• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.5
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• pp.103-110
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• 2020

Bio-inspired underwater robots have been studied to improve the dynamic performance of fins, such as swimming speed and efficiency, which is the most basic performance. Among them, bio-inspired soft robots with a compliant tail fin can have high degrees of freedom. On the other hand, to improve the driving efficiency of the compliant fins, the stiffness of the tail fin should be changed with the driving frequency. Therefore, a new type of variable stiffness mechanism has been developed and verified. This study, which was inspired by the anatomy of a real dolphin, assessed a process of designing and manufacturing a robotic dolphin with a variable stiffness mechanism. By mimicking the vertebrae of a dolphin, the variable stiffness driving part was manufactured using subtractive and additive manufacturing. A driving tendon was placed considering the location of the tendon in the actual dolphin, and the additional tendon was installed to change its stiffness. A robotic dolphin was designed and manufactured in a streamlined shape, and the swimming speed was measured by varying the stiffness. When the stiffness of the tail fin was varied at the same driving frequency, the swimming speed and thrust changed by approximately 1.24 and 1.5 times, respectively.

• The Korean Journal of Zoology
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• v.38 no.1
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• pp.74-77
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• 1995

Seahorse fish, Hippocampus trimaculatus Leach, collected in the Chriu Island and Dolsan Island, Korea is recorded for the lent time from Korea. Hippocampus trimacufctus is easily distinguishable from the other species of this genus, in having 20 dorsal fin raws, 17 anal fin rays, 11 trunk rings and 41 tail rings. H. tukokurae reported from Japan is a junior svnonsnn of H. trimacufatus.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.429-434
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• 2007

This paper presents an experimental and parametric study of a biomimetic fish robot actuated by the Lightweight Piezo-composite Actuator(LIPCA). The biomimetic aspects in this work are the oscillating tail beat motion and shape of caudal fin. Caudal fins that resemble fins of BCF(Body and Caudal fin) mode fish were made in order to perform parametric study concerning the effect of caudal fin characteristics on thrust production at an operating frequency range. The observed caudal fin characteristics are the shape, area, and aspect ratio. It was found that a high aspect ratio caudal fin contributes to high swimming speed. The fish robot was propelled by artificial caudal fins shaped after thunniform-fish and mackerel caudal fins, which have relatively high aspect ratio, produced swimming speed as high as 2.364 cm/s and 2.519 cm/s, respectively, for 300 Vpp input voltage excited at 0.9 Hz. Thrust performance of the biomimetic fish robot was examined by Strouhal number, Froude number, Reynolds number, and Net forward force.

• Journal of the Society of Naval Architects of Korea
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• v.55 no.1
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• pp.75-82
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• 2018

Wedge-shaped fins are generally used to provide sufficient forces and moments to control and maneuver a supercavitating vehicle. There are four fins placed along the girth of the vehicle, near he tail: two of the fins are horizontal and the other two fins are vertical. In a fully developed supercavitating flow condition, a part of the fin is in a cavity pocket and the other is exposed to water. In this paper, experimental investigations of hydrodynamic characteristics of the wedge-shaped fin models are presented. Experiments were conducted at a cavitation tunnel of the Chungnam National University. We first closely observed the typical formation of wake cavitation and measured lift and drag forces acting on two different test models. Next, using a special device for generating natural and artificial supercavities, we investigated hydrodynamic forces at different cavitation number conditions. This work provides a basis for interpreting the cavity stability and hydrodynamic characteristics of the wedge-shaped control fin for a supercavitating vehicle.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.9 no.4
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• pp.273-280
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• 1976

Morphological changes of early larval stages of Lophius litulon (Jordan) are described based on 861 individuals collected at the intertidal zone at Haeundae, Busan, on the 20th of June, 1976. Particular emphasis is paid on the development of dorsal spinous rays, ventral fin rays, chromatophore patterns, alimentary canal, gills, branchiostegal rays and teeth. The premordial spinous fin ray of the first dorsal fin appears at the newly hatched larva of around 2.70mm in total length, the second spinous ray at around 5.82mm, and the third spinous ray at around 6.45 nm. Premordial fin rays which develope as a semicircle to cudgel form of the ventral fin appear posterior to the pectoral fin at the larva of around 2.70mm in total length. When the larvae grow up to 6.35mm in total length, the length of the ventral fin is more or less half of the total length of the body. In the early stages$(2.70\~3.75mm)$ melanophores are scattered irregularly on the tail . In the later stages(4.25mm) melanophores are aggregated to form three black spots on medio-lateral part of the tail. The newly hatched larvae have the premordial alimentary canal with mouth and intestine. With decreasing yolk mass the intestine appears more distinctly with curvature, and mouth seems to open. Gills appear at the larvae of 6.35mm in total length; branchiostegal rays appear at the larvae of 6.45mm. Teeth appear at the larvae of 6.25mm.

