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Hydrostatic and Stability
of
Floating Structures
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T A Robert Bronsart
Hydrostatic and Stability
of
Floating Structures
TEXTBOOK
Robert Bronsart
4
Version Date Comment

1.52 April 2016 new printing: new title page
Author: Robert Bronsart

Universitt Rostock
Albert-Einstein-Strae 2
18059 Rostock
Germany
email: info@schiffbaustudium.de
c 2016 Robert Bronsart, Rostock

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This document was typeset using LATEX on April 8, 2016.

Contents
1 Hydrostatic of Floating Objects - Archimedes Law 1

1.1 Co-ordinate System Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 Pressure Distribution in a Fluid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.3 Pressure Distribution on a Freely Floating Object . . . . . . . . . . . . . . . . . . . . . . . 4
1.4 Principles of Lift Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.5 Floating Stages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.6 Effect of Density of Fluid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.7 Exercises and Sample Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.8 Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2 Changes of Floating Position 27

2.1 Object (Ship) Quasi Static Motions in Six Degrees of Freedom . . . . . . . . . . . . . . . . 27
2.2 What is a Small Change in Floating Position? . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.3 Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3 Buoyancy and Gravity 39

3.1 Forces and Moments due to Buoyancy and Gravity . . . . . . . . . . . . . . . . . . . . . . 40
3.2 Small Changes in Floating Position of Intact Ships . . . . . . . . . . . . . . . . . . . . . . 43
3.3 Centroid of Mass out of Midship Plane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.4 Fully Submerged Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3.5 Arbitrary Changes in Floating Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.7 Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4 Trim 61
4.1 Trim Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
4.2 Moment to Alter Trim one Unit Length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.3 Change of Local Draft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
4.5 Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
5 Stability Criteria for Floating Structures 71

5.1 Stability Criteria for Floating Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
5.2 Stability Criteria for Ships Naval Architectural Notations . . . . . . . . . . . . . . . . . 75
5.4 Stability during Docking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
i
ii
5.5 Stability when Grounded . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

5.7 Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
6 Inclining Test 91
6.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
6.2 Floating Condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
6.3 Ship Condition during Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
6.4 Test Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
6.5 Test Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
6.6 Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
7 Cross Curves of Stability 101

7.1 Transverse Location of Centroid of Displaced Volume B . . . . . . . . . . . . . . . . . . 101
7.2 Cross Curves of Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
7.3 Cross Curves of Stability of a Cuboid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
7.4 Wall Side Formula . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
7.5 Form Effect on Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
7.8 Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
8 Righting Arm 115

8.1 Righting Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
8.2 Righting Arm Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
8.3 The Vasa Accident . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
8.4 Influence of Ship Hull Form on Righting Arm . . . . . . . . . . . . . . . . . . . . . . . . . 125
8.5 Centroid of Mass out of Centre Plane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
8.6 Negative GM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
8.7 Updated Stability Criteria . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
8.8 Initial Ship Stability and Roll Period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
8.9 Dynamic Aspects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
8.10 Righting Arm Curve and Dynamic Stability . . . . . . . . . . . . . . . . . . . . . . . . . . 132
8.11 Dynamic Stability Criteria . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
8.13 Canting Keel in Racing Yacht Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
8.14 Righting Arm of Ships in Waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
8.15 Ship Hull Form Influence on GZ Variation . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
8.16 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
8.17 Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
9 Heeling Moments 149

9.1 Heeling Moment Categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
9.2 Shifting the Position of Centroid of Gravity . . . . . . . . . . . . . . . . . . . . . . . . . . 151
9.3 Free Surface Correction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
9.4 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
9.5 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
9.7 Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
10 Standards for Ship Intact Stability 183

10.1 General Aspects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
10.2 IMO Safety Regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
10.3 IMO Intact Stability Code: Purpose and Application . . . . . . . . . . . . . . . . . . . . . 186
10.4 Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
iii
10.5 Stability Criteria . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

10.6 Special Criteria for Certain Types of Ships . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
10.7 Icing Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
10.8 Discussion of the IS-Code Criteria . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
10.9 Summarisation of IS-Code Stability Criteria . . . . . . . . . . . . . . . . . . . . . . . . . . 213
10.10 German Navy Intact Stability Standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
10.11 UK Ministry of Defence: Stability Criteria for Surface Ships . . . . . . . . . . . . . . . . . 221
10.12 United States Navy Intact Stability Standard . . . . . . . . . . . . . . . . . . . . . . . . . . 227
10.14 Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
11 Ship Hull Form Properties 239

11.1 Hull Form Properties for Hydrostatic Calculations . . . . . . . . . . . . . . . . . . . . . . 240
11.2 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
11.3 Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
12 Numerical Interpolation 259

12.1 Polynomial Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
12.3 Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
13 Numerical Integration Methods 277

13.1 Retrospective . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
13.2 Numerical Integration Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
13.4 Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
14 Summary 311
14.1 Archimedes Law . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
14.2 Small Changes in Floating Position: Buoyancy and Gravity . . . . . . . . . . . . . . . . . 312
14.3 Trim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
14.4 Stability Criteria . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
14.5 Inclining Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
14.6 Cross Curves of Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
14.7 Righting Arm Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
14.8 Heeling Moments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
14.9 IMO Intact Stability Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
14.10 Hull Form Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
Bibliography 321
A Appendix 323
A.1 Density of Water . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
A.2 Examples of Ship Hull Form Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
A.3 Beaufort Wind Force Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
A.4 Wind Force and Moment Coefficients . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
A.5 Example of Loading Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
B English German Dictionary 357
Index 365
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List of Figures
1.1 Cartesian coordinate systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.2 Pressure distribution in a fluid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.3 Pressure and buoyant forces acting on a floating object . . . . . . . . . . . . . . . . . . . . . . 4
1.4 Forces due to fluid pressure acting on a SWATH Hull . . . . . . . . . . . . . . . . . . . . . . 5
1.5 Pressure distribution on ship hull with speed v > 0 . . . . . . . . . . . . . . . . . . . . . . . . 7
1.6 Principles of buoyancy (lift) generation (according to Jewell) . . . . . . . . . . . . . . . . . . 8
1.7 Principle floating states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.8 Ship in floating dock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.9 Resting on ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.10 Ewer sailing boat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.11 Gravity based structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.12 Offshore wind farm installation vessel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.13 Tension leg platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.14 Freeboard mark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.15 Pontoon, centroid of mass out of symmetry plane . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.16 Load scale of a container vessel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.1 Ship motions: six degrees of freedom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

2.2 Change in draught T and rotation about the axis . . . . . . . . . . . . . . . . . . . . . . 29
2.3 Rotation of centre of buoyancy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.4 Large change of water plane shape due to small trim . . . . . . . . . . . . . . . . . . . . . . . 33
2.5 Modern container ship hull form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.6 Change of water plane shape due to a small heel angle . . . . . . . . . . . . . . . . . . . . 34
3.1 Rotation of centre of weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

3.2 Ship water plane with principle coordinate system . . . . . . . . . . . . . . . . . . . . . . . . 45
3.3 Ship cross sectional view; Gravity and Buoyancy . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.4 Ship side view: longitudinal metacentre M L . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.5 Ship cross sectional view: centroid of mass off centre plane . . . . . . . . . . . . . . . . . . . 50
3.6 Fully submerged object: centroid of displaced volume and metacentre . . . . . . . . . . . . . 51
3.7 Pontoon: mooring line pulling vertically . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.1 Definition of trim (t) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

4.2 Resulting trim due to load at position x L . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
4.3 Trim monogram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
4.4 Trim monogram for a pontoon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
v
vi LIST OF FIGURES
5.1 Work required to increase draught by T . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

5.2 Ship cross sectional view: upright floating position . . . . . . . . . . . . . . . . . . . . . . . . 76
5.3 Ship side view: location of longitudinal metacentre M L . . . . . . . . . . . . . . . . . . . . . 76
5.4 Ship cross sectional view: stable and instable floating condition . . . . . . . . . . . . . . . . 77
5.5 Example of payload with high centroid of mass . . . . . . . . . . . . . . . . . . . . . . . . . . 78
5.6 Exploration platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
5.7 Stable and unstable floating condition for a fully submerged object . . . . . . . . . . . . . . . 80
5.8 Docking of a vessel: critical situations to be observed . . . . . . . . . . . . . . . . . . . . . . . 81
5.9 Dock ship Super Servant 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5.10 Dock ships in operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5.11 Ship grounded: local support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
6.1 Hull deflections: hogging and sagging conditions . . . . . . . . . . . . . . . . . . . . . . . . . 92

6.2 Inclining test: list angle as function of heeling moment . . . . . . . . . . . . . . . . . . . . . . 95
6.3 Approval of inclining test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
7.1 Vessel with larger angle of heel but no trim . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

7.2 Vessel with trim but no heel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
7.3 Coordinate systems with trim and heel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
7.4 Wall sided ship hull form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
7.5 Circular hull form in heeled position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
7.6 Effect of hull form on stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
7.7 Fully submerged object: cross curve of stability . . . . . . . . . . . . . . . . . . . . . . . . . . 109
8.1 Righting arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

