10-2013-0044649 (2013.04.23) / 10-1421463 (2014.07.15)
한국연안방재학회지, v.5, no.3, pp.113 - 119, 2018
한국수중·수상로봇기술연구회 2019 추계학술대회, pp.80 - 82, 2019
10-2020-0104230 (2020.08.19) / 10-2344381 (2021.12.23)
한국연안방재학회지, v.6, no.4, pp.139 - 145, 2019
한국해양공학회지, v.26, no.6, pp.33 - 38, 2012
10-2016-0056164 (2016.05.09) / 10-1773604 (2017.08.25)
10-2018-0107246 (2018.09.07) / 10-2098910 (2020.04.02)
10-2011-0055811 (2011.06.09) / 10-1130833 (2012.03.20)