2892 Full

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Phil. Trans. R. Soc. A (2011) 369, 28922919

doi:10.1098/rsta.2011.0118
REVIEW
Slamming of ships: where are we now?

B Y G. K. K APSENBERG*
Ship Hydromechanics and Structures Department, Maritime Research
Institute Netherlands, Netherlands Delft University of Technology,
Wageningen, The Netherlands
Literature published on the problem of ship slamming in waves is reviewed from the point
of view of someone working at a ship research institute. Such an institute is confronted
with rather practical questions regarding the acceptability of certain design parameters
such as the acceptable amount of bow are angle for use at sea. The importance of
these questions is illustrated by noting that actual slamming or the presumed danger of
slamming is the main reason for ship operators to reduce speed or to change heading. The
review shows that such questions cannot yet be answered. The problem of the local effect
of the impact is very complicated owing to the importance of air inclusions, bubbles in
the water, compressibility of water and cavitation effects. Only a computational method
properly including all these effects will give an accurate answer; also model tests will
not be capable of doing this, if only because the methods to extrapolate the results of
models to full scale are not yet developed. The problem of the global response of the ship
to a wave impact is closer to being solved. A two-stage approach is proposed, consisting
of a computational uid dynamics method for individual impacts and an approximate
method to be included in long-term simulations. However, to arrive at a realistic long-
term distribution, one has to account for the seamanship of the captain; avoiding the
worst conditions or adapting the ship speed and course has a large effect on the actual
extremes. Research on this topic has hardly begun.
Keywords: slamming; wave impacts; boundary-element method; statistical method;
scaled experiments; full-scale measurements
1. Introduction
If we dene the start of slamming research as the publication of von Krmns

paper in 1929, the topic is now a healthy 82 years old and still going strong. The
subject is still far from being solved, so we might expect a good many years to
come. The interest in this subject from the scientic community has had some ups
and downs, but in general it is rather steady, resulting in an impressive amount of
papers; more than 1000 papers were listed in the Ship Structure Committee report
*g.k.kapsenberg@marin.nl
One contribution of 13 to a Theme Issue The mathematical challenges and modelling of

hydroelasticity.
2892 This journal is 2011 The Royal Society

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Review. Slamming of ships 2893
SSC-385 [1]. Recent years have seen some of the ups being caused by serious ship
accidents, sometimes with a signicant loss of life. The accident with the ferry
Estonia in 1994 jumps immediately to mind and, more recently, in 2007, the
accident with the container ship MSC Napoli. The latter incident clearly showed
that slamming and slamming-induced whipping are not yet soundly incorporated
in the rules of Class societies; even today, an estimated factor of the maximum
bending moment is used to account for these dynamic effects.
This review is written from the point of view of a consultant working for a ship
research institute. The mission of the research institute is to apply and extend
hydrodynamic knowledge for the maritime industry. This means that there is
always a view to practical applications rather than pure fundamental research.
The most important question that the research institute needs to answer on
slamming is: is a certain amount of bow are for a certain ship on a particular
route acceptable or not? Much more specic, but essentially the same question is:
what does a large bow are mean in terms of the need to reduce speed in adverse
conditions? These questions are much more important than the question of the
ultimate slamming load.
In writing this review, use has been made of some excellent reviews written
in the past. Publications that can be mentioned are Henry & Bailey [2], the
International Ship Structure Conference (ISSC) Committee II.3 report Slamming
and impact [3], the Society of Naval Architects and Marine Engineers (SNAME)
Panel HS-2 review by Dalzell et al. [4], Daidola & Mishkevich [1], Mizoguchi
& Tanizawa [5], Faltinsen [6] and more recently Faltinsen [7], Faltinsen et al.
[8] and nally Hirdaris & Temarel [9]. This review is somewhat different in the
sense that the focus is not on the details of theoretical methods, but rather on
the possibilities for practical application of a certain theoretical approach. The
sections in this review focus on the different approaches.
2. The importance of slamming
Accidents are not the only focus of attention for work on the subject of slamming.
It has been recognized for a very long time that slamming is the primary reason
for voluntary speed reduction for ships sailing in head or bow-quartering seas
[10]. As such, it affects the arrival time of the ship and therefore the economy,
and, if the master decides to avoid a heavy weather area, it also affects the fuel
required for a certain voyage [11].
The main reason why ship captains reduce speed to avoid slamming is
the fact that the peaks of slamming forces have a peculiar probability of
exceedance distribution. If we use a three-parameter Weibull distribution, dened
b
as Pr{x > a} = e((xc)/a) to t peaks of data, we are used to a Rayleigh
distribution (b = 2) for linear processes and to an exponential distribution (b = 1)
for quadratic processes. Slamming peaks have a distribution with even lower
values of b; a consequence of this is that extreme values are really extreme:
the slamming force associated with a probability of exceedance of 104 can be
three times higher than the slamming force at a probability of exceedance of
103 . It seems plausible that it is this fact that makes the severity of slamming
so unpredictable and that, therefore, operators are very cautious and react to
incidental impacts by reducing speed.
Phil. Trans. R. Soc. A (2011)

2894 G. K. Kapsenberg
port side starboard side fcl dk
10 no.1 cargo hold
col.bhd
38
10
30 70 longl
upp. dk upp. dk
100
150
no.2 pant. str.
crack
crack
t = 6600 + 3500 L.W.L.
l = 150
no.1 pant. str.
30
no.1 ballast tank (P)
fore peak tank
B.L.
139 144 139 144 149 154 159 164 169 173 177
1 1
S.S. 8 2 S.S. 9 S.S. 9 2
Figure 1. Buckled areas (shaded) and a crack with a length of 10 m in the bow of a container ship.
Adapted from Yamamoto et al. [12].
Even mild slamming can introduce a whipping response of the ships hull.
This results in, notably at the fore and aft end of the ship, high accelerations
and a signicant high-frequency contribution to the bending moment. The high
accelerations cause increased loads on the lashings of a container ship, which
ultimately might result in loss of containers overboard. The high-frequency
contribution to the bending moment contributes to fatigue damage. It is recalled
that bulk carriers have had many problems with fatigue damage, even to a point
that complete panels in the side of the ship have disappeared. Today, bulk carriers
use a monitoring system to check on fatigue damage and crack growth; in this
way, they have a better control over the damage and the time interval needed
between repairs. This way of monitoring might also be the future for other ship
types like large container ships.
Severe slamming can cause damage owing to one single impact. Yamamoto
et al. [12] reported damage owing to bow are slamming on a small 819 twenty
feet equivalent unit (TEU) container ship in cyclone conditions. The remarkable
conclusion from the analysis of the damage and from the drop tests that were
carried out with a two-dimensional model of Station (St) 18.5 of this ship showed
that the pressure peaks were lower than expectedcomparing with Wagners
theorybut the duration of the high peak was much longer than expected.
Yamamoto et al. concluded that the large impact consisted of a pressure of about
840 kPa on a circular area with a diameter of 13.7 m. This very high force caused
buckling and cracks in the structure (gure 1).

