Minsung Sung - Projects

POSTECH-KHNP Robot Research Center

Korea Hydro & Nuclear Power, Jun. 2024 ~ Oct. 2024

Development of a robotic system for problem-solving in nuclear power plants

1) Intake Sediment Removal Robot
2) Underwater Precision Work Robot
3) Emergency Response Robot
4) Other robotic technology for safety inspection and collaborative work

Related Publications

Papers

[J8] S. Song, M. Sung, and S.-C. Yu, Visual SLAM-Based 3D Path Planning Method of UUV for Enhancement of 3D Reconstruction using Photogrammetry, International Journal of Control, Automation and Systems (Under Review).
[C29] N. Matsuhira, M. Sandison, M. Sung, K. Groves, Si. Watson, S.-C Yu, T. Sasaki, S. Nakashima, A. Yamashita, and H. Asama, Development of a remotely operated robot system for movement in narrow areas based on workspace characteristics, 2025 IEEE/SICE International Symposium on System Integration (SII2025), Munich, Germany, Feb. 2025. [Link]
[C28] M. Sung, M. Sandison, N. Matsuhira, S.-C Yu, and H. Asama, Hybrid Tele-Operation Framework for Multi-Robot Coordination in Hazardous Environments, International Topical Workshop on Fukushima-Daiichi Decommissioning Research 2024 (FDR2024), Fukusima, Japan, Oct. 2024. [Link]

R&D of SLAM Technologies for UUV

Ministry of National Defense, Oct. 2023 ~ Oct. 2024

Research on SLAM for unmanned underwater vehicles (UUVs) in unstructured environments, focusing on sensor fusion of sonar and camera data

Related Publications

Papers

[C27] M. Sung, Y. Song, and S.-C. Yu, Underwater Object Detection Method for Imaging Sonar Through Beam-slice-based Segmentation, OCEANS 2024, Singapore, Apr. 2024. [Link]
[DC11] M. Sung, and S.-C. Yu, Localization of Autonomous Underwater Vehicle through Frequency Analysis of Underwater Sonar Images, The 19th Korea Robotics Society Annual Conference (KRoC 2024), Pyeongchang, Korea, Feb. 2024.

Patents

[P11] S.-C. Yu, J. Pyo, H. Joe, B. Kim, M. Sung, S. Song, J. Kim, H. Cho, Underwater Navigation Method and System for Underwater Vehicle, Patent Grant: 10-2064257.
[P6] B. Kim, S.-C. Yu, H. Cho, J. Pyo, H. Joe, J. Kim, M. Sung, Underwater Image Processing Device for Trajectory Backtracking and Method There of, Patent Grant: 10-1882319.

Smart Aquaculture System for Small-scale Fish Farms

Ministry of Science and ICT, May. 2023 ~ Oct. 2024

Design a multi-robot system with a manipulator for mobile water quality measurement, along with a transport robot for carrying heavy loads

- LiDAR-based fish farm mapping for narrow passage navigation

- Trajectory planning for a robot manipulator

Related Publications

Patents

[P21] S.-C. Yu, M. Sung, H. Cho, Device and Method for Measuring Water Quality of Water Tank Type Farm, Patent Grant: 10-2547425.

Korea Floating Infrastructure Research Center

Ministry of Land, Infrastructure and Transport, Apr. 2023 ~ Oct. 2024

Automated safety inspection of floating infrastructure using underwater robots

- Crack and biofouling identification using sonar and optical cameras

- Landmark-based localization and mapping of an underwater robot beneath floating structures

Related Publications

Papers

[J6] J. Kim, T. Kim, S. Song, M. Sung, and S.-C. Yu, Parent-child Underwater Robot-based Manipulation System for Underwater Structure Maintenance, Control Engineering Practice, 134, 105459, 2023 (IF:5.4). [Link]
[C25] M. Sung, Y. Song, and S.-C. Yu, Seabed Object’s Height Estimation Method Utilizing Tilt Angle Changes of Imaging Sonar, 2023 IEEE Underwater Technology (UT23), Tokyo, Japan, Mar. 2023. [Link]

