NASA SPACE VEHICLE DESIGN CRITERIA

(STRUCTURES)

NASASP-8077

TRANSPORTATION ANDHANDLING LOADS

Co__

SEPTEMBER 1971

NATIONAL

AERONAUTICS

AND

SPACE

ADMINISTRATION

FOREWORD

NASA vehicles.

experience Accordingly,

has indicated criteria

a need

for uniform

criteria

for the design

of space

are being developed Environment Structures Guidance Chemical

in the following

areas of technology:

and Control Propulsion

Individual they

components

of this work

will be issued

as separate

monographs

as soon as at

are completed.

A list of all published

monographs

in this series can be found

the end of this document.

These

monographs

are

to

be

regarded

as guides

to

the

formulation offices. Research Ostrem number

of

design

requirements

and specifications was prepared was G.W.

by NASA Centers under Jones, the Jr.

and project

This monograph The Task American individuals Berry, H.C.

cognizance The author

of the Langley was F.E. A Division.

Center. of other C.P. Douglas of of of Sandia

Manager assisted

of General In particular,

Transportation contributions Bjornlie, E.Y.W. H.K. L.D. Chow Blomseth

Corporation/Research the material by the Mutchler, of Jet of Hughes and made following E.F.

in developing

and reviewing Winter Company;

the drafts. of

the significant Corporation; Technology; Corporation; U. S. Army C.F. Warner Langley NASA the

are hereby

acknowledged: McDonnell Institute R. Kennedy

Propulsion Aircraft

Laboratory,

California J. T. "Foley

J. F. Fowler Transporation of North Center.

of TRW Systems Engineering American Rockwell

Group/TRW Corporation;

Incorporated; and E.J.

Agency;

W. R. Mills of The Boeing Wolff

Company; of NASA

Research plans

to update changes of the

this monograph in the technical Design Criteria

periodically content Office, Langley

as appropriate. and should Research

Comments be forwarded Center,

and to

recommended attention 23365. Virginia September

are invited

Hampton,

1971

For sale by the National

Technical

Information

Service, Springfield,

Virginia

22151

-- Price $3.00

GUIDE TO THE USE OF THIS

MONOGRAPH

The purpose structure. and date. format knowledge

of this monograph accumulated

is to'provide in research, consistency preceded

a uniform development, in design,

basis for design and operational employ

of flightworthy experience programs to

It summarizes

for use in space vehicle

development

the significant

It can be used to improve in the structure. major sections three

efficiency

of the design effort, the same basic Section 1. and

and confidence

All monographs

in this series

by a brief

INTRODUCTION,

complemented The cited that STATE

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

of the present information. material and

state of technology. This section prepares a proper

Selected

to supply provides

serves as a survey technological

of the subject for the

CRITERIA The

and RECOMMENDED Section 3, state The

PRACTICES. what criteria rules, guides, or limitations must be imposed a design

CRITERIA,

to ensure or assessing The

flightworthiness. its adequacy.

can serve

as a checklist

for guiding

RECOMMENDED possible, references guidance the

PRACTICES, best procedure

Section

4. state

how when

to satisfy this cannot

the

criteria. be done,

Whenever appropriate provide

is described; practices,

are suggested.

These

in conjunction for vehicle

with the criteria,

to the formulation

of requirements

design and evaluation.

iii

CONTENTS

1.

INTRODUCTION

..............................

2.

STATE

OF THE ART

....................

........

2.1
,/

Prediction 2.1.1 2.1.2 2.1.3 2.1.4

Methods

for Transportation System

and Handling ...............

Loads Loadbed Medium

...... Inputs . . . .

5 6 7 10 10

Analysis Analysis Analysis Inputs

Using Limit Load Factors of Partial

i _ _i

with Composite from Similar

Scaling and Extrapolation of Full System .............................. Sources to Road

System

Experience

with Transportation ..................... Mediums Transport

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

to Rail Transport to Air Transport to Water Transport to Handling Transport

Vehicles

Vehicles .............. .............. Inputs Inputs

Devices

2.2.2

Inputs 2.2.2.1 2.2.2.2 2.2.2.3 2.2.2.4 2.2.2.5

from Loadbed

Measurements Loadbed Loadbed Loadbed Loadbed

........... ........... ............ .......... ............

Rail Transport Air Transport Water Transport Handling

Inputs Inputs

Devices

Load Inputs

2.3 3.

Verifying

and Monitoring .................................

Transportation

and Handling

CRITERIA

3.1 3.2 3.3 4.

Determination Verification Monitoring

of Transportation of Transportation of Transportation PRACTICES

and Handling and Handling and Handling

Loads

.........

27 28 28 29

Loads ........... Loads ...........

RECOMMENDED

.......................

4.1

Determination

of Transportation

and Handling

Loads

.........

30

4.2 Verificationof Transportation andHandlingLoads........... 4.3 Monitoringof Transportation andHandlingLoads ........... REFERENCES
, * . .... ....

33 34 37

NASA SPACE VEHICLE MONOGRAPHS ISSUED

DESIGN TO DATE

CRITERIA ....................... 41

vi

TRANSPORTATION AND HANDLING LOADS

1. INTRODUCTION
Most space moved systems. loads desired and vehicles and their major movements, allowable rather loads segments, the space loads than must such as stages, motors, of handling or its segments be governed and vehicle or spacecraft, and transportation are subjected to It is a are

several times during During design these goal that requirements and to ensure damage handling that which may be different

their service from those

life by a variety

of flight or other mission requirements. for a space vehicle by transportation during feasible handling.

by flight loads Therefore,

mission

transportation attenuated structural Inadequate the space

be predicted

design

and, if necessary,

the design

goal is met where

and that space vehicle

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

assessment vehicle failure

caused

or it can

lead to fatigue This monograph loads

is concerned practices for space for

presentation these

recommended handling transportation transportation described.

prediction structure

verification monitoring vehicle functions

of transportation segments. Elements

vehicle systems

and handling and handling The forcing

of the vehicle

and the forcing

and associated handling

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

the space vehicle magnitude

is supported

transportation loads

and handling. is influenced fixture; by such factors transport winds, factors etc.), must as and be

of transportation and handling weather transporter of terrain; of the

handling type

transportation types rotations

medium; (changes modes

of handling devices device).

vehicle

in pressure

or temperature, (accelerations, Thus, these transportation

dynamics considered system

of the transportation when predicting

or handling

decelerations, and handling

or handling

the loads

for each proposed

and its operation.

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.

or handling model of the

are used

as forcing-function

inputs

to a mathematical

space vehicle

and its entire

transportation

or handling

When histories period

the

space

vehicle and

and handling loads are

fixtures often

are designed verified during if the

and

built,

the

estimated the load have

transportation of the

handling

by test. levels and

In addition, cycles

of critical vehicle

areas are often vehicles

monitored to ascertain limits.

each handling

and transportation of loads

production

exceeded

flightworthiness

This monograph series. structure the loads

is closely

related

to other is being systems

planned prepared systems.

and published It describes

monographs

in this of

In particular,

a monograph and handling modal

on the interaction of transportation monographs vibration of loads,

of space vehicle and handling on the subjects prediction including (ref. 2) those

with transportation

and handling

how the limitations

transportation influence vibration

and the effects structure.

the design of space vehicle analysis

Other

of natural

(ref. 1) and structural to a variety

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

for their prediction.

safe shipments or damage. systems

of space vehicles Much of this special restrictions restrictions

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

and the many Also, detailed through

to limit the induced

loads. For some vehicles, system.