Figure 2. Path of the fracture line over 80% of the depth of the container ship Napoli.
Adapted from [14].
An extreme event was experienced by the Estonia in 1994 when she lost her
bow visor and damaged her watertight front door. This damage caused the ship
to capsize and to sink in a relatively short time with loss of a large number of
passengers and crew. The ofcial report [13] indicates heavy slamming as the
cause of losing the bow visor. It is very unfortunate that the cause for such a
large accident is still being disputed, that sources of information regarding the
accident are still not opened and that no convincing research has been carried
out to analyse this drama.
The report on the accident with the Napoli [14] (gure 2), clearly revealed the
state of the art in the Class rules with respect to the level at which whipping
stresses are incorporated; just by a safety factor based on experience. Bureau
Veritas made an effort to use an estimation method based on a strip theory
approach ([14], Annex E), later published by Tuitman [15], and arrived at an
estimated contribution of whipping to the maximum wave bending moment of
30 per cent. Later on, Storhaug [16] estimated that the whipping contribution
could be anywhere between 20 and 60 per cent of the wave bending moment in
the sea state at the time of the accident. To complicate matters further, doubts
were raised about the role of the short-duration whipping stresses in the collapse
mechanism of the ships structure.

102
10
0 5 10 15 20 25 30 35 40
maximum deadrise angle ()
Figure 3. Peak pressure coefcients (k = p/(1/2rv 2 )) of two- and three-dimensional bodies

as a function of the deadrise angle. Adapted from Lloyd & Andrew [17]. Results from experiments:
spheres (crosses), ellipsoids (open circles), curved wedges (open triangles), two-dimensional wedges
(open squares), cones (asterisks) and theory: Wagner theory (solid line). The dashed line is a t
to the experimental data.
3. Slamming, physical phenomena
A slamming event is characterized by a sudden high force of relatively short

duration imposed on a body. This event occurs when a body enters a uid with a
small relative angle between the body surface and the uid surface. In this case,
the contact region between the uid and the body surface expands at a high speed,
even if the speed of the body motion is moderate. The classical explanation for
the high pressure with the resulting force is the sudden acceleration of the uid
close to the interface.
The impact pressure is very dependent on the relative angle between the
body and the uid surface. This effect has been demonstrated by experiments
with dropping wedges with a varying deadrise. In particular, when the relative
angle becomes small, the pressure rises sharply, as illustrated in gure 3. When
the relative angle is really low, below 5 , the impact phenomena become more
complex. The air is being compressed below the body in the phase just before

Figure 4. Air enclosure during a at impact of a breaking wave against a vertical wall. Adapted
from Bogaert et al. [18].
the impact. This high-pressure region causes a depression of the uid surface;
therefore the body touches the uid on the outer edges of the body in the rst
instance, in this way enclosing a volume of air. Compressibility effects of this
volume of air play an important role in the pressure underneath the body. At
a second stage of the impact, this volume of air will escape, and there will be
direct contact of the body and the uid. Compressibility effects of water might
play a role, but also the elastic/plastic response of the structure of the body. It
has been suggested that the dynamic response of a at stiffened plate can cause
local cavitation [6].
These complex phenomena create a problem in predicting full-scale values
based on scaled experiments. For normal impacts, when the relative angle
between the body and the uid is larger than 5 , it is commonly accepted that
Froudes Law of similitude holds. For at impacts, if the relative angle is smaller
than 5 , this is no longer the case (gure 4); the compressed air affects the
slamming pressure, which means that the ambient pressure must be reduced for
scaled tests. Although this will certainly improve the similarity of the phenomena
during the scaled tests and at full scale, it is not sufcient, as discussed by
Bogaert et al. [18].
4. Momentum theory
Momentum theory is the oldest theory to tackle the problem of slamming. The
theory was initially applied to estimate forces on the oats of landing sea planes.
Von Krmn [19] was the rst to use the change in the added mass of the oats
as an estimate of the impulsive force. The concept of added mass was already

16
vertical bending moment (MN m)

14
12
10
8
6
4
2
0
0 1 2 3 4
time (s)
Figure 5. Vertical bending moment on a destroyer in waves. Experimental result (solid line) and
calculated result (dashed line) using the momentum theory of Leibowitz [22].
well known in those days. Von Krmn based the added mass of the oat on the
added mass of a at plate with nite width; only the vertical velocity was used
in the force estimation.
The work of von Krmn attracted the interest of other researchers, who
improved his method. Pabst [20] used the vertical velocity normal to the oat
to calculate the change in impulse, and in this way, the forward velocity was
included. Pabst already stated that, if the structure of the plane and oats
were innitely stiff, the forces would be innitely high; in other words, the
capability of the sea plane to survive a landing on water depends on the
exibility of the connection to the oats. This statement is of course only true
if a at plate impacts horizontally on water and if the effect of the water
surface being depressed by the air underneath the plate is neglected; but Pabsts
realization of the importance of a exible structure for the oats is worth
noting.
Perhaps the most well-known paper on momentum theory is that by Wagner
[21]. In contrast to the more intuitive papers mentioned previously, Wagners
approach was more mathematical, using potential ow theory. He used the
analogy of the impacting oat with the ow around a wing at incidence. In this
way, the problem of the impact was linked to a planing vessel. The years following
Wagners work showed very little progress in the development or application
of momentum theory. One of the problems was the calculation of added mass
for ship sections, for which computers were required. The lack of computer
power was clearly illustrated by Leibowitz [22] who reported on the slamming
forces on a Dutch destroyer. The measurement consisted of a series of still
photographs of the ship in waves. From these stills, the ship motion and the
parameters of the encountered wave were derived. The added mass of the ship
sections was calculated using Prohaskas method [23] for different drafts. Using a
system of tables, the added mass and the relative velocity for each section were
painstakingly derived for each time step. Pile-up effects were estimated using
Szebehelys approach [24] for sections with a large deadrise. Leibowitz went as
far as calculating the global deformation of the ship using a beam model and