Patents

[P7] S.-C. Yu, H. Cho, B. Kim, J. Pyo, H. Joe, J. Kim, S. Song, M. Sung, 3D Spatial Data Acquisition Method Using Multi-beam Sonar Camera, Patent Grant: 10-1952290
[P5] S. Song, J. Pyo, H. Joe, J. Kim, B. Kim, H. Rho, M. Sung, S.-C. Yu, Opening and Closing Apparatus for Underwater Laser Using Pressure Difference, Patent Grant: 10-1854634.
[P4] S. Song, J. Pyo, H. Joe, J. Kim, B. Kim, H. Rho, M. Sung, S.-C. Yu, Opening and Closing Apparatus of a Laser Beam for Exploring Underwater using Buoyancy, Patent Grant: 10-1854635.

Gyeongbuk Sea Grant Center

Ministry of Oceans and Fisheries, Apr. 2017 ~ Oct. 2024

Robotic perception technology using optics and sonar for underwater waste removal
Development of IoT remote observation system for fish farm

- AI- and vision-based growth monitoring of farmed fish

- Automatic water quality measurement (temperature, DO, etc.) with anomaly detection and emergency alarm

Related Publications

Papers

[C21] M. Sung, S. Rho, Y. Song, and S.-C. Yu, Development of Remote Underwater Monitoring System for Image Acquisition and Fish Detection using Neural Network, The 21st International Conference on Control, Automation, and Systems (ICCAS 2021), Jeju, Korea, Oct. 2021.
[C20] M. Sung, S. Rho, Y. Song, and S.-C. Yu, Real-time wireless underwater monitoring system and neural network towards smart management of offshore fish farms, Conference on the Future Technology of Fisheries Science, Busan, Korea, Apr. 2021. [Link]
[C4] M. Sung, Y. Girdhar, and S.-C. Yu, Vision-Based Real-time Fish Detection Using Convolutional Neural Network, OCEANS 2017 MTS/IEEE Aberdeen, Aberdeen, UK, Jun. 2017. [Link]
[DC7] M. Sung, S. Rho, Y. Song, and S.-C. Yu, Development of a wireless underwater system and Neural Network for real-time monitoring of coastal fish farms, The 16th Korea Robotics Society Annual Conference (KRoC 2021), Pyeongchang, Korea, May. 2021.
[DC5] M. Sung and S.-C. Yu, Vision-based Real Time Fish Detection in Gyeongbuk Coast Using Deep Learning, 2020 The Korean Society of Fisheries and Aquatic Science Conference, Jinju, Korea, Jul. 2020.
[DC4] H. Joe, M. Sung, S. Rho, Y. Song and S.-C. Yu, Development of mid-range wireless underwater camera system for smart aqua farming in Gyeongbuk coastal area, 2020 The Korean Society of Fisheries and Aquatic Science Conference, Jinju, Korea, Jul. 2020.
[DC1] M. Sung and S.-C. Yu, Vision based real-time fish detection using convolutional neural network, 2017 Fall Korean Marine Robot Technology Society, Pohang, Korea, Nov. 2017.

Patents

[P17] S.-C. Yu, S. Rho, H. Joe, B. Kim, M. Sung, Y. Song, System for Monitoring Aquafarm, Patent Grant: 10-2383320.
[P13] S.-C. Yu, J. Pyo, H. Joe, B. Kim, S. Song, M. Sung, J. Kim, H. Cho, Underwater Monitoring System and VR Image Providing Method for Underwater Monitoring, Patent Grant: 10-2095009.