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

or an escort nature of the

has been required

to accompany

the space vehicle

to ensure the highly structural

restrictions

were observed. that

These measures

cargo and the cost of its replacement. transportation do not loads and handling affect design is essential

to the major determination vehicles

goal of determining and, where reasons: of transportation

feasible,

and handling

to the design

for the following

To aid in the

selection

of appropriate

handling

and transporting

devices

and

their operational

procedures

To establish and handling

load-attenuation devices or fixtures

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

can affect space-vehicle thereof), in figure For to form 1. Various the

design include and combinations handling

dynamic loads of the and The and

or combinations shown possible.

quasi-static,

static

interactions 1 are

in figure

example, a transport the vehicle assessed of structural

fixture

transportation fixture.

may be combined be loaded

trailer

or transporter. position

on a ship or airplane may transport system and various analyses defined

and thus serve as an elaborate in a vertical at the vehicle V Apollo attachment systems

Some transporters The useful are usually

an integral vehicle. to facilitate

of the launching between

as in the case of the- Saturn transportation and handling vibration

comparisons inputs shock.

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.

Handling (crane, elevator,

devices forklift, etc.)

D.

Loads handling devices

from

1
D

1
D

l
D

Figure 1. - Schematic of transportation and handling systemsand loads.

In most and must handling carrier from etc.).

instances, system, (a train,

however,

the loads from

at the attachment at other or helicopter), the vehicle handling

points

are not readily of the

available or

be determined truck, inputs

inputs

interfaces

transportation inputs forklifts,

such as (1) the inputs barge, airplane, which on or through

(B in fig. 1) from

the loadbed

of the common (C in fig. 1) or elevators,

(2) the forcing is transported devices (cranes,

the medium

(rail, road, water,

air) or (3) the

(D in fig. 1) from

The on

state

of the art for predicting vehicle is presented

and verifying in the 4 following

the transportation outline:

and handling methods

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

simulated consideration designed Although

transportation monitored. adequate, the and handling imposed

and the loads were this approach if the

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

of this approach transportation

readily modified attenuated.

Several vehicles and

methods or their proven Generally, analytical vehicles These

for predicting major the segments adequate method system and

and

estimating supported by

the loads test

to be encountered on The

by space use of a a prototype

during

transportation approach

and handling measurements is employed. as the nature which sections. transportation The formulation range

are in general selection

have

when

system. particular to other

simplest

available

depends chosen,

on such factors and whether systems for in the following for predicting model. frequency

of the space vehicle loads data are

and the transportation available. Each requires influenced nature structural vehicle The factors analytical

they are a new design or are similar measured

transportation are discussed methods

of these the

and

handling

loads is the the

formulation by the desired

of a mathematical accuracy and system.

of this model loads,

of the computed of the space vehicle mathematical conditions attention. space

of the input stiffness

loading, and mass

and the available distributions and

knowledge the

structure

and the transportation and transportation methods for

or handling

For successful

modeling,

boundary

of the space

and handling formulating

devices are given careful mathematical models

basic

of the

vehicle

and or for

transportation

systems

are the same as those

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

however, (e.g., on devices

components with these Because

difficult be modeled

to model

shock

absorbers, oleo

mechanisms

successfully

valid answers,

tests must often be are often nonlinear; in

of the model tires leave

development. the ground,

Further, and the

these components resistance

of dampers

is different

extension Models simple

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

Mathematical mathematical mathematical

: _ ii

ships are given is given

in references could be used 14.

11. An example models

of an airplane

to calculate

the acceleration of missile

loads

at

the

in referencell2. 13 and

handling

systems

are given in references prediction

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

for transportation functions

and handling

loads, in the or

and the input describe of motion

are both incorporated to obtain the transportation attachment formulated

which equations

the dynamics

of the system during space vehicle of motion

transportation points. for a

can be solved at the of the vehicle systems

in terms may

of input

acceleration Examples

accelerations

the response and handling

to its transportation

or handling of the

be obtained.

of equations

of transportation paragraph.

can be found

in the references

2.1.1 Analysis Using Limit

The the used many simplest loads are types approach largely

Load Factors
transportation or peak, experience and handling loads is to specify factors and handling 15) is shown 15. a basis for and

for predicting "g" on the

in terms based

of constant

limit load factors.

The limit load (ref.

accumulated

in transporting

of fragile

cargo. A summary for handling

of typical operations technique repeated

limit load factors

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

of the limit load factor accumulative major effect of advantage

magnitudes

of this technique stages may

and handling and small

may be considered well defined. vehicles, and expensive it would

in the early be used only

of space vehicle

design when the structure design of most of NASA's

Although

this approach

still be used for missiles

for the preliminary

space vehicles. 6

.....

. ....

TABLE

1.

TRANSPORTATION [From ref.

LIMIT 15]

LOAD

FACTORS

Medium/mode

Longitudinal load factors, g

Lateral load factors, g +2.5 +1.5

Vertical load factors, , +2.5 +3.0 g

Water Air Ground Truck Rail (humping Rail (rolling) Slow-moving dolly shocks)
i

+3.5 +6.0 to +30.0 +0.25 to +3.0 +1.0

+2.0 +_2.0 to +5.0

J

+6.0 +4.0 to +15.0

+_0.25 to +0.75
I

+0.2 to +3.0 +2.0

+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

transportation caused by the on

forcing vehicle

floor

or loadbed of of the the

transport and

handling fixture. the

device Such

system are

consisting composites

vehicle inputs common and used

its handling during crane,

forcing of

loadbed such as a

measured carrier,

travel

a transportation The

or handling measured model on the load

device values space are

forklift, inputs desired

or elevator. to

compiled and

as forcing-function fixture; model. loadbed The the

a mathematical and loads vehicle in affect loadbed during the the data the

of the space

vehicle

its handling from the this cargo and

responses transport

vehicle device model

are calculated that lies below space

portion also fixture

of the be

or handling mathematical motion would travel In of

may

represented

if the

vehicle Under

its handling conditions, at the

significantly composite

of the be

loadbed. generated the system such loadbed from under specific effects operating to yield This

ideal

measurements consideration information by grouping

desired actual available

locations operating and

through is seldom a large of

environments. necessary from conditions. of the the

practice,

it becomes obtained

to estimate loadbeds This

amount loading because

of data and the few

of systems tends

under

a variety

operating magnitude data

approach

conservative approach vehicle

estimates is also limited during

loadings for loads of space

is overestimated. measured vehicles

because the

are available and handling

on transport or their major

loadbeds

transportation

components.

Some (2) the

of the reasons purpose typical of data;

for this scarcity monitoring to limit (3) data load that and

of data are that surveillance imposed

(1) the primary rather of than loads transportation

interest and rather

has been handling than to

in monitoring operations generate

loads and responses has been

at the space vehicle levels

at the loadbed;

on a specific are usually

system considered

are generated monitored

proprietary; of data

and (4) the systems has been difficult.

that have been

are unique

so that generalization

In been

spite

of these loadbed by

obstacles, to determine commercial

measurements the shock

on

several

systems loads

have

been

reported. which have during

Moreover, transportation
: .

data are available type

from extensive vehicles and

measurement for typical

programs for general handling

conducted

and vibration

cargo

operations.

