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How Doc Draper Became the Father of Inertial Guidance
(Preprint) AAS 18-121 HOW DOC DRAPER BECAME THE FATHER OF INERTIAL GUIDANCE Philip D. Hattis* With Missouri roots, a Stanford Psychology degree, and a variety of MIT de- grees, Charles Stark “Doc” Draper formulated the basis for reliable and accurate gyro-based sensing technology that enabled the first and many subsequent iner- tial navigation systems. Working with colleagues and students, he created an Instrumentation Laboratory that developed bombsights that changed the balance of World War II in the Pacific. His engineering teams then went on to develop ever smaller and more accurate inertial navigation for aircraft, submarines, stra- tegic missiles, and spaceflight. The resulting inertial navigation systems enable national security, took humans to the Moon, and continue to find new applica- tions. This paper discusses the history of Draper’s path to becoming known as the “Father of Inertial Guidance.” FROM DRAPER’S MISSOURI ROOTS TO MIT ENGINEERING Charles Stark Draper was born in 1901 in Windsor Missouri. His father was a dentist and his mother (nee Stark) was a school teacher. The Stark family developed the Stark apple that was popular in the Midwest and raised the family to prominence1 including a cousin, Lloyd Stark, who became governor of Missouri in 1937. Draper was known to his family and friends as Stark (Figure 1), and later in life was known by colleagues as Doc. During his teenage years, Draper enjoyed tinkering with automobiles. He also worked as an electric linesman (Figure 2), and at age 15 began a liberal arts education at the University of Mis- souri in Rolla. -
(Leviticus 10:6): on Mourning and Refraining from Mourning in the Bible
1 “Do not bare your heads and do not rend your clothes” (Leviticus 10:6): On Mourning and Refraining from Mourning in the Bible Yael Shemesh, Bar Ilan University Many agree today that objective research devoid of a personal dimension is a chimera. As noted by Fewell (1987:77), the very choice of a research topic is influenced by subjective factors. Until October 2008, mourning in the Bible and the ways in which people deal with bereavement had never been one of my particular fields of interest and my various plans for scholarly research did not include that topic. Then, on October 4, 2008, the Sabbath of Penitence (the Sabbath before the Day of Atonement), my beloved father succumbed to cancer. When we returned home after the funeral, close family friends brought us the first meal that we mourners ate in our new status, in accordance with Jewish custom, as my mother, my three brothers, my father’s sisters, and I began “sitting shivah”—observing the week of mourning and receiving the comforters who visited my parent’s house. The shivah for my father’s death was abbreviated to only three full days, rather than the customary week, also in keeping with custom, because Yom Kippur, which fell only four days after my father’s death, truncated the initial period of mourning. Before my bereavement I had always imagined that sitting shivah and conversing with those who came to console me, when I was so deep in my grief, would be more than I could bear emotionally and thought that I would prefer for people to leave me alone, alone with my pain. -
Agorapicbk-15.Pdf
Excavations of the Athenian Agora Picture Book No. 1s Prepared by Fred S. Kleiner Photographs by Eugene Vanderpool, Jr. Produced by The Meriden Gravure Company, Meriden, Connecticut Cover design: Coins of Gela, L. Farsuleius Mensor, and Probus Title page: Athena on a coin of Roman Athens Greek and Roman Coins in the Athenian Agora AMERICAN SCHOOL OF CLASSICAL STUDIES AT ATHENS PRINCETON, NEW JERSEY 1975 1. The Agora in the 5th century B.C. HAMMER - PUNCH ~ u= REVERSE DIE FLAN - - OBVERSE - DIE ANVIL - 2. Ancient method of minting coins. Designs were cut into two dies and hammered into a flan to produce a coin. THEATHENIAN AGORA has been more or less continuously inhabited from prehistoric times until the present day. During the American excava- tions over 75,000 coins have been found, dating from the 6th century B.c., when coins were first used in Attica, to the 20th century after Christ. These coins provide a record of the kind of money used in the Athenian market place throughout the ages. Much of this money is Athenian, but the far-flung commercial and political contacts of Athens brought all kinds of foreign currency into the area. Other Greek cities as well as the Romans, Byzantines, Franks, Venetians, and Turks have left their coins behind for the modern excavators to discover. Most of the coins found in the excavations were lost and never recovered-stamped into the earth floor of the Agora, or dropped in wells, drains, or cisterns. Consequently, almost all the Agora coins are small change bronze or copper pieces. -
