Propellant Slosh Reports and Links

Collected By

Dr. Bernard B. Beard
ARES Corporation
200 Sparkman Drive, Suite 1
Huntsville, AL 35805

"The Slosh Bible"

• "The Dynamic Behavior of Liquids In Moving Containers", the classic report by H.N. Abramson. NASA SP-106 (1967) (40 MB).
• "The New Dynamic Behavior of Liquids In Moving Containers", the "new testament" by Franklin Dodge (2000) (2 MB).

Overviews and Summaries

• "The Role of Flight Experiments in the Development of Cryogenic Fluid Management Technologies", report by David Chato. Interesting modern perspective on flight tests. NASA TM-2006-214261 (May 2006) (0.6 MB).
• "A History of Aerospace Problems, Their Solutions, Their Lessons" by Bob Ryan. NASA TP-3653 (Sept 1996) (16.2 MB).
• "NASA Cryogenic Fluid Management Space Experiment Efforts 1960-1990", detailed summary by Daniel Glover. NASA TM-103752 (Sep 1991) (1.4 MB).

Stability and Control, and Other Design Criteria

• "Fluid Oscillations in the Containers of a Space Vehicle and Their Influence on Stability", report by Helmut Bauer. Interesting charts on force amplification. NASA TR R-187 (Feb 1964) (6.5 MB).
• "Slosh Suppression", design criteria by H.N. Abramson. Interesting quote: "The failure of several booster vehicles has been attributed to inadequate slosh suppression. For example, an early Jupiter flight was unsuccessful because a stepped-pitch program had stepping intervals near the fundamental propellant-slosh frequency; the pitch-reinforced slosh caused the vehicle to go out of control. A Blue Streak single-stage vehicle failed in flight because a slosh-induced instability resulted in structural failure. Although the effect of propellant sloshing had been calculated for the original design, it was not reevaluated after a number of vehicle design changes had been made. There was a premature engine shutoff during the first Saturn I flight because a rotatory slosh was induced by a coupling with the roll-control loop of the guidance system, and the propellant drain line was momentarily uncovered." NASA SP-8031 (May 1967) (2 MB).
• "Slosh Design Handbook I", report by James Roberts et al., NASA CR 406 (May 1966) (31 MB).
• "Propellant Slosh Loads", design criteria, NASA SP-8009 (Aug 1968) (3 MB).
• "Atlas Launch System Mission Planner's Guide", a Lockheed/Martin manual. Contains several references to the incorporation of slosh models in space vehicle qualification. (Dec 1998) (5.3 MB)
• "Propellant Management in Booster and Upper Stage Propulsion Systems", a brief but contemporary summary report by Mark Fisher of MSFC. In addition to slosh, he discusses "geysering" in the sense of bubble formation in propellant feed lines. NASA TM-112924 (June 1997) (1.2 MB).

Tank Baffle Design

• "Isogrid Design Handbook", design criteria. Not much about slosh, but this is how to design isogrid. NASA-CR-124075 (Feb 1973) (8 MB).
• U.S. Patent 6283412, "Anti-Slosh Liquid Propellant Tank For Launch Vehicles", patent by Frank Mango of Lockheed Corporation for using isogrid to dampen slosh (Sept 2001) (1 MB).
• U.S. Patent 3110318, "Slosh Suppressing Device And Method", patent by W.R. Eulitz for various kinds of tube baffles for propellant tanks. (Nov 1963) (1.1 MB)
• "Effectiveness Of Flexible And Rigid Ring Baffles For Damping Liquid Oscillations In Large-Scale Cylindrical Tanks", report by D.G. Stephens and H.F. Scholl. NASA TN-D-3878 (Mar 1967) (6.3 MB).
• "A Comparison Of Theoretical And Experimental Pressures And Forces Acting On A Ring Baffle Under Sloshing Conditions", report by Luis Garza, on scale model tests of ring baffles. NASA CR-385 (Mar 1966) (0.8 MB).
• "Effect Of Reynolds Number On Slosh Damping By Flat Ring Baffles", by Harry Buchanan and Larry Lott. Mainly oriented to the low Reynolds number regime, but discusses Reynolds number independence and Miles' equation. NASA TM-X-53559 (Dec 1966) (0.5 MB).
• Shuttle LOX Tank, picture from Garland Johnston.
• Shuttle LOX Tank Baffles, picture from Garland Johnston.
• Shuttle LOX Tank Baffles Close-Up, picture from Garland Johnston.
• "Apollo Systems Descriptions, Vol II (Saturn Launch Vehicles)", a comprehensive documentation of Saturn I, Saturn IB, and Saturn V configurations. Includes description of tank baffle designs for these vehicles. NASA TM-X-881 (Feb 1964) (64.2 MB).
• "A Survey of Ring Baffle Damping in Cylindrical Tanks", by G.P. Stricklin and J.A. Baird. In-depth discussion of Miles' equation for ring baffle damping and various attempts to improve the correlation of test data with this semi-empirical method. Stricklin and Baird appear to favor O'Neill's formulation. NASA CR-78985 (aka NASA TN-R-185) (Apr 1966) (1.2 MB)
• "Engineering Study Of Flexible Baffles For Slosh Suppression", by Franklin Dodge. Dodge shows how flexible baffles of equivalent effectiveness can provide significant weight savings for a future space shuttle vehicle. (Sep 1971) (1.2 MB)