Although not can be useful.

directly

applicable

to the shipment

of space

vehicles,

such information

References

16 and 17 summarize employed

the data available in these

in 1967. Data reduction A review to prior

techniques in

and instrumentation and handling data reference 18.

are also described by missile

references.

of transportation

manufacturers

1962 is presented

Acceleration shown measured routes. on The

frequency the curves cargo

spectrum curves floor

curves for the four major envelop for the maximum of a great all types of commercial

modes

of transportation vertical traveling

are normal and for 16

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 levels shown will only exist as discussed in detail in references

The

composite obtained

loadbed from

data

method

is a convenient, and handling curves

moderate-effort loads. Conservative

method results

for are

preliminary usually estimates type when vehicle, composite transportation the

estimates

of transportation composite from system vehicle vehicle curves under usually loadbed

like figure 2, but generated for a given is large

less conservative the particular design. to the Also, space of the

are obtained transportation loadbed

restricted

to data system effect

from vehicle

of transportation the transported

consideration has little results

or handling

compared

on cargo floor motion, accurate estimates

and the

method

of prediction loads.

in very

and handling

In

any

case, by

estimates on the method this

obtained need are for

by

the

composite load the space

loadbed vehicle

method allowable

will generally the loads loads, further However,

provide predicted evaluation

guidance

further

definition.

If, for example, unnecessary.

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

10 Road Transient (pot holes, I railroad" and ruts)

crossings 1.0
m

'

Continuous (over the

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,

Figure 2. - Transport vehiclecomposite Ioadbed data. 9

predictions substantiated full-system

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

2.1.3 A third use

Scaling method

and

Extrapolation

from

Similar and/or

System handling system, of the of excitation

Experience loads is based on the a similar for which space the

of predicting measured of the recorded change and/or

the transportation data from

of previously and the a knowledge were any

an analogous characteristics The source

usually system

vehicle loads,

same transportation structural

or handling

system.

In addition

to the measured to be the to This

measurements same for both account technique for

is required, structural

is assumed new

the previous

and the new system, in the useful in estimating structural

and the measured of the for a system

data are adjusted system. developed design. data measured

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

from a previous using the actual backward upon function fixture,

the previous system and

system is analyzed response function.

on the

as the

and working

into

the transportation of similarity at the

to compute the previous where the of the the the fixture system new systems

the basic forcing space vehicle is attached

Depending the forcing

the degree

the new systems, is attached to the

may be defined at the computed

to its handling transport medium function the

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

(see fig. 1). The

is then

to a mathematical of the previously upon the degree Methods loads

model depends

The extent

of the modeling

and analyses

of load definition combination are discussed provides the very

required. in references

recorded

on one transport

vehicle/load vehicle

to other

on the same transport approaches,

19 and 20. predictions Data of the useful similar of the

four

this method

most

accurate

transportation for this technique such system previous as the must system.

and handling detailed

loads but requires of the

detailed model

information. literature.

have not been published description

in generally mathematical reports

available

Information

of the previous the users

be sought

in internal

company

or through

2.1.4 The

Analysis fourth

of Full

System

with

Transportation the dynamic

Mediuml load vehicle, response

Inputs and transfer fixture, dynamic

prediction of the

method entire

emphasizes system device. l0

characteristics

moving

- the space The inputs

the handling

and the transport

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

the transportation methods Published

predicted excitation

by any of the preceding excitation sources sources. their input are quite

on the accuracy subsections, and assessed,

of specification various excitation

giving the input

loadings

various to

limited.

In the

following

are discussed,

loads are summarized

and references

loads data are given.

2.2.1 Each forcing inputs sources

Inputs

from

Transportation mediums with other

Mediums

or Handling

Devices is a source the medium. the input of input These load

of the transportation function exist simultaneously vehicles

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

to Road Transport for road assembly,

Vehicles can be categorized the vibrations caused vehicle and shimmy, as both internal by the can be limited and therefore and

The sources external. transmission

of excitation However, and drive design

transporters

internal

excitations,

engine, to low do not are

wheel unbalance,

levels by careful contribute towed The

and maintenance to the system have engine results

of the transport load environment; from turning, The road

significantly external

in fact many as sources irregularities.

transporters Other

and therefore principal result

do not

and drive assemblies

of excitation. external Starting and turning by the system

excitation

excitations and stopping starting radius force

from starting, inputs of the inputs

stopping, vehicle. which

docking,

and wind loadings. and minimum

excitation maximum weather

to the system

can be determined maximum Docking speed inputs

from the braking are determined of the exposed

characteristics establish of impact Local

during turning. and the

with the dock,

can be controlled drag

to a large degree

by the vehicle

operator. establish By means can be

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

to the equipment during The those been have

operators,

excitations

turning, thermal

to acceptable and handling of excitations sources to measure road

for wind in reference

are discussed caused roughness

determination developed been

by road

irregularities

due to the other published. principles response

and therefore

of more concern. road 24. profile

(refs. 22 to 24) but very few detailed for reducing

A description and procedures,

of some

operating in vehicle Descriptions Germany spectral reduced presented measured between surface. versus vehicle as the

and methods

analyses

is given in reference measurements presented in rad/m results density

of road-profile and Arizona are

of concrete given

and bituminous data road (ft 2/rad/ft) integrating

roads

in West the are that

in reference (rad/ft)

4. Typical in m 2/rad/m from with a slope

(ref. 4) on power versus system measurements

density frequency

or displacement given 3. These

derived

in figure the the

were obtained a vertical some ordinate

generated points (Hz) vehicle

angle

between two

line and the perpendicular distance spectral and apart, touched density

to a line the road

at Which

wheels, the

The curves frequency

can be converted by multiplying is also described to

to displacement

m 2/Hz (ft 2/Hz)

abscissa

by the speed of the model of a missile density was used For response.

and dividing forcing response payload

by 2zr. Application determine

of these the road

data

to a dynamic

transportation transient maximum

in reference profile

4. Power-spectral (rms)

function analyses, response.

root-mean-square correlated

the actual

was used as an input

to determine

The two analyses 12

well with field measurements.

0.10

m West Arizona German roads roads

\
0.01

"x "\
0.001 __ _ i_'_ Upper bOund >:

0.0001

o_
(3Lower bound

,,\
_'_t _

-)
''_

0.00001

,, \ ,,\
1 ft=03048m _

0.000001

0.0000001 0.01 0.1 Reduced frequency, rad/ft 1

-\
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

compensate (ref. profile

for 5)

the the

lack

of

measured

data

of road of

surface

profiles,

one shown

investigator in table II.

developed The The road

generalized to

classification consist critical washboards at the the response given in same course

road

roughness course the and

is assumed course is set vehicle. of the a

of a washboard wavelength are usually time. at

individual that

bumps. gives the of

washboard input reach by

at the The boards

wave

length so that

greatest the axles

into the

the top

spaced critical

all or most

The

frequencies speeds. The

are then course The heights of of is

obtained sufficiently of the

moving long

vehicle

over

various lowest

to develop and

maximum bumps are

in the the

system in terms

mode. of

washboard

table

probability estimates

occurrence. cargo response.

Use of this

road-roughness

classification

has given

conservative

TABLE

II.