8.2 Righting arm curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
8.3 Righting arm in the range of heeling angles 0 360 . . . . . . . . . . . . . . . . . . . . 119
8.4 Capsized ships, stable afloat at 180 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
8.5 Righting arm for heeling to Port and Starboard side . . . . . . . . . . . . . . . . . . . . . . . 120
8.6 Upsetting and righting arms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
8.7 Rigthing arm cure: capsizing due to upsetting moment maximum angle of list . . . . . . . 122
8.8 The warship Vasa: hull cross section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
8.9 Model of the warhip Vasa and situation at capsizing . . . . . . . . . . . . . . . . . . . . . . 124
8.10 Righting arm curve for vessel with centroid of mass off centre . . . . . . . . . . . . . . . . . 126
8.11 Angle of list for vessel with small negative GM at = 0 . . . . . . . . . . . . . . . . . . . . . 127
8.12 Ship dynamically heeling back . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
8.13 Dynamic aspects: energy to roll the vessel to an angle . . . . . . . . . . . . . . . . . . . . . 130
8.14 Heeling due to wind moment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
8.15 Dynamically acting heeling moments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
8.16 Dynamic heeling angle and capsizing condition . . . . . . . . . . . . . . . . . . . . . . . . . . 132
8.17 Dynamic heeling and angle of downflooding . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
8.18 Righting arm curve of a fully submerged object . . . . . . . . . . . . . . . . . . . . . . . . . . 134
8.19 Racing Yacht with Canting Keel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
8.20 Righting arm curve of yacht with canting keel . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
8.21 Profile of water surface at ship hull due to longitudinal waves . . . . . . . . . . . . . . . . . 136
8.22 Wave profiles for crest and trough condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
8.23 Model test in waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
8.24 Righting arm oscillations in waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
8.25 Periodical changes of righting arm in regular longitudinal waves . . . . . . . . . . . . . . . . 138
8.26 Righting arm curves of two hull form alternatives . . . . . . . . . . . . . . . . . . . . . . . . 138
8.27 Heeling and righting arm curves of two hull form alternatives . . . . . . . . . . . . . . . . . 139
9.1 Transverse shift of load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

9.2 Large angle of list due to transverse shift of load . . . . . . . . . . . . . . . . . . . . . . . . . 152
9.3 Vertical shift of load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
LIST OF FIGURES vii
9.4 Crane operation with suspended load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

9.5 Bulk cargo: effect of angle of rest on heeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
9.6 Bulker: barley loading in a partially filled cargo hold . . . . . . . . . . . . . . . . . . . . . . . 158
9.7 Free surface of partially filled tanks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
9.8 Ship in very heavy sea . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
9.9 Heeling moment due to wind . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
9.10 Wind forces and moments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
9.11 Container vessel: non-dimensional wind force and moment . . . . . . . . . . . . . . . . . . . 165
9.12 Heeling due to beam wind . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
9.13 Sea spray icing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
9.14 Reduction of ship stability characteristics due to icing . . . . . . . . . . . . . . . . . . . . . . 167
9.15 Centrifugal forces acting on a turning ship . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
9.16 Tugboat almost capsized by being towed transversely . . . . . . . . . . . . . . . . . . . . . . 169
9.17 Heeling forces acting on a tugboat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
9.18 Anchor forces acting on a vessel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
10.1 Selected IMO Regulations for Ship Safety, Status 2013 . . . . . . . . . . . . . . . . . . . . . . 186
10.2 IMO IS-Code: General stability criteria based on GZ-curve . . . . . . . . . . . . . . . . . . . 189
10.3 IMO IS-Code: Severe wind and rolling criterion . . . . . . . . . . . . . . . . . . . . . . . . . . 190
10.4 Modern ship hull form with large stern overhang . . . . . . . . . . . . . . . . . . . . . . . . . 198
10.5 Definition of parameter for calculating corrected depth D . . . . . . . . . . . . . . . . . . . . 200
10.6 Ship with timber load on deck . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
10.7 Offshore supply vessel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
10.8 Mobile offshore drilling unit types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
10.9 Mobile Offshore Units: Upsetting and righting arm . . . . . . . . . . . . . . . . . . . . . . . . 205
10.10 Examples of ice formation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
10.11 Geographical areas of icing conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
10.12 Righting arm curve dependent on wave profile . . . . . . . . . . . . . . . . . . . . . . . . . . 212
10.13 German Navy stability criteria . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
10.14 UK Navy stability standard: beam wind criterion . . . . . . . . . . . . . . . . . . . . . . . . . 223
10.15 Upsetting moment criteria . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
10.16 Breaking wire criterion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
10.17 U.S. Navy stability standard: wind heel criterion . . . . . . . . . . . . . . . . . . . . . . . . . 229
10.18 Weight lifting criterion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
10.19 Towline pull heel criterion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
10.20 Weight of ice load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
11.1 Coordinate system and station positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

11.2 Ship hull from cross section at two stations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
11.3 Example of bonjean curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
11.4 Hull deflections: Hogging and Sagging conditions . . . . . . . . . . . . . . . . . . . . . . . . 245
11.5 Station plans and sectional are curves for a container vessel and a tanker . . . . . . . . . . . 246
12.1 Example offset data of a water plane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

12.2 Example of an interpolated function: required power vs. vessel speed . . . . . . . . . . . . . 260
12.3 Maximum capacity of container vessels as function of year of delivery . . . . . . . . . . . . . 260
12.4 Polygonal representations of ship hull form . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
12.5 Container vessel daily charter rates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
12.6 Righting Arm Curve GZ = f ( ) and GM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
12.7 Lagrange Factors of interpolated polynomial function . . . . . . . . . . . . . . . . . . . . . . 273
13.1 Planimeter to be used for manual integration of an area . . . . . . . . . . . . . . . . . . . . . 278

13.2 Numerical integration based on Rectangular Rule . . . . . . . . . . . . . . . . . . . . . . . . 279
13.3 Numerical integration based on Trapezoidal Rule . . . . . . . . . . . . . . . . . . . . . . . . . 280
13.4 Three equally spaced offsets of a function to be integrated . . . . . . . . . . . . . . . . . . . . 282
viii LIST OF FIGURES
13.5 Odd number of pairwise equally spaced offsets to be integrated by Simpsons Rule . . . . . 283
13.6 Geometrical interpretation of Simpsons First Rule . . . . . . . . . . . . . . . . . . . . . . . . 284
13.7 Four equally spaced offsets to be integrated by Simpsons Second Rule . . . . . . . . . . . . 284
13.8 Integration of one interval: Simpsons Third Rule . . . . . . . . . . . . . . . . . . . . . . . . . 285
13.9 Reference axis for moments of a region . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
13.10 Reference axis through centroid of area: xs , ys . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
13.11 Region G bounded by f 1 ( x ), f 2 ( x ), x1 and x2 . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
13.12 Waterline to be integrated with help of Simpsons Rules . . . . . . . . . . . . . . . . . . . . . 291
13.13 First and second order moment (Mx , Ix ) about the y-axis . . . . . . . . . . . . . . . . . . . . . 292
14.1 Ship changes in floating position: 3 DOF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312

14.2 Stability criteria righting arm curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
14.3 Vessel with larger angle of heel: location of G , B = KN and distance GZ . . . . . . . . . . 315
14.4 Righting arm curve over a full range of . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
14.5 Heeling and righting arm curves of two hull forms in longitudinal waves . . . . . . . . . . . 316
14.6 IMO IS Code: General intact stability criteria for all ships . . . . . . . . . . . . . . . . . . . . 317
14.7 IMO IS Code: Severe wind and rolling criterion: weather criterion . . . . . . . . . . . . . . . 317
14.8 Coordinate system to calculate hull form properties . . . . . . . . . . . . . . . . . . . . . . . 318
A.1 Station geometry properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324

A.2 Station plan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
A.3 Station plan of vessel Mercator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
A.4 Cross curves of stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
A.5 KN values as function of heeling angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
A.6 Curves of form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
A.7 Ship hull form parameter as function of draught . . . . . . . . . . . . . . . . . . . . . . . . . 331
A.8 US Navy Torpedo Weapon Retriever (TWR 841) . . . . . . . . . . . . . . . . . . . . . . . . . . 332
A.9 Station plan of TWR 841 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
A.10 Hull form, lines in forward and aft region . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
A.11 Container ship: non-dimensional wind force and moment coefficients . . . . . . . . . . . . . 337
A.12 Empty floating dock: non-dimensional wind force and moment coefficients . . . . . . . . . 338
A.13 Floating dock with bulk carrier: non-dimensional wind force and moment coefficients . . . 339
A.14 Tank arrangement plan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
A.15 Light ship weight distribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
A.16 Storage at departure, payload of 2081 TEU, 14 t each . . . . . . . . . . . . . . . . . . . . . . . 348
A.17 GZ-curve at departure: IS-Code parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
A.18 Longitudinal strength data at departure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
A.19 Storage at arrival, payload of 2081 TEU, 14 t each . . . . . . . . . . . . . . . . . . . . . . . . . 352
A.20 GZ-curve at arrival: IS-Code parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
A.21 Longitudinal strength data at arrival . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
List of Tables
4.1 Hull form properties of a container vessel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
6.1 Excerpt of inclining test protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

