| IX | | Foreward [ di Hal Roth ] |
| XIII | | Acknowledgements and Dedication |
| 3 | 1 | Steering and Self-Steering |
| 5 | | Natural Course Stability |
| 5 | | Sheet-to-Tiller Gears |
| 6 | | Windvane Gears |
| 6 | | Electronic Autopilots |
| 8 | | Balance of Helm: Forces and Motions of Sailing |
| 16 | | True and Apparent Wind |
| 18 | 2 | Natural Course Stability |
| 18 | | Sailing to Windward |
| 18 | | To Windward with Helm Fixed |
| 20 | | Sensitivity to Wind Strength |
| 21 | | Close-Hauled with Helm Free |
| 23 | | Stability Concepts |
| 23 | | Broad Reaching |
| 23 | | Cause of Instability |
| 25 | | Running |
| 25 | | Cause of Instability |
| 26 | | Influence of the Hull |
| 26 | | Lateral Profile |
| 30 | | Center of Gravity Location |
| 32 | | Influence of Sails |
| 32 | | Stabilizing Trim of Sails |
| 34 | | Sail Yaw Resistance |
| 36 | 3 | Sheet-to-Tiller Self-Steering |
| 37 | | Sailing to Windward |
| 37 | | Lashing Helm with Elastic |
| 38 | | Convenient Adjustement for Lashing Helm |
| 39 | | Main Sheet Supplying Weather Helm |
| 39 | | Operation and Adjustement |
| 42 | | Model Yacht Arrangements |
| 42 | | Elastic for Sheet-to-Tiller Arrangements |
| 42 | | Strength of Elastic |
| 43 | | General Rule for Adjustement |
| 44 | | Types of Elastic Materials |
| 45 | | Beam Reaching |
| 45 | | Main Sheet Controlling |
| 46 | | Forestaysail Controlling |
| 46 | | Inner Staysail Controlling |
| 48 | | Broad Reaching |
| 48 | | Main and Genoa Controlling |
| 49 | | Jib Sheet Controlling |
| 50 | | With Various Sails |
| 51 | | With Weather Twin |
| 51 | | Blocks and Tackles |
| 51 | | Mechanical Advantage |
| 53 | | Fool's Purchase |
| 53 | | Ratio of Motions |
| 54 | | Friction and Wear |
| 54 | | Running - Twin Sails |
| 56 | | Waller's Rig |
| 56 | | Typical Twin Rig |
| 57 | | Ways of Stowing Poles |
| 58 | | Protecting Universal Joints |
| 58 | | Pole end Fittings |
| 58 | | Position of Twin Sails |
| 59 | | Size of Twins - Reefing |
| 59 | | Britton's Roller Wings |
| 61 | | Spinnaker Above Twins |
| 61 | | Self-Steering Action of Twins |
| 62 | | Sensitivity to Wind Strength |
| 63 | | Wind on Quarter |
| 63 | | Twins for Island Girl and Aleutka |
| 68 | | Special Equipment for Sheet-to-Tiller Self-Steering |
| 70 | | The General Approach |
| 72 | | Common Features |
| 73 | 4 | So You Want to Try a Windvane |
| 77 | | Requirements for Successful Windvane Self-Steering |
| 77 | | Power |
| 77 | | Sensitivity |
| 78 | | Strength and Durability |
| 78 | | Steadiness |
| 79 | | Other Requirements |
| 80 | | The Three Components - Windvane, Control, Linkage |
| 81 | | Logical Sequence for Design - Control First |
| 82 | | If Anything can go Wrong, it will |
| 84 | | Make it or Buy It? |
| 87 | | Patents |
| 88 | 5 | Controls |
| 88 | | The Primary Rudder |
| 89 | | Airfoils and Hydrofoils |
| 89 | | Applications of Foils |
| 91 | | Lift Characteristics |
| 92 | | Speed |
| 92 | | Density |
| 95 | | Area of wing |
| 95 | | Angle of Attack |