ROAD

ROUGHNESS [From ref. 5]

CLASSIFICATION

Low probability of occurrence (a) Type of road encountered Sinusoidal washboard amplitude,
cm

High probability of occurrence

(b)
Sinusoidal washboard amplitude,
cm

Single bump 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

Single bump amplitude, cm (d)

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).

only for a long service life

even in a short service life

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

2.2.1.2 The major (or hunt Lateral Lateral or

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

rail profile), excitation oscillate

at the the

elasticity flanges in detail

of the striking

the rails is caused

and vertical

of excitation

are discussed

26. Longitudinal

by railroad-car occur some when

switching there

or coupling

and by slack run-outs couplers been show on starting, that the published.

and run-ins stopping, 25

which

is a take-up statistical tracks for

of slack in the have which some the studies exhibit example,

or varying discusses of

speed.

Very

few data

on rail profiles

Reference frequency

unpublished and

spectra between

irregularities frequency

in typical amplitude; increases.

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

the vertical, rail

lateral,

and cross-elevation are described are generally required for vehicle system are the of the must be system to the also in are

Two of these rail-profile

measuring profiles,

systems however, the inputs

Measurements

of the rail and road bed. Because system of the road the is similar profile and of rail

the mathematical

of a transportation of the vehicle

using a rail transport measuring to the

plus the characteristics system vehicle track

bed, the deflection transportation combination

containing

for. If the measuring consideration, dynamic for the

the dynamic model.

can be used as the input roadbed parameters

characteristics

of the Measurement

inputs

these

is discussed

A measurement rail the tie and information contact

technique soil point to the relevant

in which traversing the

the rail measurements rail rail car car is described and the rail, is the absolute

include vertical this

the response

of the the of for

in reference

8. Since motion calls

to load between from

evaluation

and lateral technique essentially derived 7575

measurement time histories for differing measured

of axle accelerations. generated test sites and

Frequency

components, envelopes loads ranging

acceleration were from

levels, and the constant from data

measurements individual The variation loads within predicted

of this type remained

rail cars.

Acceleration wheel

on rail cars having

to 11 885 kg the system to this showed

(16 700 to 26 200 pounds). load environment other good correlation rail cars having with technique. wheel

in the wheel

load did not affect

and, accordingly, response

it appears

that the developed basis of data

data are applicable response developed using

or near this range. Measured on the

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

Cars in short shocks.

or cars close to effects

reason loadings rail-car

for the infrequent which coupling can occur

The excitation

occurring speed of the car in speeds results

is a transient Evaluation impacts analyses showed good

the configuration being speed evaluated. for

of cars impacted, actual (a

and the undercarriage summary of the of

system

of this excitation model correlation

on establishing missile/transporter

in reference impact velocities

16). A dynamic

Minuteman

for longitudinal-impact

is described

in reference

30. Analytical loads.

with measured

Inputs to Air Transport of excitation 31. Local to aircraft excitations

Vehicles they are discussed by the ground plants at at their the in detail taxi,

can be local or distributed; include the forces applied

in reference take-off, points. frequency random the surface excitations.

during

and landing Significant in nature.

as well as those local excitation aircraft,

caused of the

by the power fuselage which

attachment passage aircraft is over

occurs

blade distributed

on propeller-driven Distributed of the aircraft

whereas

excitation

on jet-powered are spatially applied

excitations

are those aerodynamic

and include

the aerodynamic

forces (flutter

to the structure and gust

by the surrounding

air, such as acoustic,

and buffeting),

Gust excitation a space converted accelerations to account derived other concept vehicle. to accelerations

has received Indirec{ of aircraft a derived of the

considerable flights velocity

attention of gusts in turbulent by

in evaluating have been

air-transport made

loads data

on the are

measurements during gust

by recording relating aircraft.

air (ref. 32). The measured formula includes among an arbitrary

an empirical The formula

rigid-body factor the for 32. this Thus,

aircraft obtained

to gust velocity. in wing chord on an derived attempt from through rigid for one aircraft gust to

for differences Statistics documents evaluation aircraft

and pitching velocity include

effects are dynamic duration

gust velocity aircraft. 33 of gust

can be used to compute presented effects bodies

accelerations in reference and extend profiles. by mathematically

Reference

bodies

to flexible

flying the flexible

gusts of different 16

and velocity

,,

_i

A method discrete-gust calculated procedures Local

to account basis and

for

atmospheric in reference determined aircraft taxi and response

turbulence 34. This

on

a continuous also clouds,

rather presents

than data

a on

is given

reference transfer

atmospheric-turbulence for determining during profiles. airplanes

measurements

in clear air, cumulus airplane

and thunderstorms; and analytical techniques. from studies The 36. rate of descent aircraft or are runway is given response and in of

experimentally

functions;

based on power-spectral can of be determined roughness runways. in reference

excitations profile road

take-off

taxi-surface measuring reference

measurements 35 presents to runway

made with the same instrumentation runway is presented data for several airport

systems

used in

A bibliography roughness

34. Reference

several turbojet Landing sinking presented forces speed

can be determined at the time 31.

by measurement Sinking speeds

of the vertical measured

of impact.

on cargo

in reference

2.2.1.4 Major bow

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,

ship excitations rises out of of a ship

rough

subsequently

excitations unbalanced hydrodynamic in detail The

(1)the shafting

resulting (2)the

propellers excitations 10.

by rotation

in a nonuniform

and (3) the varying in reference

wave forces

in heavy seas. These sources

are discussed

excitations or

caused wave

by machinery height,

and

propellers caused of the

are generally by waves waves. Statistical

much

lower

than by

slamming measurements ocean

excitations.

Excitation and length 37.

is determined

of the form,

data describing

waves can be found

in reference

The

development loads the buoyancy of the water ship profiles

of a dynamic is discussed

model

for

describing which

ship

response

to waves

and

impulsive model, effects various

in references forces

11 and 38. In the analysis applied by the water.

of the dynamic of the ship and viscosity for

and added-mass in evaluating are accounted by a procedure

effects

vary with the motions The inertia mass, which 10.

must be considered

for by the added presented

can be calculated

in reference

2.2.1.5

Inputs to Handling caused

Devices are difficult A system 17 to predict can receive primarily a sudden because they are

The excitations largely caused

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

Road Transport have been

Loadbed Inputs reported vibrations for several road occurred transporters. Reference 39 S-IV

measurements data recorded

on two special

land transporters

developed at a frequency transporter

for the Saturn

On one of the transporters, vertical levels acceleration for both

of 1.6 Hz with a of the

level of 0.6 g. The other is presented

had a characteristic of occurrence 39. The transporters the induced because Because an they of the observer

of 1.8 Hz at the same acceleration transporters (approximately are typical of

level. The frequency in reference

at low speeds transporters large amplitude

10 miles per hour) of most and at 18 space vehicle low-frequency these low

to minimize transporters inputs. frequencies,

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

FOR A SEMI-TRAILER [From ref. 19]

TRUCK

COMBINATION

O-Peak acceleration, g Probability of occurrence in percent

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

@ 3.11 7.16 18.14 15.24 7.24 23.33

....... ....... 0.21 1.35 3.24 7.02 88.11

Frequency band, Hz

021A

2Y_5

510

1015

1523

233D

3044

4463

6388

88125

125175

175238

238313

Notes:

This

summary

accounts in a typical

for probability transcontinental

of occurrence trip.

of road

speeds

and

road

types

encountered

The circled values are those values are those considered Total (peak accelerations

which may be considered to be vibration. in this 0.1% summary: reported) 2 253

to be shocks.