6.2 Hull form properties during inclining test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
6.3 Items to go from and onboard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
6.4 Result of inclination test: KG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
6.5 Result of inclination test: maximum deadweight . . . . . . . . . . . . . . . . . . . . . . . . . 97
9.1 Angle of rest for different bulk loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

9.2 Free surface correction in inclining test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
9.3 Free surface correction in loading manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
9.4 Heeling moments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
10.1 IMO IS-Code weather criterion, factor k . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

10.2 IMO IS-Code weather criterion, factor X1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
10.3 IMO IS-Code weather criterion, factor X2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
10.4 IMO IS-Code weather criterion, factor s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
10.5 Calculating free surface corrections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
10.6 Wind pressure for fishing vessels to be used for weather criterion . . . . . . . . . . . . . . . 202
10.7 MODU Stability Code: wind drag coefficient . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
10.8 MODU Stability Code: wind velocity profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
10.9 IMO IS-Code stability criteria for different ship types . . . . . . . . . . . . . . . . . . . . . . . 214
10.10 BV1030-1: Wind pressure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
11.1 Floation condition during inclinig test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

11.2 Section areas taking hull deflection into account . . . . . . . . . . . . . . . . . . . . . . . . . . 253
11.3 Area properties of hull form cross sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
13.1 Offset positions according to Tchebycheffs Rules . . . . . . . . . . . . . . . . . . . . . . . . . 286

13.2 Offset positions and multipliers according to Gaussian Quadrature formula . . . . . . . . . 287
13.3 Comparison of results, difference is result Simpson - exact value . . . . . . . . . . . . . 297
A.1 Density of fresh and sea water . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323

A.2 Salinity of water . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
A.3 Hull offset table of aft region . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
A.4 Hull offset table of forward region . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
A.5 Hull form properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
ix
x LIST OF TABLES
A.6 Cross curves of stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328

A.7 Offset table for TWR 841 hull form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
A.8 Beaufort wind force scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
A.9 Data of vessels in wind tunnel tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
A.10 Wind loading coefficients for a container ship . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
A.11 Wind loading coefficients for an empty floating dock . . . . . . . . . . . . . . . . . . . . . . . 338
A.12 Wind loading coefficients for a floating dock with bulk carrier . . . . . . . . . . . . . . . . . 339
A.13 Loading conditions to be checked against the IS-Code requirements . . . . . . . . . . . . . . 344
A.14 Storage at departure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
A.15 Storage at arrival . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
A.16 Container Storage at departure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
A.17 Total weight at departure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
A.18 GZ-curve at departure condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
A.19 Stability criteria according to IS-Code requirements at departure . . . . . . . . . . . . . . . . 351
A.20 Total weight at departure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
A.21 GZ-curve at arrival condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
A.22 Stability criteria according to IS-Code requirements at arrival . . . . . . . . . . . . . . . . . . 354
List of Symbols and Acronyms
For a comprehensive list of symbols used in naval architectural calculations refer to the ITTC
document ([13]).
For SI-units holds: Dimension symbol Unit symbol

L m
M kg
T s
L3 displaced volume, generally on mould lines

A L3 displaced volume of shell plating
ACW L L3 displaced volume of shell plating at design draft
CW L L3 displaced volume at design draft
F L3 displaced volume in fresh water
S L3 displaced volume on moulded lines; displaced volume in sea water
drift angle
M/( L2 T 2 ) specific weight (unit weight) (= g)
M Displacement ( = )
GM L change of metacentric height
L3 small change of displaced volume
small rotation about or x-axis: heel
small rotation about or y-axis: trim
B ML/T 2 small change of buoyancy
MB ML2 /T 2 small change of moment due to buoyancy about axis
MB ML2 /T 2 small change of moment due to buoyancy about axis
R x ML2 /T 2 small change of moment about ship principle transverse axis
Ry ML2 /T 2 small change of moment about ship principle longitudinal axis
Rz ML/T 2 small change of force in ship vertical direction
R ML2 /T 2 small change of moment due to buoyancy and gravity about axis
R ML2 /T 2 small change of moment due to buoyancy and gravity about axis
R ML/T 2 small change of resulting force due to buoyancy and gravity
in global vertical direction
T L small translation in global vertical direction: change of draft
xi
xii List of Symbols and Acronyms
angle of attack of apparent wind

L coordinate value in direction of -axis
B L centroid of buoyancy in direction of -axis
G L centroid of gravity in direction of -axis
, , coordinate system related to the fluid surface,
, define plane parallel to fluid surface, orthogonal to fluid surface
B L centroid of buoyancy in direction of -axis, see KN
w L centroid of water plane in direction of -axis
rotation about z-axis (-axis) yaw
in wall-side-formula: expresses the effect of a hull form not being wall sided
L wave length
B L centroid of buoyancy in direction of -axis
w L centroid of water plane in direction of -axis
M/L3 density of fluid, not further specified
air M/L3 density of air ( 1.25 kg/m3 )
F M/L3 density of fresh water (1000 kg/m3 ),
for precise values as function of temperature see Table A.1
S M/L3 density of sea water (1025 kg/m3 )
for precise values as function of temperature see Table A.1
T M/L3 density of fluid in tank
W M/L3 density of water, not further specified
angle of rotation about x-axis (-axis) heeling
dyn dynamic heeling angle
list angle of list
stat static heeling angle
statmax maximum static heeling angle
f angle of downflooding
1/T roll velocity
1/T 2 roll acceleration
angle of rotation about y-axis (-axis) trim
1/T roll eigenfrequency
6-DOF six degrees of freedom: 3 translations and 3 rotations
A L2 area
AF L2 frontal projected area (to calculate wind forces)
AL L2 lateral area exposed to wind (to calculate wind forces)
AM L2 area of immersed hull cross section at midship position
Aw L2 water plane area including approximated shell plating
AwS L2 water plane area on mould lines
A X , AST L2 area of immersed hull cross section at position x
B ML/T 2 buoyancy force
B symbol for centroid of buoyancy
B L ship moulded breadth
BL base line
BM L vertical distance of M from B, (transverse) metacentric radius
BM L L vertical distance of M from B, longitudinal metacentric radius
BN Beaufort number according to Beaufort wind scale
List of Symbols and Acronyms xiii
C form factor as defined in the IS-Code Chapter 4: Special Criteria for

Certain Types of Ships: 4.9 Containerships greater than 100 m
CC non dimensional coefficient of cross force acting orthogonal to wind direction
CD non dimensional coefficient of force acting in wind direction
CX non dimensional coefficient of force acting in ship longitudinal direction
CY non dimensional coefficient of force acting in ship transverse direction
CN non dimensional coefficient of yawing moment about z-axis
CK non dimensional coefficient of heeling moment about x-axis
CL centre line
CWL water line at design draft
c L/T wave phase velocity
cB block coefficient
cD drag coefficient
c X (c M ) (midship) section area coefficient
cP prismatic coefficient (c B /c M )
cV P vertical prismatic coefficient (c B /cW P )
cW P water plane coefficient
D L ship moulded depth
DOF degree of freedom to move or rotate an object
D L ship moulded depth, corrected for hatch coamings
as defined in IS-Code Chapter 4: Special Criteria for Certain Types of Ships
4.9 Containerships greater than 100 m
E ML2 /T 2 energy, here equivalent to area under righting arm curve
E30 L area under righting arm curve in range of 0 30
(unit is L radian L!)
ET M moment to alter trim by one meter
F ML/T 2 force
FB ML/T 2 force acting on keel blocks
FG ML/T 2 force acting on ground
FL ML/T 2 force to lift object from ground
Fn ML/T 2 force acting normal to the body surface
FT ML/T 2 force acting in tension legs
Fv ML/T 2 force acting in vertical direction
g L/T 2 gravitational acceleration constant (9.81 m/s2)
G ML/T 2 gravity
G symbol for centroid of mass distribution
GB L vertical distance between G and B
GM L vertical distance between G and M, (transverse) metacentric height
(GM = KB + BM KG = KM KG)
GMcorr L GM correction due to free fluid surfaces in partially filled tanks
GMR L reduced metacentric height: including free surface correction
GM0 L initial metacentric height
GM L L vertical distance between G and M L , longitudinal metacentric height
(GM L = KB + BM L KG = KM L KG)
GZ L righting arm for calm water condition (no waves), minimum distance between
the action lines of the buoyancy and gravity vectors
GZn L righting arm at heeling angle of n degrees
GZcw L righting arm curve in clam water
GZcrest L righting arm curve for wave crest at midships
GZmax L maximum righting arm
GZtrough L righting arm curve for wave trough at midships
xiv List of Symbols and Acronyms
H L wave height
H L vertical centre of lateral area above water surface
h L water depth;
local change of fluid surface;
height above water surface;
distance between two adjacent offsets
I L4 water plane moment of inertia about -axis
I S L4 water plane moment of inertia about the principle -axis
I L4 water plane moment of inertia about -axis
I S L4 water plane moment of inertia about the principle -axis
I L4 water plane product moment of area,
in - coordinate-system
IS L4 water plane product moment of area, about principle - co-system
IFys L4 moment of inertia of free fluid surface in transverse direction
Ix L4 water plane moment of inertia about y-axis
Ix S L4 water plane moment of inertia about the principle y-axis
Ixy L4 product moment of water plane area,
IxyS L4 product moment of water plane area in principle x - y co-system
Iy L4 water plane moment of inertia about x-axis
Iy S L4 water plane moment of inertia about the principle x-axis
in x-y coordinate-system
IL L4 water plane longitudinal moment of inertia
IT L4 water plane transverse moment of inertia
IMO International Maritime Organization
IS-Code Intact Stability Code of the International Maritime Organization
K Keel point: the intersection of centre line CL and base line BL in a station view
KB L vertical distance of B from K, position of vertical centroid of buoyancy
KG L vertical distance of G from K, position of vertical centroid of mass
KM L vertical distance of M from K, (transverse) metacentre
KM L L vertical distance of M L from K, longitudinal metacentre
KN ( ) L cross curve of stability (= B ( ))
k L heeling, upsetting arm, generally function of (Mk ( )/B)
k L roll radius of gyration
L L ship length, not further specified
LA L distance between aft and forward draft marks,
measured in the ship longitudinal direction
LCW L L ship length at design draught TCW L
L pp L ship length between perpendiculars
Loa L ship length over all
Lwl L ship waterline length (= f ( T ))
LCB L longitudinal centroid of buoyancy
LCF L longitudinal centre of floatation,
centroid of water plane area
LCG L longitudinal centre of gravity, centroid of mass
LLC International Load Line Convention, IMO Safety Regulation
l L transverse distance, suspension length
lw{1,2} L wind heeling lever, defined in IS-Code weather criterion
M (transverse) metacentre, location on centre line
M L4 vertical moment of displaced volume ( M = B )
MA ML2 /T 2 heeling moment due to anchor cable
MB{ x,y} ML2 /T 2 moment of buoyancy force about y-axis, about x-axis
MB{, } ML2 /T 2 moment of buoyancy force area about -axis, about -axis
List of Symbols and Acronyms xv
MF ML2 /T 2 heeling moment due to free fluid surfaces in tanks

