2016년도 한국수중·수상로봇기술연구회 춘계학술대회, pp.1, 2016
한국지반공학회 2017년도 봄학술발표회, pp.1, 2017
30-2017-0060958 (2017.12.21) / 30-0962923 (2018.06.27)
30-2017-0060959 (2017.12.21) / 30-0980564 (2018.11.07)
10-2018-0025810 (2018.03.05) / 10-2011058 (2019.08.08)
10-2018-0107246 (2018.09.07) / 10-2098910 (2020.04.02)
2019 한국수중수상로봇기술연구회 춘계학술대회, pp.62 - 64, 2019
10-2019-0139370 (2019.11.04) / 10-2197267 (2020.12.24)
10-2019-0141101 (2019.11.06) / 10-2253235 (2021.05.12)