Ind
o
n
es
ian Jou
r
n
al
o
f
E
le
ctric
a
l E
n
g
in
ee
r
ing
and
C
o
mp
u
t
er
S
c
ienc
e
V
ol
. 8
,
No.
3,
Dec
em
be
r
20
17
, p
p
.
6
84
~
6
86
DO
I: 1
0.
11
5
91
/
i
j
ee
c
s
.v
8
.i
1
.
pp
68
4
-
68
6
684
Rec
ei
v
ed
A
ug
us
t
6
, 2
01
7
;
Rev
i
s
ed
A
u
gu
s
t 2
3
,
2
01
7
;
A
c
c
ep
ted
Nov
e
mb
err
1
4
, 2
01
7
A
d
j
us
tin
g t
he
O
rigin o
f B
uo
y
a
n
c
y
S
Ram
as
w
ami
Dep
a
rtm
e
n
t
o
f
Nau
t
i
c
a
l
S
c
i
e
n
c
e
,
AM
E
T
Un
i
v
e
rs
i
ty
,
Che
n
n
a
i
Ab
strac
t
Su
rf
-
ri
d
i
n
g
a
c
t
i
o
n
s
i
n
re
l
i
a
b
l
e
a
tt
ra
c
ti
v
e
fo
l
l
o
w
i
n
g
o
c
e
a
n
s
fo
r
c
a
s
e
s
wit
h
a
v
a
ri
e
ty
o
f
L
C
Bs
a
n
d
Fro
u
d
e
i
n
f
o
rm
a
ti
o
n
a
re
m
i
m
i
c
k
e
d
u
ti
l
i
z
i
n
g
th
e
n
u
m
e
ri
c
a
l
m
o
d
e
l
.
C
o
m
e
s
c
o
n
c
e
rn
i
n
g
d
i
s
p
l
a
y
th
a
t
th
e
s
u
rf
-
ri
d
i
n
g
c
a
n
'
t
b
e
f
o
re
s
ta
l
l
e
d
b
y
th
e
m
o
d
i
f
y
o
f
L
CB.
Be
t
h
a
t
a
s
i
t
m
a
y
,
i
t
h
a
p
p
e
n
s
wit
h
a
n
u
p
p
e
r
l
i
m
i
t
m
o
m
e
n
tu
m
whe
n
s
h
i
p
'
s
fo
c
a
l
p
o
i
n
t
o
f
l
i
g
h
tn
e
s
s
(CO
B)
i
s
s
ti
m
u
l
a
te
d
t
o
ward
s
s
te
m
c
o
n
tra
s
te
d
wit
h
a
ff
e
c
t
i
n
g
to
ward
s
s
te
rn
,
whi
c
h
i
s
f
o
r
th
e
m
a
j
o
ri
ty
p
a
rt
s
i
n
c
e
th
e
d
i
s
t
i
n
c
ti
o
n
s
o
n
wav
e
re
s
i
s
t
a
n
c
e
b
ro
u
g
h
t
c
o
n
c
e
r
n
i
n
g
b
y
t
h
e
c
h
a
n
g
i
n
g
o
f
L
CB
.
Key
w
ords
:
Rad
i
a
l
B
a
s
i
s
F
u
n
c
ti
o
n
(RBF),
Bu
o
y
a
n
c
y
,
Ce
n
te
r
o
f
b
u
o
y
a
n
c
y
Copy
righ
t
©
2
0
1
7
In
s
titu
te
o
f
Adv
a
nc
e
d
Eng
in
e
e
ring
a
nd
Sc
ie
nc
e
.
All
righ
t
s
re
s
e
rve
d.
1.
Int
r
o
d
u
ctio
n
S
hi
ps
c
an
be
ac
c
el
erat
e
to
the
s
a
i
l
i
n
wa
v
e
s
p
ee
d
i
n
th
e
qu
arter
i
n
g
of
th
e
s
ea
s
wi
t
h
the
s
ub
f
un
c
ti
on
of
the
w
a
v
e
s
u
r
f
po
w
er
i
s
k
no
w
n
as
‘
S
urf
Ri
d
i
ng
’
[1]
.
S
urf
r
i
di
ng
i
s
c
al
c
ul
ate
d
as
the
ex
am
pl
e
of
the
br
oa
c
hi
ng
.
T
hi
s
S
urf
Ri
di
ng
i
s
ha
pp
e
n
ed
at
an
y
i
n
i
ti
al
c
o
nd
i
ti
on
s
of
the
s
hi
ps
i
s
c
on
s
i
de
r
e
d
as
the
k
e
y
pa
r
am
ete
r
[2
-
3].
T
he
an
al
y
s
i
s
of
the
no
n
l
i
ne
ar
D
y
n
a
m
i
c
m
eth
od
s
,
Ma
th
em
ati
c
al
c
al
c
ul
ati
on
s
an
d
ex
p
erim
en
ts
are
us
ed
to
de
v
el
op
th
e
s
ec
o
nd
g
e
ne
r
ati
on
of
the
broac
hi
ng
.
