BEM Cummins equations Dijkstra algorithm RANS Ro-Ro ferry Seakeeping Performance Index Technology: general issues URANS VOF adaptive weather routing added resistance in waves barge platform bottom damage boundary element method coastal patrol ship (CPS) container ship desingularized Rankine panel method direct stability assessment experimental seakeeping flooding process forward speed full-scale seakeeping trials hard chine displacement hull form hydrodynamic performance motion response nonlinear steady flow operational guidance operational limitations overset mesh potential flow theory