MG{ x,y} ML2 /T 2 moment of gravity force about y-axis, about x-axis
MG{, } ML2 /T 2 moment of gravity force area about -axis, about -axis
Mk ML2 /T 2 upsetting, heeling moment, generally function of
ML ML2 /T 2 longitudinal metacentre (location on centre line)
MP ML2 /T 2 heeling moment due to crowding of people
MSTn L3 vertical moment of immersed part of station n
MT ML2 /T 2 heeling moment due to turning or due to towing hawser
MY ML2 /T 2 yawing moment
My L4 transverse moment of displaced volume due to an angle
MW0 ML2 /T 2 wind heeling moment in upright position
Mw{ x,y} L3 moment of water plane area about y-axis, about x-axis
Mw{, } L3 moment of water plane area about -axis, about -axis
Mz L4 vertical moment of displaced volume due to an angle
m M mass
my L3 local transverse moment of immersed station area due to an angle
at longitudinal position x
mz L3 local vertical moment of immersed station area due to an angle
at longitudinal position x
N - in a station view: intersection of line through K parallel
to the water surface and the action line of the buoyancy vector
PORT, PS port side
p M/( T 2 L) pressure (1 Pa = 1 N/m2)
pW M/( T 2 L) wind pressure
p0 M/( T 2 L) air pressure
R ML2 /T 2 resulting moment due to buoyancy and gravity about axis
R ML2 /T 2 resulting moment due to buoyancy and gravity about axis
R ML/T 2 resulting force due to buoyancy and gravity in vertical direction
rT L radius of turning circle
S hydrostatic matrix of a freely floating object, relates changes in forces
and moments due to buoyancy and gravity to changes of T, ,
SAC section area curve
SOLAS International Convention for the Safety of Life at Sea, IMO Safety Regulation
STB, STBD starboard side
T L moulded draft
T T natural period of roll
TAP L moulded draft at aft perpendicular
TCW L L moulded design draft
TSCL L moulded draft for calculation of scantlings
TFP L moulded draft at forward perpendicular
TCB L transverse centre of buoyancy, centroid of buoyancy in transverse direction,
equal to zero for symmetrically shaped ship hull forms floating without list
TCF L transverse centre of flotation, centroid of water plane area in transverse
direction, equal to zero for symmetrically shaped ship hull forms
floating without list
TCG L transverse centre of gravity, centroid of mass in transverse direction,
equal to zero for symmetrically designed ships
t L trim (TFP TAP )
u L/T (mean) wind velocity
uz L/T wind velocity at height z above the (water) surface
v L/T vessel speed
xvi List of Symbols and Acronyms
vred L/T reduced speed in turning circle

vrel L/T relative velocity between wave phase velocity and ship speed
vT L/T speed of transverse ship motion (while being towed)
W ML2 /T 2 work, here to be applied to change a floating position
X ML/T 2 wind induced force in ship longitudinal direction
x L x-coordinate in the floating objects longitudinal direction
xB L centroid of buoyancy in the floating objects longitudinal direction (LCB)
x G , XCG L centroid of gravity in the floating objects longitudinal direction (LCG)
xW L centroid of water plane area in the floating objects longitudinal direction (LCF)
Y ML/T 2 wind induced force in ship transverse direction
y L y-coordinate in the floating objects transverse direction
yB L centroid of buoyancy in the floating objects transverse direction, see TCB
y G , YCG L centroid of gravity in the floating objects transverse direction, see TCG
yW L centroid of water plane area in the floating objects transverse direction, see TCF
ywl L offset data (y wl = f ( x, T, t):
distance from centre plane to local breadth of water plane
z L z-coordinate in the floating objects vertical direction
z L centroid of displaced volume in the floating objects vertical direction
zB L centroid of buoyancy in the floating objects vertical direction (KB)
z G , ZCG L centroid of gravity in the floating objects vertical direction (KG)
zM L location of metacentre in the floating objects vertical direction (KM)
z ML L location of longitudinal metacentre in the floating objects vertical direction (KM L )
xvii
Acknowledgements
Many people helped in writing this textbook and I am grateful to all of them. Without their
valuable contributions I would not have been able to finish the work. Many of the chapters
are based on Heinrich Sdings work, which was first published in 1975 as Report No. 11:
Schwimmfhigkeit und Stabilitt von Schiffen of the Lehrstuhl und Institut fr Entwerfen
von Schiffen und Schiffstheorie at the University of Hannover.
The shipyards Flensburger Schiffbau-Gesellschaft, Aker Yards and Volkswerft Stralsund con-
tributed to the textbook by supplying data, documents and pictures from selected ships they
have designed and successfully delivered to their customers.
Eva Binkowski, Lutz Kleinsorge, Gernot Knieling, Jonas Wagner and Michael Zimmermann
helped to improve the document by proofreading and giving many suggestions to make the
textbook clearer and more useful. Some of the exercises were supplied by them, knowing how
students are best aided to understand the topics. Sebastian Nostheide helped to typset the
document with LATEX.
To improve the understanding for the reader, Michael Vogt from the research group Instruc-
tion and Interactive Media of the University of Gieen thoroughly reviewed some of the
chapters based on his didactic background.
Request for Comments