Test Reports -- Basic Research

• "Results Of An Experxmental Investigation Of Small Viscous Dampers", by Milton A. Silveira, Domenic J. Maglieri, and George W. Brooks. This is Ref 5.27 in SP-106 and provides some information on extracting damping parameters using the forced-response method. NACA TN-4257 (June 1958) (2.8 MB).
• "Natural Frequency Of Liquids In Annular Cylinders Under Low Gravitational Conditions", a report by Thomas Labus. Mainly noteworthy for a detailed discussion of the NASA Lewis Zero-Gravity Facilities, including the 2.2 second and 5/10 second vacuum tunnels. NASA TN-D-5412 (Sep 1969) (1.8 MB).
• "Lateral Sloshing In Cylinders Under Low-Gravity Conditions", by Jack A. Salzman und William J. Masica. Similar to the Labus report above, which dealt with annular containers. NASA TN-D-5058 (Feb 1969) (2 MB).
• "Simulated Low-Gravity Sloshing In Cylindrical Tanks Including Effects Of Damping And Small Liquid Depth", by Dodge and Garza. NASA CR-61469 (Dec 1967) (1.5 MB)
• "The Coupled Dynamic Response Of A Tank Partially Filled With A Liquid And Undergoing Free And Forced Planar Oscillations", report by David G. Stephens and H. Wayne Leonard. Stephens and Leonard suspended a baffled tank, excited it with air jets, and measured damping. NASA TN-D-1945 (Aug 1963) (1.7 MB).
• "Liquid Surface Oscillations In Longitudinally Excited Rigid Cylindrical Containers", by Dodge, Kana, and Abramson. A detailed examination of vertical excitation. Final figure suggests that high-frequency oscillations always produce instability above some threshold acceleration. These experiments form much of the Chapter 8 discussion in SP-106. NASA CR-56135 (Apr 1964) (11.6 MB).
• "An Experimental Study Of Liquid Surface Oscillations In Longitudinally Excited Compartmented Cylindrical And Spherical Tanks", by Daniel Kana. Stability boundaries for compartmented tanks. NASA CR-545 (Aug 1966) (1.5 MB).
• "Bubble Behavior In Liquids Contained In Vertically Vibrated Tanks", a report by Daniel Kana. Documents the "negative buoyancy" phenomenon for bubbles generated by surface instability. NASA CR-59234 (Aug 1964) (11.6 MB).
• "Liquid Propellant Reorientation In a Low-Gravity Environment", by Irving Sumner. One of the few references I've found dealing with geysering of liquids and establishing some criteria. NASA TM-78969 (July 1978) (2.1 MB).
• "Experimental Investigation Of Stability Boundaries For Planar And Nonplanar Sloshing In Spherical Tanks", a report by Irving Sumner. Implements a scheme for defining the zones of stable and unstable slosh. NASA TN-D-3210 (Jan 1966) (1.2 MB).
• "Some Studies Of Nonlinear Lateral Sloshing In Rigid Containers", by H. Norman Abramson, Wen-Hwa Chu, and Daniel D. Kana. NASA CR-375 (Jan 1966) (1.2 MB).
• "An Investigation Of Resonant, Nonlinear, Nonplanar Free Surface Oscillations Of A Fluid", report by R.E. Hutton. Another set of analysis and test results showing stability boundaries. NASA TN-D-1870 (May 1963) (3.1 MB).
• "Some Studies Of Liquid Rotation And Vortexing In Rocket Propellant Tanks", report by Norman Abramson. Establishes scheme for stability boundaries for force sloshing motion, used in the three above-mentioned studies. NASA TN-D-1212 (Jan 1962) (1.1 MB).
• "Analytical And Experimental Investigation Of Forces And Frequencies Resulting From Liquid Sloshing In A Spherical Tank", report by Stofan and Armstead. NASA TN-D-1281 (July 1962) (1 MB).
• "Effect Of Wall Roughness On The Damping Of Liquid Oscillations In Rectangular Tanks", by Frank Bugg. Bugg showed that wall roughness can significantly enhance damping. NASA TN-D-5687 (Mar 1970) (1.5 MB).
• "Zero G Thermodynamic Vent System Final Report", a report on an MSFC/Rockwell design for cryogen control in zero G. NASA CR-193981 (1994) (3.8MB)
• "An Orbital Facility for Low-Gravity Fluid Mechanics Experiments", by H.E. Worley, F.M. Bugg, and H.J. Buchanan. NASA TM-X-53561 (Dec 1966) (1 MB)
• "Effects Of Vortex Shedding On Fuel Slosh Damping Predictions", by Henry A. Cole. "Predictions of fuel slosh damping by ring baffles in cylindrical tanks are shown to differ from experimental measurements by as much as 100 percent over a range of tank diameters from 12 to 112 inches, oscillation amplitudes from 0.1 to 1.5 baffle widths, and baffle depths of 0.3 to 0.5 tank radius. Agreement between experiments and predictions is brought to within 20 percent when corrections are included for transitional flow due to vortex shedding, generalized mass change due to translatlon, and wall damping." NASA TN-D-5705 (Mar 1970) (1.0 MB)

