Marine biofouling is a major concern in the operational performance of submerged floating tunnels (SFTs). Within years after construction, marine growth increases effective dimension and mass SFT hence, can substantially affect hydrodynamic forces alter buoyancy-weight ratio (BWR). Therefore, roughness height one most crucial factors influencing SFT. We investigated effects fouling flow behavio...

This paper describes the development of the second‐generation Spherical Underwater Robot (SUR‐II). The new SUR‐II has an improved propulsion system structure, resulting in better performance compared with the original design. This paper focuses on the characteristics of the water‐jet thruster and the spherical hull of the SUR‐II. To analyse its hydrodynamic charac...