| 96 | | Profile |
| 97 | | Planform |
| 99 | | Center of Pressure |
| 101 | | Aerodynamic Balance |
| 101 | | Unbalanced |
| 102 | | Partially balanced |
| 103 | | Completely balanced |
| 103 | | Overbalanced |
| 105 | | Drag |
| 106 | | The Balanced Auxiliary Rudder |
| 107 | | Rudder Volume |
| 109 | | Size of Auxiliary Rudder |
| 110 | | Auxiliary Rudder Arrangements |
| 110 | 1. | Spade rudder |
| 111 | 2. | Skeg rudder |
| 111 | 3. | Outboard rudder |
| 112 | 4. | Twin outboard rudders |
| 112 | | The Servo Tab |
| 112 | | Operation |
| 115 | | Tab Volume |
| 115 | | Relation to Rudder Self-Volume |
| 118 | | The Plain Flap as a Servo Tab |
| 118 | | Tab Overpower |
| 123 | | Using Tab to Balance Rudder |
| 119 | | Tab Balance |
| 120 | | Servo Tab Arrangements |
| 120 | 1. | A slice off the primary rudder |
| 120 | 2. | Separate tab hung on rudder |
| 121 | 3. | Tab with an inboard rudder |
| 122 | 4. | Tab ahead of rudder |
| 122 | 5. | Twin tabs |
| 123 | 6. | Tab cantilevered from the rudder head |
| 125 | | The Servo Pendulum |
| 125 | | Operation |
| 126 | | Size of Pendulum |
| 129 | | Pendulum Overpower |
| 129 | | Pendulum Balance |
| 129 | | Mechanical Arrangements |
| 129 | 1. | All-moving pendulum |
| 130 | 2. | Flapped pendulum |
| 130 | 3. | Pendulum with tab |
| 131 | 4. | Kick-up protection |
| 131 | | Conclusions |
| 133 | 6 | Windvanes |
| 133 | | Vane Volume |
| 134 | | Profiles |
| 134 | 1. | Thin flat-plate vanes |
| 134 | 2. | Wedge sections |
| 135 | 3. | Flaps |
| 135 | | Vane Location |
| 135 | 1. | Clear air |
| 137 | 2. | Height |
| 137 | 3. | Fore-and-Aft location |
| 138 | | Mass Balance |
| 138 | | Single Axis Vanes |
| 139 | | Platforms |
| 140 | | Mechanical Arrangements |
| 140 | 1. | Cantilevered |
| 141 | 2. | Pivoted on Backstay |
| 142 | | Rake of Vane Axis |
| 142 | | Disadvantage of Single-Axis Vanes |
| 143 | | Dual Axis Vanes |
| 144 | | Operation |
| 144 | | Advantages and Disadvantages |
| 145 | | Orientation of Axes |
| 146 | | Mechanical Arrangements |
| 146 | 1. | Running lines |
| 148 | 2. | Gears |
| 148 | 3. | Push-rod |
| 148 | 4. | Weathercocking |
| 151 | 5. | Parallel-motion mechanism |
| 151 | | Other Vanes |
| 151 | | The Windmill as Windvane |
| 153 | | Practical Construction |
| 153 | | Materials for Vanes |
| 154 | 1. | Foam plastic core with fiberglass facings |
| 154 | 2. | Tubular frame with fabric surface |
| 154 | | Bearings |
| 155 | 1. | Bronze |
| 155 | 2. | Plastics |
| 155 | 3. | Ball and roller bearings |
| 157 | | Clutches and Brakes |
| 157 | 1. | Toothed wheel and latch |
| 158 | 2. | V-belt brake |
| 158 | 3. | Slotted tube and hose clamp |
| 158 | 4. | Perforated wheel |
| 159 | 7 | Oversteering |
| 160 | | Causes of Oversteering |
| 160 | 1. | Friction |
| 160 | 2. | Backlash |
| 160 | 3. | Inertia |
| 161 | 4. | Overpower |
| 162 | 5. | Simple harmonic oscillations |
| 165 | | Sailing Test for Yaw Resistance |
| 166 | 1. | Strong damping |
| 166 | 2. | Positive damping |