Test Reports -- Vehicle-Oriented: Saturn

• "Propellant Sloshing Problems Of Saturn Test Flight SA-1", report by Helmut Bauer. This is the report explaining the test results that led to the incorporation of accordion baffles in the LO2 and fuel tanks of the Saturn I. In addition to the usual slosh mechanical modeling, Bauer discusses stability boundaries and anti-vortex devices. NASA TM X-50497 (Mar 1962) (1.4 MB).
• "Investigation Of The Lateral Vibration Characteristics Of A 1/5-Scale Model Of Saturn SA-1", report by John S. Mixson, John J. Catherine, and Ali Arman. Accounted for propellant mass. NASA TN-D-1593 (Jan 1963) (19.4 MB).
• "Experimental Lateral Vibration Characteristics Of A 1/5-Scale Model Of Saturn SA-1 With An Eight-Cable Suspension System", by John S. Mixson and John J. Catherine. Used water to simulate LOX and RP-1. NASA TN-D-2214 (Nov 1964) (2.9 MB).
• "Comparison Of Experimental Vibration Characteristics Obtained From A 1/5-Scale Model And From A Full-Scale Saturn SA-1", by John S. Mixson and John J. Catherine. NASA TN-D-2215 (Nov 1964) (2.3 MB).
• "Torsional Vibration Characteristics Of A 1/5-Scale Model Of Saturn SA-1", by John J. Catherine. Rotational mode frequencies were affected by the large masses of propellant in the non-central tanks. NASA TN-D-2745 (Apr 1965) (3.9 MB).
• "Experimental Vibration Characteristics Of A 1/40-Scale Dynamic Model Of The Saturn V-Launch-Umbilical-Tower Configuration", by John J. Catherine. The test program documented here and in the following two TN's is noteworthy for incorporating mechanical-equivalent slosh simulators. One of the problems with integrated structure-slosh testing is that structural frequencies and slosh frequencies scale differently. Often water ballast in the propellant tanks is used simply to provide an adjustable mass, ignoring the slosh resonance effects. The engineers designing this test did the next best thing, which was to incorporate a mechanical mass-spring system that simulated what were understood to be the low-mode slosh properties. NASA TN-D-4870 (Nov 1968) (11.4 MB).
• "Vibration Analysis Of A 1/40-Scale Dynamic Model Of Saturn V Launch-Platform-Umbilical-Tower Configuration", by Howard M. Adelman and Earl C. Steeves. NASA TN-D-4871 (Nov 1968) (7 MB).
• "Lateral Vibration Characteristics Of A 1/40-Scale Dynamic Model Of Apollo-Saturn V Launch Vehicle", by Earl C. Steeves and John J. Catherine. NASA TN-D-4872 (Nov 1968) (7.3 MB).
• "Longitudinal Vibration Characteristics Of 1/10-Scale Apollo/Saturn V Replica Model", report by Larry Pinson and Wayne Leonard. Detailed modal tests including propellant simulators. NASA TN-D-5159 (April 1969) (4 MB).
• "Lateral Vibration Characteristics Of The 1/10-Scale Apollo/Saturn V Replica Model", report by Peele, Leonard, and Leadbetter. Similar to the previous citation, except for lateral vibrations. NASA TN-D-5778 (April 1970) (3.3 MB).
• "Cryogenic Liquid Experiments In Orbit: Volume I: Liquid Settling And Interface Dynamics", report by T.E. Bowman, on analytical modeling of zero-gravity propellant management and comparison to drop tests at Martin-Denver Drop Tower test facility. NASA CR-651 (Dec 1966) (27.3 MB).
• "An Experimental Study of the Behavior of a Sloshing Liquid Subjected to Sudden Reduction in Acceleration", report by Louis Toole et al., on drop tests at MSFC Dynamic Test Facility (Bldg 4550) of scale model S-IVB LH2 tank. NASA TM X-53755 (Aug 1968) (19 MB).
• "Evaluation of AS-203 Low Gravity Orbital Experiment", a detailed flight test report of AS-203, the dedicated propellant slosh flight test in July 1966. NASA CR-94045 (Jan 1967) (22 MB).
• "Orbital Investigation Of Propellant Dynamics In A Large Rocket Booster", another report about AS-203. Apparently the same report as NASA TM-X-53542. NASA TN D-3968 (May 1967) (2.2 MB).
• "Equivalent Mechanical Model of Propellant Sloshing in the Workshop Configuration of the Saturn S-IVB", report by Franklin Dodge and Luis Garza. The introduction has an excellent description of the goals and methods of scale-model slosh testing. NASA CR-102615 (June 1969) (4.4 MB).