Please help us to improve future editions of this textbook by reporting any errors, inaccuracies,
misleading or confusing statements and typos that you find anywhere in this document. Please
also let us also know what can be done to make this textbook more useful to you and your col-
leagues. We take your comments seriously and will try to incorporate reasonable suggestions
into future versions.
Robert Bronsart
June 2015
xviii
Preface
Hydrostatic and Stability play an utmost important role for all floating objects Naval Ar-
chitects and Ocean Engineers design and Mariners operate. Whereas the term Hydrostatic
stands for the effects of forces acting on floating objects, sometimes yielding to moments which
can cause considerable changes of e.g. heel, the term Stability is related to ship safety in that
conditions are dealt with which might cause catastrophic accidents if not handled carefully.
This textbook covers the topics of hydrostatic and intact stability of floating structures which
are taught in the course Ship Hydromechanics I of the undergraduate programme in Me-
chanical Engineering at the University of Rostock. Students who seek a professional career in
the maritime industry are strongly recommended to take this course. The fundamental prin-
ciples are discussed in a way being applicable to any floating object irrespectively how these
objects are called according to e.g. the function they serve. In a second step, the special con-
ditions which can be applied for intact ships are derived. This approach serves to develop a
sound understanding of the mechanical basics and at the same time to understand what ships
and offshore structures makes special in this context.
The reader is offered a set of questions for each chapter which he/she should answer to fully
understand the corresponding topics dealt with. The given exercises, some of them with ex-
ample solution, also serve to better understand the different aspects which are relevant for all
floating structures. According to the experience made over the last two decades, students are
highly encouraged to carefully study the textbook before signing up for an exam!
In some chapters reference is made to regulations each ship or offshore structure has to comply
with in operation and which have to be checked in the design process already. As these regula-
tion are subject to changes, potentially more frequently than new versions of this textbook will
be released, the reader is encouraged to always refer to the actual official documents which are
made available by IMO or by the related national bodies.
Document Structure
The document is structured in a sequence of 13 modules, each addressing special aspects
which are relevant in the context of ships and floating structures hydrostatic and stability
characteristics (see also the outline on the title page). Whereas the first ten chapters deal with
different hydrostatic and stability topics, the last three chapters were added to describe some
basics about ship hull form properties relevant for the evaluation of the vessels hydrostatic
characteristics. Additionally some basic mathematical methods for performing the numerical
interpolation and integration to derive these values are shown. In the appendix, examples of
ship hull forms with corresponding hull form properties are given. Furthermore wind force
coefficients for selected ships are presented.
In Chapter 1 the Archimedes Principle is introduced which represents one of the most impor-
tant physical laws relevant in ship design. Furthermore two coordinate systems are introduced
which are used throughout the whole document. In Chapter 2 it is shown how forces and mo-
ments due to buoyancy acting on a floating object change when the initial floating position of
the object is changed. The equations developed are based on the assumption that the changes in
floating position are small. The term small is discussed and by this it is shown that specially
modern ship hull forms do not justify this assumption in any case.
xix
In Chapter 3 the investigations on forces and moments due to changes in floating position are
completed in that the gravity force and moments due to gravity are also considered. The result
is the hydrostatic matrix applicable for any floating object which relates forces and moments to
changes in the three relevant degrees of freedom namely change in draught and rotation about
the two principle coordinate axes defining a plane parallel to the undisturbed fluid surface and
vice versa. In a following step the hydrostatic matrix is discussed for symmetrically shaped
objects (which might be called ships) with which the set of three equations can be decoupled
with respect to the three relevant degrees of freedom. The naval architectural terms are intro-
duced, among them the metacentre which plays an utmost important role in the hydrostatic
stability characteristics of ships. A method to calculate the changes in floating position without
the requirement of these being small is described. The effect of moments about the transverse
principle axis which lead to trim is discussed in Chapter 4.
Stability criteria for floating objects are derived in Chapter 5 leading to a set of three equations
and three inequations which hold for all objects being in a stable equilibrium state. It is shown
how these criteria can be interpreted for ships yielding to the important statement that the
initial metacentric height has to be larger than zero. Special aspects like fully submerged
objects and stability during docking or when grounded are shown. The importance of the
vertical centre of gravity on the stability is underlined leading to the discussion of the inclining
test in Chapter 6. Based on a protocol of an inclining test for a real ship, the procedure is
described and the results achieved are discussed.
In Chapter 7 forces and moments due to buoyancy are described which act on a ship being
afloat at a heeling angle of any value. It is shown how the cross curves of stability are being
calculated and which special conditions hold for fully submerged objects. The righting lever
expressing the ships capability to withstand an upsetting moment is introduced in Chapter 8 in
which all aspects of the righting arm curve are described. The VASA accident is discussed as
an example showing the righting and upsetting moments acting on a ship over a large range of
heel. The influence of the ship hull form on the righting arm curve is shown which is specially
to be considered when taking waves into account. As a result, the stability criteria developed in
Chapter 5 are updated. The effect of dynamic aspects due to roll motions is explained, by this
the relevance of the righting arm curve for the evaluation of the ship stability characteristics
becomes obvious.
Upsetting, heeling moments are discussed in Chapter 9. Formulae are given which serve to
calculate the moments due to the shifting of the centroid of gravity as well as environmental
and operational aspects. Furthermore the important effect of free surfaces of partially filled
tanks on the initial stability is derived. Stability criteria as defined in the IMO Intact Stability
Code and for the German, UK and U.S. navies are discussed in detail in Chapter 10.
In Chapter 11 it is shown how the relevant characteristics of ship hull forms with respect to
the hydrostatic and stability performance can be calculated as a function of draught or loading
condition. The principal methods applied for this are described in the following two Chapters
12 and 13 in which numerical interpolation and numerical integration methods are developed.
The final chapter 14 summarises important equations and functions in form of a formulary.
In the appendix water density data as well the Beaufort Wind Scale are given. Exemplary ship
station plans are shown with corresponding offset tables and hull form properties as function
of draught. Wind loading coefficients are tabulated for selected ships. The discussion of sec-
tions of an example stability booklet shows how the compliance with IMO stability criteria is
documented for a ship.
Hydrostatic of Floating Objects -
1
Archimedes Law
Archimedes by Domenico Fetti, 1620

Alte Meister Museum, Dresden
The fundamental physical law of the static behavior of an object, wholly or partially immersed
in a fluid, is known as the Archimedes Law or Archimedes Principle. Archimedes (287 BC
212 BC) was a Greek mathematician, physicist, engineer, astronomer and philosopher born in
the Greek seaport colony of Syracuse. He is considered by some math historians to be one of
historys greatest mathematicians, along with possibly Newton, Gauss and Euler.
The reader learns which basic conditions have to be fulfilled for an object in a freely floating
equilibrium condition. The principle difference between the two fundamental co-ordinate sys-
tems (one related to the floating object, the other related to the water plane) is discussed. The
pressure distribution in a fluid at rest and the buoyancy force is introduced. Different prin-
ciples of lift generation are discussed with help of corresponding actual ship designs. The
Archimedes Principle is derived leading to one of the most important equations in Naval Ar-
chitectural calculations. The influence of the water density on the floating condition is shown.
Special conditions for submarines and objects resting on ground are described.
1
Changes of Floating Position
2
In this chapter, the six degrees of freedom in ship motions are introduced. It is discussed which
degrees are relevant for the investigations of the static behavior of floating objects. Subse-
quently it is shown how small changes with respect to three degrees of freedom influence B,
MB or MB . Finally a matrix is derived which allows for the calculation of changes of buoy-
ancy and moments for any combination of changes in floating position. These formulae are
later used to calculate changes in floating position if external forces act on a floating object. The
term small change is discussed showing that for modern ship hull forms the assumptions
made are in many cases not met.
The reader understands that small changes to an initial floating position result in changes to
the buoyancy as well as in moments with respect to the chosen coordinate system axis. She/he
is capable to calculate the buoyancy and moments of the buoyancy with respect to the two
coordinate axis which are either parallel to or even in the water surface. She/he is able to judge
the results achieved with respect to the assumptions made that small changes formulae can
be applied.
Key Words
degrees of freedom for quasi static behavior of floating objects

heave, surge, sway
yaw, heel, list, roll, trim, pitch
increase in draught, rotation about main coordinate axis
small changes in floating position
2.1 Object (Ship) Quasi Static Motions in Six Degrees of Freedom
An object freely floating on the surface of a fluid might encounter six different changes in its
floating position (6 DOF), see Figure: 2.1.
27
Buoyancy and Gravity
3
In chapter Small Changes of Floating Position the changes of buoyancy and corresponding
moments with respect to small changes in the three relevant degrees of freedom T, and
where derived. In this chapter, the changes of forces and moments due to buoyancy and
gravity are discussed. This leads to a set of equations for static ship motions which can be
used to solve two principally different problems: Forces and moments can be calculated acting
on a floating object when the floating position is changed. The resulting changes of the initial
floating position can be solved when external forces and/or moments act on the floating object.
In a second part, the derived equations are discussed for floating object shaped like ships.
The effect of symmetry is considered which simplifies the set of equations. Furthermore the
decoupling of the three equations to calculate the changes in the three degrees of freedom is
shown. The naval architectural notation is introduced.
The reader will be capable to calculate the changes in floating position under the assumption
that the change is small. She/he will be able to discuss achieved results with respect to the
small condition. She/he will be able to use important naval architectural terms in the discus-
sion of ship static motions.
Key Words
Gravity forces and moments

vertical centre of displaced volume, KB,
(transverse) metacentre, KM, longitudinal metacentre, KM L
vertical centre of mass: KG
(transverse) metacentric height: GM, longitudinal metacentric height: GM L
(transverse) metacentric radius: BM, longitudinal metacentric radius: BM L
centre of mass out of midship plane
39
Trim
4
In the chapter Small Changes of Floating Position the changes of buoyancy and correspond-
ing moments with respect to small changes in the three relevant degrees of freedom T, and
where derived. In chapter Buoyancy and Gravity a set of equations for static ship motions
was derived to calculate forces and moments acting on a floating object when the floating po-
sition is changed. Also the resulting changes of the initial floating position can be solved when
external forces and/or moments act on the floating object.
In this chapter, special focus is on the rotational movement of the ship about a transverse coor-
dinate axis through the centroid of the water plane area. For this, the naval architectural terms
trimand moment to alter trim one metre are introduced.
The reader will be capable to calculate the rotational change in floating position under the
assumption that the change is small. He/she will be able to calculate changes in draught due
to trim at any longitudinal position of the ship.
Key Words
trim
moment to alter trim one unit lenth
4.1 Trim Definition
The trim (t) defines the inclination of the ship in longitudinal direction, the rotation about the
principle coordinate axis passing through the centroid of the water plane area (LCF) for which
the moment of inertia of the water plane area has a maximum value. It may be expressed as the
angle between the baseline and the water plane () but is usually expressed as the differences
in draught at the bow and at the stern, see Figure 4.1.
(4.1) t = TFP TAP = tan L pp
61
Stability Criteria for
5
Floating Structures
In this chapter, criteria are developed which have to be fulfilled by objects to be in a stable
floating position. These criteria are defined that stability does exist in case a change in any of
the three relevant degrees of freedom or any combination thereof requires a positive amount of
work to be applied. Based on the related naval architectural notation stability criteria to be met
by ships are derived which yield to three equations and three inequalities to be satisfied by all
ships floating in a stable equilibrium position.
The reader will be capable to check a floating position with respect to stability characteristics.
He/she will be able to observe these criteria in the ship design process which have a great
influence on the hull form parameters as well as on the load and lightship weight distributions
and loading capacities.
Key Words
Work required to change floating position