12 000
10 000
8000
FZ bow (kN)
6000
4000
2000
0
100 110 120 130 140 150 160 170 180 190
time (s)
Figure 6. Vertical force on a segment isolated in the bow of a ferry. Experimental results
(dotted line) and calculated results (solid line) using the approximate method of Kapsenberg &
Thornhill [25].
calculated local stresses in the ships structure. The comparison to measured

stresses was surprisingly good (gure 5). This enormous manual calculation has
not been repeated.
Recently, momentum theory was revived by Kapsenberg & Thornhill [25].
The added mass at innite frequency for a ship using a three-dimensional panel
code was calculated, from which they determined spatial added mass derivatives.
These added mass derivatives were multiplied by the relative velocity squared to
arrive at the impulsive force. It was shown that it is crucial to correct the incoming
wave for pile-up effects and for the draft-dependent stationary bow wave. It was
demonstrated that accurate predictions are possible (gure 6) also in quartering
waves, with a very fast method.
5. Boundary-element methods
Boundary-element methods (BEMs) have been developed for two-dimensional

impacts, initially by Greenhow & Lin [26], and later in Norway at the Norwegian
University of Science and Technology by Zhao & Faltinsen [27]. BEMs have
the advantage of a good solutionwithin the assumptions made of courseat
reasonable computational cost. There is a fundamental numerical problem at the
moment of the initial contact owing to the discontinuity of the velocity potential,
which causes an innite pressure. This problem needs some special treatment or,
as shown by Ogilvie [28], compressibility effects of the uid should be included.
Just after the initial contact, the uid close to the body starts to deform. This
deformation starts small, also small in relation to the panel size. This means
that the disturbance is not accurately modelled, so one has to hope that the

code recties this inaccuracy automatically. As the impact progresses, the uid
surface starts to deform more and more, and a jet can develop. This heavily
deforming uid surface requires a method that continuously checks on the size
of the panels in relation to the neighbours and, if required, creates new panels
or deletes some panels. Usually the jet is cut away from the solution using the
argument that the pressure inside is just atmospheric with the additional benet
that the re-entry problem of the jet is avoided. Even so, the large free-surface
deformation requires some tweaking and tuning to get a good panel distribution
during the simulation; it will be extremely difcult if not impossible to get this
right for all possible impacts. To do this in three dimensions will be even more
complicated. If one succeeds in building a stable method, the applicability is
restricted to rather academic cases. This is the reason that approximate methods
have been developed, the most well known being the one by Zhao et al. [29].
This method has been used for three-dimensional slamming predictions using
a strip-theory approach. The rst to use this possibility were Kvlsvold et al.
[30] in their research on the Estonia accident. Later it was demonstrated by
Sames et al. [31] that the choice of the tilt angle of the strips in the bow had a
large effect on the resulting impact force. The approach is still used today in an
improved method whereby the bow wave system at different drafts is incorporated
in the estimation of the wetted surface, as demonstrated in a series of publications
by Hermundstad & Moan [32,33] and Tuitman [15].
6. Statistical methods
The statistical method of Ochi [34,35] to predict the probability of bottom

slamming is well known. The probability of the fore foot of the ship emerging and
the exceedance of a threshold re-entry velocity were combined to calculate the
probability of a slam. The probability was evaluated using a Rayleigh distribution,
hence linearizing ship motions. Ochi found initially a negligible difference in the
threshold velocity for U- and V-shaped vessels, analysing model experiments in
regular waves and irregular seas. Later on, Ochi & Motter [36,37] rened the
method by introducing slamming coefcients that were dependent on the shape
of the lowest 10 per cent (of the draft) of the considered section.
A severe drawback of the method is that the vesselor essentially the section
is supposed rst to fully emerge from the water and then to impact on a at
horizontal surface of the uid. This is an approximation of bottom slamming;
bow are slamming is not considered. However, the method is easy to use, which
made it popular. It also proved to be a valuable tool to compare different ships
and, adopting a certain allowable probability of bottom slamming, to determine
the maximum sustainable speed in different sea states.
Ochis method is applicable to short-term statistics: the statistics of slamming
events in a sea state with one particular wave energy spectrum, and with constant
speed and heading relative to the waves. To predict the long-term statistics, the
statistics of the slamming events that a ship will encounter during its lifetime at
sea, is much more problematic. Determining the extreme values itself is complex:
maximum impacts occur in a sea state with steep and breaking waves. These
breaking waves introduce air bubbles in the upper layer of the sea, which reduce
the speed of sound, thereby limiting the maximum speed of the pressure pulse.

Vt/R
= 0.40 x
= 0.19 x
=0 x
Figure 7. Free-surface elevation at different time levels; results of a volume of uid method (solid
line) and the rst-order approximation (dashed line) [42].
This effect will increase the number of slamming events and the severity of the
slam. On the other hand, the upper layer is more compressible owing to the air
content, which should reduce the maximum peaks.
Next to this, the seamanship of the captain has a very large effect on the
long-term distribution of the slamming loads. First of all, the captain will try to
avoid the most severe conditions by re-routing. If this action is insufcient, he
will reduce speed or change heading; both actions have a very large effect on the
severity of the slamming impacts.
7. Analytical methods
In general, analytical methods provide the exact solution for a simplied impact
problem. As such, they are used as benchmark tools for approximate methods
and also for computational uid dynamics (CFD) methods. One has to be aware,
however, that the analytical solution has no problems in predicting an innite
pressure or an innite pressure gradient; this will never be possible for a CFD
solution with a grid of nite dimensions.
Analytical work started with the previously mentioned paper by Wagner [21].
Potential theory was used to develop a solution for a wedge impacting on a at
water surface. The approximate solution for the free surface was improved upon
by Dobrovolskaya [38], who developed an exact method for impacting wedges,
known as the similarity solution. Korobkin [39] also used Wagners analysis,
and included higher order terms in the Bernoulli equation in order to improve
the comparison to experiments. The method was extended to three-dimensional
problems by Scolan & Korobkin [40] and Korobkin & Scolan [41]; a solution for
axisymmetric bodies or bodies that resemble an axisymmetric body was found.
Because the body boundary conditions were imposed on the plane of the free
surface, the method can only be used for the initial impact of bodies with a small
deadrise angle.
Cointe & Armand [42] studied the problem of an impacting circular cylinder.
It was clearly shown that their analytical method was very good for the initial
impact problem where the leading parameter Vt R, in other words, the
immersion must be very small compared with the width of the section. This

1.0
0.8
0.6
pressure (bar) 0.4
0.2
0.2
2 3 4 5 6 7 8 9
time (s)
Figure 8. Impact force on an elastic conical shell. Purely analytical result for one point (solid line),
analytical result averaged over the area of the pressure sensor (thin-dashed line) and experimental
result (thin solid line) [43].
requirement is illustrated by their estimated free-surface deformation (gure 7).