Research on Underwater Perception with Variable Depth Sonar (VDS)

LIG Nex 1, Apr. 2021 ~ Oct. 2024

Low-resolution-sonar-based 3D terrain reconstruction and AI-based mine detection for submarines in military operations

Related Publications

Papers

[J3] M. Sung, J. Kim, M. Lee, B. Kim, T. Kim, J. Kim, and S.-C. Yu, Realistic Sonar Image Simulation Using Deep Learning for Underwater Object Detection, International Journal of Control, Automation and Systems, 18, 523-534, 2020.
[C23] M. Sung, and S.-C. Yu, Sonar Image Generation from Underwater Optical Images utilizing Sensor Model and Depth Estimation with Neural Network, Global Oceans 2021: SanDiego-Porto, USA, Oct. 2021.
[DC8] M. Sung, J. Kim, and S.-C. Yu, Sonar-based Underwater Object Detection utilizing Highly Reliable Training Data Simulation Method, The 17th Korea Robotics Society Annual Conference (KRoC 2022), Pyeongchang, Korea, May. 2022.
[DC6] M. Sung and S.-C. Yu, Realistic Sonar Image Simulation Using Generative Adversarial Network and Its Application to Underwater Object Detection, 2020 Fall Korean Marine Robot Technology Society, Pohang, Korea, Oct. 2020.

Patents

[P20] S.-C. Yu, Y. Song, J. Kim, M. Sung, Sonar Image Simulator Device and Underwater Object Detection Device, Patent Grant: 10-2516795
[P19] J. Kim, S.-C. Yu, B. Kim, J. Kim, M. Sung, M. Lee, Y. Song, Method and System for Obtaining 3D Acoustic Volume Model for Underwater Objects, Patent Grant: 10-2456516
[P18] J. Kim, S.-C. Yu, B. Kim, J. Kim, M. Sung, M. Lee, Y. Song, Method and System for Obtaining 3D Optical Volume Model for Underwater Objects, Patent Grant: 10-2456515
[P15] H. Joe, S.-C. Yu, J. Kim, M. Sung, M. Lee, T. Kim, 3D Modeling Method for Undersea Topography, Patent Grant: 10-2186733
[P8] S.-C. Yu, H. Cho, J. Pyo, B. Kim, H. Joe, J, Kim, M. Sung, S. Song, Object Appearance Detection Method using Multi-beam Sonar Camera, Patent Grant: 10-1952291

Research on Digital System for Supporting Diver Fisheries

Ministry of Ocean and Fisheries, May. 2022 ~ Dec. 2023

Development of IoT-based smart buoy and smart sickle to assist "Haenyeo", Korean traditional fishery divers, in fishing activities and respond to emergencies

Related Publications

Papers

[C19] T. Kim, M. Sung, S. Rho, and S.-C. Yu, On-site monitoring and safety support system for HAENYEO’s (Korean traditional women fishery diver) field works, Conference on the Future Technology of Fisheries Science, Busan, Korea, Apr. 2021. [Link]

Papers

[P2] J. Kim, S.-C. Yu, H. Cho, J. Pyo, B. Kim, M. Sung, Underwater Image Processing Device for Object Recognition and Method There of, Patent Grant: 10-1781757

R&D on Coastal Nutrient Concentration Sudden Change Detection System for Enhancing Shellfish Survival

Ministry of Oceans and Fisheries, Apr. 2022 ~ Dec. 2023

Development of an in-situ underwater microscope for plankton observation
Development of a threat prediction model using multi-modal sensor data, including microscopic images, water color, and water quality data

Related Publications

Papers

[C26] M. Sung, Y. Song, S. Rho, S. Song, and S.-C. Yu, Development of an In-situ Underwater Microscope Using Flow-blocking Mechanism for Robust Plankton Observation, The 23rd International Conference on Control, Automation and Systems (ICCAS2023), Yeosu, Korea, Oct. 2023. [Link]

Patents

[P24] S.-C. Yu, S. Song, Y. Song, S. Rho, M. Sung, Retractable Apparatus for Observing Underwater, Patent Grant: 10-2587548
[P22] S.-C. Yu, J. Pyo, T. Kim, M. Sung, Apparatus for Observing Underwater, Patent Grant: 10-2552692
[P3] H. Rho, H. Joe, B. Kim, S. Song, M. Sung, S.-C. Yu, Apparatus for Sampling in the Underwater, Patent Grant: 10-1835703