Test Reports -- Vehicle-Oriented: Atlas-Centaur

• "Flight Simulation Tests Of A Centaur Vehicle In A Space Chamber" by R.F. Schmiedlin, R.J. Tuek, B.J. Dastoli, G.M. Hotz, and L.J. Ross. Deals with Plumbrook tests of the Centaur upper stage. NASA TM-X-1929 (Jan 1970) (3.6 MB).
• "Atlas-Centaur Flight AC-4 Coast-Phase Propellant and Vehicle Behavior", a report on an early propellant management flight on Atlas. Ed Kyle's Launch Report says this about the flight: "AC-4, launched December 11, 1964, was to perform the first RL10A-3 restart in space. Centaur, which carried a 952 kg pound dummy Surveyor payload, performed a successful first burn to put itself into a 165 x 178 km x 30.7 degree parking orbit. After a 25 minute coast, however, Centaur's engines failed to restart, preventing the stage from reaching its planned 160 x 8,000 km final orbit. Engineers had downsized Centaur's four hydrogen peroxide ullage rockets from the successful AC-2 design. The new thrusters provided less than 0.5 kgf thrust each in a misguided effort to reduce fuel mass. The new verniers turned out to be insufficient to settle propellants during the coast period. As a result, LH2 venting put Centaur into a tumble-roll, uncovering the propellant inlets. Since NASA listed the RL10 restart as a secondary objective, and since Centaur had successfully flown using closed loop Honeywell guidance for the first time, AC-4 was reported to be a success at the time. Today, the result would clearly be called a failure." NASA TM-X-1189 (Dec 1965) (1.8 MB).
• "Postflight Evaluation of Atlas/Centaur AC-8". This flight failed to achieve Centaur restart after the ullage motors ran out of fuel. NASA TM-X-1343 (April 1967) (6.6 MB).
• "Management Of Cryogenic Propellants In A Full-Scale Orbiting Space Vehicle", by Lacovic et al. Detailed analysis of technical lessons from the Atlas-Centaur AC-4/AC-8 tests. Detailed diagrams of observed slosh wave phenomena. NASA TN-D-4571 (May 1968) (3.8 MB).
• "Experimental Sloshing Characteristics And A Mechanical Analogy Of Liquid Sloshing In A Scale-Model Centaur Liquid Oxygen Tank", report by Sumner, Stofan, and Shamro. Experimental program on a 1/3.75 scale tank, with results in terms of non-dimensional parameters. NASA TM-X-999 (Aug 1964) (1.5 MB).
• "Comparison of Propellant Sloshing Parameters Obtained From Model and Full-Size Centaur Liquid-Oxygen Tanks", by Stofan. Stofan compared scale-model and full-size LO2 tank slosh characteristics (fundamental frequency and damping ratio) and concluded that there was substantial agreement. Also, a comparison of water and LO2 characteristics was performed, which showed no significant differences as far as these two parameters are concerned. NASA TM-X-1286 (Sept 1966) (4.5 MB).
• "Experimental Investigation Of Liquid Sloshing In A Scale-Model Centaur Liquid-Hydrogen Tank", report by Sumner, Lacovic, and Stofan, documents the mechanical model derived from the TM-X-999 tests. NASA TM-X-1313 (Nov 1966) (6 MB).
• "Capillary Rise In The Annular Region Of Concentric Cylinders During Coast Periods Of Atlas-Centaur Flights", report by R.F. Lacovic and J.A. Berns, documents the analysis of fluid level sensor for Atlas/Centaur. NASA TM-X-1558 (May 1968) (0.5 MB).

