In the offshore oil industry, floating structures are used in areas where deep water results in the cost of a jacket fixed to the sea floor being too expensive to realize a sufficient economic return, even for large oil reserves. Such floating structures have been semi-submersibles, a column stabilized vessel that is moored in place by the use of multiple anchors, single column spar type structures, that are moored in place by multiple anchors, dynamically positioned vessels that use a number of thrusters to hold the vessel in position at the site, and tension leg platforms. Each structure has advantages and disadvantages. The dynamically positioned vessels eliminate the need for anchors and mooring lines, they present a large surface area to waves and currents, which can result in a substantial amount of power required to hold the vessel in position. The large surface area also results in the vessel being subject to heave, pitch, and roll motions in response to wave action.