Safety Support Robot for Underwater Leisure Activities

Ministry of Ocean and Fisheries, Apr. 2022 ~ Dec. 2023

Development of collaborative robots to support underwater leisure activities for divers
Robotic perception technology to assess the posture and condition of divers and drowning victims for rescue operations

Related Publications

Papers

[DC9] M. Sung, and S.-C. Yu, Underwater Sonar Image Generation Method from Terrestrial Scene utilizing Optic and Sonar Sensor Models, 2022 The 37th ICROS Annual Conference (ICROS 2022), Geoje, Korea, June. 2022.

Patents

[P16] S.-C. Yu, T. Kim, J. Kim, M. Sung, Y. Song, S. Rho, M. Lee, Safety Management System for Underwater Worker and Safety Management Method using the Same, Patent Grant: 10-2348012

Research Center for Smart Submerged Floating Tunnel System

Ministry of Science and ICT, Jun. 2017 ~ Dec. 2023

Research on automation technology for the maintenance of submarine tunnels using autonomous underwater vehicles

- Development of an underwater robot simulator

- Sonar-based landmark and anomaly recognition

Related Publications

Papers

[C26] M. Sung, Y. Song, S. Rho, S. Song, and S.-C. Yu, Development of an In-situ Underwater Microscope Using Flow-blocking Mechanism for Robust Plankton Observation, The 23rd International Conference on Control, Automation and Systems (ICCAS2023), Yeosu, Korea, Oct. 2023. [Link]
[C22] J. Kim, S. Song, M. Sung, and S.-C. Yu, Line Laser mounted Small Agent ROV based 3D Reconstruction Method for Precision Underwater Manipulation, Global Oceans 2021: SanDiego-Porto, USA, Oct. 2021. [Link]
[C7] J. Kim, M. Sung, and S.-C. Yu, Development of Simulator for Autonomous Underwater Vehicles Utilizing Underwater Acoustic and Optical Sensing Emulators, 2018 18th International Conference on Control, Automation and Systems (ICCAS 2018), Daegwallyeong, Korea, Oct. 2018. [Link]
[C5] J. Kim, S. Song, M. Sung, and S.-C. Yu, Development of Manipulation Purpose Small Agent Vehicle for UUVs, 2018 OCEANS-MTS/IEEE Kobe Techno-Oceans (OTO), Kobe, Japan, May. 2018. [Link]
[DC2] J. Kim, M. Sung, B. Kim, and S.-C. Yu, Development of simulator for autonomous underwater vehicle utilizing acoustic sensing emulator, 2018 Fall Korean Marine Robot Technology Society, Jinhae, Korea, Nov. 2018.

Patents

[P25] J. Kim, S.-C. Yu, T. Kim, S. Song, Y. Song, J. Kim, M. Sung, A Method for Correcting Position Information of an Underwater Robot Capable of 3D Scanning of an Object Underwater, Patent Grant: 10-2604252
[P23] J. Kim, S.-C. Yu, T. Kim, S. Song, Y. Song, J. Kim, M. Sung, A Method for Controlling an Underwater Robot Capable of 3D Scanning of an Object Underwater, Patent Grant: 10-2581442
[P14] S.-C. Yu, J. Pyo, H. Joe, J. Kim, B. Kim, S. Song, M. Sung, H. Cho, Inspection Method Using Unmanned Underwater Vehicle for Submerged Floating Tunnel, Patent Grant: 10-2099904
[P12] S.-C. Yu, J. Pyo, H. Joe, J. Kim, B. Kim, M. Sung, S. Song, H. Cho, Method and Underwater Robot for Reconstruction of Three-Dimensional Shape of Underwater Object using Sonar Image Data, Patent Grant: 10-2074182

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