Test Reports -- Vehicle-Oriented: Titan-Centaur

• "Low-Gravity Reorientation In A Scale-Model Centaur Liquid-Hydrogen Tank", a report on a series of tests conducted in the NASA Lewis Zero-Gravity Facility. Great pictures of geysering etc. that can occur in the transition to low gravity. NASA TN-D-7168 (Feb 1973) (17.6 MB).
• "Propulsion System Tests On A Full Scale Centaur Vehicle to Investigate 3-Burn Mission Capability Of The D-1T Configuration", report by by W. A. Groesbeck, K. W. Baud, R. F. Lacovic, W. K. Tabata, and S. V. Szabo, Jr.; describes full-scale tests in Plumbrook B-2 facility to verify multiple restart capability (after extended coast phase) of the Centaur RL-10 after vacuum and thermal conditioning. "The test results demonstrated that the RL-10 engines on the Centaur vehicle could be started and run reliably after being thermally conditioned to predicted engine start conditions for a one, two and three burn mission. Investigation of the thermal margins also indicated that engine starts could be accomplished at the maximum predicted component temperature conditions with prestart durations less than planned for flight. The computer controlled pressurization system accurately regulated propellant tank pressures, with expected variations in pressurant gas supply conditions, and tank ullage volumes, for all flight pressurization and engSne start sequences. The oxygen tank pressurant gas requirements were greatly reduced by injection of the helium into the tank below the liquid surface." NASA TM-X-71511 (Feb 1974) (5.4 MB).
• "Centaur Zero Gravity Coast And Engine Restart Demonstration On The Titan/Centaur (TC-2) Extended Mission", report by R. F. Lacovic on the successful TC-2 flight test. "The flight results showed that the propellant location and behavior, propellant heating, and tank pressure rise rates observed during the zero-gravity coasts were less severe than expected. Consequently, the majority of the propellants remained at the tank bottom, the propellant collection times were very short, and more than 7 hours of coast could have been achieved before a tank venting was required. The tank pressurization prior to the engine starts provided boost pump Net Positive Suction Head values well in excess of the values required. The LO2 tank pressurization was accomplished by a new bubbler method that greatfy reduced the helium usage." NASA TM-71821 (Oct 1975) (1.8 MB).
• "Propellant Management Report for the Titan/Centaur TC-5 Extended Mission", report by R. F. Lacovic on the successful TC-5 flight test. "The major flight data results show that (1) the propellants can be controlled with short collection times, even with a simulated H202 engine failure, (2) extensive tank ventings can be safely performed, (3) the Centaur boost pumps can perform adequately with no LH2 tank pressurization, and with low LO2 tank pressurization levels, (4) the duct prechill technique is an effective way to reduce boost pump cavitation and improve engine chilldown, and (5) the Centaur boost pumps should be completely stopped prior to an engine start sequence." NASA TM-73749 (Sep 1977) (1.8 MB).