B
y
us
i
ng
t
he
a
n
al
y
ti
c
a
l
m
eth
od
s
,
th
ere
are
v
ari
ou
s
f
orts
are
i
n
v
o
l
v
ed
i
n
the
de
t
ec
ti
o
n
of
the
s
urf
r
i
di
ng
i
n
th
e
r
e
gu
l
ar
s
ea
s
as
w
el
l
as
i
r
r
e
gu
l
ar
s
ea
s
.
T
he
r
e
are
s
o
m
e
an
al
y
s
i
s
are
ev
a
l
u
ate
d
i
n
th
e
m
i
ti
ga
t
i
o
n
of
the
s
urf
r
i
di
n
g
i
n
t
he
de
s
i
gn
s
t
ag
e
[4]
.
S
om
e
m
eth
od
s
are
us
e
d
to
c
al
c
ul
a
ti
o
ns
of
m
i
ni
m
u
m
r
ud
de
r
s
i
z
e f
or hu
l
l
s
ha
p
es
.
T
hi
s
pa
pe
r
al
s
o
r
e
v
i
e
w
th
i
s
arti
c
l
es
,
B
i
o
pres
erv
ati
on
of
v
a
l
ue
a
dd
e
d
m
arin
e
f
i
s
he
s
un
de
r
di
f
f
erent
s
torag
e
c
on
di
t
i
o
n
s
us
i
ng
ba
c
t
erio
c
i
n
f
r
om
l
ac
tob
ac
i
l
l
us
S
P
[5]
an
d
E
v
a
l
ua
t
i
o
n
of
th
e
A
nt
i
bi
of
i
l
m
P
r
op
erti
es
of
A
r
throba
c
ter
d
ef
l
uv
i
i
A
ME
T
16
77
S
tr
a
i
n
Is
o
l
at
ed
f
r
om
S
hrim
p
P
on
d
S
ed
i
m
en
t
ag
a
i
ns
t
M
arin
e
B
i
of
i
l
m
F
or
m
i
ng
B
ac
teri
a
[
6].
T
hi
s
pa
p
er
al
s
o
de
s
c
r
i
b
ed
f
r
o
m
G
r
ee
n
s
y
nth
es
i
s
,
c
ha
r
ac
teri
z
at
i
o
n
an
d
a
nti
m
i
c
r
ob
i
a
l
ac
ti
v
i
t
y
s
t
ud
i
es
of
c
urc
u
m
i
na
ni
l
i
ne
b
i
of
un
c
ti
on
al
i
z
ed
c
op
pe
r
ox
i
de
na
n
op
art
i
c
l
es
[7]
.
2.
A
n
al
y
t
ica
l
M
o
d
el
T
he
s
i
m
ul
ati
o
n
of
the
s
urf
r
i
di
n
g
i
n
the
n
on
l
i
n
ea
r
m
o
de
l
i
s
c
om
bi
ne
the
m
an
eu
v
eri
n
g
m
oti
on
an
d
s
ea
k
ee
pi
n
g
m
oti
on
.
In
the
be
l
o
w
wav
e
m
od
el
,
th
e
f
r
eq
ue
nc
y
o
f
the
w
a
v
e
i
s
m
i
ni
m
u
m
an
d
al
s
o
th
e
w
a
v
e
l
o
ad
s
are
s
m
al
l
.
T
he
n
the
m
an
eu
v
erin
g
m
od
el
i
s
ba
s
i
c
al
l
y
go
o
d
f
or
the
de
s
i
gn
.
F
or
th
e
c
on
s
i
d
erati
o
ns
of
the
r
ub
be
r
a
nd
propel
l
er
s
y
s
tem
s
,
the
pi
t
c
h
m
o
ti
on
s
are
es
pe
c
i
a
l
l
y
i
m
po
r
tan
t.
T
he
r
e
are
three
c
o
ordi
na
te
s
y
s
t
em
tha
t
i
s
ea
r
th
f
i
x
ed
c
o
o
r
di
na
t
es
,
−
the
bo
di
es
l
oc
a
ted
c
oo
r
d
i
na
te
−
an
d
the
ax
es
ar
e
−
ℎ
ℎ
ℎ
are
i
l
l
us
tr
ate
d
i
n
f
i
g
ure
1.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJE
E
CS
IS
S
N:
2
50
2
-
4
75
2
A
dj
us
ti
n
g t
h
e Or
i
g
i
n
of
B
uo
y
an
c
y
(
S
Ram
as
wam
i
)
685
F
i
gu
r
e
1
.
S
tr
uc
ture
of
th
e s
hi
p m
oti
o
n c
oo
r
d
i
na
te
s
y
s
t
e
m
T
he
O
r
i
s
s
el
ec
t
ed
as
th
e
orig
i
n
of
the
s
hi
p
gra
v
i
t
y
.
