Ship Maneuvering in Deep and Confined Waters 



she again moves closer to the port bank, and again port rudder has 

 to be applied, etc. 



So far analytical studies of ships moving in canals have been 

 dealing with straight running. It is believed that the mathematical 

 model which is presented here may also be extended to the case of 

 slowly widening and bending canals. 



II, SYMBOLS AND UNITS, ETC. 



When applicable the symbols and abbreviations here used 

 have been chosen in accordance with the ITTC recommendations, 

 [ 7] . Some new symbols are introduced to define the position and 

 orientation of a ship in confined waters, (See also Section X.) 



The system of axes fixed in space is Oq-x^Yo'^o* that fixed in 

 the body or ship is Oxyz, The point of reference lies at distance 

 Lpp/2 forward of A,P, of the ship. (Cf. Fig. 6 and Section IV.) 



Yo 



Fig, 6, Inertia franme and body axes, etc. 



817 



