Page 129 - The ROV Manual - A User Guide for Remotely Operated Vehicles 2nd edition

FIGURE 5.10
Vehicle with positive stability.
Center of gravity
Center of buoyancy
5.2 Buoyancy and stability 117
Positive Stability
FIGURE 5.11
Hydrostatic equilibrium.
Displaced fluid
the gravitational forces acting upon the body by gravity. The resultant of the buoyant forces coun- tering the gravitational pull acting upward through the CG of the displaced fluid is termed the “cen- ter of buoyancy” (CB). There is one variable in the stability equation that is valid for surface vessels with a nonwetted area that is not considered for submerged vehicles. The point where the
Pressure
Weight