Stability criteria
Stable, neutral, unstable conditions
Metacentric height GM
Longitudinal metacentric height GM L
Stable equilibrium state
5.1 Stability Criteria for Floating Objects
A freely floating object is assumed to be in an equilibrium state which means that all resulting
forces and moments acting on the object have to be zero:
(5.1) R = R = R = 0
71
Inclining Test
6
Stability criteria were derived which are a function of the immersed hull form, the weight of
the floating object as well as its centroid of mass in vertical direction. Whereas all relevant
parameters of the hull form can be calculated very accurately for any shape in the early design
stage, this does not hold for the light ship weight as well as the corresponding vertical location
of the centre of mass (KG). Therefore Naval Architects have to make assumptions for these
two properties which substantially influence ship stability characteristics. Before the ship is
delivered to the owner/operator and certified to operate according to all legal requirements,
the light ship weight and its vertical centre of mass have to be checked for the actual values,
the as-built condition. This is done with help of the inclining test which is performed for
every ship operating under commercial conditions. The protocol of the test is an important
part of the delivery documents, a copy is kept on board the ship.
The reader will learn how the inclining test is performedand which calculations yield to the
results of this test. He/she will be capable to calculate the light ship weight and its vertical
centre of mass based on the measurement protocol of an inclining test.
Key Words
Inclining test
Inclining test protocol
Hogging floating condition
Sagging floating condition
Heeling moment
KG
Light ship weight
Deadweight
91
Cross Curves of Stability
7
In the preceding chapters, changes of floating position were regarded being small. What is
meant by small was discussed in chapter Small Changes of Floating Position while empha-
sis was put on the amount of change and the fact that even small changes in floating position
might result in larger changes of the relevant ship hull form parameters (Aw , Mw, , I, ). In the
following, the heeling angle is not limited to be small but can be of any value. As ships are
very sensitive to rotational movements about the longitudinal axis, the transverse shift of the
centroid of displaced volume (B ) for large angles of heel will be looked at. It is shown that for
modern ship hull forms a heeling also results in some trim, the two degrees of freedom can not
considered as being decoupled. The effect of the ship hull form (below and above the initial
water plane) on the transverse shift of centroid of the displaced volume is discussed.
The reader will learn that for larger heeling angles, the vertical position of the metacentre
(KM = KB + BM) is not relevant as the buoyancy force vector passes through the centroid
of displaced volume which has to be calculated as function of the heeling angle. This leads to
the definition of the cross curves of stability.
Key Words
cross curve of stability

cross curve calculations with balanced trim, fixed trim
coupled degrees of freedom: heel + trim
cuboid: cross curve of stability
Wall Side Formula, form effect
7.1 Transverse Location of Centroid of Displaced Volume B
In the preceding discussions, all changes in floating position were regarded as being small,
the term small was discussed in the chapter Small Changes of Floating Position where
101
Righting Arm
8
In the preceding chapter the cross curve of stability was discussed. The changes of floating
position namely heel were regarded as being of any value causing a transverse shift of the cen-
troid of the displaced volume. In this chapter, the righting arm is introduced which represents
the righting moment due to the weight and buoyancy forces acting on a floating object. The
righting arm is a function of the hull form, the actual loading condition which yields the float-
ing position and the heeling angle resulting in the righting arm curve. The characteristics of
the righting arm curve will be discussed. Stability criteria are formulated which add to those
requirements derived for the initial stability.
Even though the righting arm curve is calculated for static heeling, the righting arm curve
serves to discuss dynamic aspects also. This yields to the basics of static and dynamic ship
stability criteria to be met.
The reader will learn how to calculate and utilise the righting arm curve for a vessel under
specific loading conditions. She/he will be capable to judge upon the stability characteristics of
a certain vessel under a specified configuration applying a quasi static view. Dynamic aspects
like temporarily acting external forces are also considered which result in e.g. heeling moments
acting only for a short period of time but potentially causing large heeling angles.
Key Words
righting arm, righting arm curve

cross curve of stability
upsetting, heeling arm curve
static heeling angle
equilibrium floating under upsetting moment
range of stability
influence of hull form on stability
stability criteria
115
Heeling Moments
9
Ships like any floating objects are exposed to heeling moments due to different phenomena. A
classification of forces resulting in heeling moments is given. Vessels have to withstand these
moments to operate safely. Three categories distinguish between moments due to cargo, the en-
vironment and operation. Where relevant the influence on stability as well as the righting arm
curve is discussed. For all heeling moments the functional dependency on the heeling angle is
given which can serve to find the equilibrium floating position under a specific configuration.
Measures are indicated to minimize heeling moments and therefore to improve safety.
The effect of partially filled tanks on the initial stability GM is derived which leads to a formula
for the correction of the metacentric height under the presence of free surfaces of fluids.
The reader will learn how to calculate heeling moments due to different effects. She/he will be
capable to judge upon the stability characteristics of a vessel under a specified configuration
and operational condition.
Key Words
heeling moment
shifting, loading, unloading of cargo, suspended loads
crowding people
bulk cargo
liquids in tanks, free surface correction, GM reduction
wind, icing, turning, towing, anchoring
9.1 Heeling Moment Categories
In the chapter on the righting arm curve, it was shown that heeling moments, whether acting
statically or dynamically, are balanced with the uprighting moment resulting in a heeling angle.
The acceptance of the resulting heeling angle can be expressed by the requirement that the
149
Standards for
10
Ship Intact Stability
In the preceding chapters, criteria were derived for an object to be in a stable floating condition.
These criteria were related to the initial stability as well as to requirements with respect to the
righting and heeling arm curves, also taking dynamic effects into account.
In this chapter the reader will learn how these criteria are translated to national and interna-
tional regulations, the latter under the umbrella of the International Maritime Organization
(IMO). The International Maritime Organization, formerly known as the Inter-Governmental
Maritime Consultative Organization, was established in 1948 through the United Nations to
coordinate international maritime safety and related practices. The regulations of the IS-Code
have to be fulfilled by basically all commercially operating vessels.
The pros and cons are discussed with respect to the formulation of the criteria and the safety
level achieved therewith. The assumptions made in defining the criteria are described which
allows the reader to understand the potential for improvements.
Many of the following text related to the IS-Code is taken from the corresponding document
and adjusted to the layout and structure of this document. To ease the reading and to focus on
the essentials, only relevant parts of the original document are cited and discussed here. The
original version is far more comprehensive consisting of many more chapters and paragraphs
while e.g. addressing additional ship types.
Please pay attention that the regulations of the IMO Intact Stability Code will be updated
to the actual state of knowledge when consensus is achieved in the Maritime Safety
Committee (MSC) on an international level! The criteria discussed in this document express
the status as of May 2013. Even though this textbook will be updated regularly to reflect the
state of the art, it can not be guaranteed that some of what is described here is outdated already
when referred to after the date of printing!
It is strongly recommended to always refer to the most actual original docu-