Scolan [43] showed results of impact force calculations and of experiments. The
calculated impact force shows the innitely quick force build-up of the analytical
solution while the experimental force build-up is limited by the speed of sound
in the uid (gure 8).
8. Computational uid dynamics
CFD calculations, by which we mean volumetric methods rather than BEMs,

have been applied to impact problems for some 15 years. Arai et al. [44,45] were
the rst to apply this approach to slamming of ship sections; in those days, this
was a simulation of a drop test of a two-dimensional section in calm water. They
used an Euler solver and the volume of uid (VoF) method to determine the
free surface. This technique was also used by Germanischer Lloyd [31,46,47]; it
was applied in a strip-theory type manner to calculate the impact of pressure on
ships in waves. The basic ship motions were calculated using a classical linear
three-dimensional BEM.
Work was rst done to develop CFD codes that could handle ship motions in
waves without considering steep waves and slamming. Problems were encountered
with wave propagation into the computational domain and with proper handling
of the outgoing waves at the boundaries, and, of course, the large grids required
were limited by computer memory. Computer requirements were impressive;
together with the memory limitations, this was often a reason not to do grid
studies. Moctar et al. [48] presented results of CFD calculations for a large
container vessel where both ship motions and impact pressures were calculated.
Calculations were done for critical conditions that were identied by a BEM. They
showed a good agreement for rigid-body motions, internal loads and local pressure
under the bow of the ship. Pressures from the CFD calculation were transferred
to a nite-element code for a whipping analysis. We note that the wave condition

used for the CFD analysis was not a very steep one; it was a condition that
produces a maximum vertical bending moment (VBM) in the midship section, a
head seas condition with a wavelength of the order of the ships length.
Results of calculations for the S-175 container ship were shown by Wilson et al.
[49]. His results showed nonlinear force components, but not real slamming events.
Kapsenberg & Thornhill [25] showed results for a ferry; the ship was held captive,
in agreement with the model experiments. The calculated impact force on a bow
element and local pressures agreed very well with the experimental results. On
the other hand, they could not successfully calculate the impact force for the
steepest waves used in the experiments, but the waves were much shorter than
the ship length.
More recently, the method smoothed particle hydrodynamics (SPH) has been
applied to impact problems. The method is numerically very robust since it
is meshless. Overviews of the features of the method and the developments
were given by Monaghan [5052]. Persisting problems are the interfaces between
the uid and the body, numerical damping, which prohibits accurate wave
propagation in large domains, and internal pressure oscillations, which are
apparent in local pressures. Despite this, good results have been obtained for
the classical dam-break problem [53], problems with two-phase ows like a rising
bubble in a uid [54] and violent wave impacts [55].
All CFD methods are quite computer intensive and need parallelization on a
large number of processors to get reasonable performance, but SPH is even worse
in this respect. The solver is quite fast since no large matrices need to be inverted,
each particle only interacts with its close neighbours, but the time step is very
small because, essentially, compressibility is used for time stepping.
9. Structural aspects: hydroelasticity
Already in the early days of research on landing aircraft, the importance of

exible supports for the oats of a plane was realized [20]. A stiff support could
easily break at a more violent landing; exibility in the supporting structure
reduces the peak loads in the support structure of the oats. This characteristic
is the denition of hydroelasticity: the forces of the uid on the oats cause the
supporting structure to deform; the deformation velocity in its turn changes the
uid loading on the oats.
The problem of hydroelasticity received an impulse from studies on very large
oating structures like oating airelds. This work is outside the scope of this
review. Relevant here is research carried out in Norway, especially on the loads
on at plates supported by stiffeners. This research was stimulated by a strong
development of multi-hulls (surface-effect ships and conventional catamarans)
by the local shipyards; the at plates were a model for the cross structure
hitting a wave crest. Kvlsvold & Faltinsen [56] reduced the problem of the
plate with stiffeners to that of a exible beam impacting on a wave crest in
two dimensions. The beam was modelled as a Timoshenko beam and this was
coupled to a simplied solution (referred to as the outer solution) for the uid
ow in the impact region. Details of the ow at the contact point of the body
and the uid were ignored; it is assumed that this is allowable considering the
hydroelastic response of the beam. An analytical solution was found, but the

forces (N m1) 106

hydrodynamic
2
0.2 0.4 0.6 0.8 1.0

time (s) 103
Figure 9. Force on a beam when impacting on a wave crest. The top line represents the force on
the fully rigid beam; the full line shows the very large reduction of this force due to the exible
response of the beam [56]. Solid line, total force; dotted line, local excitation force; short-dashed
line, damping force; long-dashed line, inertial force.
0.25
0.20
emEI tanb
zaV 2rL2
0.15
0.10
0.05
0 0.5 1.0 1.5 2.0 2.5

tanb
VrL3/EI
Figure 10. Strain as a function of the non-dimensional ratio of the duration of the impulse and the
natural period of the structure. Results from calculations of a stiffened plate eld Faltinsen [7].
Results of calculations at different non-dimensional impact velocities (crosses, open circles, triangles
and squares), quasi-steady orthotropic plate theory (dashed line) and hydroelastic beam theory
(solid line).
work on numerical solutions (BEMs) failed for stability and convergence reasons.
Since the analysis is linear, a decomposition of the different force components can
easily be made; the results in gure 9 show that the effect of the elasticity of the
beam on the hydrodynamic force is quite dramatic. This work was extended by
Haugen & Faltinsen [57] using orthotropic plate theory and applied to a physical
model consisting of three segments by Ge et al. [58].
Hydroelastic effects are only relevant for local impacts when the relative angle
between the body and the surface of the uid is small, and if the duration of
the impact is short relative to the resonance period of the structure. This is
expressed by Faltinsen [59] by a parameter
that we identify here as Faltinsens
slamming parameter: FSP = tan b/V rL /EI . FSP is proportional to the ratio
3
of the wetting time of the beam and to its lowest natural frequency. Using the
results of calculations on a wedge built from a stiffened plate, a diagram was
drawn showing the effect of hydroelasticity on the strain (gure 10). This gure

maximum displacement (m)

