1. The hull+skeg and Azimuthals force contributions are analysed separately and are then coupled to analyse their interaction

2. 24 The vessel is a self-propelled trailing suction hopper dredger with twin screw, twin rake, single deck, fully welded, streamline, bulbous bow, twin-skeg, round bilge hull.

3. Starting from the settlement down of tug’s hull main particulars and skeg geometry, sizing of Azimuthals and engines, the simulation environment encloses full 4-DOF tug’s dynamics in conjunctions with a complete 3+1 DOF manoeuvring model of the tethered and assisted ship across the tow-line constraint.