Domitian's Arae Incendii Neroniani in New Flavian Rome
Rising from the Ashes: Domitian’s Arae Incendii Neroniani in New Flavian Rome Lea K. Cline In the August 1888 edition of the Notizie degli Scavi, profes- on a base of two steps; it is a long, solid rectangle, 6.25 m sors Guliermo Gatti and Rodolfo Lanciani announced the deep, 3.25 m wide, and 1.26 m high (lacking its crown). rediscovery of a Domitianic altar on the Quirinal hill during These dimensions make it the second largest public altar to the construction of the Casa Reale (Figures 1 and 2).1 This survive in the ancient capital. Built of travertine and revet- altar, found in situ on the southeast side of the Alta Semita ted in marble, this altar lacks sculptural decoration. Only its (an important northern thoroughfare) adjacent to the church inscription identifies it as an Ara Incendii Neroniani, an altar of San Andrea al Quirinale, was not unknown to scholars.2 erected in fulfillment of a vow made after the great fire of The site was discovered, but not excavated, in 1644 when Nero (A.D. 64).7 Pope Urban VIII (Maffeo Barberini) and Gianlorenzo Bernini Archaeological evidence attests to two other altars, laid the foundations of San Andrea al Quirinale; at that time, bearing identical inscriptions, excavated in the sixteenth the inscription was removed to the Vatican, and then the and seventeenth centuries; the Ara Incendii Neroniani found altar was essentially forgotten.3 Lanciani’s notes from May on the Quirinal was the last of the three to be discovered.8 22, 1889, describe a fairly intact structure—a travertine block Little is known of the two other altars; one, presumably altar with remnants of a marble base molding on two sides.4 found on the Vatican plain, was reportedly used as building Although the altar’s inscription was not in situ, Lanciani refers material for the basilica of St. -
Des Clitumnus (8,8) Und Des Lacus Vadimo (8,20)
Sonderdrucke aus der Albert-Ludwigs-Universität Freiburg ECKARD LEFÈVRE Plinius-Studien IV Die Naturauffassungen in den Beschreibungen der Quelle am Lacus Larius (4,30), des Clitumnus (8,8) und des Lacus Vadimo (8,20) Mit Tafeln XIII - XVI Originalbeitrag erschienen in: Gymnasium 95 (1988), S. [236] - 269 ECKARD LEFEVRE - FREIBURG I. BR. PLINIUS-STUDIEN IV Die Naturauffassung in den Beschreibungen der Quelle am Lacus Larius (4,30), des Clitumnus (8,8) und des Lacus Vadimo (8,20)* Mit Tafeln XIII-XVI quacumque enim ingredimur, in aliqua historia vestigium ponimus. Cic. De fin. 5,5 In seiner 1795 erschienenen Abhandlung Über naive und sentimen- talische Dichtung unterschied Friedrich von Schiller den mit der Natur in Einklang lebenden, den ‚naiven' Dichter (und Menschen) und den aus der Natur herausgetretenen, sich aber nach ihr zurücksehnenden, den ,sentimentalischen` Dichter (und Menschen). Der Dichter ist nach Schil- ler entweder Natur, oder er wird sie suchen. Im großen und ganzen war mit dieser Unterscheidung die verschiedene Ausprägung der griechischen und der modernen Dichtung gemeint. Schiller hat richtig gesehen, daß die Römer im Hinblick auf diese Definition den Modernen zuzuordnen sind': Horaz, der Dichter eines kultivierten und verdorbenen Weltalters, preist die ruhige Glückseligkeit in seinem Tibur, und ihn könnte man als den wahren Stifter dieser Diese Betrachtungen bilden zusammen mit den Plinius-Studien I-III (die in den Lite- raturhinweisen aufgeführt sind) eine Tetralogie zu Plinius' ästhetischer Naturauffas- sung. Dieses Thema ist hiermit abgeschlossen. [Inzwischen ist das interessante Buch von H. Mielsch, Die römische Villa. Architektur und Lebensform, München 1987, erschienen, in dem einiges zur Sprache kommt, was in dieser Tetralogie behandelt wird.] Auch in diesem Fall wurden die Briefe als eigenständige Kunstwerke ernst- genommen und jeweils als Ganzes der Interpretation zugrundegelegt. -
Go for Lunar Landing Conference Report