1.0 no hydroelasticity
(no air)
0.8
0.6 no hydroelasticity
(with air)
0.4
hydroelastic
(no air)
0.2
hydroelastic
10 19.0 (with air)
5 27.2
ang z)
le ( 2 35.4 y (H
) q u enc
0 43.6 fre
Figure 11. Hydroelastic and air inclusion effects on the maximum displacement of different two-
dimensional wedges characterized by the deadrise angle (rst horizontal axis). The structural
properties are characterized by the rst dry natural frequency (second horizontal axis). Adapted
from Bereznitski [60].
shows a full elastic response for FSP < 0.25 where the stresses are proportional
to the impact velocity, a transition area for 0.25 < FSP < 1.50 and a quasi-static
response for higher values of the parameter where the stresses are proportional
to the impact velocity squared.
Bereznitski [60] essentially studied the same problem of a two-dimensional
wedge entry where the wedge consisted of a beam with nite stiffness. By
calculating a series of wedge shapes with a deadrise angle of 0 , 2 , 5 and 10
and, for each case, four different values of the stiffness of the beam, gure 11
was constructed. This gure shows that neglecting hydroelastic effects can, in
the extreme case, result in an overprediction of the displacement (and hence the
stress) by a factor of 10. Note that this is for a very extreme case; a at impact
on a very exible structure.
10. Experimental techniques
A slamming experiment is not an easy experiment; this was well detailed by

Lewis et al. [61]. The duration of the impact is usually short, especially if local
quantities, like the pressure, are of interest. This means that high sampling
rates like 510 kHz are required; for a at impact even higher sampling rates
are necessary. In addition to the requirements for the measurement system and
the data acquisition system, there is the problem of the sensor itself. Nowadays,
there are piezo-electric pressure sensors with very high natural frequencies. It
must be realized that the quoted high frequency is the frequency in air; the
natural frequency submerged in water is much lower. Much work was done in

the 1960s and 1970s to capture the peak of the local pressure pulse; these results
were no doubt affected by the accuracy and the maximum sampling rate of the
measurement systems of those days.
Systematic experiments were carried out on two-dimensional bodies like wedges
as early as 1952 by Bisplinghoff & Doherty and are still being done recently [61
63]. Bisplinghoff & Doherty [64] carried out free-fall experiments and derived the
impact force from the deceleration of the test section. The wetted length of the
wedge during the impact was studied using a high-speed lm camera that was
able to shoot 1500 frames per second. Their results for the 10 wedge did not
agree with the existing theories of Wagner [21] and Mayo [65]; the results for the
20 and 30 wedge showed a better agreement.
Tveitnes et al. [62] carried out more sophisticated tests on wedges using an
apparatus that imposed a constant velocity during water entry. Tests were carried
out for wedges having a deadrise angle ranging from 5 to 45 . All sections
had the same width; the models had a hard chine at the maximum width
and vertical walls. They measured the total force on the section for various
water entry velocities and also for some water exit cases. Their results from the
water entry tests showed signicant dynamic effects that were attributed to the
different components of the test apparatus, illustrating the complexity of the
experiment. De Backer et al. [63] carried out drop tests with a hemisphere and
cones with different relatively high deadrise angles. A high-speed camera was
used to measure the impact velocity and the pile-up along the body. Measured
pressures on the bodies were signicantly lower than predicted by asymptotic
theory, especially those of the cones. Regarding the relatively large deadrise angles
of the cone, this is not surprising. Lewis et al. [61] carried out drop tests with
a two-dimensional wedge. A high-speed camera was also used to measure the
position of the wedge and it was found to be more accurate than a traditional
position gauge and double-integrated acceleration signals. Lewis et al. detail an
extensive uncertainty analysis, again showing that attention to detail is required
for accurate measurements.
Research on hydroelastic effects initiated a series of experiments used for
validation of the developed theory. Work was done in Norway by Kvlsvold &
Faltinsen [66] on a at plate supported by stiffeners dropping on a wave crest;
similar tests were carried out by Samuelides & Katsaounis [67] and Vredeveldt
et al. [68]. Results of this work showed that the lower deformation modes had a
dominant effect on the maximum strain. The slamming peaks can be very high,
but with a very short duration.
Experiments carried out by Shibue et al. [69] with a steel cylinder and by Arai &
Miyauchi [70] with a thin-walled aluminium cylinder showed large differences in
the deceleration (owing to the difference in mass) and in the stresses, owing to the
deformation of the aluminium model. A fully coupled hydrostructural approach
is necessary to predict stress levels in such a exible structure. Such an analysis
was performed by Ionina & Korobkin [71]; a good agreement with Shibues results
was shown.
Kvlsvold & Faltinsen [66] presented the results of drop tests with a at
plate on a wave crest. The results were compared with a two-dimensional theory
using a beam model for the plate and a nonlinear BEM developed by Zhao &
Faltinsen [27]. The displacement is shown in gure 12; the agreement for the initial
displacement is very good, but there is a marked change in the natural frequency

0.010
0.005
displacement (m)
0
0.005
0.010
0.005 0 0.005 0.010 0.015 0.020
time (s)
Figure 12. Maximum displacement of an impacting stiffened plate. The prediction using asymptotic
theory (solid line) shows a much longer period of oscillation than the experimental result
(dashed line) [6].
4
pressure (bar)
4
0.005 0 0.005 0.010 0.015 0.020
time (s)
Figure 13. Prediction of the local pressure of the impacting stiffened plate [6]. Solid line, asymptotic
theory; dashed line, experimental results.
of the plate after the initial deection, t > 0.008 s. Faltinsen [6] attributes this
to ventilation or cavitation, which causes the plate to vibrate in the dry natural
frequency. This seems logical considering the negative pressure that has been
measured (gure 13). The good agreement between the predicted and measured
initial displacement while the initial peak in the pressure was fully absent in the
theoretical result (gure 13) illustrates that a high, short-duration, pressure peak
has little consequence for the deformation.