The uncircled

used

493

- - ) (Probability trip and composite

less than

is not

Overall center

amplitude

distribution

for a loaded

truck,

vertical

axis (front,

aft locations)

2.2.2.2 Loadbed operation

Rail Transport measurements and coupling.

Loadbed have been

Inputs made on rail except the transporters shock for both caused over-the-road by coupling

All phenomena

motions

are considered Over-The-Road solid-rocket-motor accelerations each built phase

to be occurring

during the over-the-road Results

operations. during data shipment of a

Load Measurements. segment frequencies trip. because The Track

of tests conducted

are reported imposed highest

in reference

43, including were caused

on maximum segment for slack

and of the values road

on the transporter accelerations inputs

and the rocket

by the inherent when

into each coupler.

and roadbed restrictions The

did not produce recorded

any maximum-load traveling axis axis The for the lateral

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

axis, and 5 to 20 Hz for the vertical on the basic frequencies. transporter

superimposed

was 1.8 g; it was produced

by

a slack

run-in.

Although

the

loads were applied in the vertical

in the longitudinal

direction,

the

highest

accelerations
D

were recorded data recorded

direction. of the Minuteman The truck for suspension shock missile in a system of in the in the

Reference special vertical lateral center

8 presents

during rail movement Rail Transporter. system is provided device. with

soft-ride direction direction.

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

by a sliding the provided only an

sill and a hydraulic levels longitudinal

the Minuteman Transporter

train was short,

longitudinal significant

(shocks The

during

Minuteman

order-of-magnitude

in load levels on the missile.

Reference motors, locations maximum occurred transporter References including suspension versus direction

40 on

presents the

data

on measurements recorded Maximum levels the

made for

during

rail shipment are

of Polaris The

including vertical during

accelerations motors. acceleration a slack take-up.

on the floor

of the transporter events and

and at various described. motors)

various

(1.7 g on

transporter longitudinal during

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

describing in terms show

curves which conditions, (longitudinal, (2)envelope

show the maximum and speeds curves which vertical,

levels reported of zero-to-peak the effect

frequency

of train 45. Data

of measurement vibration in table axes. ranges. In the

and lateral).

Statistical

the rail-transport that and presented longitudinal

environment loadbed a number very low and

are presented environment of repetitive axes, frequencies

in reference (ref. 45)

lII are given The with The

for load measurements

in the vertical, consists superimposed almost or more

of random entirely

amplitude low-frequency transients. were below Coupling coupling observed. reference Data carrying conducted and with

vibrations

transients were composed 50 percent

longitudinal

transverse direction

of the peaks

0.01 g; in the vertical

the mean acceleration of shock speeds than in railroad 4.5 m/sec

was less than 0.05 g. transporters (10 mph) speed. hydrocushion 43. Tests car were have is the been in

Load Measurements. operation. Data Although coupling

A major

source

very low impact speeds observed

0.9 m/sec

(2 mph) are necessary are presented

for automatic

operations, speeds

greater during

on impact during

switching

operations capacity in reference

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.)

of exceeding are 31 475 travel 21

a given impact

recorded

tests with a 10 s kg (100-ton) presented

to 112 000 kg (69 400 to 247 000 lb) bydrocushion. Measured accelerations

on

the

transporter direction,

ranged

up to 2.27 g in the longitudinal direction for impact

direction,

2.90 g in the

vertical

and 0.59 g in the lateral

speeds up to 4.5 m/sec

( 10 mph).

Data motors

recorded firstand (9.67

during and

rail-coupling second-stage by an Data

impact 40. The motors air and

tests system

of a system tested system.

for transporting of a refrigerated container occurred

Polaris van was a that

is reported

in reference

consisted The

containing supported acceleration 4.32 m/sec

mounted

in an internal

restrained mph)

flotation

maximum measurement

longitudinal during locations,

(3.95

g on the van impact.

1.12 g on one of the motors) for other impact speeds,

and directions Reference the cargo

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

'

16 presents floor for

impact

and directions (cushioned)

(longitudinal, coupling impact, tracks

vertical) spectra
i

and for both for the traditional

a standard worst

and high-capacity case, the 4.92 m/sec spectra and the crossing the 4.92 m/sec events.

(11 mph) events of railroad

are presented and switches. as two orders

reference 2.25 m/sec shown

45 and compared (2 to 5 mph) at some higher that

to shock coupling

for other

such as a nominal

frequencies,

coupling

is as much

magnitude

than the usual or normal

2.2.2.3

Air Transport recorded

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

16 and 39. The loads Measured

were measured are reported for take-off,

on the Pregnant for the forward Statistical climb,

Boeing 377 Stratocruiser loads is supported

that was modified

large space vehicles. vehicle records

and aft stations

in the aircraft.

are presented reported

frequencies analysis were

for each of these during take-off low

conditions

are 67, 60, and 51 Hz, frequencies. reversal The results was used for

These frequencies of data found

correspond recorded to be response

to the blade passage unless prop

are also given in the references.

loads

extremely

describing

vehicle

to loads are also presented. aircraft presented and commonly in used for 16. of The

Summaries transporting Composite driven), loads curves represent

of loads recorded space curves vehicles are and jet are

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

reciprocating-engine components and therefore

helicopter, are given presented

and longitudinal KC-135, conditions

for the C-123, composites

and H-37 aircraft.

for all operating

the maximum

levels likely to be en countered. 22

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

Measurements ship ranged vertical, ranging and significance from

barge

presented

in reference weather. longitudinal. swells

4 to 10 seconds

per cycle. Composite causing slammed

accelerations low-level

were less than with

0.22-g from and

and 0.15-g of gentle

For the ocean-going one shipment, the water levels

barge, the primary

environment 8 to 10 foot the barge direction. Reference measurements occur area load during of ships

accelerations, and induced

to 12 seconds. at 9 Hz. The

During

strong winds produced responses reached

the draft

of the barge

acceleration

0.8 g in the vertical

16 summarizes on various emergency are Extensive loads. effect

data on transient types of ships. too few

and continuous The transient

vibrations

from numerous those which

vibrations cargo-area are used show the

include recorded load where

maneuvers measurements on a ship. curves

and slamming. to define have been These

Measurements the

in the cargo environment the severest upper reported are the

generally exists

adequately. bounds to show acceleration for the

made on the fantail, 16

environment

measurements

to establish maximum Also lateral, shown

Envelope

in reference different directions

acceleration

levels as a function of sea state levels measured of maneuvers

of frequency. for two

Data are also presented ship lengths. (longitudinal,

in this reference and vertical)

in the various on loadings.

and the effect Rolling deck. and long significant roll

and pitching Transport lateral and

of a transport

ship result

in quasi-static

loads parallel Angular

to the ship's acceleration, of the 6 to or and

ships may roll up to 30 degrees loading rotational pitch periods In addition can be imposed load factors,

from the vertical vehicle. are extremely

(ref. 47); at this angle low because in roll

on the space of ships load 15 to

consequently in pitch.

of approximately to the lateral 23

30 seconds during

9 seconds

component

severe rolling

pitching, water may located on the deck.