Test Reports -- Vehicle-Oriented: Shuttle

• "Space Transportation System Technology Symposium, Vol II: Dynamics and Aeroelasticity", a compendium of technical reports on various aspects of the Space Shuttle as it was envisioned in 1970. Includes a chapter by Abramson, Dodge, and Kana, "Propellant Dynamics Problems In Space Shuttle Vehicles", a topic that was expanded in the next item. NASA TM-X-52876 (July 1970) (15.3 MB).
• "Propellant Dynamic Problems In Space Shuttle Vehicles", by Astleford et al. of Southwest Research Institute. Gives results of a preliminary-design level assessment of slosh problem that the Space Shuttle vehicle might experience, in effect a roadmap for Shuttle slosh concerns. The flight phases of concern were identified as (a) ascent, (b) separation, (c) docking, (d) normal flyback, and (e) aborted flyback. (Note that thrust oscillation had not been identified as a risk item for the Shuttle at this date.) NASA CR-111802 (Oct 1970) (3 MB).
• "ET LOX Modal Survey Analysis and Test Assessment", a report on Space Shuttle external LOX tank modal testing with propellant load. Choice quote: "As a result of the SRB thrust oscillatory condition that was discovered at approximately 15 Hz during the SRM DM-1 and/or DM-2 static firings, supplementary test configurations were authorized for the purpose of studying the damping phenomena of these modes while varying the fluid level, cant angle, and ullage pressure parameters." On the last page, I added a color picture of the modal test article (found on NTRS). NASA TM-78287 (May 1980) (4.4 MB).
• "Analysis and Test For Space Shuttle Propellant Dynamics", a report on drop tower and "Vomit Comet" tests of Space Shuttle external tanks. NASA CR-3683 (June 1983) (7.8 MB)
• "Mated Vertical Ground Vibration Test", report on the Space Shuttle MVGVT. Instrumentation and several data points were added to the MVGVT to verify the lightly-damped LOX tank slosh modes. NASA TM-78298 (July 1980) (3.1 MB).

Test Reports -- Vehicle-Oriented: Other

• "Experimental Results of Hydrogen Slosh in a 62 Cubic Foot (1750 Liter) Tank", report by Matthew Moran et al. This details an effort by the NASP team to define ullage collapse criteria. NASA TM-106625, AIAA 94-3259 (June 1994) (1 MB).
• "Slosh Dynamics Study in Near Zero Gravity", report by Harold Gold et al., on Weightlessness Analysis Sounding Probe (WASP) rocket test flight, 07 June 1966. NASA TN D-3985 (May 1967) (15 MB).
• "Weightlessness Experiments With Liquid Hydrogen in Aerobee Sounding Rockets; Nonuniform Radiant Heat Addition - Flight 4", by J.D. Regetz, Jr., M.J. Conroy, and R.G. Jackson. Discusses use of Aerobee sounding rockets for zero-gravity propellant management experiments. This is one of a series of reports on Aerobee use for these kind of studies. NASA TM-X-873 (Feb 1964) (40 MB).
• "Effect Of Gravity On Self-Pressurization Of Spherical Liquid-Hydrogen Tankage", by John C. Aydelott. Discusses use of Aerobee sounding rockets to provide up to five minutes of weightlessness for zero-gravity propellant management experiments. NASA TN D-4286 (Dec 1967) (1 MB).
• "Thor-Agena Lateral Bending Vibration Analysis", report by Douglas Aircraft. Pre-test analysis, including a pendulum model for fundamental mode slosh in the propellant tank. NASA CR-66014 (July 1965) (2.5 MB).

