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Profissional Documentos
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(STRUCTURES)
NASASP-8077
Co__
SEPTEMBER 1971
NATIONAL
AERONAUTICS
AND
SPACE
ADMINISTRATION
FOREWORD
NASA vehicles.
experience Accordingly,
a need
for uniform
criteria
of space
in the following
areas of technology:
Individual they
components
of this work
will be issued
as separate
monographs
as soon as at
are completed.
monographs
These
monographs
are
to
be
regarded
as guides
to
the
of
design
requirements
and project
Manager assisted
of General In particular,
Corporation/Research the material by the Mutchler, of Jet of Hughes and made following E.F.
in developing
the drafts. of
the significant Corporation; Technology; Corporation; U. S. Army C.F. Warner Langley NASA the
are hereby
Propulsion Aircraft
Laboratory,
California J. T. "Foley
Group/TRW Corporation;
Agency;
Company; of NASA
Research plans
and to
are invited
Hampton,
1971
Technical
Information
Service, Springfield,
Virginia
22151
-- Price $3.00
MONOGRAPH
It summarizes
development
the significant
efficiency
and confidence
All monographs
in this series
by a brief
INTRODUCTION,
by a list of REFERENCES. OF THE ART, Section aspects supporting background 2, reviews and assesses current design practices references base and are
identifies
important
Selected
to supply provides
CRITERIA The
CRITERIA,
can serve
as a checklist
for guiding
Section
4. state
how when
the
criteria. be done,
is described; practices,
are suggested.
These
to the formulation
of requirements
iii
CONTENTS
1.
INTRODUCTION
..............................
2.
STATE
OF THE ART
....................
........
2.1
,/
Methods
...... Inputs . . . .
5 6 7 10 10
i _ _i
System
Experience
2.2
Inputs 2.2.1
from Excitation Inputs 2.2.1.1 2.2.1.2 2.2.1.3 2.2.1.4 2.2.1.5 Inputs Inputs Inputs Inputs Inputs Road
11 or Handling Vehicles Vehicles Devices . . . 11 12 15 16 17 17 18 18 20 22 23 24 Loads ..... 25 27 .......... .......... ........... .........
from Transportation
Vehicles
Devices
2.2.2
from Loadbed
Inputs Inputs
Devices
Load Inputs
2.3 3.
Verifying
Transportation
and Handling
CRITERIA
Loads
.........
27 28 28 29
RECOMMENDED
.......................
4.1
Determination
of Transportation
and Handling
Loads
.........
30
4.2 Verificationof Transportation andHandlingLoads........... 4.3 Monitoringof Transportation andHandlingLoads ........... REFERENCES
, * . .... ....
33 34 37
DESIGN TO DATE
CRITERIA ....................... 41
vi
several times during During design these goal that requirements and to ensure damage handling that which may be different
life by a variety
of flight or other mission requirements. for a space vehicle by transportation during feasible handling.
mission
be predicted
design
and, if necessary,
the design
does not occur. of transportation by insufficient in flight caused with the and handling load-bearing by accumulated the generation and and or major carriers for loads can lead to local damage on the handling damage and fixture from cyclic loads. of criteria loads and and during of the are are loads are devices to
caused
or it can
presentation these
prediction structure
vehicle systems
of the vehicle
functions
for common
and typical
assessed throughout the monograph and references for descriptions cited from the limited amount of available literature. The where The the speed; and monograph is particularly concerned during and with the assessment
of the functions
of loads
at the points
is supported
transportation loads
and handling. is influenced fixture; by such factors transport winds, factors etc.), must as and be
handling type
vehicle
in pressure
or handling
or handling
the loads
Whenestimatesof allowableloads are available,an initial selectionis madeof a transportationandhandlingsystemwhich it is roughly estimateddoesnot generate loadsthat exceedthe allowableloadsnor appreciably affect the vehicle'sfatiguelife. After this initial selection,the loads imposedon the space vehicleby the selected transportationand handlingsystemare predictedby one or more of the following analyticalmethods: Limit load factors (constant "g") basedon accumulated experience in transportationandhandlingof manytypesof fragilecargoareusedasinput to supportpointsof the space vehicle. CompositeloadS,synthesized from loadsmeasured at the cargoloadbedof the appropriatetype of transportvehicleduring previousshipments with manytypesof cargo,areusedasforcing-functioninputsto a mathematical modelof the space vehicleandthatportion of the transportation or handling system between the space vehicleandthe transportvehiclecargo loadbed. Loadsmeasured on a similarspace vehicleduringshipment or
the same or similar to the models transportation space vehicle of both systems. or of handling interest system by an extrapolated mathematical handling are scaled with or
ili!il _
analysis
using
Loads system
from
the
environment
external
to the
transportation systems.
are used
as forcing-function
inputs
to a mathematical
space vehicle
transportation
or handling
the
space
vehicle and
fixtures often
and
built,
the
transportation of the
handling
In addition, cycles
of critical vehicle
each handling
production
exceeded
flightworthiness
is closely
related
monographs
in this of
In particular,
of space vehicle and handling on the subjects prediction including (ref. 2) those
with transportation
and handling
Other
of natural
are concerned with the response of structure caused by handling and trans )ortation. 2
2. STATE
Transportation extremely
OF THE ART
and handling to predict loads studies encountered because by space vehicles of the complex practices during nature shipment are In
difficult
accurately
of the loadings
and the lack of documented spite of these reported elaborate shortcomings, failures
or recommended
have been made with few can be attributed that have been have been developed have been specified the system are justified loads of the travels. because In addition do not cause structure, the of space on In of to imposed
structural
success
load-attenuation
transporters
to act as the load attenuation speed many and the that condition these cases an observer specialized damage,
of the
medium
or on which
to accompany
restrictions
These measures
cargo and the cost of its replacement. transportation do not loads and handling affect design is essential
feasible,
and handling
to the design
To aid in the
selection
of appropriate
handling
and transporting
devices
and
their operational
procedures
requirements
for the
design
of transportation
To
provide
necessary
load
inputs
to compute within
space
vehicle during
response transportation
and
internal
stresses
at critical
locations
the vehicle
or handling
Transportation (transient, resulting elements transporter handling become space points and response from shown
and handling periodic, the device itself may part loads random,
loads that
quasi-static,
static
interactions 1 are
in figure
fixture
transportation fixture.
trailer
or transporter. position
and thus serve as an elaborate in a vertical at the vehicle V Apollo attachment systems
to ensure
for related
and structural
to mechanical
Etements
of
System
1.
Space vehicle
vehicle segment
or
A.
--
Loads to space
input
vehicle
2.