ments when evaluating the stability criteria of a vessel on a professional basis!
183
Ship Hull Form Properties
11
The shape (form) of the ship hull substantially influences the hydrostatic and hydrodynamic
performance of the vessel. Traditionally, the relevant values were calculated or measured and
plotted for a number of draughts each with a floating condition with no heel and trim (even
keel condition). Today computer programs are used to calculate the required values for actual
floating conditions. For this, numerical interpolation and, more important, integration methods
are utilised.
In this chapter, formulae are derived which are used to calculate the different properties needed
in hydrostatic calculations. After introducing values related to the water plane area, which
is exactly defined by the ship hull form and the floating position, volumetric properties are
discussed. It is shown how the caculated values have to be modified to take the shell plating
into account. Hull form coefficients are introduced which serve as global hull form parameter in
many naval architectural calculations. Empirical formula can serve to estimate major properties
in case the lines plan is not available yet and the properties have to be known in the design
process. Examples of hull form data are given for different ship hull forms.
The reader will be capable to calculate all form data based on a lines plan or an offset table
representing the ship hull form. With this she/he will be able to perform some of the most
important calculations in the ship design process. As today these calculations are in any case
done by computer applications, the reader will gain sound knowledge to judge the results of
these automated calculations.
Key Words
Bonjean Curves
Displaced volume
Block coefficient
Longitudinal centre of displaced volume
Area coefficient of immersed main station
Water plane (Waterline) area
239
Numerical Interpolation
12
The derivation of a function which exactly fits a given set of data or other defined properties
such as the derivative at certain locations or even the area or moments under a curve is called
interpolation. This is a very common task performed in naval architectural calculations. Geo-
metrical, functional or statistical relationships might serve as examples.
For simplicity reasons the representation of intersection curves (geometry) between the hull
form and major internal structural elements like decks, bulkheads etc. can be expressed with
help of interpolated functions defined by a set of points in 3D coordinate space, see Figure 12.1.
Figure 12.1: Example offset data of a water plane
The required power to run at a certain speed is an example for a functional correlation between
two very important properties of a vessel, see Figure 12.2. The increase of loading capacity of
container vessels, measured in twenty foot container (Twenty Foot Equivalent Unit: TEU) over
years is a correlation of statistical nature and is shown in Figure 12.3.
For each of these examples, a correlation function can be derived applying interpolation meth-
ods. These interpolated functions then allow to calculate any corresponding functional value
in the definition ranges.
259
Numerical Integration Methods
13
Often the need arises to evaluate integral values of a function that has no explicit analytical
representation or for which such a representation is not easily obtained. An example is the
calculation of the water plane area for which the boundary is defined by the intersection curve
of a horizontal plane and the hull form. In many cases this curve can not be described exactly
by an analytical formula. Instead it is possible to calculate the local breadth (y-co-ordinate) at
given longitudinal positions (x-co-ordinate), e.g. station positions. In a following step an inter-
polation function representing this curve is interpolated which then can be used to calculate
the area.
In this chapter, different methods for the integration of a function based on a given set of data
are introduced. Examples show how these methods can be applied for problem solving in naval
architecture calculations. It is described how the resulting error can be minimized by choosing
an appropriate integration approach. The reader will be capable to select a suitable method for
a given integration problem and to calculate the functional values which include the area and
moments of higher order about any axis e.g. for a water plane of a ship.
Key Words
Rectangular Rule
Trapezoidal Rule
Simpsons Rules
Tchebycheffs Rule
Gaussian Quadrature
Properties of Regions: area, moments of higher order, centroid
Steiners Theorem
Symmetry
277
Index
XW (LCF), 243 Blendermann, 163

YW (TCF), 244 block coefficient, 248
T, 29 Blume, 198
, 32 BM, 46
, 30 bow flare, 105
B , 6, 102, 315 buoyancy, 4, 7, 40, 244, 311
G , 7 and gravity, 312
, 3 floating stages, 8
: angle of heel, 189 fully submerged object, 13
f : angle of downflooding, 189 longitudinal centre, 247
6 DOF, 27 principles of lift generation, 7
resting on ground, 11
accidental payload/deadweight movement, 226 surplus, 12
afloat upside down, 119 transverse centre, 6
Aft Perpendicular (AP), 290 vertical centre, 46
aging, 221 BV1030, 215
air-cushion vehicle, 188
ACV, 188 cB , 248
side wall craft, 188 c M , 249
anchoring, 170 cP , 249
angular velocity, 129 cW P , 249
anti-rolling device, 190 calm water, 189
approximation, 260 canting keel, 134
arbitrary changes in floating position, 51 cargo
Archimedes, 1 bulk, 157
Archimedes Law, 5, 102, 311 change of GM, 154
area, 288 loading, unloading, 154
station, 242 shifting, 150
water plane, 243 suspended load, 153
transverse shift, 151
B-Spline, 266 vertical shift, 152
Bzier, 266 cargo ship, 187
balanced trim, 103 loading conditions, 195
ballast water, 94, 340 centre of coordinate system, 44
Beaufort Number, 163, 335 centroid of
Beaufort wind scale, 335 area, 289
bilge keels, 192 buoyancy B , 40
binomial coefficient notation, 265 displaced volume, 102, 116
365
366 Index
gravity G , 40 effect of hull form, 125

mass, 48 equilibrium floating position, 102
y G off centre, 126 ewer, 10
out of midship plane, 49
transverse location G , 116 fire fighting, 226
water plane area (LCF), 61 fish, 13
changes in floating position fishing vessel, 187, 201, 214
not small, 34 icing considerations, 209
small, 33 standard loading conditions, 203
charter rate, 269 wind pressure, 202
co-ordinate systems, 2 Five, Eight, minus One Rule, 285
fixed to floating object: x, y, z, 2 fixed trim, 103
related to fluid surface: , , , 2 floating dock, 81
coefficients of form, 248 floating position
container vessel, 78, 269 stable, 121
containership, 188, 339 unstable, 122
flare, 198 floating stages, 8
form factor C, 199 following seas, 136
greater than 100 m, 198 form coefficients, 248
stern overhang, 198 block coefficient, 248
coordinate transformation, 104 midship section area coefficient, 249
crest, 136, 215 prismatic coefficient, 249
criteria for stable equilibrium position, 80 vertical prismatic coefficient, 249
critical heeling arm, 150 waterline area coefficient, 249
cross curve of stability, 103, 116, 315, 350, 353 form effect, 107
Forward Perpendicular (FP), 290
crowding of people, 156
free surface correction, 94, 158
cruise ship, 79
inclining test, 160
cuboid, 104
free surface effect, 191
liquids in tanks, 193
damage condition, 185 moment, 194
deckhouse, 189 freeboard, 188
decoupled ship static motions, 45 mark, 14
T, 44 fresh water, 342
, 44 Froude number Fn , 187
, 44 fully submerged object, 50, 80, 108
degrees of freedom, 312 righting arm curve, 133
density
effect of, 14 Gaussian Quadrature, 286
values of, 323 GBS: gravity based structure, 11
diesel oil, 341 general criteria, 214
displaced volume [m3 ], 244 discussion, 212
displacement [t], 4, 247 German Navy Intact Stability Standard, 215
dock ship, 82 crowding of personnel, 219
docking, 9 free fluid surfaces in tanks, 218
DOF, 312 high speed turning, 217
downflooding, 133 icing, 219
drag coefficient, 162 replenishment at sea, 217
draught marks, 62, 92 righting moment, 215
dynamic heeling angle, 131, 132 stability criteria, 219
time function, 132 towline pull for tugs, 218
dynamic lift, 7 upsetting moments, 215
dynamic motions, 129 wind heeling, 216
dynamic stability criteria, 133 global ship parameter
dynamically supported craft, 187 breadth, 125
Index 367
draught, 125 accumulation level, 211

freebord, 125 adverse effects, 212
KG, 125 areas, 210
GM, 46, 76, 117 background, 211
based on natural roll period, 128 fishing vessel, 209
negative value, 126 IMO, 183
GM reduction Intact Stability Code, 317
free liquid surface, 160 MARPOL, 185
loading and unloading of cargo, 155 MEPC: maritime environmental protection
vertical move of load, 153 committee, 186
GM0 , 189, 213, 214, 232 MSC: maritime safety committee, 183, 186
GM L , 76 SOLAS, 185
gravity based structure (GBS), 11 IMO IS-Code, 186
gravity force, 5, 40 definitions, 187
vertical centre, 46 recommended general criteria, 189
grounding, 9 weather criterion, 129, 190
GZ, 116 angle of roll, 191
GZ-curve, 315, 350, 353 wind heeling lever, 191
area, 189, 213, 232 inclining test, 92, 314
form, 189, 213, 232 conditions, 94
protocol, 92
heading seas, 136 results, 96
heave, 28 increase of draught, 29
heavy fuel oil, 341 initial metacentric height, 189, 213, 232
heel, 28 intact condition, 185
heeling arm, 121 integration
heeling moment, 121 Gaussian Quadrature, 286
anchor cable, 171 numerical, 277
bow or body lifts, 226 Simpsons First Rule, 282
bulk cargo, 158 Simpsons Second Rule, 285
categories, 149 Simpsons Third Rule, 285
crowding of people, 156, 197, 219, 224, 232 Tchebycheffs Rules, 285
gust, 131 trapezoidal rule, 280
lifting of heavy weights, 224, 229 interpolation, 261
maximum without capsizing, 122 IS-Code, 183
partially filled tanks, 157, 193, 218
replenishment at sea, 217 KB, 46, 248
suspended load, 153 keel point K, 46
towing hawser, 169 KG, 46, 92, 96, 118, 314
towline pull, 218, 230 kinetic energy, 129
transverse shift of load, 151 KM, 46, 250
turning, 168, 198, 217, 223, 231 KM L , 250
water on deck, 225 KN, 102, 315
wind, 131, 162, 164, 205, 216, 222, 228
high-speed craft, 188 Lagrange
hull deflection factors, 264
hogging, 92, 245 method, 263
sagging, 92, 245 lateral area, 162
hull form, 118 LCB, 247
stability characteristics, 139 LCF, 29
hull form data, 240 length of ship, 188
hydrofoil boat, 188 lift
dynamic, 7
icing, 219 static, 7
icing considerations, 209 light ship weight distribution, 343
368 Index
liquids in tanks depth, 188