Scaling and Similarity, and Theory of Testing

• "Space Vehicle Low Gravity Fluid Mechanics Problems And The Feasibility Of Their Experimental Investigation", report by Gordon Platt. Really good discussion of scaling laws and their application to evaluating slosh regimes. NASA TM X-53589 (Oct 1967) (2.5 MB).
• "Principles Of Design Of Dynamically Similar Models For Large Propellant Tanks", report by Paul Sandorff. Discussion of similarity rules. NASA TN-D-99 (Jan 1960) (1.3 MB).
• "Dynamic Stability Of Space Vehicles, Volume VI -- Full-Scale Dynamic Testing for Mode Determination", by D.R. Lukens et al., one of a series of reports about structural dynamics. Quote: "4.2.1.1 Liquid Booster Modes. Of prime consideration in most vehicles is the first fuel sloshing mode, the first three elastic bending modes, and the engine first response mode. With these five basic modes as the prime objective, all other modes up to the control system cutoff frequency are of secondary nature but still of interest." NASA CR-940 (Dec 1967) (4.9 MB).
• "Dynamic Stability Of Space Vehicles, Volume VII -- The Dynamics of Liquids in Fixed and Moving Containers", by L.L. Fontenot, one of a series of reports about structural dynamics. Lots of equations. NASA CR-941 (March 1968) (5.8 MB).
• "Dynamic Stability Of Space Vehicles, Volume XIV - Testing For Booster Propellant Sloshing Parameters", by D.M. Eggleston. This report gives explicit details about how to set up slosh tests -- "state of the art" in 1968. NASA CR-948 (May 1968) (1.6 MB).
• Also see NASA_TM-X-999 linked above.

Computational Fluid Dynamics

• "Cryogenic Tank Modeling for the Saturn AS-203 Experiment", report by Gary Grayson et al. Detailed modeling of the 1966 AS-203 flight, using modern CFD tools. Perhaps the only solid validation of CFD for low-gravity ullage pressurization in flight. Only an axisymmetric model, however. AIAA 2006-5258 (July 2006) (0.2 MB).
• "CFD Modeling of Helium Pressurant Effects on Cryogenic Tank Pressure Rise Rates in Normal Gravity", report by Gary Grayson et al. Detailed modeling of GHe ullage pressurization system at MSFC Multipurpose Hydrogen Test Bed (MHTB). Still only axisymmetric. AIAA 2007-5524 (July 2007) (1 MB).
• "Digital Analysis Of Liquid Propellant Sloshing In Mobile Tanks With Rotational Symmetry", report by D.O. Lomen. Gives detailed algorithm for determining equivalent mass-spring eigenvalues. NASA CR-230 (May 1965) (1 MB).
• "Parametric Investigation of Liquid Jets in Low Gravity", a report by David Chato. Models geyser formation with an axisymmetric CFD model to estimate a criterion for geyser formation. NASA TM-2005-213639, AIAA 2003-0997 (June 2005) (1.2 MB).
• "Forced Sloshing of Inviscid Fluids", a mathematical analysis of inviscid flow in circular cylinders, by Antman and Chen. Heavy on the algebra, with no graphics, but purports to give a general non-linear-regime solution method for inviscid fluids subject to translational oscillation in (x,y,z). NASA CR-110241 (Jan 1970) (1.2 MB).
• "Delta IV Launch Vehicle Pulse Settling", a paper describing the uncovering and mitigation of slosh concerns on the Delta IV M+ launch vehicle. The NROL-22 Mission was delayed nine months while this problem was worked. The mission finally launched successfully on 27 June 2006. Acta Astronautica 61, 416 (June 2007) (1.7 MB).
• "Propellant Slosh Models for the Cassini Spacecraft", includes some CFD modeling. AIAA-94-3730-CP (1994) (0.9 MB).
• "A Sloshing Absorber with a Flexible Container", by M. Gradinscak, S.E. Semercigil and Ö.F. Turan. Interesting ANSYS modeling. (0.2 MB)
• "A Finite Element Based Prediction Model To Control Liquid Sloshing With Container Flexibility", by M. Gradinscak, S.E. Semercigil and Ö.F. Turan. (Dec 2009) (0.2 MB)