Handling
fixture
L B B B B
l
3. Transportation (train, airplane, truck, mode boat, helicopter) Note: often Items combined 2 and to 3 are form i X / . . i k
t
Ioadbed transport vehicle of
a transporter
i /
. k
i /
| \
i !
t
4. Transporta.tion medium water, air) (rail, road,
l
C.Forcing function inputs from transportation medium
5.
D.
from
1
D
1
D
l
D
however,
points
available or
inputs
interfaces
(B in fig. 1) from
the loadbed
the medium
(D in fig. 1) from
The on
state
loads for
a space
(1)current
predictingtransportationandhandlingloadsare summarized and appraised and the elementsof thesepredictionmethodsare discussed; (2) the forcing function inputs from the varioustransportationandhandlingmediumsaredescribed andthe sources anddescriptions of forcingfunction inputsfrom the transportvehiclecargoloadbeds are given; and (3)the proceduresutilized and measurements needed to verify transportation and handling loads and to monitor these loads on shipmentsof productionspace vehicles arediscussed. 2.1 Prediction Loads
An early and which under levels. Another desired approach loads levels. was to design the space vehicle and then design operations and/or with operating a protective vehicle the of the space without system regard to limit vehicles Suitable to the transportation the induced and submitted and handling load-attenuation loads to to tests systems systems
Methods
for Transportation
and Handling
handling
A prototype
was fabricated
were then
restrictions is that
to limit the loads to specified and time consuming. structure be cannot adequately be cannot vehicle loads
has proven
it is costly space
disadvantage
and
estimating supported by
to be encountered on The
during
transportation approach
and handling measurements is employed. as the nature which sections. transportation The formulation range
have
when
simplest
available
depends chosen,
on such factors and whether systems for in the following for predicting model. frequency
and the transportation available. Each requires influenced nature structural vehicle The factors analytical
of these the
and
handling
knowledge the
structure
or handling
For successful
modeling,
boundary
of the space
basic
of the
vehicle
and or for
transportation
systems
for natural
vibration
modal
analysis
vibration response prediction. These and 3 and are particularly applicable modeling in the friction, components run as part for example, transportation system leaf are springs, must systems, coupling
methods are discussed in detail in references for modelingthe space Vehicle. Experience has usually tires, rail to obtain cars, shown and that certain struts).
1, 2, with
difficult be modeled
to model
shock
absorbers, oleo
mechanisms
successfully
valid answers,
of dampers
is different
and in compression. of complete models of models models model cargo systems the of for floor road rail using road transport vehicles that transport vehicles are given are given in references are given 10 and Mathematical in references 8 and 4 and 5. More 6 and Similarly, of a 7. 9.
in references
of an airplane
to calculate
loads
at
the
in referencell2. 13 and
handling
systems
In each of the analytical the model equations or handling. handling From number preceding environment such of the system of motion These loads
techniques forcing
and handling
loads, in the or
which equations
the dynamics
in terms may
of input
acceleration Examples
accelerations
to its transportation
or handling of the
be obtained.
of equations
of transportation paragraph.
can be found
in the references
Load Factors
transportation or peak, experience and handling loads is to specify factors and handling 15) is shown 15. a basis for and
in terms based
of constant
accumulated
in transporting
of fragile
in table I. Limit load factors A disadvantage evaluating frequencies. loads is not space unique the The
are also given in reference is that it does not provide loads of varying is that transportation
magnitudes
of space vehicle
Although
this approach
space vehicles. 6
.....
. ....
TABLE
1.
LIMIT 15]
LOAD
FACTORS
Medium/mode
Water Air Ground Truck Rail (humping Rail (rolling) Slow-moving dolly shocks)
i
+_0.25 to +0.75
I
+0.75
2.1.2
Another imposes the
Analysis
method the
of Partial
for predicting functions or
System
with
Composite
and motions a partial functions handling of the
Loadbed
loads cargo on
Inputs
a space vehicle of space
forcing vehicle
floor
transport and
device Such
system are
consisting composites
forcing of
loadbed such as a
measured carrier,
travel
a transportation The
or elevator. to
compiled and
a mathematical and loads vehicle in affect loadbed during the the data the
of the space
vehicle
responses transport
of the be
may
represented
if the
vehicle Under
significantly composite
of the be
loadbed. generated the system such loadbed from under specific effects operating to yield This
ideal
practice,
it becomes obtained
of systems tends
under
a variety
approach
because the
loadbeds
transportation
components.
for this scarcity monitoring to limit (3) data load that and
at the loadbed;
system considered
proprietary; of data
are unique
so that generalization
In been
spite
of these loadbed by
on
several
systems loads
have
been
Moreover, transportation
: .
conducted
and vibration
cargo
operations.
directly
applicable
to the shipment
of space
vehicles,
such information
References
techniques in
references.
of transportation
manufacturers
1962 is presented
curves for the four major envelop for the maximum of a great all types of commercial
modes
in figure 2. These
reported number
accelerations systems,
vehicles
represent
a composite
of loads,
operating conditions. For a particular system, discrete frequencies and for a specific condition, and 17.
The
composite obtained
loadbed from
data
method
method results
for are
estimates
of transportation composite from system vehicle vehicle curves under usually loadbed
restricted
from vehicle
or handling
compared
and the
method
of prediction loads.
in very
and handling
In
any
case, by
by
the
loadbed vehicle
method allowable
guidance
further
definition.
less than
of the transportation
and handling
loads is generally
10 Air
1.0
0.1
Y
Water
10
Transient
(slamming
and
emergency
maneuvers)
1.0
c5
0.1
/
Rail (excluding couplings) _ _
Continuous
(rough
seas)
g
10
>
Transient (slack run-in, starts and run-out stops) Continuous (Steady rough runs track)
and
1.0
over
0.1
crossings 1.0
m
'
I
road)
0.1 0.1
I I,,l,
1.0
I I I_,J,
10
I I I,,,,
100 Hz
I I i,,,,
1,000
I l I,,,,
10,uO0
Frequency,
of by
loads
in
excess
of
allowable 2.1.4.
loads
by
this
method such
are
usually dynamic
a more discussed
comprehensive in Section
prediction
approach,
as the
analysis
Scaling method
and
Extrapolation
from
Similar and/or
usually system
vehicle loads,
or handling
system.