T
he
n
th
e
p
aram
ete
r
s
are
i
l
l
us
tr
at
ed
as
be
l
o
w
,
1
=
[
,
,
,
∅
,
]
2
=
[
,
,
,
,
,
]
3
=
[
,
,
,
,
,
]
T
he
n t
he
v
e
l
oc
i
t
y
of
th
e c
oo
r
di
na
t
e s
y
s
tem
i
s
de
f
i
ne
d a
s
,
1
=
[
′
,
′
,
′
,
∅
′
,
′
]
=
[
,
,
,
,
,
]
=
3
∗
3
0
3
∗
3
0
3
∗
3
3
∗
3
3.
E
q
u
il
ibrium
S
u
r
f
Ridin
g
T
he
n
the
m
an
eu
v
eri
ng
m
oti
on
s
are
s
i
m
ul
ate
d
throu
gh
t
he
3
-
DO
F
m
od
el
,
i
s
i
l
l
us
tr
at
ed
as
be
l
o
w
,
(
+
)
−
(
+
)
=
ℎ
+
+
−
+
−
(
+
)
−
(
+
)
′
F
i
gu
r
e
2
.
E
qu
i
l
i
bri
a b
y
wav
e f
orc
e
4.
Co
n
clus
ion
In
thi
s
pa
p
er,
b
y
ad
j
us
t
i
ng
t
he
s
urf
r
i
di
ng
of
the
orig
i
n
o
f
bu
o
y
an
c
y
i
s
an
al
y
z
ed
ba
s
ed
on
the
6
-
DO
F
no
n
l
i
ne
ar
m
od
el
.
T
he
s
urf
-
r
i
di
ng
ac
ti
o
ns
i
n
no
r
m
al
c
ap
ti
v
at
i
ng
af
ter
oc
ea
ns
f
or
c
as
es
wi
th
a
v
ar
i
et
y
of
LCB
s
,
F
r
ou
de
i
nf
or
m
ati
on
f
urth
erm
ore,
c
o
m
m
en
c
e
m
en
t
c
on
di
t
i
o
ns
are
r
ep
r
od
uc
e
d
an
d
th
e
i
m
pa
c
t
of
LCB
on
the
s
urf
-
r
i
di
ng
i
s
r
es
ea
r
c
h.
T
he
v
a
r
i
et
y
of
LCB
i
s
ta
l
en
t
ed
b
y
t
he
r
em
ak
i
ng
of
arr
an
ge
m
en
t NURB
S
s
urf
ac
es
ba
s
e o
n c
h
an
g
e o
f
ed
ge
r
a
ng
e
be
nd
s
.
Ref
er
en
ce
s
[1
]
Cum
m
i
n
s
W
E
.
Th
e
i
m
p
u
l
s
e
re
s
p
o
n
s
e
fu
n
c
t
i
o
n
a
n
d
s
h
i
p
m
o
ti
o
n
s
.
No.
DTM
B
-
1
6
6
1
.
D
a
v
i
d
T
a
y
l
o
r
M
o
d
e
l
Ba
s
i
n
W
a
s
h
i
n
g
to
n
DC.
1962.
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N:
2
50
2
-
4
75
2
IJE
E
CS
V
ol
.
8
,
N
o.
3
,
Dec
e
m
be
r
2017
:
6
84
–
68
6
686
[2
]
Hol
tro
p
.
A
s
t
a
ti
s
ti
c
a
l
re
-
a
n
a
l
y
s
i
s
o
f
re
s
i
s
t
a
n
c
e
a
n
d
p
r
o
p
u
l
s
i
o
n
d
a
ta
.
I
n
te
r
n
a
ti
o
n
a
l
S
h
i
p
b
u
i
l
d
i
n
g
Pro
g
re
s
s
.
1
9
8
4
;
31
(
3
6
3
)
:
272
-
276.
[3
]
W
i
l
k
e
HJ
,
W
e
n
g
e
r
K
a
n
d
Cl
a
e
s
L
.
T
e
s
ti
n
g
c
r
i
te
ri
a
fo
r
s
p
i
n
a
l
i
m
p
l
a
n
t
s
:
re
c
o
m
m
e
n
d
a
ti
o
n
s
fo
r
th
e
s
ta
n
d
a
rd
i
z
a
t
i
o
n
o
f
i
n
v
i
tr
o
s
ta
b
i
l
i
ty
t
e
s
t
i
n
g
o
f
s
p
i
n
a
l
i
m
p
l
a
n
t
s
.
Eu
ro
p
e
a
n
Sp
i
n
e
J
o
u
r
n
a
l
.
1
9
9
8
;
7
(
2
)
:
148
-
1
5
4
.
[4
]
M
y
e
rs
G
L
,
M
i
l
l
e
r
W
G
,
Core
s
h
J
,
Fl
e
m
i
n
g
J
,
G
re
e
n
b
e
rg
N,
G
re
e
n
e
T
,
Hos
te
t
te
r
T
,
L
e
v
e
y
AS,
Pa
n
te
g
h
i
n
i
M
,
W
e
l
c
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