Experiments with complete models of ships are carried out to measure the
global response. Basically, there are two ways to do this, to build a completely
elastic model or to divide the model into a number of segments and to connect
them with an elastic beam. The rst approach can be quite expensive if one
attempts to model an existing ship in detail. For research purposes, a much
simpler model can be built from some elastic material. This last method was
used by Watanabe et al. [72] for experiments on the S-175 container ship and by
Hay et al. [73] for experiments on a frigate. Some problems were indicated by
the last group of authors regarding the effect of installing components like the
electrical motor and drive train needed for propulsion on the elastic properties
of the model. The approach of using a fully elastic model was reviewed by
Iijima et al. [74]. They concluded that it was unavoidable to use some plastic
as material for the elastic model; this material has a lot more internal damping
than the steel or aluminium prototype, thereby affecting the elastic response
of the model. This aspect is especially important for successive slamming; the
phasing of the second slam with the still-active whipping response of the model
has an enormous effect on the dynamic response of the second impact, as shown
by Kapsenberg et al. [75].
Most experiments on complete models of ships are carried out using segmented
models. There are two methods for designing the beam for such models: the rst
is to build a beam with a very stiff main part and exible connections and the
second is to build a continuously bending beam. Examples of the rst method
are in the experiments carried out by Hermundstad et al. [76], Lavroff et al. [77]
and Drummen et al. [78]. Examples of the second method are the experiments
by McTaggart et al. [79], Dessi et al. [80] and Iijima et al. [74]. The advantage
of the rst method is that the exible connection can be made adjustable, while
adjusting the beam is more complicated. However, both methods appear to give
good results in comparison with calculation methods.
11. Full-scale measurements
There are quite a few full-scale experiments on slamming reported in the open
literature. In general, this type of measurement needs a complicated set of
instruments and measurement system, and, if you are looking for it, bad weather
is not always easy to nd. For commercial ships sailing xed routes, this means
that a measurement campaign needs to cover several years in order to have a
decent chance of success.
The earliest documented full-scale seakeeping trials were those on Dutch
destroyers reported by Warnsinck & Saint Denis [81]. The instrumentation was
self-made and consisted mainly of stress measurements. The main problem was
the lack of information on the sea state. This problem was avoided in later trials by
doing side-by-side tests [82]. These measurements were analysed by Leibowitz [22]
who applied momentum theory to compare theoretical results with the values
measured at full scale, as mentioned previously.
The Ship Structure Committee ordered an extensive study in the 1960s. This
study started by developing an automated measurement and recording system
for full-scale internal load measurements [83]. This system was later used for
several campaigns on cargo ships [84]. One of these ships, SS Wolverine State

Figure 14. Sistership of the Wolverine State.
(gure 14) was further instrumented with pressure gauges to measure slamming
pressures in the bottom. It is interesting to note that this ship type experienced
damage to the bottom plating on earlier occasions. Results of the slamming
measurements were reported by Wheaton et al. [85]. Measurements took place
over a 3 year period; during all this period, signicant slamming occurred only
on three west-bound trans-Atlantic voyages. No measurements were carried out
on the environmental conditions; also the wind speed was estimated by the crew
of the ship. The conclusions from this project are therefore rather general. The
Poisson distribution as predicted by Ochi [34] for the time interval between slams
was conrmed. The head seas condition was the most severe one considering the
number of slams. An effort was also made to estimate the relative velocity at the
moment of the impact; this was done on the basis of the signal of the pressure
gauge with considerable simplications. Accepting the high uncertainties of this
procedure, a relation was found between impact velocity and peak pressure that
was close to Ochis [34] value from model experiments using a Mariner hull form,
but peak pressures were a factor of four lower than Chuangs [86] results from
drop tests.
Aertssen [10,87] carried out measurements on many ships. From these
measurements, performance diagrams were created, as illustrated in gure 15.
These diagrams show basically the speed of the ship as a function of the weather
conditionsexpressed as a Beaufort numberat various power levels, but they
also show some limiting seakeeping parameters like the number of slams and the
number of propeller emergences per hour, bow acceleration and probability of
deck wetness. The weather conditions were based on observations by the crew,
and the actual wave spectrum is only characterized by a Beaufort number.
Andrew & Lloyd [88] carried out side-by-side trials on two frigates of the Royal
Navy. They used wave buoys to measure the sea state; later on, their results were
used by Bishop et al. [89] to validate their unied dynamic theory of a exible
ship hull with good results. One interesting conclusion from their work was that
different methods to estimate the slamming forces gave a wide spread of the
distribution of the peaks of the VBM amidships (gure 16).
Aalberts & Nieuwenhuijs [91] focused on the contribution of the whipping
component on the VBM onboard the 124 m general cargo/container vessel
Victoriaborg (gure 17). They did not measure the sea state, instead they used
an automated measuring system that collected data over a full year and from this
they considered statistical distributions of the peak values. It was concluded for

17
8000 14
7000
12
pitch angle () stress (kg mm2)

15 6000
10
0P
5
5000 E
PE
speed (kts)
dry ship 8
13
6
10
4000 spray
e
angl
25
E
ch
t pit
P
n
E
ifica 4
sign
3000 max. significant wavestress wet
11 stress 2
max. whipping
0S
1S
2
3
S
0
S
9
5 6 7 8
Beaufort number
Figure 15. Performance diagram of cargo liner Jordaens. Adapted from Aertssen [10]. Diagram
shows lines for different power settings (solid lines), maximum signicant wave stress and maximum
whipping stress (dotted lines), signicant pitch angle (dashed line), probability of propeller
emergence (PE; dashed-dotted line), probability of slamming (S; light dotted line).
103
no. exeedances per hour
102
10
1
0 10 20 30 40 50 60 70
bending moment amplitude (MN m)
Figure 16. Distribution of the peaks of the VBM for different estimators of the slamming force
[89]. Estimations using the method of Leibowitz [22] (open squares), StavovyChuang [90] (open
circles), OchiMotter [37] (open triangles) and measurements (crosses).
this hull form with very little bow are that the whipping component contributed
signicantly to the fatigue damage: the number of cycles increased by 35 per cent
and the extreme value by some 15 per cent.