In addition
is required, structural
is assumed new
the previous
characteristics loads
is particularly
with only
size, or capacity, In this approach, space system between points the between forcing model system. between data be carried Of the vehicle
minor
changes
on the
as the
and working
into
to compute the previous where the of the the the fixture system new systems
the degree
at the points where interface basic dynamic developed of similarity of applying which might
handling function
vehicle, input
or even
and the transportation used as the forcing which the detail is usually system and
is then
model depends
The extent
of the modeling
and analyses
required. in references
recorded
on one transport
vehicle/load vehicle
to other
four
this method
most
accurate
transportation for this technique such system previous as the must system.
detailed model
information. literature.
available
Information
be sought
in internal
company
or through
2.1.4 The
Analysis fourth
of Full
System
with
prediction of the
method entire
characteristics
moving
the handling
vehicle
or handling
to the mathematical
model usedin this approachare primarily the forcing functionsgenerated by the transportationor handlingmedium(e.g.,the road or rail profile) coupledwith the velocity of the movingsystem.The development of the mathematical modelrequires detailedinformation on the mass and stiffnessdistributionsof eachelementof the system so that the model and the attendant equations of motion acceptably approximatethe dynamicsof the actualsystem.The systemis subjectedto known input forcing functions and the input loads at the vehicle attachmentpoints are cQmputed. The approachof full-systemanalysis with transportation-medium inputsis particularly applicableto new or extensivelymodified systems for which no applicable dataare available. It is alsoemployed whentransportation andhandlingloadshavebeen judged critical by preliminaryanalysis and detailedload definition is required.If the load inputsare distributedoverseveral points,thismethodof analysis will providethe time and phaserelationshipof the loads.A disadvantage of this analysisis that it may requirethe development of a complexmathematical model.
A major part of this methodof estimatingtransportationand handlingloadsis an accurate determinationof the input forcingfunction or excitationto the modelfrom the transportationmedium (C in fig. 1). Unfortunately, there is little published information on these inputs. The sourcesof excitationsto the various types of transportvehiclesandhandlingdevices andthemeans for determining theseinputsare discussed in the followingsection.
2.2
The inputs sources input
Inputs
accuracy from
from Excitation
with which
Sources
and depends data handling loads on the vehicle from are of
predicted excitation
by any of the preceding excitation sources sources. their input are quite
loadings
various to
limited.
In the
following
are discussed,
and references
Inputs
from
Mediums
or Handling
road, rail, air, and water moving inputs devices. 11 over or through together and
loads to transport
vehicles
become
for transport
and handling
2.2.1.1
Inputs
Vehicles can be categorized the vibrations caused vehicle and shimmy, as both internal by the can be limited and therefore and
transporters
internal
excitations,
wheel unbalance,
significantly external
transporters Other
do not
excitation
docking,
to the system
to a large degree
by the vehicle
conditions
coefficient
wind inputs. of operating controlled transportation restrictions and special from levels. Criteria handling starting, instructions stopping, and 21. is more Numerous measuring measured complex systems systems, data than have data their for use that can be given and docking environments
operators,
excitations
turning, thermal
by road
irregularities
and therefore
of some
operating in vehicle Descriptions Germany spectral reduced presented measured between surface. versus vehicle as the
and methods
analyses
of concrete given
roads
in reference (rad/ft)
density frequency
derived
angle
between two
line and the perpendicular distance spectral and apart, touched density
at Which
wheels, the
to displacement
abscissa
by the speed of the model of a missile density was used For response.
data
to a dynamic
in reference profile
4. Power-spectral (rms)
root-mean-square correlated
the actual
to determine
0.10
\
0.01
"x "\
0.001 __ _ i_'_ Upper bOund >:
0.0001
o_
(3Lower bound
,,\
_'_t _
-)
''_
0.00001
,, \ ,,\
1 ft=03048m _
0.000001
-\
10
I
500
I
200
I
100
I
50 Wavelength
I
20 -- L, ft
I
10
I
5
I
1
Figure 3. -
Road power-spectral
densities
]3
To
for 5)
the the
lack
of
measured
data
of road of
surface
profiles,
one shown
generalized to
classification consist critical washboards at the the response given in same course
road
individual that
wave
length so that
into the
the top
spaced critical
all or most
The
moving long
vehicle
over
various lowest
to develop and
in the the
system in terms
mode. of
washboard
table
probability estimates
Use of this
road-roughness
classification
has given
conservative
TABLE
II.
ROAD
CLASSIFICATION
Low probability of occurrence (a) Type of road encountered Sinusoidal washboard amplitude,
cm
(b)
Sinusoidal washboard amplitude,
cm
(c) (d) Primary and secondary roads with rigid or flexible pavement that are well constructed and maintained Paved primary and secondary roads with average maintenance; or well constructed unpaved roads with good maintenance Secondary roads that are flexibly paved and poorly maintained, and unpaved roads
(c) (d)
3.81
(c) (d)
0.95
1.91
2.54
2.54
5.08
1.29
3.81
5.08
10.16 (chuckhole)
3.81
7.62 (chuckhole)
aLow probability of occurrence indicates levels will be encountered (> 160 934 Km or 100 000 miles). bHigh probability of occurrence indicates levels will be encountered (<16 093 Km or 10 000 miles).
CWashboard will be of critical wavelength and of sufficient length to develop maximum response of lowest mode in the system. Vehicles will be designed for these road roughness criteria at all speeds within the vehicle normal operating range. dl cm = 0.3937 in.
14
Inputs to Rail Transport sources of vertical discontinuities is induced between sources excitation by excitation
Vehicles to railroad rail joints, tapered and wheel by the transport and wheel treads vehicles which are rail roughness rail roadbed. trucks to the rail head. 25 and operations cause the in references
at the the
of the striking
and vertical
of excitation
are discussed
26. Longitudinal
switching there
or coupling
and by slack run-outs couplers been show on starting, that the published.
which
or varying discusses of
speed.
Very
few data
on rail profiles
Reference frequency
unpublished and
spectra between
irregularities frequency
predictable displacement
relationships amplitude
frequency as spatial
decreases
Instrumentation characteristics in references complicated undisturbed rail caused under The 27. accounted vehicle model. required reference 27
has been developed of rail profiles. and 28. by the elasticity model profile, weight the track by
to measure of the
lateral,
and cross-elevation are described are generally required for vehicle system are the of the must be system to the also in are
measuring profiles,
Measurements
of the rail and road bed. Because system of the road the is similar profile and of rail
the mathematical
containing
characteristics
of the Measurement
inputs
these
is discussed
the rail measurements rail rail car car is described and the rail, is the absolute
the response
in reference
evaluation
Frequency
rail cars.