CONFERENCE REPORT Sponsored by: REPORT OF THE GO FOR LUNAR LANDING: FROM TERMINAL DESCENT TO TOUCHDOWN CONFERENCE March 4-5, 2008 Fiesta Inn, Tempe, AZ Sponsors: Arizona State University Lunar and Planetary Institute University of Arizona Report Editors: William Gregory Wayne Ottinger Mark Robinson Harrison Schmitt Samuel J. Lawrence, Executive Editor Organizing Committee: William Gregory, Co-Chair, Honeywell International Wayne Ottinger, Co-Chair, NASA and Bell Aerosystems, retired Roberto Fufaro, University of Arizona Kip Hodges, Arizona State University Samuel J. Lawrence, Arizona State University Wendell Mendell, NASA Lyndon B. Johnson Space Center Clive Neal, University of Notre Dame Charles Oman, Massachusetts Institute of Technology James Rice, Arizona State University Mark Robinson, Arizona State University Cindy Ryan, Arizona State University Harrison H. Schmitt, NASA, retired Rick Shangraw, Arizona State University Camelia Skiba, Arizona State University Nicolé A. Staab, Arizona State University i Table of Contents EXECUTIVE SUMMARY..................................................................................................1 INTRODUCTION...............................................................................................................2 Notes...............................................................................................................................3 THE APOLLO EXPERIENCE............................................................................................4 Panelists...........................................................................................................................4 -
By September 1976 the Charles Stark Draper Laboratory, Inc. Cambridge
P-357 THE HISTORY OF APOLLO ON-BOARD GUIDANCE, NAVIGATION, AND CONTROL by David G. Hoag September 1976 The Charles Stark Draper Laboratory, Inc. Cambridge, Massachusetts 02139 @ The Charles Stark Draper Laboratory, Inc. , 1976. the solar pressure force on adjustable sun vanes to drive the average speed of these wheels toward zero. Overall autonomous operation was managed on-board by a small general purpose digital computer configured by its designer, Dr. Raymond Alonso, for very low power drain except at the occasional times needing fast computation speed. A special feature of this computer was the pre-wired, read-only memory called a core rope, a configuration of particularly high storage density requiring only one magnetic core per word of memory. A four volume report of this work was published in July, 1959, and presented to the Air Force Sponsors. However, since the Air Force was disengaging from civilian space development, endeavors to interest NASA were undertaken. Dr. H. Guyford Stever, then an MIT professor, arranged a presentation with Dr. Hugh Dryden, NASA Deputy Administrator, which took place on September 15.* On November 10, NASA sent a letter of in- tent to contract the Instrumentation Laboratory for a $50,000 study to start immediately. The stated purpose was that this study would con- c tribute to the efforts of NASA's Jet Propulsion Laboratory in conducting unmanned space missions to Mars, Venus, and the Earth's moon scheduled in Vega and Centaur missions in the next few years. A relationship be- tween MIT and JPL did not evolve. JPL's approach to these deep space missions involved close ground base control with their large antenna tracking and telemetry systems, considerably different from the on- board self sufficiency method which the MIT group advocated and could best support. -
The Charles Stark Draper Laboratom, Inc. Cambridge
(N ASA-CF 151088) ON-ORBIT FLIGHT CONTROL N77-10135 ALGORITHM DESCRIPTION (Draper (Charles ,Stark) Lab., Inc.) 254 p HC A12/iF A01 CSCL 22A Unclas -...-. .- .. ~ _ ~G3/16 08969 R-881 ON-ORBIT FLIGHT CONTROL ALGORITHM DESCRIPTION May 1975 The Charles Stark Draper LaboratoM, Inc. Cambridge. Massaohusefs 02139 R-881 ON-ORBIT FLIGHT CO:;TROL ALGORITHM DESCRIPTION May 1975 Approved:. N. Sears The Charles Stark Draper Laboratory, Inc. Cambridge, Massachusetts 02139 ACKNOWLEDGEMENT This report was prepared by The Charles Stark Draper Laboratory, Inc., under Contract NAS913809 with the Johnson Space Center, National Aer6 nautics and Space Administration. The following authors have contributed to the report; Yoram Baram, Edwvard Bergmann, Steven Croopnick, Louis D'Amario, Ivan Johnson, Donald Keene, Alex Penchuk, Gilbert Stubbs, John Turkovich, Joseph Turnbull, and Craig Work of the Draper Laboratory; Rick Stuva of