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Ship Hydrostatics and Stability Second Edition Ship Hydrostatics and Stability Second Edition Adrian B. Biran Technion, Faculty of Mechanical Engineering Rubén López-Pulido Former Representative of Spain to the IMO With contributions by Javier de Juana Gamo AMSTERDAM • BOSTON • HEIDELBERG • LONDON • NEW YORK OXFORD • PARIS • SAN DIEGO • SAN FRANCISCO SINGAPORE • SYDNEY • TOKYO Butterworth-Heinemann is an imprint of Elsevier Butterworth-Heinemann is an imprint of Elsevier The Boulevard, Langford Lane, Kidlington, Oxford OX5 1GB, UK 225 Wyman Street, Waltham, MA 02451, USA First edition 2003 Second edition 2014 Copyright © 2014 Adrian Birbanescu-Biran and Ruben Lopez Pulido. Published by Elsevier Ltd. 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Because of rapid advances in the medical sciences, in particular, independent verification of diagnoses and drug dosages should be made British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library Library of Congress Cataloging-in-Publication Data A catalog record for this book is available from the Library of Congress ISBN–13: 978-0-08-098287-8 For information on all Butterworth-Heinemann publications visit our web site at books.elsevier.com Printed and bound in the US 13 14 15 16 17 10 9 8 7 6 5 4 3 2 1 Dedication To my wife Suzi. Adrian To the Neapolitan professor Giulio Russo-Krauss (1940–2010), as he was and always will be for me a ‘Scuola di Vita’, and to my son, Ventura (2011), as I wish I could be in the future the same for him. Rubén Biography Adrian Biran Adrian Biran received a Cum laude Diploma of Engineering, in the field of ship engineering, from the Bucharest Polytechnic Institute, and Master of Science and Doctor of Science degrees from the TECHNION—Israel Institute of Technology, with theses related to software for Marine Engineering and Naval Architecture. After graduating he worked as Design Engineer, Chief of Department and Project Leader at IPRONAV—the Institute for Ship Design, Bucharest. In continuation he managed the design office of the Bucharest Studios and worked as Project Leader at IPA—the Institute for Automation Design, Bucharest. In Israel he worked as Senior Engineer at the Israel Shipyards, Haifa, and as Research Fellow and Research Engineer at the Technion R&D Foundation. In parallel with the above activities Adrian Biran served as project instructor at the Military Technical Academy, Bucharest, and at the Beersheba University. He has been for many years an adjunct teacher at the TECHNION—Israel University of Technology, since 1995 as Adjunct Associate Professor. Adrian Biran is the author of several technical papers on various subjects including Naval Architecture. He wrote in Romanian a book of popular science about ships. Together with Moshe Breiner, Adrian wrote a book on MATLAB for Engineers that was published in three English, three German, two French, and two Greek editions. In 2003 he published with Butterworth-Heinemann, a book on Ship Hydrostatics and Stability that was immediately translated into Turkish. In 2005 the book was reprinted with contributions by Rubén López Pulido. A chapter on stability regulations was reproduced in the Maritime Engineering Reference Book edited by Anthony Molland. In 2011 he published What every Engineer should know about MATLAB and Simulink. Rubén López-Pulido Rubén López-Pulido is a Member of the Royal Institution of Naval Architects (RINA), UK, and the Spanish Association of Naval Architects (AINE). He is former Maritime Attaché of the Embassy of Spain in London and Representative of Spain to the International Maritime Organization (IMO) of UN. He was Naval Architect and Software Engineer at SENER working as developer of Naval Architecture Modules of FORAN System, a CAD/CAM/CAE software for ship design and shipbuilding. He was Hydrodynamicist and Stability of Ships Biography Researcher at the CEHINAV (ETSIN-UPM) Madrid Ship Model Basin. In 2010 he received the Spanish National Best Outstanding Career Award for naval architects under 35 years of age, to recognize outstanding professional service and contributions to the maritime and shipping business, naval architecture, and marine engineering community. He holds an MSc in Maritime Technology (ETSIN-UPM), an MPhil in Moral and Political Philosophy (UNED), and an MA in International Security and Strategic Studies (UGR). He is an executive postgraduate of the London School of Economics and Political Science (LSE) and the IESE Business School. He belongs since 2009 to the civil servant’s Senior Executive Service of the Spanish Government, and since 2012 he is Head of the Emergency Coordination and Crisis Management Unit for Transport and Infrastructures of the Spanish Government. xiv Preface to the Second Edition Six years have passed since the issue of the enlarged reprint of the book. New intact and damage stability regulations have been adopted in the meantime, mainly by IMO, but also by the German Navy. While in the past the regulations were prescriptive and based on deterministic models, the new orientation turns towards goal-based and risk-assessment approaches. New ship forms increased the vulnerability to parametric roll and the occurrence of large roll angles and loss of containers have been frequently reported. Extensive research is carried on for a better understanding of this phenomenon, as well as of not-yet fully understood capsizing modes, such as dead ship condition, pure loss of stability and broaching-to. One aim of the research is to develop so-called second-generation criteria of stability. As it is recognized now that stability depends not only on the design of ships, but also on their loading and operation, as well as on environmental conditions, another aim of the research, and of IMO, is to issue guidance documentation for ship masters. The old deterministic approach to damage calculations has been replaced in large part by the probabilistic approach. Nevertheless, as the old mariners’ saying states, ‘There is