Acceleration wheel
(16 700 to 26 200 pounds). load environment other good correlation rail cars having with technique. wheel
in the wheel
it appears
measurement
15
Application of axle-acceleration-measurement data to a dynamic model of a missile/transporter systemis described in reference 8. Dynamicmodelingof rail-car systemsto determinelateral stability causedby track discontinuities(joints) is described in reference 9. The longitudinalexcitationcaused by slackrun-outor
the train and the position in reference of the car in the train. encounter the lowest 29. use of rail cars for transporting during coupling phenomena operations. and depends is based measured space vehicles upon design impact the is the of a is for the locomotive are discussed A major severe during impact, the reasonable presented used various 2.2.1.3 Sources in long trains, run-in depends trains, Run-out on the length and run-in of
The excitation
system
on establishing missile/transporter
16). A dynamic
Minuteman
for longitudinal-impact
is described
in reference
with measured
Vehicles they are discussed by the ground plants at at their the in detail taxi,
during
caused of the
occurs
blade distributed
whereas
excitation
excitations
and include
the aerodynamic
forces (flutter
by the surrounding
and buffeting),
Gust excitation a space converted accelerations to account derived other concept vehicle. to accelerations
air-transport made
loads data
on the are
aircraft obtained
to gust velocity. in wing chord on an derived attempt from through rigid for one aircraft gust to
Reference
bodies
to flexible
gusts of different 16
and velocity
,,
_i
for
on
rather presents
than data
a on
is given
reference transfer
measurements
and thunderstorms; and analytical techniques. from studies The 36. rate of descent aircraft or are runway is given response and in of
experimentally
functions;
take-off
made with the same instrumentation runway is presented data for several airport
systems
used in
A bibliography roughness
34. Reference
of impact.
on cargo
in reference
Inputs
to Water Transport result the water include and caused from and
Vehicles seas and "slamming" impacts harmonic reciprocating of the propellers simple or by which it again. excitations engines, of excitation occurs Other when the dynamic from varying wake,
rough
subsequently
(1)the shafting
resulting (2)the
by rotation
in a nonuniform
wave forces
are discussed
excitations or
caused wave
by machinery height,
and
much
lower
than by
excitations.
is determined
of the form,
data describing
in reference
The
of a dynamic is discussed
model
for
describing which
ship
response
to waves
and
in references forces
effects
must be considered
can be calculated
in reference
2.2.1.5
Devices are difficult A system 17 to predict can receive primarily a sudden because they are
by handling element.
by the human
push or pull or be
dropped as a result of humanerror, accident,or expediency. Thus,the significant handlingloadsthat canoccurduringoperations suchashoisting, jacking,andassembly areapt to be accidental. The magnitudeof suchloadsdepends largelyon the training and skill of the personnel involvedand the equipmentbeingused.Special handling instructions andprocedures andanobserver canhelp to limit theseloads. Thenormalhandlingexcitations canusuallybedetermined from theperformance (e.g., torque, acceleration, lifting and loweringspeeds, and braking,characteristics) of the handlingequipmentunder consideration. Predictionsof significantexcitationsfrom the humanelementmust be based on someassumed heightof possible verticaldrop and/or on someassumed lateral and longitudinalimpactvelocity.Typicalaccidental drop heights for variouscontainersare presentedin references 17 and 18. Space vehicles, however, arenot usuallydesigned for accidents andthereforetheexperience accumulated in handlingthemis usedin estimating handlingloadinputs. References 13 and 14, describemodelsof missilehandlingsystems for the Polaris missilesand also give somerealistic valuesof inputs from handlingdevices to the system.The handlingequipmentconsisted of a missilecontainer,a shock-isolation system, a cable,anda crane.The models wereanalyzed to determine missile response and to establishimpactforcesfor variousloweringvelocitiesand inertia forcesfor variouscableaccelerations. In manyof the currentspace vehiclehandlingsystems, thespace vehicleis loadedonor off the transporterby means of aroll-on/roll-offmechanism with the transporter itself providing the lowering or elevatingcapability (refs.39 and 40). This procedure effectivelyelim_,nates the possibilityof the systembeingdroppedor handledroughly duringthis type of transfer.
2.2.2 Inputs from Loadbed Measurements
2.2.2.1 Loadbed presents stage. maximum frequency vibration were towed loads. produce relatively
Inputs
Loadbed Inputs reported vibrations for several road occurred transporters. Reference 39 S-IV
on two special
land transporters
had a characteristic of occurrence 39. The transporters the induced because Because an they of the observer
10 miles per hour) of most and at 18 space vehicle low-frequency these low
These
relatively
low-level
accelerations motion
accompanying the systemestimatedvisuallywhetherthe space vehicleresponse was excessive, andif so,requested a reductionin speed until the motionhadattenuated. Data recorded during transportationof the Ranger 8 and Surveyorspacecraftby air-suspension trailer vansare presented in references 41 and 42. Shockspectraand power-spectral densitiesof the measured data arepresentedfor rough and smooth highwaysfor three different locationsin the van.Only measurements in the vertical dlrection are given.The report statesthat valuesin the longitudinaland transverse directionswereas much as 40-percent lessthan the verticalmeasurements; however, theselevelsmay still be important.The vertical acceleration at the vanfloor rarely exceeded 1-gpeak.A significantvariationin acceleration levels recorded between two supposedly identical vans indicated that each transporter must be qualified individually. Reference 43 presents datameasured duringroadtransportation of a 3.05-m(120-in.) diametersolid-propellant vehiclesegment. The transportationvehiclewasa low-bed trailer 3.35-m(11-ft) wide, with a 6 x 104kg (60-ton)capacity.The reference gives representative acceleration data and forcing frequencies for eachpart of the trip, includinga suddenstop on an incline.Theverticalacceleration levels ranged from 0.2 to 0.4 g at frequencies from 2 to 6 Hz. Reference 40 presents loadbedmeasurements madeduringshipment of Polaris motors, includingmeasurements of maximumverticalaccelerations for Various roadconditions andspeeds. Vibrationsoccurredat frequencies of 1 and 10Hz. The transporter wasa semitrailer vanwith aninnerstructural-support box suspended on air springs. Additional datadescribing measured loadson commercial roadcarriers arepresented in references 16 to 18. References 16 and17summarize the dataavailable up to the time of publication(1967). The documents presentthe maximumload levelslikely to be encountered on commercial carriersanddiscuss the stateof the art in data-reduction techniques. An extensive programfor measuring the loadsencountered on a flatbedtractor-trailer combinationis described in reference 19.Representative samples of loadsmeasured on the cargofloor of the vehiclearepresented for various roadconditions, vehiclespeeds, andlocations.Typicaltractor-trailerloadbed dataarepresented in tableIII in termsof the probabilitydistributionof acceleration asa functionof narrowbands of frequency. The composite plots accountfor the probabilitiesof encountering variousroad types and road speedsin a typical transcontinentaltrip. The data showedthat the environmentover mostroadsconsists of a low-levelcomplexvibration upon which a greatnumberof repetitiveshockpulses aresuperimposed. Similardataarepresented in reference 44 for a 2-1/2ton flatbedtruck. 19
........ k
i i :!!