iii_ ii _ ,

wash

over

the

ship's

deck

and

produce

severe

loads

on cargo

2.2.2_5 Loads such

Handling imposed

Devices space

Loadbed vehicle and and

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

transfers, are extreme

loading, caution.

unloading closely handling

because

operations exercise
, i: _

preplanned to low load Only when

monitored, systems, reasons

Special

e.g., roll-on

also contribute been reported. However,

levels. For these an accident

data on handling

occurs designed

are handling-system for this contingency

space vehicles

are not normally

Reference containing removal hydraulic loads

40 of the

reports motors rear

the wheels

loads from freight van

encountered a container car. During a 1.3 g vibration van

during

the

transfer

of

a flexi-van of the a

Polaris

from

a truck

to a railroad

car. The transfer and the transfer transfer

consisted

of the van onto the a maximum

platform recorded on

of the the

the

operation, with of 10 Hz.

were

vertical

shock

duration

of

40 milliseconds

and a 1.3 g vertical

at a frequency

Maximum Saturn transfers, the crane vertical covering

w

vertical S-IV stage however, operator acceleration

acceleration with thought level spectra cradle. the forward

recorded and

during cable

handling was firmly

and transfer

operation one

of the of the

a crane

system

0.60 g. During on the ground. 0.94g recorded at envelope

end of the vehicle was already by from this induced

was dropped drop was

7.62 cm (3 in.) because The severest the forward critical for this event

the vehicle Reference computed

attachment-point the shock locations

17 presents

a shock-spectra

measurements

at various

on the space vehicle.

Loads diameter

developed

during

several while

simulated segment the

handling are segment

operations in onto lateral

of a 3.05-m reference43. trailer.

(120-in.) Maximum The levels

solid-rocket-motor occurred

described

accelerations

lowering

a highway

were 0.22-g longitudinal,

0.10-g vertical,

and 0.20-g

Reference the systems

17 presents or operations.

additional Data

data

on commercial a drop from

handling

operations,

including of are

probabilities

of packages

receiving

a given height

for given handling the data

are also presented methods

to show the effect of monitoring

of size and weight

the package on drop height Various also discussed in reference 17.

and reporting

24

2.3 Verifying Loads

The actual

and Monitoring

Transportation

and Handling,

transportation

and

handling

loads

are

usually

measured

to verify

the

accuracy where the

of the estimated loads have loads loads been

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

flightworthiness to the vehicle are usually

Measurements critical response. trial

are made at the points as required,

during

runs

of

instrumented simulated to engineering flight vehicles loads are

and handling Later, loads as the

systems program

both with and without develops, transport during the qualification vehicle shipment transportation

an instrumented tests and an updated of production and handling

are performed

on an instrumented Frequently, launch pad, to the

space vehicle.

factory to record

monitored specifications.

unexpected

occurrences

that may produce

load levels in excess of

Instrumentation information and/or recording analyzing specifically references for reference Recording weeks. transient The being systems the

and

data

analysis

techniques may and Descriptions 16 and

vary,

depending of strain studies. the various

upon gages,

the

type

of and for

sought. used

Instrumentation in transportation spacecraft

consist handling

load used

cells,

accelerometers. data

References

17 discuss

instrumentation Methods systems are presented is described

are also discussed.

of instrumentation and handling of a special environment Environmental and time data

used in in and of

for acquiring and

transportation development the transportation

39, 40, 42, and 43. The recording called 48. This system, System vibration recorded data or shock

instrumentation

package

measuring

the Transportation can operate direction, above

Measurement of occurrence

(TEMARS),

continuously magnitude, threshold preset

and unattended levels,

for over two

include forces

as well as periodic

measurements

of quasi-static

phenomena.

25

26

3. CRITERIA
The transportation needed to'the
/

and handling vehicle design. monitored

loads

acting

on a space vehicle and handling

shall be determined loads shall be predicted measurements, to ensure

as

for space extent

Transportation analyses, during verified

by appropriate space vehicle

state-of-the-art necessary, allowable

by experimental

and, that

transportation

and handling

loads have not been exceeded.

3.1 Determination
i :

of Transportation
loads

and Handling
as necessary,

Loads
for all phases

The transportation of space vehicle

and handling movements,

shall be determined, at least the following:

including

!_!:?_ iii_ _, :

Loading

on transporter

or transportation test, and launch

vehicle sites to another

Transporting Transferring Unloading Moving

to assembly,

from one transportation at assembly,

vehicle sites

test, and launch ground

(locally)

by special

handling

equipment,

dollies,

or lift trucks

Assembling Erecting Recovering

and integrating pad

with other

space vehicle

elements

on the launch

the space vehicle

and returning

to base (if applicable)

For each of the transportation include all dynamic (shock at least the following:

and handling and vibration),

phases,

the loads to be accounted and static

for shall from

quasi-static,

loads resulting

Normal

interaction

with the transport rotation,

medium and impact

(air, water,

rail, road) device

Acceleration, Starts, Restraint stops,

deceleration, and maneuvers

of the handling

of the transport points

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

prototype, systems loads.

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 the extent loads.

to ensure

that the loads actually

than the allowable

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

for in space vehicle packaging that the specialists, transportation allowable

design, close cooperation and instrumentation and handling or other the loads mission

should be maintained engineers. do not As a general

between equipment rule, it is

dynamicists,

designers,

the space vehicle If the estimated systems loads be should modified be to to values

loads

established

by flight loads,

requirements. or handling these estimated should transportation

exceed the

transportation to reduce vehicle only space loads

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,

selection i.e., the

of the transportation phase capacity, because the size and weight vehicle estimates allowable of the nature of the and other load

and handling basic stages, structural

conceptual volume, the

design weight

configuration

is constrained of feasible first and become handling and

limitation estimates

space

of the transportation method and The devices, of analysis the initial

and handling based of the

loads should be made.

This initial estimate and handling input

subsequent available selected.

transportation space

on the type of transportation vehicle and handling and selecting load attenuation and (3)

transportation

or handling should be used modes design of and

transportation

load estimates requirements inputs

to (1) provide handling transportation fatigue The analyses

guidance

in evaluating (2) establish fixtures,

appropriate

transportation for the

and handling

act as source

for the strength

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

transportation is supported of loads analyses structural points

vehicle subsequent prediction, attachment

transportation transportation vibration to mechanical not available, natural

handling handling Because

to facilitate

comparison

analyses,

information at other points.

measured

be used in suitable The mathematical contain

to compute used in the

the loads at the attachment analyses of transportation the

and handling response response

loads of the for all will model

should system. systems. vary

degrees

of freedom model that structure 29

to represent representation the accuracy as represented

desired

No single type It should the complexity

of analytical in mind of the

can be recommended of the computed by its mathematical

be kept

with

L H

and

with

the

number

of

the

modes

responding, for guidance

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

or handling complex may often

structures adequate parameter

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

prediction Analysis Analysis

(see Section

2.1):

using limit load factors of partial system with composite loadbed inputs

Scaling and extrapolation Analysis

from similar system

experience inputs

of full system with transportation

medium

The

particular

method including

used the

to estimate availability system under

the loads and

should

be based the detail

on a number data of load definition

of

considerations transportation required loads), whether method [method(l)] (which

applicability

of pertinent

for the design

and handling will depend are

consideration, Applicable during problem estimates

on the severity available. for handling use loads

of the load relative preliminary exists

to space vehicle design (Sec. 2.1.1). to

and the time and resources recommended and results a transportation of analysis

limit load factors

from table I determine Note: This

in very conservative

of the loads.

