TY JOUR TI MATHEMATICAL MODEL OF THE VESSEL WITH WHEELED PROPULSION-STEERING COMPLEX "GOLDEN RING" KW mathematic model KW ship KW wheel-propulsion steering complex KW thruster KW external impact JO Vestnik of Astrakhan State Technical University. Series: Marine engineering and technologies AU Bychkov, V.. AU Grosheva, L.. AU Plyushchayev, V.. PY 2018 IS PB Astrakhan State Technical University