TABLE
III. - LOADBED
DATA
TRUCK
COMBINATION
3.2 2.3 1.65 1.2 0.86 0,62 0.45 0.32 0.23 0.17 0.12 0.1
@ --- - -
Q .... .....
0.11 0.70 0.26 2.05 4.87 10.27 82.50 1.99 5.66 7.71 10.01 73.78 .................... 0.15 0.71 3.33 6.85 12.82 76.09 ............... 0.32 2.12 4.54 7.52 85.42 ........... 0.66 2.47 6.88 89.90 0.53 1.24 2.86 95.25 - - 0.19 0.95 98.65
....
012 . ......
0.91 3.58 6.71 10.59 8.89 9.17 59.96 0.10 0.83 3.12 8.92 11.28 12.87 62.63 - - 1.36 5.51 16.48 15.97 17.65 42.71 0.17 1.60 4.92 11.86 13.51 16.12 50.66
Frequency band, Hz
021A
2Y_5
510
1015
1523
233D
3044
4463
6388
88125
125175
175238
238313
Notes:
This
summary
accounts in a typical
of occurrence trip.
of road
speeds
and
road
types
encountered
The circled values are those values are those considered Total (peak accelerations
to be shocks.
The uncircled
used
493
less than
is not
Overall center
amplitude
distribution
for a loaded
truck,
vertical
axis (front,
aft locations)
Inputs made on rail except the transporters shock for both caused over-the-road by coupling
All phenomena
motions
to be occurring
of tests conducted
in reference
parameter
of speed
imposed frequency
by the carriers
over adverse
conditions.
fundamental
was 2 to 7 Hz, 5 to 10 Hz for the longitudinal with a frequency vertical of 40 to 100 Hz recorded maximum acceleration on the 2O
superimposed
by
a slack
run-in.
Although
the
in the longitudinal
direction,
the
highest
accelerations
D
direction. of the Minuteman The truck for suspension shock missile in a system of in the in the
8 presents
car, the Minuteman consists and Shock were reduction a pendulum isolation low loads). cushioning
this transporter
of a combination
air and coil spring for shock snubbers in the longitudinal Because coupling Rail were
isolation isolation
direction considered
longitudinal significant
(shocks The
during
Minuteman
order-of-magnitude
Reference motors, locations maximum occurred transporter References including suspension versus direction
40 on
presents the
data
made for
during
of Polaris The
on the floor
various
(1.7 g on
1.4 g on the
The maximum
acceleration
(2.0 g on the
and 1.6 g on one of the motors) 16 and (1) envelope systems, and 17 present road additional
occurred data
the same event. over-the-roadbed operations for all types acceleration speed and data describing similar to transverse, lowin the of of
frequency
and lateral).
Statistical
of random entirely
amplitude low-frequency transients. were below Coupling coupling observed. reference Data carrying conducted and with
vibrations
longitudinal
transverse direction
of the peaks
was less than 0.05 g. transporters (10 mph) speed. hydrocushion 43. Tests car were have is the been in
A major
source
0.9 m/sec
for automatic
operations, speeds
greater during
on impact during
switching
16 in the form of probabilities impact a solid-rocket-motor with systems a car having weighing a 50.8-cm segment from (20-in.)
a given impact
recorded
to 112 000 kg (69 400 to 247 000 lb) bydrocushion. Measured accelerations
on
the
transporter direction,
ranged
direction,
2.90 g in the
vertical
( 10 mph).
Data motors
during and
tests system
is reported
in reference
consisted The
mounted
in an internal
restrained mph)
flotation
maximum measurement
(3.95
are also given. additional various rail-coupling speeds impact data in terms of shock spectra lateral, device. of and Shock in It is of 0.9 to
'
impact
vertical) spectra
i
a standard worst
and high-capacity case, the 4.92 m/sec spectra and the crossing the 4.92 m/sec events.
to shock coupling
for other
such as a nominal
frequencies,
coupling
is as much
magnitude
2.2.2.3
Loadbed during
Inputs of the Saturn S-IV stage are presented Guppy, a conversion where The specifically distribution and cruise for transporting of the composite conditions. in
Measurements references of the 4-engine the space acceleration fundamental respectively. of harmonic Landing braking. Data
air transport
in the aircraft.
conditions
are 67, 60, and 51 Hz, frequencies. reversal The results was used for
loads
extremely
describing
vehicle
to loads are also presented. aircraft presented and commonly in used for 16. of The
on the cargo decks of various or aircraft. C-130, of vehicle for Vertical, C-133, data segments propeller lateral, 377PG, are (turbine-
reference
presented
the maximum
Reference 46 presents measurements of theenvironment on the cargod_ckandon the outer skin near the cargohook of the HH43 helicopter.It givesthe probability distribution of the acceleration amplitudepeaksas a function of narrowbandsof frequency.The HH43 helicopteris poweredby a turboshaftenginewhich drivestwo contrarotatingrotors. Motor starts, rotor engagement, and straightand level cruise were of little significance in inducing loads when comparedto hover, climb, and high-speed events.Data showedboth randomand dampedsinusoidal characteristics. Rotationof onerotor bladecauses a sinusoidal excitationwhichbeginsto decay but is reinforced by the next blade. The engine and air movementgeneraterandom excitations.
2.2.2.4 Water Transport of the loads are occurred lateral, consisted 4 seconds wave; transporter during Loadbed encountered rough Inputs during shipment 39. The For periods of the Saturn the ship, the of measured S-IV stage by only loads of accelerations 0.35-g periods an in
barge
presented
4 to 10 seconds
accelerations low-level
environment 8 to 10 foot the barge direction. Reference measurements occur area load during of ships
During
the draft
of the barge
acceleration
vibrations
Measurements the
generally exists
environment
measurements
Envelope
acceleration
of a transport
ship result
in quasi-static
ships may roll up to 30 degrees loading rotational pitch periods In addition can be imposed load factors,
consequently in pitch.