always stormy weather ahead,’ the accident of the cruise liner Costa Concordia, in 2012, will trigger new changes as it has unveiled new challenges for Naval Architects and experts in maritime regulations. All these developments made a new edition necessary. We updated the sections that have become obsolete and inserted the highlights of the recent regulations and research results. In doing so we are taking advantage of the fact that our contributor Javier de Juana has been attending the IMO meetings during years, and one of the authors has been Permanent Delegate as Spanish representative to the IMO. In addition, we corrected errors and added a few exercises and explanations that proved useful during the lectures delivered by one of the authors at the Technion. We are pleased to thank those who helped us in our endeavour. While translating the previous edition into Turkish, Professor Hüseyin Yilmaz reported several errors. Thomas Wardecki and Andreas Rinke provided details on the German-Navy regulations presently in force. We thank Miguel Palomares and Lorenzo Mayol of IMO for their help, and Luis Pérez-Rojas, Leonardo Fernández-Jambrina, Antonio Rodriguez, Jesús Valle, Antonio Souto, and Jorge Vicario for providing important insight for some chapters and the cover figure, a modification of the hull forms of the DTMB combatant 5415. We acknowledge the courtesy of Luis García Bernáldez Preface to the Second Edition and Verónica Alonso of Sener who allowed us to describe some of the main features of the FORAN computer system. We thank The Mathworks for their continuing support and permit to use their marvelous and powerful software throughout the book. This second edition was made possible only by the dedicated work of Hayley Gray, Charlie Kent and Susan Li, all of Elsevier, UK. Finally, the authors want to thank their wives, Suzi and Noelia, for their patience, understanding and forgiveness for the time stolen from that due to their families. Adrian Biran and Rubén López-Pulido, 2013 xvi Preface to the First Reprint Using the book in two consecutive academic years we discovered several typos and errors. They are corrected in this reprint and the author thanks those students, and especially Eyal Lahav, who have read the book with attention and transmitted their comments. Several Naval Architects involved in university education or in maritime legislation sent comments and suggestions. Bertram Volker corrected orthographical errors in German terms. Lawrence Doctors recommended to insert a theorem regarding wall-sided floating bodies with negative initial metacentric height. Dan Livneh drew the attention of the author to the new approach of classification societies to the parametric roll of container ships. The most extensive contributions are due to Rubén López-Pulido who corrected a few examples, transmitted updated information on IMO, volunteered to add the Spanish translations of important technical terms and prepared a Spanish index for the end of the book. All these contributions are implemented in this reprint. Additional software was included on the companion sites of this book. Short descriptions appear in an Appendix at the end of the book.1 The author acknowledges the continuous support of The Mathworks, and personally that of Courtney Esposito who provided the latest updates of MATLAB. Finally, the author thanks Jonathan Simpson and Miranda Turner for their encouragement to update the book and for their editorial help. Adrian Biran, 2005 1In this edition not included in the book, but on the website of the book. Preface This book is based on a course of Ship Hydrostatics delivered during a quarter of a century at the Faculty of Mechanical Engineering of the Technion–Israel Institute of Technology. The book reflects the author’s own experience in design and R&D and incorporates improvements based on feedback received from students. The book is addressed in the first place to undergraduate students for whom it is a first course in Naval Architecture or Ocean Engineering. Many sections can be also read by technicians and ship officers. Selected sections can be used as reference text by practising Naval Architects. Naval Architecture is an age-old field of human activity and as such it is much affected by tradition. This background is part of the beauty of the profession. The book is based on this tradition but, at the same time, the author tried to write a modern text that considers more recent developments, among them the theory of parametric resonance, also known as Mathieu effect, the use of personal computers, and new regulations for intact and damage stability. The Mathieu effect is believed to be the cause of many marine disasters. German researchers were the first to study this hypothesis. Unfortunately, in the first years of their research they published their results in German only. The German Federal Navy—Bundesmarine— elaborated stability regulations that allow for the Mathieu effect. These regulations were subsequently adopted by a few additional navies. Proposals have been made to consider the effect of waves for merchant vessels too. Very powerful personal computers are available today; their utility is enhanced by many versatile, user-friendly software packages. PC programmes for hydrostatic calculations are commercially available and their prices vary from several hundred dollars, for the simplest, to many thousands for the more powerful. Programmes for particular tasks can be written by a user familiar with a good software package. To show how to do it, this book is illustrated with a few examples calculated in Excel and with many examples written in MATLAB. MATLAB is an increasingly popular, comprehensive computing environment characterized by an interactive mode of work, many built-in functions, immediate graphing facilities and easy programming paradigms. Readers who have access to MATLAB, even to the Students’ Edition, can readily use those examples. Readers who do not work in MATLAB can convert the examples to other programming languages.