| Introduction | p. xi |
| Format of the book | p. xii |
| Acknowledgements | p. xiv |
| Design in general | p. 1 |
| Introduction | p. 1 |
| Design objectives | p. 1 |
| Design progression | p. 4 |
| Milestones in submarine history | p. 11 |
| Terminology: submersible and submarine | p. 11 |
| The first milestone: the Holland | p. 12 |
| The second milestone: the U35 Class U-boats | p. 14 |
| The third milestone: the Type XXI U-boats | p. 16 |
| The fourth milestone: the Albacore | p. 19 |
| The fifth milestone: the Skipjack Class | p. 20 |
| Review | p. 22 |
| Submarine hydrostatics | p. 25 |
| First principles of flotation | p. 25 |
| Submarines on the surface | p. 27 |
| Arrangements of main ballast tanks | p. 29 |
| Submarine submerged | p. 34 |
| Buoyancy elements | p. 36 |
| Weight elements | p. 39 |
| Trim and compensating tanks | p. 43 |
| Special tanks | p. 45 |
| Hydrostatic stability | p. 47 |
| Review | p. 51 |
| The weight/space relationship | p. 52 |
| Purpose | p. 52 |
| Significance of density | p. 52 |
| Weight | p. 55 |
| Weight assessment and control | p. 58 |
| Space | p. 61 |
| Margin policy and budgeting | p. 63 |
| Space margin policy | p. 66 |
| Other size determinants | p. 67 |
| Review | p. 70 |
| Submarine structures | p. 71 |
| Introduction | p. 71 |
| Operational requirements for depth | p. 71 |
| Shape of the pressure vessel | p. 74 |
| Elastic deformations of the shell | p. 77 |
| Buckling deformations of shells | p. 79 |
| Other failure modes | p. 83 |
| Internal supporting structure | p. 85 |
| Pressure hull penetrations | p. 86 |
| Effects of shock | p. 89 |
| Fabrication considerations | p. 90 |
| Fatigue | p. 91 |
| Choice of materials | p. 92 |
| Other structures | p. 93 |
| Summary of structural design philosophy | p. 97 |
| Powering of submarines | p. 100 |
| Introduction | p. 100 |
| Statement of requirements | p. 101 |
| Resistance to motion | p. 104 |
| Speed-power relationship | p. 109 |
| Surface resistance | p. 110 |
| Propulsion | p. 113 |
| Design aspects of propulsion plants | p. 124 |
| Design aspects of powering | p. 130 |
| Geometric form and arrangements | p. 131 |
| Introduction | p. 131 |
| Factors influencing form and arrangement | p. 131 |
| Factors governing diameter of hull | p. 133 |
| Internal arrangements | p. 134 |
| Some detailed considerations | p. 137 |
| Review | p. 150 |
| Dynamics and control | p. 151 |
| Introduction | p. 151 |
| Some basic concepts | p. 152 |
| Operational requirements | p. 154 |
| Equations of motion of a submarine | p. 157 |
| Hydrodynamic derivatives | p. 159 |
| Stability and control in the horizontal plane | p. 160 |
| Stability and control in the vertical plane | p. 164 |
| Steering and depth control systems | p. 170 |
| Contributions of hull form and appendages to control dynamics | p. 173 |
| Emergency recovery | p. 187 |
| Impact on design | p. 190 |
| Submarine systems | p. 192 |
| Introduction | p. 192 |
| Hydraulic systems | p. 193 |
| High pressure air systems | p. 199 |
| Water systems | p. 205 |
| Systems for hydrostatic control | p. 208 |
| Environmental control systems | p. 208 |
| Provision for escape | p. 212 |
| Electrical systems | p. 214 |
| Review | p. 223 |
| Considerations of building and costs in design | p. 225 |
| Introduction | p. 225 |
| Sequence of building a submarine | p. 226 |
| Costing | p. 232 |
| Design influence on cost and building | p. 234 |
| Summary | p. 239 |
| Generating a concept design | p. 241 |
| Introduction | p. 241 |
| Concept studies | p. 242 |
| Methods of concept design | p. 247 |
| Concept sizing | p. 252 |
| Concept sizing with AIP systems | p. 258 |
| Other sizings | p. 260 |
| Character of iterations | p. 264 |
| The future | p. 271 |
| Hydrostatic conditions of flotation | p. 276 |
| Operational practice for keeping in trim | p. 279 |
| Assessing weight and size of variable ballast | p. 282 |
| Submarine pressure hull strength (Prediction of interframe collapse pressures) | p. 286 |
| Estimates of resistance and propulsion | p. 290 |
| References and suggested reading | p. 296 |
| Index | p. 298 |
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