AHP method CFD FSI H.O.M.E.R. nozzle ISO 14001 ISO 14598 ISO 9126 Lead-Zirconium-Titanium (PZT) MCDM method MMG Model SHIPMOVE SPH balanced scorecard cavitation coanda effect computational fluid dynamic constitutive model constructal design controllable pitch propeller damaged sensor deflection environmental management system external forces finite element finite element method finite volume method fixed pitch propeller fluid-structure interaction fracture mechanics harmonic excitation