• Korean Journal of Ichthyology
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• v.12 no.3
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• pp.203-207
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• 2000

The synaphobranchid eel, Dysomma anguillare was redescribed on the basis of a specimen collected from the Yellow Sea, Chollabuk-do, Korea. The D. anguillare was characterized by many fleshy plicae at the front of upper and lower jaws, dorsal fin originated in slight advance than pectoral fin base, degenerated eyes, very short trunk and long tail, anus located below near tip of pectoral fin and no scales.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.53 no.5
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• pp.794-799
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• 2020

In April 2019, a single Peristediidae juvenile (14.1 mm SL) was collected from the waters off of Jeju-do Island, Korea. DNA barcoding identified the juvenile as Peristedion liorhynchus, an unrecorded species in Korea. P. liorhynchus has eight dorsal fin spines, 22 dorsal and 19 anal fin rays, and a long third pectoral fin ray that passes through the middle of the tail at the juvenile stage. Juvenile also have large heads, extensive head spination, and serrated edges on the ocular and parietal spines. This is the first record of P. liorhynchus in Korea; therefore, we propose the new Korean name, "Nam-bang-hwang-seong-dae".

• Korean Journal of Fisheries and Aquatic Sciences
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• v.53 no.1
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• pp.83-89
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• 2020

This study provides a detailed morphological description of larvae obtained from Urocampus nanus and Syngnathus schlegeli male brood fish over 20 days of culture in the laboratory. In both species, mating takes place when several males each spread their brood pouch like a wing to attract a female's attention. When the female begins to swim upward, the males follow her and receive her eggs in their brood pouches. Newborn larvae of U. nanus and S. schlegeli had already completed formation of dorsal and caudal fin rays, but not of pectoral fin rays. Pectoral fin rays were completely formed 15 days after release in S. schlegeli and 20 days after release in U. nanus. The ratio of caudal fin length to standard length increased until 8 days and decreased thereafter in S. schlegeli, while in U. nanus this ratio declined continuously after hatching. The larvae of the two species were very similar in external morphology, but well distinguished by the number of dorsal fin rays (15-16 in U. nanus vs. 39-43 in S. schlegeli), the presence of a membrane under the tail (absent in U. nanus vs. present in S. schlegeli), and the presence of melanophores in the dorsal fin (present in U. nanus vs. absent in S. schlegeli). Based on this study, U. nanus appears to be evolutionally more similar to pipefish than to seahorse.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1580-1586
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• 2003

This paper presents the design and the analysis of a "fish-like underwater robot". In order to develop swimming robot like a real fish, extensive hydrodynamic analysis were made followed by the study of biology of the fishes especially its maneuverability and propel styles. Swimming mode is achieved by mimicking fish-swimming of carangiform. This is the swimming mode of the fast motion using its tail and peduncle for propulsion. In order to generate configurations of vortices that gives efficient propulsion yawing and surging with a caudal fin has applied and in order to submerge and maintain the body balance pitching and heaving motion with a pair of pectoral fin is used. We have derived the equation of motion of PoTuna by two methods. In first method, we use the equation of motion of underwater vehicle with the potential flow theory for the power of propulsion. In second method, we apply the method of the equation of motion of UVM(Underwater Vehicle-Manipulator). Then, we compare these results.

• Korean Journal of Ichthyology
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• v.25 no.1
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• pp.42-45
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• 2013

Single specimen (68 mm TL) of the Shiho's seahorse Hippocampus sindonis collected from Geomun Island was described as a first record from Korea. The species is characterized by having 15 dorsal fin-rays, 14 pectoral fin-rays, snout length 2.8 in HL, trunk rings 10, and tail rings 37. A new Korean name, "Sin-do-hae-ma" is proposed.