| 167 | 3. | Neutral damping |
| 168 | 4. | Negative damping |
| 168 | | Prevention and Cure |
| 168 | | Resisting Oscillations |
| 169 | 1. | Primary or auxiliary rudder |
| 170 | 2. | Servo tab with single-axis vane |
| 173 | 3. | Servo pendulum |
| 173 | | Controlling Overpower |
| 174 | 1. | Balanced primary or auxiliary rudder with dual-axis vane |
| 174 | 2. | Servo tab on balanced primary or auxiliary rudder |
| 176 | 3. | Servo pendulum operating balanced rudder |
| 177 | 8 | The Linkage |
| 177 | | Differential Linkages |
| 179 | | Linkage Ratios |
| 179 | | Gearing Ratio |
| 182 | | Single-axis vane |
| 182 | | Dual-axis vane |
| 183 | | Feedback ratio |
| 184 | | Experiments in Bess |
| 189 | | Linkage Refinements |
| 189 | | Mass Imbalance to Reduce Heel Sensitivity |
| 190 | | Hydrodynamic Unbalance to reduce Wind Strength Sensitivity |
| 190 | | Gyroscopic Input |
| 191 | | Diffferential Vanes to Anticipate Yawing |
| 192 | | Anemometer or Speedometer Input |
| 193 | | Springs |
| 196 | 9 | The Complete Vane Gear |
| 196 | 1. | Take her out sailing |
| 196 | 2. | Design the Control |
| 197 | 3. | Take her out sailing again |
| 200 | 4. | Temporary vane and linkage |
| 202 | 5. | Permanent hardware |
| 202 | | Vane Size Requirements |
| 205 | | The Vane Gear Cookbook |
| 205 | | The Vane Gear |
| 206 | | Gear Number 1 - Horizontal-Axis Vane/Running Lines/Primary Rudder |
| 209 | | Gear Number 2 - Dual-Axis Vane/Auxiliary Rudder |
| 211 | | Gear Number 3. Single-Axis Vane/Auxiliary Rudder |
| 213 | | Gear Number 4. SIngle-Axis Vane/Direct Linkage/Servo Tab |
| 215 | | Gear Number 5. Vertical-Axis Vane/Feedback Linkage/Servo-Tab |
| 221 | 10. | Electronic Autopilots |
| 221 | | Operation |
| 222 | | Feedback |
| 223 | | Reducing Power Requirements |
| 224 | | Non-Hunting |
| 224 | | Automatic On-Period Adjustment |
| 225 | | Synthetic Damping |
| 226 | | Operation Through a Servo Control |
| 227 | 11 | Course-Keeping and Watch-Keeping |
| 227 | | Relative importance of Accurate Steering |
| 228 | | Extra Distance Sailed |
| 230 | | Navigational Errors |
| 231 | | Running Without a Lookout |
| 232 | | Island Girl's Casualty |
| 233 | | Aleutka's Casualty |
| 234 | | Risk of Collision |
| 236 | | The Partial Lookout |
| 237 | | Reducing Risks |
| 237 | | Radar Reflector |
| 239 | | Radar Alarm |
| 240 | | The Off-Course Alarm |
| 240 | | Design and Operation |
| 243 | 12 | Design for Self-Steering |
| 244 | | The Hull |
| 244 | | True Resistance |
| 246 | | Built-In Controls |
| 246 | 1. | Balanced primary rudder |
| 247 | 2. | Auxiliary rudder |
| 247 | 3. | Pendulum |
| 247 | | Deck Layout for Sheet Leads |
| 248 | | The Rig |
| 248 | 1. | Low-aspect-ratio vertical-axis vane under mizzen |
| 248 | 2. | Dual-axis vaane removable or hinged |
| 249 | 3. | Alternate starboard and post positions for vane |
| 249 | 4 | Furl the mizzen when the vane is used |
| 250 | | Combined Steering Systems |
| 252 | | Appendix |
| 257 | | Index |
| 262 | | _ |
