“…If f w and f q are set equal to w and q, respectively, then vector linearization is achieved and as a consequence the seabed±pipeline contact problem is reduced to a standard determination of either the unknown reactions (¯exibility method) or displacements (stiness method) using QP, 1±3 or the pipe elevations and relevant derivatives using SOR. 5 Once an initial pipe pro®le has been computed through the use of linear theory, the load vectors are then re-evaluated and a new random contact problem is solved. Convergence of the non-linear procedure is assumed to be reached when the maximum percentage dierence of the pipeline elevation, between non-linear iterations, falls below a prescribed tolerance limit.…”