30 seconds during
9 seconds
component
severe rolling
wash
over
the
ship's
deck
and
produce
severe
loads
on cargo
Handling imposed
Devices space
Inputs or vehicle are segmentsduring generally and little very the handling low equipment and roll-off loads operations these systems, loads have significant operators
on the
as
loading, caution.
because
operations exercise
, i: _
Special
e.g., roll-on
data on handling
occurs designed
space vehicles
40 of the
the wheels
during
the
transfer
of
a flexi-van of the a
Polaris
from
a truck
to a railroad
consisted
platform recorded on
of the the
the
were
vertical
shock
duration
of
40 milliseconds
at a frequency
recorded and
during cable
and transfer
operation one
of the of the
a crane
system
7.62 cm (3 in.) because The severest the forward critical for this event
17 presents
a shock-spectra
measurements
at various
Loads diameter
developed
during
several while
solid-rocket-motor occurred
described
accelerations
lowering
a highway
0.10-g vertical,
and 0.20-g
17 presents or operations.
additional Data
data
handling
operations,
including of are
probabilities
of packages
receiving
a given height
and reporting
24
and Monitoring
Transportation
and Handling,
transportation
and
handling
loads
are
usually
measured
to verify
the
loads, and they are monitored is not affected. and and the vehicle measured estimated at other
on selected locations,
vehicles
to ensure to
that the vehicle's define the input Initially, transportation space measure model from the vehicle. these of the the
during
runs
of
systems program
both with and without develops, transport during the qualification vehicle shipment transportation
are performed
space vehicle.
factory to record
monitored specifications.
unexpected
occurrences
Instrumentation information and/or recording analyzing specifically references for reference Recording weeks. transient The being systems the
and
data
analysis
vary,
upon gages,
the
type
of and for
sought. used
consist handling
load used
cells,
accelerometers. data
References
17 discuss
used in in and of
39, 40, 42, and 43. The recording called 48. This system, System vibration recorded data or shock
instrumentation
package
measuring
Measurement of occurrence
(TEMARS),
include forces
as well as periodic
measurements
of quasi-static
phenomena.
25
26
3. CRITERIA
The transportation needed to'the
/
loads
acting
as
by experimental
and, that
transportation
and handling
3.1 Determination
i :
of Transportation
loads
and Handling
as necessary,
Loads
for all phases
including
!_!:?_ iii_ _, :
Loading
on transporter
to assembly,
vehicle sites
(locally)
by special
handling
equipment,
dollies,
or lift trucks
with other
space vehicle
elements
on the launch
and returning
For each of the transportation include all dynamic (shock at least the following:
phases,
quasi-static,
loads resulting
Normal
interaction
(air, water,
of the handling
vehicle
at tiedowns
and reaction 27
All appropriatecombinationsof the aboveload sourcesin all directionsof load application(vertical,longitudinal,lateral)shallbe accounted for. Thetransportationandhandlingloadsshallbe determined by suitablestate-of-the-art methodsof analyses. The analyses usedshallpredict the transportation andhandling loadsto the accuracy needed to permitadequate design. 3.2 Verification
Experimental vehicles verify and
of Transportation
on engineering, and handling
and Handling
or production
Loads
models of space to
measurements transportation
shall be performed,
as required,
the predicted
transportation
and handling
3.3 Monitoring
Transportation space vehicles and
of Transportation
handling loads necessary shall
and Handling
on shipments
Loads
of production incurred are less
be monitored
to ensure
28
4. RECOMMENDED
To ensure that
PRACTICES
and handling structural loads are adequately ground exceed determined support and
transportation specialists,
accounted environmental designers, recommended allowable loads less modified than withstand system
design, close cooperation and instrumentation and handling or other the loads mission
dynamicists,
designers,
the space vehicle If the estimated systems loads be should modified be to to values
loads
established
by flight loads,
exceed the
to provide transportation
sufficient loads.
attenuation The
allowable be feasibly
structure if the
or handling modified
or handling
cannot
to attenuate
these loads. systems should be made during of the space by the modes. an initial use an to some extent transportation available, loads should
An initial the cargo When estimate and data system and appropriate vehicle,
of the transportation phase capacity, because the size and weight vehicle estimates allowable of the nature of the and other load
design weight
configuration
limitation estimates
space
transportation space
on the type of transportation vehicle and handling and selecting load attenuation and (3)
transportation
transportation
guidance
appropriate
and handling
act as source
of the space vehicle. and handling during (e.g., response is generally analyses models enough for several loads should be defined and and modal shock). loads at the points operations systems structural locations where and the space for use vibration on loads at should in
to facilitate
comparison
analyses,
measured
degrees
desired
be kept
with
L H
and
with
the
number
of
the
modes
as
discussed on modeling
in
reference2. for
References
1, 2, and
3 should
be consulted
techniques
space vehicles. For predicted individually, operation obtained multidirectional transportation each under significant consideration. and difficult 2-dimensional and handling loading Actual to analyze; (planar) loads, the analytical direction loads for and the models are results should simulate, and be
transportation
however,
by analyzing
lumped-mass
models.
i_
4.1 Determination
Transportation following 1. 2. 3. 4. and handling methods
of Transportation
loads should be
and Handling
by one
Loads
of the
estimated
or more
(see Section
2.1):
using limit load factors of partial system with composite loadbed inputs
experience inputs
medium
The
particular
method including
used the
should
of
applicability
of pertinent
and the time and resources recommended and results a transportation of analysis
in very conservative
of the loads.
system
under model
carriers (2)]
or to
been measured,
a mathematical
loads
to ensure
encompass
all conditions
transportation
handling
be conservative.