free surface effect, 193, 350 draught, 129, 192
list, 28
load line, 14 natural period of roll, 128
Load Line Convention LLC 66/88, 185 Newton
loading condition, 344 forward divided difference method, 265
arrival, 195, 352 iteration method, 265
assumptions for calculations, 196
departure, 195, 348 offset, 261
standard to be examined, 195 offset table
loading manual, 339 example, 324
longitudinal centre offshore platform, 79
buoyancy, 247 offshore supply vessel, 187, 214
of floatation, 29, 104, 243 offshore supply vessel (OSV), 203
water plane area, 243 partially filled tanks, 156
longitudinal metacentre, 250 passenger
longitudinal moment of inertia, 49, 250 height of the centre of gravity, 196
longitudinal strength, 351, 355 mass, 196
lubricating oil, 342 passenger ship, 187, 214
additional criteria, 197
MARPOL, 185
crowding of passengers, 197
mass density, 94, 323
turning, 197, 198
mass displacement [t], 5
loading conditions, 195
measured data, 95
pitch, 28
metacenric radius, 46
plumb line, 95
metacentre, 47, 250
polygon, 261
longitudinal KM L , 48, 75, 241, 250
polynomial function, 261
transverse KM, 46, 75, 241, 250
degree, 262
vertical location, 46
derivative, 266
metacentric height, 46, 48, 75
pontoon, 208, 214
longitudinal GM L , 48, 75
pressure
transverse GM, 48, 75
distribution, 3, 7
metacentric radius, 47
unit, 3
longitudinal BM L , 48
principle coordinate system, 44, 45
transverse BM, 47
prismatic coefficient, 249
midship section
product moment of area, 288
area coefficient c M , 249
mobile offshore drilling unit, 187, 214 quasi-static behavior, 28
intact stability criteria, 207
modes of operation, 204 range of stability, 118, 316
righting and wind heeling moment curves, recommended general criteria, 213
205 rectangular rule, 279
mobile offshore drilling unit (MODU), 204 resting on ground, 9
moment, 288, 291 righting arm, 116, 189
heeling, 121 righting arm curve, 117, 315
righting, 121 in waves, 138
station, 242 integral, 129
moment of inertia, 288, 291 righting moment, 121
longitudinal, 49, 250 roll, 28
maximum value, 61 roll damping
transverse, 47, 250 friction, 129
water plane area, 61 vortices, 129
moment to alter trim one unit length, 62, 241 waves, 130
moulded roll period, 128, 192
breadth, 188 roll radius of gyration, 128
Index 369
RoPax, 79 submarine, 13
RoRo, 79 superstructure, 189
rotation surge, 28
about axis, 32 SWATH vessel, 5
about axis, 30 sway, 28
symmetry, 43, 120
sailing yacht, 134
canting keel, 134 TCF, 244
capsized, 120 Tchebycheffs Rules, 285
sea climate, 138, 215 tension leg platform, 12
sea spray icing, 166 TEU, 269
sea water, 342 timber deck cargo, 200, 214
section area curve, SAC, 246 towing, 168
set of linear equations, 262 pulling force, 168
shell plating correction, 243, 245 transverse centre
ship aging, 221 waterline, 244
ship hull form data transverse moment of inertia, 47, 250
cross curves of stability, 328 empirical formulae, 251
curves of form, 328 trapezoidal rule, 279
KN curves, 328 Trapezoidal Rule, 294
knuckle, 331 trim, 28, 61, 312
LCB, 247 monogram, 64, 67
LCF, 104 trim due to heeling, 103
symmetrical shape, 104 trim moment, 251
ship hydrostatic matrix, 42, 312 trough, 136, 215
ship motions: degrees of freedom, 28 tug, 230
side wall craft, 188 turning, 167, 217, 223, 231
Simpsons Rule, 281
3/8 Rule, 285 U.S. Navy Stability Standard, 227
exercise, 294 crowding of personnel, 232
moment Mx , 292 high speed turning, 231
moment of inertia Ix , 292 icing, 231
third order parabola, 283 righting moment, 228
small changes in floating position, 43, 312 towing pull criterion, 230
SOLAS, 185 towline pull for tugs, 230
special purpose ship, 187 upsetting moments, 228
specific weight, 3 weights, 229
stability wind heeling, 228
criteria, 71, 127, 313, 351, 354 UK Navy Stability Standard, 221
docking, 81 beam wind criterion, 223
during dry docking, 225 bollard pull, 227
grounded, 83 bow or body lifts, 226
harbour conditions, 225 crowding of passengers, 224
instable, 74 high speed turning, 223, 224
neutral, 74 icing, 222
range, 118, 316 lifting of heavy weights, 224
stable, 74 righting moment, 221
stability criteria, 219 ship aging, 221
static heeling angle, 131, 132 upsetting moments, 222
static lift, 7 wind heeling, 222
station uprighting moment, 78
area, 242
moment, 242 Vasa, 123
station flare, 137 VCG, 46
Steiners Theorem, 290 vertical centre
370 Index
buoyancy, 248
displaced volume, 248
empirical formulae, 251
mass, 46
vertical moment, 106
volume above the water plane, 103
superstructure, 103
watertight, 103
wall side formula, 105, 125

wall sided, 105
waste water, 342
water on deck, 150, 225
water plane
area, 243
longitudinal centre, 243
principle coordinate system, 44
waterline
area
coefficient, 249
coefficient: empirical formulae, 251
length, 290
transverse centre, 244
watertight, 189
wave, 135, 150, 161
crest, 136, 215
height, 138, 215
length, 137, 215
trough, 136, 215
weather criterion, 190
wide beam, 197
wind, 150, 162
drag coefficient, 162
heeling moment, 164, 190, 205, 214, 216, 222,
228
non-dimensional coefficients, 164, 335
pressure, 191
profile, 163
velocity, 206
work to heel, 129
yawing, 28

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Hydrostatic and Stability

Version Date Comment

Author: Robert Bronsart

c 2016 Robert Bronsart, Rostock

This document was typeset using LATEX on April 8, 2016.

1 Hydrostatic of Floating Objects - Archimedes Law 1

2 Changes of Floating Position 27

3 Buoyancy and Gravity 39

5 Stability Criteria for Floating Structures 71

5.5 Stability when Grounded . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

7 Cross Curves of Stability 101

8 Righting Arm 115

9 Heeling Moments 149

10 Standards for Ship Intact Stability 183

10.5 Stability Criteria . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

11 Ship Hull Form Properties 239

12 Numerical Interpolation 259

13 Numerical Integration Methods 277

B English German Dictionary 357

1.1 Cartesian coordinate systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2.1 Ship motions: six degrees of freedom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

3.1 Rotation of centre of weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

4.1 Definition of trim (t) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

5.1 Work required to increase draught by T . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

6.1 Hull deflections: hogging and sagging conditions . . . . . . . . . . . . . . . . . . . . . . . . . 92

7.1 Vessel with larger angle of heel but no trim . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

8.1 Righting arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

9.1 Transverse shift of load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

9.4 Crane operation with suspended load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

11.1 Coordinate system and station positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

12.1 Example offset data of a water plane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

13.1 Planimeter to be used for manual integration of an area . . . . . . . . . . . . . . . . . . . . . 278

14.1 Ship changes in floating position: 3 DOF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312

A.1 Station geometry properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324

4.1 Hull form properties of a container vessel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

6.1 Excerpt of inclining test protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

9.1 Angle of rest for different bulk loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

10.1 IMO IS-Code weather criterion, factor k . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

11.1 Floation condition during inclinig test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

13.1 Offset positions according to Tchebycheffs Rules . . . . . . . . . . . . . . . . . . . . . . . . . 286

A.1 Density of fresh and sea water . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323

A.6 Cross curves of stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328

For SI-units holds: Dimension symbol Unit symbol

L3 displaced volume, generally on mould lines

angle of attack of apparent wind

C form factor as defined in the IS-Code Chapter 4: Special Criteria for

MF ML2 /T 2 heeling moment due to free fluid surfaces in tanks

vred L/T reduced speed in turning circle

Request for Comments

Archimedes by Domenico Fetti, 1620

degrees of freedom for quasi static behavior of floating objects

2.1 Object (Ship) Quasi Static Motions in Six Degrees of Freedom

Gravity forces and moments

4.1 Trim Definition

(4.1) t = TFP TAP = tan L pp

Work required to change floating position

5.1 Stability Criteria for Floating Objects

cross curve of stability

7.1 Transverse Location of Centroid of Displaced Volume B

righting arm, righting arm curve

9.1 Heeling Moment Categories

It is strongly recommended to always refer to the most actual original docu-

Figure 12.1: Example offset data of a water plane