• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.3
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• pp.108-118
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• 2017

This paper presents experimental results of realtime sonar-based SLAM (simultaneous localization and mapping) using probability-based landmark-recognition. The sonar-based SLAM is used for navigation of underwater robot. Inertial sensor as IMU (Inertial Measurement Unit) and DVL (Doppler Velocity Log) and external information from sonar image processing are fused by Extended Kalman Filter (EKF) technique to get the navigation information. The vehicle location is estimated by inertial sensor data, and it is corrected by sonar data which provides relative position between the vehicle and the landmark on the bottom of the basin. For the verification of the proposed method, the experiments were performed in a basin environment using an underwater robot, yShark.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.7 no.6
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• pp.57-62
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• 2008

In this paper, a folded helical monopole antenna for TDMB receiving and a trapezoidal fractal microstrip patch antenna for GPS were designed and fabricated for the vehicle shark antenna. To minimize null which is generating toward antenna axis direction and to receive both vertical polarization and horizontal polarization for TDMB antenna, we fold 90 degree helical monopole element. GPS antenna to get wide bandwidth and gain improvement was designed an air substrate trapezoidal microstrip patch antenna. Fabricated TDMB and GPS antenna were measured for S11 and radiation pattern, and compared with a commercialized antenna. TDMB antenna shows 3 dB higher antenna gain and receiving signal strength than the commercial one. GPS antenna shows the gain of 4.31 dBi at the resonant frequency, which is $3{\sim}5\;dB$ higher gain over whole operating band and 135MHz wide bandwidth at 2:1 VSWR than the conventional ceramic antenna.

• Journal of Aquaculture
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• v.18 no.3
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• pp.173-179
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• 2005

Superoxide dismutase (SOD), an antioxidant enzyme catalyzing the first step for scavenging the reactive oxygen species is important as an early warning indicator to address various biological stresses. For this reason, the monitoring the expressed pattern of SOD gene in fish organs is one of important biomarkers to assess the aquatic pollution caused by many toxic chemicals. Based on the Northern blot hybridization, semi-quantitative and/or realtime RT-PCRs, the alteration of SOD gene transcripts in shark liver was examined during the experimental acute exposures to cadmium. The expression of SOD at mRNA level was up-regulated both by injection (0, 0.5, 1 or 2 mg $CdCl_2/kg$ body weight for 48 hours) and by immersion (0 or $5{\mu}M$ Cd for 0, 1, 4 and 7 days) treatments of cadmium. The transcriptional stimulation of shark SOD gene by cadmium exposure was dependent upon doses and durations: there was a trend toward more increase in higher dose and longer durations of exposure. The hepatic SOD mRNA levels showed also a general agreement with the tissue cadmium concentrations accumulated in immersion exposure. This result may provide useful strategy to develop a fine molecular biomarker at mRNA level for detecting aquatic pollution caused by toxic metals.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.56 no.4
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• pp.277-291
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• 2020

In order to understand characteristics on bycatch of Korean tuna purse seine fishery, especially operations associated with Fish Aggregating Device (FAD) in the Indian Ocean, we conducted analyses related to bycatch by school association type (unassociated school, FAD associated school and log associated school) using the data collected by scientific observers from 2016 to 2018. The FAD used by Korean tuna purse seine fishery in the Indian Ocean was a drifting FAD, which belongs to non-entangling FADs according to the category proposed by the International Seafood Sustainability Foundation (ISSF). The target species of Korean tuna purse seine fishery are skipjack, yellowfin and bigeye tunas, accounting for 99% of the total catch. The ratio of bycatch was 0.97% in total catch and the discard accounted for less than 1%, indicating that most catch was retained on board. In terms of bycatch ratio by school association type, it accounted for 0.12% for unassociated school, 1.09% for FAD associated school and 1.25% for log associated school. As for the catch proportion of shark species by school association type, it accounted for 0.01% for unassociated school, 0.11% for FAD associated school and 0.10% for log associated school, which showed that unassociated school type was the lowest to affect bycatch of non-target and shark species. Given the proportion of bycatch compositions, however, it is considered that FAD associated school of Korean tuna purse seine fishery has less caught bycatch species of non-target and shark, compared to other fleets operating in the Indian Ocean.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.30 no.6
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• pp.984-991
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• 1997

New tumor suppressor gene, snm23, homologous to human nm23/NDP kinase (human nucleoside diphosphate kinase) gene whose product has a tumor metastasis inhibitory activity, was first cloned from Korean tiger shark (Scyliorhinus forazame) skin cDNA library constructed by using a $\lambda$ ZAP-II cDNA synthesis kit. About $1\times10^5$ plaques were screened and several positive plaques were isolated and confirmed by second screening. The phagemid containing a positive clone from the Uni-Zap XR vector was excised in vivo and the gene containing the tumor metastasis suppressor protein was named as snm23. Cloned gene, snm23, was sequenced with ABI-PRISM 310 Genetic Analyzer. The nucleotide and deduced amino acid sequences of snm23 have shown an open reading frame consisting of 450 base pairs that correspond to a protein of 150 amino acid residues, with a calculated molecular mass of 16.8 kDa. Sequence comparison of snm23 with human nm23/NDP kinase was performed by using Blast protein data base of National Center for Biotechnology Information. In order to determine tissue specificity, reverse transcription-polymerase chain reaction (RT-PCR) was used. Good expression level of snm23/NDP kinase was detected at the tissues from skin, cartilage, and liver of Korean tiger shark.