should
be closely
examined
to determine
to the proposed
the cargofloor of all typesof commercial vehicles andloads,they canthen serveas input loadsto the handlingor vehiclesupportmechanism attached to the floor of the transportvehicle.Applicablecomposite dataof this type for the four majormodes of transportationare shown in figure2. Other valid sourcesof compositedata are discussed in Section2.2.2.Mathematical modelingof the system above the cargofloor in an analysisthat usesthe cargofloor loads asinputs shouldbe usedto determine input loadsto the space vehicleandvehicleresponse to these loads(Sec.2.1.2). Whenavailable, loadbed datafor the specifictransportation vehicleor handlingsystem, ratherthan the dataof figure2, shouldbeusedto providea moreaccurate estimateof the loads.However, careshouldbe takenthat the datacoverthe rangeof conditions likely to be encounteredwith the actual system.This approachis particularly applicableto transportationandhandlingsystems which are large compared to the spacevehicle, i.e., the spacevehicle has little effect on the cargo-floormotions. Aircraft, ship,andsomerail carsfall into this category.Sources for loadbeddataare discussed in Section2.2.2. If the space vehicletransportationor handlingsystem underconsideration is similarto a systemfor which load measurement data and either a mathematical modelor the physicalcharacteristics requiredfor the modelareavailable, then the datashouldbe scaled or extrapolated (Sec.2.1.3) to the new system using method(3). The dynamicistshouldhavea knowledge of the structureonwhich the datawererecorded to determinethe effectof the load.The approach is best suitedto systems in which there is only a small changein the structure or weight of the new space vehicle, compared with the structure and weight of the vehicle on which the load measurements were made.The data used,however,shouldcoverall the conditions likely to be encountered by the systemunder consideration. Datashouldbe sought throughinternalreportsor records sinceverylittle dataof this type areavailable in the general literature. For entirely newtransportation andhandlingsystems or extensively modifiedsystems for which applicabledata are unavailableor inadequate,the loads should be determinedby method(4), dynamicmodelingandanalysis of the entire system with transportationmediuminputs(Sec.2.1.4).This methodshouldalsobeusedwhenthe time andphase relationships of the loadsmustbe known,i.e.,whensuchinformation would significantlyaffect the results,or when the loading is judgedcritical from preliminaryanalyses anddetailedload definition is required.This methodshouldalso be usedin predictingloadsfor systems whoseresponse will besignificantlyinfluenced by the mass distribution and stiffnessdistribution of the spacevehicle. Where transportationvehiclessuchas aircraft,ships,andin someinstances railroadcarsare largein comparison to the newspace vehicle,the space vehiclewill generally havelittle influenceon the response of the transportationvehicle.Predictionfor suchsystems shouldbebased on composite loadbed data. 31
system
is modeled
the of and is
should
seek data
describing
rail profile,
and frequency.
given by reference
and discussion
in Section
four
basic the
sources
profile
medium actual
which, For to
by measurements profiles
route. be used
measuring
in reference
section road
measured profile
data such
of the loads. 4, results if the loads systems, The accident, or pull. load values
values.
by multiplying
and by a factor
should
on judgment
significant
during
handling
operations
are a result
the space vehicle receives a bump or phenomena and estimates of their be based on experience few data inputs. and described of this type For example, by human velocities The are a
magnitude
and frequency
in Section arbitrary
2.2.1.5, reasonable
very
in velocity be related
be considered
for loads
imposed
or expediency
lowering
operations.
used should
height
be estimated
Guidance
to estimates
of handling
should be based on data discussed in Section 2.2.2.5. The inputs should be applied mathematical model of the system as described in references 13 and 14.
Conservative loads such and the data. practices accuracy system safety presented
practices appropriate
in estimating judgment
the
transportation
for any uncertainties for assigning and recommended data, validity inputs A discussion manufacturers
factors
studies available
to the
in applying
32
loads analysis
from
other
greater
than
induced should
is required.
to the
loads,
Although
response
for predicting
design of a transporter
or other
the transporter
itself is designed
of
and loads.
handling
load the
be in
at the
For example,
it is known
occur at the
perpendicular
axes. In addition,
or torques
or tie-down
combinations
should be considered
4.2 Verification
If the predicted 50 percent verified percent predict
of Transportation
and Handling
loads are equal load values of the
Loads
to, or more than, be 50
should
load-measurement
if there used to
are serious
or conservatism
the loads. determined verification that of load measurements and are required, handling should loads the recommended are as follows. to
transportation transportation
systems
be instrumented
loads during
be conducted
handling
which should
to measure
its response
to input loads
If the trial runs indicate close to the predicted margin, prototype transportation then or production and
and handling
loads are
or are at least less than the allowable of the loads should vehicle systems. These 33 final with the instrumented
integratedwith the qualificationtest programs for the transportationandhandling systems. If feasible, thesetestsshouldbeconducted for allphases of movement of the spacevehicleor its major segments and for all conditionslikely to be encountered during actualshipment.If this is not practical,the testsshouldat leastduplicatethe severest intransit and handling conditionslikely to be encountered during normal shippingoperation.The loadsshouldbe measured at the pointswherethey havebeen estimated, particularlyat the space vehicleattachment pointsandthe transportvehicle loadbed,and at all locationson the space vehiclethat havebeen judgedcritical asa result of space vehicleresponse analyses. Results of thesetestsshouldprovidethebasis for qualifying the transportationandhandlingsystems. The testsshouldalsoestablish the need for restrictionson specific transportation or handling operations.For example,if the loads areexcessive for a particular transportvehiclespeed androad type, a speed restrictionshouldbe imposedto ensure protection of the space vehicle. Instrumentation usedfor measurements to verify the transportation andhandlingloads shouldbe appropriate to the informationbeingsoughtandthelocationon thevehicle. Selectionof the type of instrumentation andthe locationof the instrumentation on the transportation and handling system should be determinedjointly by the instrumentationengineers, dynamicists, strengthengineers, andtest engineers. In all cases, the instrumentation shouldnot influencethe measured response andshouldbe capable of accurately measuring andrecordingthe inducedloadsandthe space vehicle response. Whenever a programis undertaken to verify transportation andhandling loadsthrough measurement, thesemeasurements shouldbe of value to designers and analystson similarprograms. Therefore,it is recommended that duringthe datameasurement and documentation phases, consideration be givento acquiringandpresenting sufficient structuralanddynamicinformationto allowthe datato beusedin estimating the loads on newsystems. 4.3 Monitoring
Monitoring of the space the allowable evaluation
of Transportation
and handling the maximum instrument
and Handling
Loads
all shipments 50 percent of from
during than
predicted
locations
be determined
of data measured
tes t phase. selected for the position and the capable where it
frequency
structure.
The system
of recording
is recommended
self-contained
in reference
The measurements obtained duringproductionshipments shouldbeusedto verify that the space vehicleallowableloadshavenot beenexceeded. In the eventof anaccident or an abnormalloadingconditionnot previouslyconsidered, this informationshould beusedto determine whetherthespace vehicle's flightworthiness hasbeenimpaired.
35
,_,
_ _,_i,_ _ _
Ip
_ iI
_, j
36
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Anon.:
Natural
Vibration
Modal 1968.
Analysis.
NASA
Space
Vehicle
Design Criteria
(Structures), 2. Anon.:
Structural
Prediction. 1970.
NASA
Space
Vehicle
Design
Criteria
NASA SP-8050,
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NASA
SP-222,
R. W.; and
E. R.:
Road 1963.
Transport
Dynamics.
The
Shock
and
Bull. No. 31, Part 3, Apr. S. A.: Shock and Vibration 1962. R. S.:
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The
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Peterson,
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The
R. W.; Partington,
Leistikow,
Dynamic
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W. P.; and
Shang,
Analysis
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McGoldrick,
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Lindner, Session.