Figure 17. The container ship Victoriaborg.
More recent projects that have been carried out often remain unpublished for
condentiality reasons. Within the Cooperative Research Ships, administrated
by the Maritime Research Institute Netherlands (MARIN), several long-term
monitoring campaigns have been and still are being carried out. A recent
development is to use the backscatter of the navigation radar to estimate the
three-dimensional wave spectrum [92]. Several such systems are available on the
market and, after tuning, these systems give a good estimate of the sea state.
The main uncertainty is the estimate of the wave height. This measurement is
heavily affected by the presence of very small wavelets on top of the wave owing
to a local wind eld.
It has been proposed by Thornhill & Stredulinsky [93] to combine the
measurement from the wave radar with measurements of the ship motions. Using
pre-calculated ship motions and the measured wave spectrum, one can determine
a correction factor for the spectral value for each frequency and wave direction
bin, thus correcting the signicant wave height.
12. So, where are we now?
It is clear that an enormous amount of work has been done and that impressive
results have been obtained, but it is still insufcient to advise the industry on
the suitability of a particular ship design on a certain route. The questions posed
in the rst section on the acceptability of a certain bow are in a particular sea
state can still not be answered.
Developments in the last decades have shown that ships are getting bigger and
hence are more exible than ever before. The use of high-tensile steel allows a
reduction of the structural dimensions (in comparison to normal steel), which
again makes the structure more exible. This development increases the need
to determine the stresses owing to the exural deformations of the ships hull.
The reason to include this is twofold: the effect of the exural deformations on
the extreme wave-bending momenthence the design valueand the effect on
fatigue aspects.

Calculating the dynamic response of the ships girder on a given dynamic load
using a structural model seems a solved problem. The introduction of deformation
modes into hydrodynamic calculations was developed by Bishop & Price [94] and
has basically remained unchanged. The main problem, however, resides in the
calculation of the excitation for the different deformation modes, as was clearly
demonstrated by Bishop et al. [89]. It is a pity that an enormous amount of work
has been devoted to a proper measurement and prediction of the peak value of
the impact pressure. For many purposes, this value has no consequences since
the duration of the peak is very short, therefore, it contains very little impulse.
The global response of the ship owing to a wave impact is determined by the
spatial integral of the pressure pulse as it travels over the hull. Although the peak
pressure might be high and the high-pressure area might be narrowresulting
locally in a high pressure of short durationthe hull girder is excited with a force
of relatively long duration owing to the relatively low speed at which this pressure
pulse travels over the hull. The short-duration slamming peak is only important
for very special applications like the containment systems for liqueed natural
gas owing to the special structure of exible panels and very stiff supports.
Analytical methods to predict slamming impacts have a limited usefulness.
Often they can only be applied to simplied shapes and are limited to just the
initial stage of the impact. BEMs are rather more exible, certainly with respect
to the hull form, but the large surface deformations cause enormous problems
for a proper and accurate evaluation. This is the reason for the popularity of the
approximate BEMs.
The future of numerical predictions is certainly in CFD. The combination of
steep and large waves with a ship at speed is essential for a correct solution of
the slamming problem. It is recognized that viscous and boundary-layer effects
are not important for slamming, but the full interaction of the incoming wave
with the moving ships hull needs to be solved. CFD does not have the elegance
or the efciency of the more traditional methods, but the power and memory
capability of modern multi-processor computer systems make simulations of
three-dimensional cases possible, although it still takes days for a simulation
of limited duration (a few wave encounters). The importance of predicting the
pressure pulse correctly requires small cells in the impact zone; this makes
the problem larger (with respect to memory requirements) than the normal
problem (without slamming) of a ship sailing in waves. Whether the future is
brighter for the normal CFD methods or for SPH is difcult to predict. SPH is
numerically a very robust method and impressive results are obtained for very
violent phenomena. However, work on verication of the results (convergence with
respect to particle size and time step) is not yet at the level of the normal CFD.
For the moment, the main problems with SPH are wave propagation in a domain
and a robust treatment of the bodyuid interface, while computer requirements
are an order higher than for normal CFD methods.
Full-scale measurements are becoming more useful in slamming research.
Early measurement campaigns illustrated and quantied the seriousness of
the slamming phenomenon, but these data could not be used to validate
computational methods; only recently an accurate measurement of the actual
wave condition has been possible. Long-term measurements of one ship to
determine extreme values are not very useful, not even if they last over the
complete lifetime of the vessel. Serious slamming does not occur often and ship

operators try to avoid these conditions whenever possible. Monitoring campaigns

of large container ships have shown that they do not encounter slamming
conditions every year. Validation is only possible for the one occasion that the
ship encounters these conditions. Modern developments using wave radar [92]
show great promise. The estimation of the wave height is still the weak point;
this needs continuous tuning by an expert or it can be calibrated by the measured
ship motions [93], which is the course of current developments.
One of the objectives of all these developments is to have proper structural
requirements in the rules that include the effects of impulsive loads and
dynamic responses. Classication societies are working hard to include this in
the prediction of ultimate and fatigue loads, but they are not yet there, as was
demonstrated by the research carried out after the Napoli accident. Pedersen &
Jensen [95] have worked already on very general formulas to quantify dynamic
effects in a form suitable for rules, but this seems rather premature since the
method used is not yet thoroughly validated.
13. Remaining challenges
It is believed that we are close to numerically solving the whipping problem

for ships. A pragmatic method to achieve this capability has been proposed
by Kapsenberg & Thornhill [25], who presented a tunable approximate method
for the impulsive load caused by slamming that can be included in long-term
simulation software. However, they still have to demonstrate that this objective
was achieved. It might very well be that the way the waves are generated for
these predictions, by way of superposition of harmonic components, is insufcient
to correctly predict the right amount of steep waves that are so important for
the large slamming impacts. It might be necessary to use a higher order wave
description to arrive at a proper estimation of the slamming loads. When this
is realized, the problem of modelling the seamanship of the captain remains a
crucial component for a realistic long-term distribution of the bending moments.
Predicting the local response is far more complicated because then a detailed
pressure distribution is required. Phenomena like air inclusions, hydroelastic
response of the structure and compressibility effects of the uid are important
for impacts where the surface of the uid is close to parallel to the body.
Predicting full-scale values from scaled experiments is quite complex. Scaling laws
for impacts with a signicant amount of trapped air still need to be developed.
Describing the phenomena, as done by Lugni et al. [96] and Bogaert et al. [18],
is a rst step towards this goal. Possibly, the nal solution is a CFD method
where all relevant physical parameters are properly modelled so that separate
calculations for the model and full scale can be made. This is then analogous to
the prediction of the wake eld of a ship: separate CFD calculations are being
done for the model and at full scale.
Full-scale measurements are always necessary. Not only is this the only real
environment for which the (ship) design is ultimately intended, but real-life
details can have an important effect on impact phenomena. One of these real-
life details is the volume fraction of air bubbles in the upper layer of the sea,
especially during weather conditions where there is high probability of slams: an
increasing wind with a rising sea state with steep waves. A good validation for

