## 3 Hydrodynamic Characterization of Designed Hulls
The method can achieve a similar sailing performance to that in the real sea environment, and the response characteristics are more realistic than those in a towing tank. One comprehensive measurement system included resistance and self-propulsion tests of a 25-m-long ore carrier \"CSB FORTUNE,\" which were conducted by [PERSON] et al. [80] in the sea near Qingdao, China. Figure 8 illustrates the ship layout, which includes propulsion systems, sensor arrangements, and autopilot systems. A block diagram of two test systems for the actual ocean environment is shown in Figure 9. For the resistance testing procedure, the sea condition during the experiments was measured and recorded to meet the required level. Then, the model was hauled by two winches at a constant speed in the harbor, and a force balance was used to obtain data for 40 s of resistance measurement. For the self-propulsion testing procedure, the test was conducted at sea 5 km from the shore of Qingdao. The first test was performed with zero ship speed to check the propeller torque and measure the wind speed and direction. Then, the model sailed in a fixed direction at a different speed, and the thrust and torque data of the propeller were measured. It was found that the proposed procedure can be used for various applications, including as a guide for other large-scale ship performance tests. In other work using the same large-scale model, [PERSON] et al. [81] studied the self-propulsion test for propulsion performance and the effects of complex wake field environments on propulsion performance. The GPS/INS \begin{table}
\begin{tabular}{c c c c} \hline \hline \multirow{2}{*}{**Year**} & \multirow{2}{*}{**Authors**} & **Observational Subject** & **Sensing Technology and** & **Important Remarks** \\  & & & **and Purpose** & **Instrument** & **\\ \hline \multirow{9}{*}{2017} & \multirow{9}{*}{[PERSON] et al. [77]} & & The sensors of small-scale & \\  & & & laboratory test: wave probes, & \\  & & & strain gauges, pressure sensors, & \\  & & & accelerometers, rotary & \\  & & & potentiometers, and data & \\  & & & collectors & \\  & & A large-scale seakeeping & The sensors for large-scale & \\  & & test at realistic sea & measurement: Ocean & \\  & & conditions of 72,000-ton & environment monitoring sensors, & \\  & & class ship & fiber optic sensor, GPS/INS & \\  & & & system, radio control and & \\  & & & telemetry system & \\  & & & (self-propulsion system, \\  & & & autopilot system, radio & \\  & & & communication system, \\  & & & telemetry system) & \\ \hline \multirow{9}{*}{2019} & \multirow{9}{*}{[PERSON] et al. [78]} & \multirow{9}{*}{Ship performance monitoring system on The Princess Royal vessel} & \multirow{9}{*}{Ship performance monitoring system on The Princess Royal vessel} & \multirow{9}{*}{The sampling frequency selection is crucial for} \\  & & & & \\  & & & & \\  & & & & \\  & & & & \\  & & & GPS sensor/NMEA0183, Draft & \\  & & sensor (Hydrostatic level & \\  & & & pressure transmitters), RPM & \\
2020 & [PERSON] et al. [79] & measurement of a & indicator, Echo sounder, Doppler & \\  & & 200,000-ton bulk cargo ship & log, anemometer, accelerometer, & \\  & & shaft torque sensor (strain & \\  & & gauge), VDR & \\ \hline \hline \end{tabular}
\end{table} 
Table 3: _Cont._integrated navigation system consisted of GPS antennas and an INS core, and a GNSS receiver obtained real-time motion data, including speed, track, heading, roll, pitch, and yaw rate. In the data measurement and acquisition system, the model used non-remote sensing control, which consisted of acceleration sensors, a self-developed instrument, a data collector, and a computer. Furthermore, with the measurement data of the same model as previous studies, [PERSON] et al. [82] investigated the effect of energy-saving devices' (ESDs) application on ship propulsion performance. The interaction mechanism between the hull and the ESDs, including the pre-swirl stator and rudder bulb, was studied in a large-scale ship model.