If the special should estimate

transport carriers be used the likely

vehicles on which with

for the loadbed

system

under model

consideration of the partial cover

are common then composite system [method a wide range

carriers (2)]

or to

loads have The data

been measured,

load data of systems, and Load

a mathematical

loads

(Sec. 2.1.2). and from loads, during

used should that and they

operating factors estimates data applicability

conditions, to occur resulting

to ensure

encompass

all conditions

transportation

handling

of the new system.

this approach system.

will also usually where If, for example, 3O

be conservative.

The loadbed and their on

should

be closely

examined

to determine

the data were measured

to the proposed

the data have been measured

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

For this method environmental the transportation wave height

of analysis, specialist medium,

in which i.e., road A summary

the entire profile,

system

is modeled

and analyzed, of excitation or gusts, in the literature

the of and is

should

seek data

describing

the basic source air turbulence available data

rail profile,

and frequency.

of the limited 2.2.1.

given by reference

and discussion

in Section

Of the where road

H

four

basic the

sources

of excitation, equipment profile. route.

the road described Road If time

profile

is the input along should the

medium actual

which, For to

feasible, transport, data

should describing of the

be determined the road actual

by measurements profiles

route. be used

measuring

in reference

4 should be monitored do not

provide roughest previously of the

over the allow this,

section road

or circumstances (ref. 5) should in reference data,

measured profile

data such

(ref. 4) or estimates as those presented

be used. Use of estimates 5 results in conservative presented (rms) in

predictions reference Maximum of 1.414

of the loads. 4, results if the loads systems, The accident, or pull. load values

Use of power-spectral-density of loads in terms be determined

such as those the rms loads

in prediction should are sinusoidal the input loads

of root-mean-square of 3 sigma if the loads be based

values.

by multiplying

by a factor are random. and past of

and by a factor

For handling experience. human sudden error, push

to the system that occur

should

on judgment

significant

during

handling

operations

are a result

or expediency in which These loads are chance of occurrence should

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

on a statistical available step error and change

basis. As discussed it is necessary may during

in Section arbitrary

2.2.1.5, reasonable

very

to establish raising and

but reasonable handling

in velocity be related

be considered

for loads

imposed

or expediency

lowering

operations.

used should

to the characteristics a reasonable considered. drop

of the equipment should

being used. If accidents for the equipment system inputs to a

are to be considered, and operation being

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

should safety there

be used factors are no

in estimating judgment

the

transportation

and handling in to and of is values

should be used to account are required of the relevant and documented

for any uncertainties for assigning and recommended data, validity inputs A discussion manufacturers

Past experience because in this area. of the

and engineering Reliability models, load and

factors

studies available

applicability possible employed

dynamic design 18.

combinations safety by various

of load factors. missile

to the

are recommended factors and in reference

for consideration factors

in applying

32

If the space vehicledesign

handling handling, close beyond considered handling special system. Appropriate considered actual ground combinations in arriving are only significantly a limited allowable as a logical loads. equipment This where

loads analysis

from

flight and sources the loads analyses analyses in the

other

than transportation by transportation loads transportation be performed.

and and are be and

greater

than

induced should

is required.

If the induced of vehicle

to the

loads,

more extensive of the

Although

the scope of this monograph, extension is particularly

the analysis important

response

(ref. 2) should transportation

for predicting

design of a transporter

or other

the transporter

itself is designed

to act as the load attenuation

of

transportation final estimated and handling

and loads.

handling

load the

inputs loads moments

should that can

be in

at the

For example,

it is known

transportation along the three loads, wind

operations, expansion in arriving

occur at the

simultaneously can occur

perpendicular

axes. In addition,

or torques

or tie-down

loads, and thermal

loads can occur

same time. These

combinations

should be considered

at the final predictions

when such loads are known

to act at the same time.

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

values of transportation of allowable tests. the values,

and handling loads, then

of the values allowable

the predicted tests should

load values be conducted analyses

should

by load-measurement of the doubts concerning

Even if the predicted accuracy

are less than

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

When it has been procedures Prototypes measure for

transportation and handling and handling

of the and record

transportation transportation

systems

be instrumented

loads during

trial runs of the systems. and along the space flight

Trial runs should same route vehicle vehicle

be conducted

so that events occur

in the same sequence operations. approximating systems.

as the planned has dynamic be carried

handling

and transportation closely

A simulated the actual

which should

characteristics transportation values

on the trial runs and be instrumented and handling of transportation

to measure

its response

to input loads

from the prototype

If the trial runs indicate close to the predicted margin, prototype transportation then or production and

the measured loads,

and handling

loads are

or are at least less than the allowable of the loads should vehicle systems. These 33 final with the instrumented

loads by a sufficient or production tests should be

final verification space handling

be made by tests of an instrumented prototype load-verification

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

the transportation vehicle loads. when The

loads is recommended loads types are greater should and

during than

predicted

locations

be determined

of data measured

in the load-verification should system It be carefully regime should

tes t phase. selected for the position and the capable where it

The monitoring is to be mounted instrumentation unattended described for

instrumentation and the critical and long recording periods.

frequency

of the transported that

structure.

The system

be portable these loads.

of recording

is recommended

self-contained

in reference

48 be used for monitoring 34

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

REFERENCES

1.

Anon.:

Natural

Vibration

Modal 1968.

Analysis.

NASA

Space

Vehicle

Design Criteria

(Structures), 2. Anon.:

NASA SP-8012, Vibration

Structural

Prediction. 1970.

NASA

Space

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Design

Criteria

(Structures), 3. McCormick, Harvey, Evaluation Part 5, Feb. 5. Hager, Vibration 6. Lever,

NASA SP-8050,

R. W., ed.: NASTRAN

Users Manual.

NASA

SP-222,

1970. Response No. 35,

J. R.; and Wursche, for Highway 1966. Conner,

R. A.: Roughness Environment. The

Measurement Shock and

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Bull. No. 30, Part 3, Feb. R. L.; and

R. W.; Partington,

Leistikow,

R. J.: Rail Transport 1962.

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Environment.

The Shock and Vibration

Bull. No. 30, Part 3, Feb.

