소형 선박(<499 GT)이 전체 선박의 46%를 지배하고 있어 상대적으로 많은 CO2 배출가스를 가지고 있다고 결론지을 수 있다. 최 적의 Trim 조건에서 운전하면 선박의 저항을 감소시킬 수 있어 온실가스가 적게 발생할 수 있다. Trim을 최적화하는 가장 저렴한 방법 중 하 나는 최적의 Longitudal Center of Gravity(LCG)를 얻기 위해 무게 분포를 조정하는 것이다. 따라서 본 연구에서는 소형 선박의 저항에 대한 LCG 변화의 영향을 경험적 및 수치적 해석을 통해 연구하고자 한다. 선체를 설계하는 Savitsky 경험식은 Maxsurf Resistance의 방법으로 사용 된다. 수치해석에는 STAR-CCM+ 상용 CFD(Computational Fluid Dynamics) 소프트웨어가 사용되지만 최종적으로 선박 설계 과정 이후 최적의 LCG를 얻기 위해 전체 저항을 비교한다. 결론적으로 Froude Number 0.56에서는 수치해석에 의해 전체 길이(LoA) 46.2%에서 최적의 LCG를 달성하고 Froude Number 0.63에서는 43.4% LoA를 달성하여 29.2% LoA에서 기준점에 비해 최대 41.12% - 45.16%의 상당한 저항 감소를 얻을 수 있다.

Path planning is necessary for mobile robots to perform precise and rapid tasks. A collision avoidance function must be included so that the robot can move safely during work, and it must be able to create an optimal path to reduce work execution time and save energy. In this paper, we propose a smart route generation algorithm that searches for global route with an algorithm that can speed up route search and integrates the TEB algorithm that can search for regional optimum routes in real time according to the situation. The performance of the proposed algorithm was verified through actual driving experiments of mobile robots.

In this study, a high speed planing boat with 7.2 meters in length is developed as the beam larger about 10% by comparing with the general planing boat. The design speed of a boat is 30 knots (about 15.4 m/s) by using 150 hp outboard engine and the main material is FRP. The resistance performance related to the free running attitude as trim and sinkage is discussed and the wave patterns are observed to clear the relationship between the performance and wave characteristics by model test. The turning circle is estimated by Lewandowski´s equation. The results show that not only the wave pattern but also the free running attitude of the boat have the strong influence on a resistance performance. The boat needs smaller engine power and has more stable running attitude because of large sinkage and small variation of trim due to the large area for the lift force and light weight.

In this research, we have calculated characteristics of wave-piercing high-speed planing hull, by using a RANS solver and overset grid method, for comparing with experimental measurements of that and simulating with several appendages, since the computed results of commercial CFD code look reasonable for the prediction of the performances of planing hulls on calm water in planing conditions. As a result, it is confirmed that the dynamic instability phenomena in pitch and heave motions (porpoising) occurred after a certain FnV, and effectively suppressed using some of appendages, especially the 0.5L spray rail is suppressed to 24-55 % in the pitch motion and 33-55 % in the heave motion. In spray phenomenon, 1L hard chine suppress spray effectively and it is effective to set the angle of appendages to be less than 0° in order to suppress wave.