The black shinner Pseudopungtungia nigra is an endangered freshwater fish endemic to Korea, and standardized anesthetic protocols are needed for conservation-related hatchery handling. This study evaluated the effects of water temperature and MS-222 concentration on anesthetic induction and recovery responses in hatchery-reared juvenile P. nigra of approximately 3 cm total length. Juveniles were exposed to four MS-222 concentr...

The endangered freshwater fish Gobiobotia brevibarba is endemic to Korea and threatened by habitat disturbance in major river systems. We investigated four wild populations from the Han River basin (IJR, BHR, NHR) and the Geum River basin (GR) using eleven microsatellite loci to assess genetic diversity, population structure, and contemporary gene flow. All populations showed relatively high genetic diversity (HO = 0.709–0.800...

Artificial crossbreeding is a critical strategy in the restoration of endangered freshwater fishes with small, fragmented populations, where natural spawning alone cannot reverse genetic erosion. This study examined the genetic diversity and fitness traits of crosses between genetically distant (HGD) and closely related (LGD) broodstock individuals of Pseudopungtungia nigra, an endangered Korean freshwater fish. Using ten micr...

This paper presents a robust trajectory-tracking control framework for underwater vehicles operating in a relative coordinate system. Unlike conventional methods that define trajectories in the world frame, the proposed approach formulates the control problem directly in a moving reference frame, enabling accurate motion control with respect to dynamic and drifting objects affected by environmental disturbances such as ocean c...

This study proposes a system identification (SI) technique based on the constrained recursive least squares (CRLS) method to model the dynamics of the P-SUROII. By simplifying the dynamic model in consideration of the inherent characteristics of underwater vehicles and minimizing the number of parameters to be estimated, the proposed approach aims to improve estimation accuracy. In addition, a simplified thruster input model w...

Liobagrus geumgangensis is a novel Korean fish species endemic to the Geumgang and Mangyeonggang River basins on the Korean Peninsula. During a survey of L. geumgangensis, the discovery of Liobagrus mediadiposalis as a potential threat prompted an investigation into L. geumgangensis genetic diversity and structure. Three populations of L. geumagangensis and one population of L. mediadiposalis were investigated using a 1024-bp...

In this paper, we propose a trajectory tracking controller with experimental verification for torpedo-like autonomous underwater vehicles (AUVs) with underactuation characteristics. The proposed controller overcomes the underactuation problem by designing the desired error dynamics in a coupled form using state variables in body-fixed and world coordinates. Unlike the back-stepping control requiring high-order derivatives of s...

In this paper, we present a 3D formation control scheme for a group of torpedo-type underactuated autonomous underwater vehicles (AUVs). These multiple AUVs combined with an unmanned surface vessel (USV) construct a sort of star-topology acoustic communication network where the USV is at the center point. Due to this kind of topological feature, this paper applies a virtual school concept. This is a geometric graph where each...

In underwater environments restricted from human access, many intervention tasks are performed by using robotic systems like underwater manipulators. Commonly, the robotic systems are tele-operated from operating ships; the operation is apt to be inefficient because of restricted underwater information and complex operation methods. In this paper, an assistance technique for tele-manipulation is investigated and evaluated expe...