Pogo

• Mitigating Pogo on Liquid-Fueled Rockets, an interesting historical view from the Aerospace Corporation.
• "Pogo", by Jim Fenwick of PW Rocketdyne, another interesting writeup.
• "Prevention of Coupled Structure-Propulsion Instability (Pogo)", design criteria by S. Rubin et al. NASA SP-8055 (Oct 1970) (2.5 MB).
• "Simplified Analytical Model For Use In Design Of Pump-Inlet Accumulators For The Prevention Of Liquid-Rocket Longitudinal Oscillation (Pogo)", report by William Lewis, NASA TN D-5394 (Aug 1969) (1.9 MB). Gives a list of suggested pogo mitigation strategies.
• "NASA Lessons Learned: Pogo", NASA Lessons Learned 0334. (1993). Discussion of pogo problems on S-II stage of Saturn, including 32 g's on AS-508 flight (Apollo 13).
• "Saturn the Giant, by Wernher von Braun", from the MSFC History Office. Von Braun discusses the pogo problem on the Saturn V second flight (SA-502).
• "Two Engines Out but Still Running", a section of the NASA history of Apollo, discussing the severe effects of pogo on SA-502 (Apollo 6)
• "Pogo and Other Problems", another NASA history page. Interesting discussion of the GHe injection approach to pogo suppression.
• "Pogo Prevention Plan", for the Space Shuttle. NSTS 08130 Rev B (May 1987) (1.2 MB).

Failures

• Cape Canaveral LC5 History, from Encyclopedia Astronautica. Includes this nugget: "1957 April 26 20:12 - Research and development launch Launch Vehicle: Jupiter. Failure. Jupiter AM-1B Apogee: 18 km (11 mi). Fired from AMR at 1512 hours EST to test the design version of the airframe and rocket engine. The flight terminated at 93 seconds because of propellant slosh. The missile achieved an altitude of 60,000 feet. The flight was partially successful."
• Flight Trial Of F1, a report on the above-mentioned Blue Streak failure, 05 June 1964 (note the wrong year in the title of the linked page), from spaceuk.org. Choice quote: "The catastrophic instability resulting in premature engine cut commenced at about 130 secs, as an oscillation in both pitch and yaw planes, at about 1.6 c/s. This eventually resulted in saturation of the hydraulic actuator system and loss of roll control. The engines cut some two seconds after the violent uncontrolled motion became readily apparent on behaviour film records. Combined analogue and digital simulation of this instability has verified the time of onset of the phenomena, and shown that the negative damping of the fuel slosh mode becomes increasingly large from 130 seconds to engine cut. As a result of the analyses of the instability H.S.D. and R.A.E. have been able to recommend steps to avoid this effect occurring in the F2 and F3 flights. A reduction of gain, whilst not changing the sign of the damping term in the fuel slosh mode, enables the onset of unacceptable oscillation to be postponed to after the nominal engine cut time of 154 seconds."
• "Falcon I Demo Flight 2 Flight Review Update", report by SpaceX on the Demo 2 flight failure (June 2007).

Supplemental Charts, etc.

• Absolute Viscosity Chart
• Kinematic Viscosity Chart
• Atmospheric Temperature vs. Altitude
• Atmospheric Pressure vs. Altitude
• Atmospheric Pressure vs. Altitude (semi-log chart)
• Moody Chart
• NASA CR 164016: contains thermodynamic data on selected cryogens.

Other links

• NASA Technical Reports Server
• DTIC: Defense Technical Information Center
• NTIS: National Technology Information Service
• Encyclopedia Astronautica
• Cape Canaveral
• Gunter's Space Page
• Jonathan's Space Report
• NASA Watch
• Plasma Wind (John Bossard's Blog)
• Directory of U.S. Military Rockets and Missiles
• NIST "Thermophysical Properties of Fluid Systems", a useful reference for properties of fluids.
• An interesting page with some turbulent flow visualization movies

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bbbeard@arescorporation.com