Norrbin 



Vm 



U 



-5' i 



Kti 



XSx 



10k 



ta 



IX 



(«) 



'^^HH^^P ^wjr^ ; 



Helmsman N 



Helmsman W 



Fig. 2. simulator tests of manual steering of an unstable 230 000 

 tdw tanker In real and speeded up time . Yaw rate versus 

 helm angle. (Numbers along curves indicate minutes in 

 real time. ) 



812 