Manos, Division,

W. P.; and

Shang,

J. C.: Dynamic at the Nov. 7-11,

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McGoldrick,

R. T.: Ship Vibration.

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12. Bennett, F. V.; andPratt, K. C.: CalculatedResponse of a LargeSweptWing Airplane to Continuous Turbulencewith Flight Test Comparisons. NASA TR R-69,1960. 13. Fischer,E. G.; Brown,C. R.; and Molnar,A. J.: LateralImpactShockDuring Ship Loadingof the A3 PolarisMissile.The ShockandVibration Bull. No. 37, Part7,Jan. 1968. 14. Brown,C.R.; andAvis,A. J:: Missile HandlingAnalysis. TheShockandVibration Bull. No. 36, Part7, Feb.1967. 15. Anon.: Structural DesignCriteria Applicableto a SpaceShuttle.NASA Space VehicleDesign Criteria(Structures), NASASP-8057, 1971. 16. Ostrem,F. E.; and Rummerman, M. L.: TransportationShockand Vibration Design Criteria Manual. Vol. I, Rept. No. MR-1262, General American Transportation Corporation,Sept.1965. 17. Ostrem,F. E.; and Rummerman, M. L.: TransportationandHandlingShockand Vibration DesignCriteria Manual. Report No. MR-1262-2,GeneralAmerican Transportation Corp.,Apr. 1.967. 18. Thompson,M. B.; Loser,J. B.; and Brown, R, S.: Research Study on Ground EnvironmentLoadsCriteria for GuidedMissiles. ReportNo. WADC-TR-59-627, Wright-Patterson AFB, Ohio, August1962.(Availablefrom DDCasAD 285852) 19. Foley, J. T." TheEnvironment Experienced by Cargoon aFlatbedTractor-Trailer Combination. ReportSC-RR-66-677, Sandia Corp.,Dec. 1966. 20. Mains,R. M.: WhatShouldbe Known to EvaluateRail Shipping Damage. The ShockandVibrationBull. No. 30, Part3, Feb. 1962. 21. Daniel,G. E.: TerrestrialEnvironment(Climatic) CriteriaGuidelines for Usein SpaceVehicleDevelopment 1969Revision.NASA TM X-53872, 1970.(ASC No. N70-16998) 22. Sattinger,J.; andSternick,S.: An InstrumentationSystemfor the Measurement of TerrainProfile.Tech.Rept.University of Michigan,Dec.1961. 23. Hveem, F. N.: Devicesfor Recordingand EvaluatingPavementRoughness. Bull. 264,HighwayResearch Board,Washington, D. C., 1960. 38

24. Simon,H. P.; and Roach,C. D.: Measurement of the Cross-Country Terrain Environment. TheShockandVibrationBull. No. 30, Part3, Feb. 1962. 25. Milenkovic,V.: Feasibility Study for a Wheel-Rail Dynamics Research Facility. Research Division, GeneralAmericanTransportationCorporation,Dec. 1968. (Availablefrom NTISasPB182472) 26. Lindgren,P. W.: Dynamic Train Simulation.Preprint No. 23-2-TID-67,22nd AnnualInstrumentSocietyof AmericaConference, Sept.1967. 27.
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O'Sullivan, Inspection.

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Lindner, Session.

F. J.: Engineering

to the Protection

of a Fragile 1962.

Item-Panel

The Shock and Vibration

Bull. No. 30, Part 3, Feb.

30.

Brown,

W. H.; and Drydahl, and Vibration

R. L.: Simulation

of Rail Car Coupling 1962.

Environment.

The Shock

Bull. No. 30, Part 3, Feb.

31.

Harris,

C. M.; and Crede,

C. E.; eds.: The Shock 1961.

and Vibration

Handbook

Vol. III.

McGraw-Hill 32.

Book Co., Inc.,

Pratt, Rept.

K. G.; and Walker, Data Taken 1954. C.; Gusts and of on 1206, J.

W. G. : A Revised Civil Transport

Gust-Load Airplanes

Formula from 1933

on a Re-evaluation to 1950. NACA

of V-G

33.

Houbolt, Continuous Correlation

Kordes, an

E.

E.:

Structural Having NACA

Response Rept. 1181,

to

Discrete and

and a

Airplane

Wing-Bending

Flexibility 1954.

of Calculated J. C.; Steiner, Turbulence 1964.

and Flight

Results.

34.

Houbolt, TR R-199,

R.; and Pratt, Including

K. G.: Dynamic Data

Response and

of Airplanes Response.

to

Atmospheric

Flight

on Input

NASA

35.

Hall, A. W.: Three-Track Airports

Runway

and Taxiway 1970. Turbojet

Profiles

Measured

at International

C and D. NASA TN D-5703, G. J.: Response 1970. 39 of Several

36.

Morris,

Airplanes

to Runway

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

NASA SPACE VEHICLE MONOGRAPHS

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

Ascent, During July

May 1964 Launch and

November

Flight-Loads Exit, Flutter, Solar Local

Measurements 1964

December July

Buzz, and Divergence, 1964 Electromagnetic May 1971 Aerodynamic Steady

1964 June During 1965 Launch Sep-

Panel Flutter, Revised

Radiation, Loads Circular August

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

Wind Loads, August

November 1968

Slosh Loads, of Venus

of Mars Atmosphere Atmosphere

(1967),

May 1968 December

(1968),

Thermal and of

Protection, Navigation 1968

Guidance November Effects Control Magnetic March Spacecraft Buckling tember Models

Structural Systems, Fields April

Flexibility 1969 and March Truncated Earth Torques,

Extraterrestrial, 1969 Cones, Sep-

1969 Magnetic of

Thin-Walled Models (1968),

1968 May 1969 (120 to 1000 km), of Earth's Atmosphere

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,

1969 May 1969 Torques, May 1969 1970

Spacecraft

Gravitational Motor Metal

Solid Rocket Spacecraft Spacecraft Entry

Cases, April July 1970 October 1969

Star Trackers, Radiation Control,

Torques,

1969

Vehicle

November

Aerodynamic Launch Transient 1969

and Rocket-Exhaust and Ascent, May 1969 Thrust from

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

May 1969 Doubly Sensors, Curved December Shells, 1969

Thin-Walled Horizon Expulsion Ascent, February Control 1970

Torques, June 1970

December

of Structural

Flexibility

on Launch 1970

Vehicle Magnetic

of Spacecraft Model

Environment

1970 (Interplane1970 Pressure Vessels, May

tary and Planetary), Fracture 1970 Control

October

of Metallic of

Captive-Fired Testing March 1971 Meteoroid Qualification Acceptance Landing Planing Spacecraft Damage

Solid

Rocket

Motors,

Assessment, Testing, April April May 1970 1970

May 1970 May 1970

Design-Development Testing, Testing, Impact Landers,

Attenuation 1970 June

for 1970

Non-Surface-

Sun Sensors,

:42.

r.

SP-8048 SP-8049 SP-8050 SP-8051 SP-8052 SP-8053 SP-8054 SP-8055

(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

Bearings, 1971 June 1970 1971 Inducers,

March

The Earth's Structural Solid Rocket Liquid 1971 Nuclear June and 1970

Ionosphere, Vibration Motor

Prediction, Igniters,

March

Rocket

Engine

Turbopump Effects June 1970

May

Space

Radiation

on Materials,

Space Radiation Prevention bility Flight (Pogo), Separation

Protection, October Criteria 1971

1970 Insta1970 to a Space

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,

Structural Shuttle, Spacecraft Spacecraft

Design January

Applicable

Aerodynamic Attitude February Venting, with 1970 Heating,

Torques, Control 1971 November and January

January

1971

During 1970 Launch 1971

Thrusting

Maneuvers, Compartment Interaction August Entry Tubular Stored), Deployable June Earth 1971 Albedo Lubrication,

Umbilicals

Stand,

Gasdynamic Spacecraft February

Friction,

and Wear, Booms 1971

June

1971 Reel Systems, July June March 1971 1971 1971

(Extendible,

Aerodynamic and Emitted

Deceleration Radiation, Plates, Systems, Libration by the

Buckling Spaceborne Passive February Acoustic System,

Strength

of Structural

Digital Computer Gravity-Gradient 1971 Loads June Generated 1971 and Handling

Dampers, Propulsion September

SP-8072 SP-8077

Transportation 1971

Loads,

NASA-Langley,

1971

43

II

11_ ,

r Ik _ L

i ^