pp.123-143
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• 2005

Objective : This study was carried out to evaluate the liver toxicities of Wild Aconiti Tuber decoction. Methods : The amounts of aconitine in the methanol extract of Wild Aconiti Tuber was measured by HPLC. Safeties was studied by LD50 in mice. Liver toxicities were evaluated histologically and by CBC, blood chemistry after 2 weeks of 0.4g/kg/day clinical dosage oral administrations in rat. Results : 1. The amounts of aconitine in the methanol extract of Wild Aconiti Tuber is $1.697{\pm}0.052mg/g$. But aconitine was not detected in the water decoction of Wild Aconiti Tuber. 2. To evaluate LD50 and safeties of Wild Aconiti Tuber decoction, ICR mice were given high dose of 2, 5, 10g/kg for single time and were observed for 2 weeks. There were no dead animal and abnormal clinical sign and no abnormalities at the autopsy. So, LD50 was admitted to higher than 10g/kg. 3. After 2 weeks of 0.4g/kg/day clinical dosage oral administrations in rat, there was no significant change in the CBC and blood chemistry. 4. In the liver tissues of clinical dosage, mitotic figures, apoptosis and individual cell death were observed, but clear liver toxicities like fatty liver or necrosis were not observed. the liver tissues of high dose in mice, hydropic changes were getting severe as dose grows. Conclusions : According to the results, though aconitine was not detected in the Wild Aconiti Tuber decoction, 0.4g/kg/day 2 weeks p. o (clinical dosage) group showed weak changes in the liver tissues and high dose group showed liver toxicities like hydropic changes.