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Brown,
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Pratt, Rept.
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Kordes, an
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Houbolt, TR R-199,
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Roughness.
NASA TN-5740,
37. Jasper,N. H.: Statistical Distribution Patternsof OceanWaves and of Wave Induced Ship Stresses andMotions,with Engineering Application.DavidTaylor ModelBasinRept.92, Oct. 1957. 38. St. Denis,M.; andFersht,S.N.: TheEffect of ShipStiffness uponthe Structural Response of a CargoShipto anImpulsiveLoad.Rept.SSC-186, ShipStructure Committee,Natl. Res.Council,Natl. Acad.Sci.U.S.,Sept.1968.(Available from DDCasAD 675639) 39. TrudeU,R. W.;andElliott, K. E.: The DynamicEnvironmentof the S-IV Stage DuringTransportation. The ShockandVibration Bull.No. 33,Part4,Mar. 1964. 40. Anon.: Rail and Road Transportation Test. New York Central System. "Flexi-Van." LMSD501917,LockheedMissiles and Space Division,Aug. 1959. 41. Schlue,J. W.; and Phelps,W. D.: A New Look at TransportationVibration Statistics. TheShockandVibration Bull. No. 37, Part7, Jan.1968. 42. Schlue,J. W.: The DynamicEnvironmentof Spacecraft Surface Transportation. JetPropulsion Lab.,TR 32-876,Mar. 1966. 43. Molinari, L. A.; andReynolds,J. R.: Program 624A Titan III-C Transportation Tests.TheShockandVibrationBull. No. 35, Part5, Feb.1966. 44. Foley, J. T.: Normal and AbnormalEnvironments Experienced By Cargoon a FlatbedTruck, Rept.SC-DR-67-3003, Sandia Labs.,Feb.1968. 45. Gens, M. B.: The RailTransportEnvironment. The Journalof Environmental Sci., Vol. XIII, No. 4, July 1970,pp. 14-20. 46. Gens, M. G.: A Preliminary Observationof the Dynamic Environmentof Helicopters. Pro.of the Inst. of Environmental Sci.,1968. 47. Anon.: Guidelines for DeckStowage of Containers. Rept.MA-RD-71-4, Maritime Administration,Dept.of Commerce, July 1970. 48. Holley, F. Ji: Transportation Environmental Measurement andRecording System. TheShockandVibrationBull. No. 36,Part6, Feb.1967.
40
DESIGN
CRITERIA
ISSUED TO DATE
SP-8001 SP-8002 SP-8003 SP-8004 SP-8005 SP-8006 SP-8007 SP-8008 SP-8009 SP-8010 SP-8011 SP-8012 SP-8013 SP-8014 SP-8015 SP-8016 SP-8017 SP-8018 SP-8019 SP-8020 SP-8021
(Structures) (Structures) (Structures) (Structures) (Environment) (Structures) (Structures) (Structures) (Structures) (Environment) (Environment) (Structures) (Environment) (Structures) (Guidance and Control) (Guidance and Control) (Environment) (Guid an ce and Control) (Structures) (Environment) (Environment)
Buffeting Revised
During
Atmospheric 1970
November
Measurements 1964
December July
and Exit, May 1965 Buckling tember Prelaunch Propellant Models Models 1968 Natural Meteoroid Earth Entry Vibration to Lunar Modal Analysis, Model March August for Surface], September 1969 1969 1968 Entry on Vehicles, Spacecraft 1968 [Near Environment of Thin-Walled 1965 Ground Revised Cylinders, 1968 1965
November 1968
(1967),
(1968),
Thermal and of
Guidance November Effects Control Magnetic March Spacecraft Buckling tember Models
1969 Magnetic of
Mars Surface
May 1969
41
SP-8022 SP-8023 SP-8024 SP-8025 SP-8026 SP-8027 SP-8028 SP-8029 SP-8030 SP-8031 SP-8032 SP-8033 SP-8034 SP-8035 SP-8036 SP-8037 SP-8038 SP-8040 SP-8041 SP-8042 SP-8043 SP-8044 SP-8045 SP-8046 SP-8047
(Structures) (Environment) (Guidance andControl) (Chemical Propulsion) (Guidance andControl) (Guidance andControl) (Guidance andControl) (Structures) (Structures) (Structures) (Structures) (Guidance andControl) (Guidance andControl) (Structures) (Guidance andControl)
(Environment) (Environmen (Structures) (Chemical Propulsion) (Structures) (Structures) (Structures) (Structures) (Structures) (Guidance and Control) t)
Staging Lunar
Loads, Surface
February Models,
Spacecraft
Torques,
1969
Vehicle
November
Heating
During February
Loads
Excitation,
Slosh Suppression, Buckling August Spacecraft Spacecraft 1969 Wind Loads Effects Control Assessment Fields, Meteoroid of 1969 Earth Mass During Systems, and September
December
of Structural
Flexibility
on Launch 1970
Vehicle Magnetic
of Spacecraft Model
Environment
October
of Metallic of
Captive-Fired Testing March 1971 Meteoroid Qualification Acceptance Landing Planing Spacecraft Damage
Solid
Rocket
Motors,
for 1970
Non-Surface-
Sun Sensors,
:42.
r.
(Chemical Propulsion) (Environment) (Structures) (Chemical Propulsion) (Chemical Propulsion) (Structures) (Structures) (Structures) (Structures) (Structures) (Guidance and Control) (Guidance and Control) (Structures) (Structures) (Structures) (Structures) (Guidance and Control) (Structures) (Environment) (Structures) (Guidance and Control) (Guidance and Control) (Structures) (Structures)
Liquid 1971
Rocket
Engine
Turbopump March
March
The Earth's Structural Solid Rocket Liquid 1971 Nuclear June and 1970
Prediction, Igniters,
March
Rocket
Engine
May
Space
Radiation
on Materials,
of Coupled
Structure-Propulsion October
SP-8056 SP-8057 SP-8058 SP-8059 SP-8060 SP-8061 SP-8062 SP-8063 SP-8065 SP-8066 SP-8067 SP-8068 SP-8070 SP-8071
Mechanisms,
Design January
Applicable
January
1971
Thrusting
Maneuvers, Compartment Interaction August Entry Tubular Stored), Deployable June Earth 1971 Albedo Lubrication,
Umbilicals
Stand,
Friction,
June
(Extendible,
Strength
of Structural
Digital Computer Gravity-Gradient 1971 Loads June Generated 1971 and Handling
SP-8072 SP-8077
Transportation 1971
Loads,
NASA-Langley,
1971
43
II
11_ ,
r Ik _ L
i ^