Regular inspections and hull cleanings are essential to prevent bio-fouling on ships. However, traditional cleaning methods such as brush cleaning and high-pressure water-jet cleaning at docks are ineffective in cleaning niche areas like bow thrusters and sea chests. Consequently, cleaning robots based on brushes and water jets have been developed to effectively remove bio-fouling. However, there are concerns that brushes may damage hull coatings, allowing bio-fouling to penetrate the damaged areas. In this study, removal experiments were conducted to identify the most dominant factor in fouling removal using water jet-based cleaning, in preparation for the development of non-contact cavitation high-pressure water jet-cleaning robots. The Taguchi method was used to identify influential factors and generate experimental conditions, and equipment systems for the removal experiments were established. Image analysis was performed to assess the bio-fouling occurrences on each specimen before and after cleaning, and numerical simulations of the nozzle were conducted to estimate stagnation pressure and wall shear stress to confirm the effect on micro-fouling removal. The results indicated that pump pressure is the most influential factor in removing large bio-fouling organisms grown in marine environments and on ship surfaces.

In free-running ship simulations, PID control gains for rudder and propeller revolution are often selected based on empirical experience without a standardized procedure, leading to inconsistent results under varying operational conditions. This study examined PID control gains by implementing a simulation framework using STAR-CCM+. The Ziegler–Nichols tuning method was applied to derive control gains, and their behavior was analyzed across different wave conditions (calm, short, medium, and long waves), PID period condition, ship speeds (low and design speeds), and scale ratios. The simulations showed that the PID gains derived under moderate wave conditions provided stable and reliable control performance across various sea states. Furthermore, the influence of scale ratio changes on the control performance was evaluated, and a non-dimensional scaling formula for PID coefficients was proposed to enhance applicability across different model sizes. Validation against experimental data confirmed the reliability of the simulation setup. These findings offer a systematic guideline for selecting the PID control gains for free-running simulations, promoting improved accuracy and stability under diverse environmental and operational conditions. This research contributes to developing standardized practices for maneuvering performance evaluations in realistic maritime environments.

The propulsion performance and propeller design of ships have traditionally been evaluated mainly under calm-water conditions. However, under actual sea conditions, waves can increase added resistance, change the stern wake distribution, reduce propulsive efficiency, and affect cavitation behavior. This study evaluates the propulsion performance and designs a propeller for an 1800 TEU container ship under regular wave conditions using computational fluid dynamics. Resistance and self-propulsion simulations are conducted for eleven wavelength ratios in the range of $0.5\le \lambda /L_{PP}\le 2.0$, with a fixed wave steepness of $H/\lambda =0.01$. The results show that the required power increases significantly in the resonance wavelength range because of the combined effects of added resistance, wake variation, and reduced propulsive efficiency. The Brake Horsepower (BHP) transfer function obtained from the regular wave simulations is combined with representative sea-state spectra using the spectral method to estimate the Daily Fuel Oil Consumption (DFOC) under actual operating sea states. The total long term DFOC is estimated as 37.084 t/day. For the propeller design, the wake distribution at the propeller plane is analyzed at $\lambda /L_{PP}=1.1$, as a representative wave condition where the ship motion and propulsion performance variation become significant. The wake analysis shows that the instantaneous inflow changes considerably according to the wave phase, which can affect blade loading and cavitation. Based on this analysis, a new propeller geometry is designed with the cavitation performance as the primary consideration while also improving the propulsion performance. The designed propeller reduces the cavity volume over the selected wave phases and decreases the delivered power by approximately 2.1% in calm water and 3.4% in wave conditions. These results demonstrate the importance of considering wake variation and cavitation characteristics in practical propeller design under actual operating conditions.