• Korean Journal of Veterinary Research
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• v.31 no.1
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• pp.27-32
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• 1991

The pancreatic endocrine cells of the cat-shark, S. torazame, were studied using immunohistochemical method. Five kinds of endocrine cells (glucagon-, somatostatin-, insulin-, 5-HT-and BPP-immunoreactive cells) identified in this study. The chracteristic findings of the distributions of five immunoreactive cells were as follows. Glucagon-immunoreactive cells were detected as clustering group in the epithelia of the interlobular duct and singly the pancreatic acini, respectively. Insulin -immunoreactive cells were moderately observed in the epithelia of the interlobular duct or in the periphery of the islet. Somatostatin-immunoreactive cells were distributed in single or mass groups in the epithelia of the interlobular duct and the exocrine gland of the pancreas. A very few 5-HTimmunoreactive cells were seen in the periphery of the islet and the acini of the pancreas-BPP-immunoreactive cell was singly located in the periphery of the pancreatic islet, but GAS/CCK-and Chromogranin-immunoreactive cells were not found in this study.

• Journal of the korean academy of Pediatric Dentistry
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• v.29 no.1
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• pp.51-56
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• 2002

Russell-Silver syndrome is a type of intrauterine growth retardation, characterized by short stature noted at birth, hemiatrophy or asymmetry, variation in sexual development and other abnormalities, including cafe-aulait pigmentation and clinodactyly. Facial features commonly associated with this syndrome are a small triangular face, decreased facial height, down-turned corners of the mouth(shark's mouth), a small mandible, and occasionally asymmetry. The major intra-oral features of the syndrome that have been reported are a high-arched palate, delayed tooth eruption, microdontia, hypodontia, and crowding. These cases were diagnosed at birth as Russell-Silver syndrome by clinical features such as prenatal growth retardation, short stature, low body weight, et al., and have been treated with growth hormone. The purpose of this paper is to report the dental findings of two patients and review the pertinent literature through the two cases.

• Korean Journal of Veterinary Research
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• v.35 no.3
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• pp.417-425
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• 1995

The regional distribution and relative frequencies of gastrointestinal endocrine cells were studied immunohistochemically in the GIT of the cat-shark. Five kinds of endocrine cells were identified in this study. Mostly these cells were of open types, except for glucagon-, BPP- and somatostatin-immunoreactive cells in the stomach which seemed to be of closed type. 5-HT-immunoreactive cells were detected throughout the GIT, and were more freguent than of the other regions. Glucagon-and BPP-immunoreactive cells were demonstrated in the entire GIT except for the duodenum an the rectum, and occurred in various frequencies. A few numbers of Gas/CCK-immunoreactive cells were restricted to the duodenum. Somatostatin-immunoreactive cells were distributed in the whole GIT, and were a few in numbers in the stomach and rare in the intestine, respectly. These results suggest that the pattern of the regional distribution is rather similar to that reported fur previously, but relative number was less frequent than that of other species.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.14 no.2
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• pp.59-65
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• 1981

The purpose of the present study is to find the light intensity which induces maximum gathering rate and to observe the variation of the gathering rate both in daytime and at night by rising two species of commercial fishes: gray rock cod. Sebastes inermis (Cuvier et Valenciennes) and cat shark, Scyliorhinus torazame (Tanaka). An experimental tank $(360L\;{\times}\;50W\;{\times}\;55H\;cm)$ was set up in a dark room. An illumination system was attached to one end of the tank to control horizontal light intensity. Six artificial light sources were prepared by combination of two light bulbs (5W, 150W) and seven filters. During the experiment water depth was maintained 50 cm level in the tank. The tank was marked into six longitudinal sections each being 60 cm long to observe the distribution of fish. The fish were acclimatized in dark condition for 40 minutes prior to the main experiment. Upon turning on the light, the number of fish in each section was counted 40 times every 30 seconds, and the gathering rates were obtain from the average number of fish in each section. The light intensity inducing maximum gathering rate is as follows: gray rock cod: 16.6 lux (10.6-24.5 lux) (day), 0.7 lux (0.5-1.1 lux) (night), cat shark: 1.9 lux (1.2-2.9 lux) (day), 16.6 lux(10.6-24.5lux) (night). Trend of the gathering rate in illumination time revealed different results in two fish species. Gathering rate of gray rock cod did not show any definite pattern but fluctuated irregularly. The gathering rate was some fluctuating at night. However, that of cat shark was almost constant and did not show any distinctive difference between day and night.

• Korean Journal of Ichthyology
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• v.27 no.1
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• pp.45-49
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• 2015

A single specimen (192 cm total length, TL) of the Pacific sleeper shark, Somniosus pacificus, belonging to the family Somniosidae, order Squaliformes, was firstly collected from the west margin of the East Sea, Korea in February 2008. This specimen was characterized by having interdorsal space, being less than the distance between the snout and first gill opening; and the distance between the snout and first dorsal fin origin more than 45% TL; head and body has overall dark brownish. The new Korean name "Jam-sang-eo-gwa" is proposed for the family Somniosidae, and "Jam-sang-eo-sok" for the genus Somniosus, and "Jat-bit-jam-sang-eo" for the species S. pacificus.