slamming calculations would be a deterministic slamming event at full scale. This

means that the impact condition, the actual wave surface in space and time, the
pressures on the hull in the impact area and the hull dynamic response need to be
fully recorded. For a small boat, such a deterministic event could be possible by
creating a steep wave with one ship and running at high speed through the wake
with the second instrumented ship. Alternatively, one could create a measurement
range where the surface is covered by radar to measure the spatial/temporal wave
elevation, but then one is dependent on the proper weather conditions.
For large ships, this does not seem feasible; a short-term statistical approach is
then the only alternative. The ship should be instrumented with a radar system to
measure the wave environment, accelerometers to quantify the whipping response,
a strain gauge system to measure the global loads at different sections and strain
gauges to measure local stresses in the impact area. It is difcult to get permission
to install pressure gauges; ship owners and Class societies are not too enthusiastic
about drilling holes in the hull and, unfortunately, quite a few gauges are required
in order not to miss the interesting high-pressure area. Full-scale measurements
are essential to check the statistical distribution of slamming-induced loads. For
the short-term statistics, this is a check on the proper evaluation of all physical
details; for the long term statistics, this is mainly a check on the model of the
captain applying prudent seamanship.
14. Conclusions
Published literature on ship slamming in waves has been reviewed with an

eye on the practical application of the proposed theories and the usefulness of
experiments carried out, on the problem of real ships sailing at sea. The problem
of ship slamming can be subdivided into a local problem of a small part of the
ships structure, which is actually hit by an impulsive load, and the problem of
the global response of the ship structure, referred to as whipping.
The local problem is quite complicated, certainly if the angle between the
impacting uid surface and the structure is small. Unfortunately, this is the
condition in which the impulsive forces are highest. If this relative impact
angle is small, effects like air inclusions, local air bubbles present in the uid,
compressibility effects and details in the inow conditions play a role. If the
structure is exible and starts vibrating, local cavitation might also occur. With
a great deal of effort, these effects might be included in model experiments,
but extrapolating such results to full scale is, as yet, a challenge unsolved. It
is suggested that only a computational method including all these effects will be
able to accurately predict such phenomena.
The situation is brighter for the global problem. Local effects are ltered
because the integrated pressure in space is relevant as an exciting mechanism.
Recent developments have shown that CFD methods are now able to calculate
the impulsive force on the ships hull, although such calculations in really steep
waves have not yet been published. It has been suggested that a two-stage
approach might be useful for this problem: a CFD-based method to calculate
the impulsive force owing to individual waves in specied conditions and an
approximate method, tuned on the CFD results, to be included in long-term
simulation programmes. However, a realistic long-term distribution of the bending

moments of a ship is, apart from the hydrodynamics, also quite dependent on the
actual way the ship is being used. The amount of weather routing, speed reduction
and course changes to avoid heavy slamming will have a dominant effect on the
extreme loads; research on this aspect is still in its infancy.
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Phil. Trans. R. Soc. A (2011) 369, 28922919

Slamming of ships: where are we now?

If we dene the start of slamming research as the publication of von Krmns

One contribution of 13 to a Theme Issue The mathematical challenges and modelling of

2892 This journal is 2011 The Royal Society

Review. Slamming of ships 2893

2. The importance of slamming

Phil. Trans. R. Soc. A (2011)

port side starboard side fcl dk

10 no.1 cargo hold

no.2 pant. str.

fore peak tank

Phil. Trans. R. Soc. A (2011)

Review. Slamming of ships 2895

Phil. Trans. R. Soc. A (2011)

Figure 3. Peak pressure coefcients (k = p/(1/2rv 2 )) of two- and three-dimensional bodies

3. Slamming, physical phenomena

A slamming event is characterized by a sudden high force of relatively short

Phil. Trans. R. Soc. A (2011)

Review. Slamming of ships 2897

Phil. Trans. R. Soc. A (2011)

vertical bending moment (MN m)

Phil. Trans. R. Soc. A (2011)

Review. Slamming of ships 2899

calculated local stresses in the ships structure. The comparison to measured

Boundary-element methods (BEMs) have been developed for two-dimensional

Phil. Trans. R. Soc. A (2011)

The statistical method of Ochi [34,35] to predict the probability of bottom

Phil. Trans. R. Soc. A (2011)

Review. Slamming of ships 2901

Phil. Trans. R. Soc. A (2011)

pressure (bar) 0.4

requirement is illustrated by their estimated free-surface deformation (gure 7).

8. Computational uid dynamics

CFD calculations, by which we mean volumetric methods rather than BEMs,

Phil. Trans. R. Soc. A (2011)

Review. Slamming of ships 2903

9. Structural aspects: hydroelasticity

Already in the early days of research on landing aircraft, the importance of

Phil. Trans. R. Soc. A (2011)

forces (N m1) 106

0.2 0.4 0.6 0.8 1.0

0 0.5 1.0 1.5 2.0 2.5

Phil. Trans. R. Soc. A (2011)

Review. Slamming of ships 2905

maximum displacement (m)

10. Experimental techniques

A slamming experiment is not an easy experiment; this was well detailed by

Phil. Trans. R. Soc. A (2011)

Phil. Trans. R. Soc. A (2011)

Review. Slamming of ships 2907

Phil. Trans. R. Soc. A (2011)

11. Full-scale measurements

Phil. Trans. R. Soc. A (2011)

Review. Slamming of ships 2909

Figure 14. Sistership of the Wolverine State.

Phil. Trans. R. Soc. A (2011)

pitch angle () stress (kg mm2)

Phil. Trans. R. Soc. A (2011)

Review. Slamming of ships 2911

Figure 17. The container ship Victoriaborg.