Abstract: A routing establishing method for constructing a routing of a chain network including communication routers, each including a wired communication module, a wireless communication module, and a device configuration file. In a wired exploration procedure, exploration is performed by the source communication router through the wired communication module to obtain a wired communication status between the source and the destination communication routers. In a wireless exploration procedure, exploration is performed by the source communication router through the wireless communication module to obtain a wireless communication status between the source and the destination communication routers. In a routing decision procedure, next hop of the source communication router and whether the transmission routing is through the wired or the wireless communication module are determined and set according to the wired and the wireless communication status.

Abstract: A marine vehicle includes a hull, a rudder, a propeller, a swirl generator mounting region provided on an outer surface of the hull and located on a port side or a starboard side where a rotation direction of the propeller is downward, and a pre-swirl generator having a swirl creating wedge disposed in the swirl generator mounting region. The swirl generator mounting region is disposed in front of a central axis of the rudder and behind a vertical line spaced from the central axis by a distance that is 0.2 times the length of the vehicle. The swirl creating wedge is inclined with respect to a waterline by an angle (?1) of 13°-45°. The pre-swirl generator can produce a flow guiding effect that enhances propulsive efficiency of the marine vehicle.

Abstract: A marine vehicle includes a hull, a rudder, a propeller, a swirl generator mounting region provided on an outer surface of the hull and located on a port side or a starboard side where a rotation direction of the propeller is downward, and a pre-swirl generator having a swirl creating wedge disposed in the swirl generator mounting region. The swirl generator mounting region is disposed in front of a central axis of the rudder and behind a vertical line spaced from the central axis by a distance that is 0.2 times the length of the vehicle. The swirl creating wedge is inclined with respect to a waterline by an angle (?1) of 13°-45°. The pre-swirl generator can produce a flow guiding effect that enhances propulsive efficiency of the marine vehicle.