Lockheed Electronics Company, Inc.; and Henry Kaupp, Edward Kubiak, and Kenneth Lindsay of the National Aeronautics and Space Administration. Technical coordination for the report was provided by Chris Kirchwey, George Silver and Peter Weissman of the Draper Laboratory. Design coordination between the Guid ance and Control Branch and the Draper Laboratory was carried out by Steven Croopnick. The publication of this report does not constitute approval by the National Aeronautics and Space Administration of the findings therein. It is published only for the exchange and stimulation of ideas. ii ABSTRACT The objective of the On-Orbit Flight Control Module is to provide rotational and translational control of the Space Shuttle orbiter in the Orbital Mission Phases, which are external tank separation, orbit inser tion, on-orbit and de-orbit. -
Apollodescentguidnce.Pdf
GUIDANCE, NAVIGATION AND CONTROL Approved, Datd 7/ G. M. LEVINE,JLd. DIREC OR, GUIDANCE ANAL� S APOLLO GUIDANCE� AND NAVIGATION PROGRAM Approved: . Date: . ._. ·r 1 R. H. BATTIN, DIRECTOR,l � \"(, MISSION ;:;J5;;, DEVELOPMENT1'10, APOLLO GUI J!.NCE AND NAVIGATION PROGRAM ..u..i[£-'-'<4PJ...L..(,.<j;;__,...:::..;r+=::J..loo�b-- Date: ATION PROGRAM/�t..IH 1l( Approved: Date:/8 71 R. R. RAGAN, PUTY Jl�DIR CTOR CHARLES )ft�ji(STARK DRAPER LABORATORY 8'-- R-695 APOLLO LUNAR-DESCENT GUIDANCE by Allan R. Klumpp JUNE 1971 CHARLES STARK DRAPER CAMBRIDGE, MASSACHUSETTS, 02139 LABORATORY AC KNOWLEDGMENTS This report was prepared under DSR Project 55-23890, sponsored by the Manned Spacecraft Center of th e National Aeronautics and Space Administration through Contract N AS 9-4065. The P66 vertic al channel was developed by Craig W. Schulenberg. The analytic al design and gain setting of the P66 horizontal channels was done by Nicholas J. Pippenger using concepts suggested by Jerrold H. Suddath. The concept of analytically extrapolating to yield the predictive guidance equation for P63 and P64 was conceived by William S. Widnall. The existence of an an alytic al solution for the guidance frame orientation to yield zero crossrange target jerk was recognized by Thomas E. Moore. The thrust direction filter configuration for eliminating thrust-pointing errors due to attitude bias within the digital autopilot deadband was conceived by William S. \Vidnall and Donald W. Keene. The publication of this report does not constitute approval by the National Aer,onautcs and Space Administration of th e findings or the conclusions contained therein. -
The History of Apollo on Board Guidance and Navigation
P-357 THE HISTORY OF APOLLO ON-BOARD GUIDANCE, NAVIGATION, AND CONTROL by David G. Hoag September 1976 The Charles Stark Draper Laboratory, Inc. Cambridge, Massachusetts 02139 @ The Charles Stark Draper Laboratory, Inc. , 1976. the solar pressure force on adjustable sun vanes to drive the average speed of these wheels toward zero. Overall autonomous operation was managed on-board by a small general purpose digital computer configured by its designer, Dr. Raymond Alonso, for very low power drain except at the occasional times needing fast computation speed. A special feature of this computer was the pre-wired, read-only memory called a core rope, a configuration of particularly high storage density requiring only one magnetic core per word of memory. A four volume report of this work was published in July, 1959, and presented to the Air Force Sponsors. However, since the Air Force was disengaging from civilian space development, endeavors to interest NASA were undertaken. Dr. H. Guyford Stever, then an MIT professor, arranged a presentation with Dr. Hugh Dryden, NASA Deputy Administrator, which took place on September 15.* On November 10, NASA sent a letter of in- tent to contract the Instrumentation Laboratory for a $50,000 study to start immediately. The stated purpose was that this study would con- c tribute to the efforts of NASA's Jet Propulsion Laboratory in conducting unmanned space missions to Mars, Venus, and the Earth's moon scheduled in Vega and Centaur missions in the next few years. A relationship be- tween MIT and JPL did not evolve. JPL's approach to these deep space missions involved close ground base control with their large antenna tracking and telemetry systems, considerably different from the on- board self sufficiency method which the MIT group advocated and could best support. -
Classical Mythology in English Renaissance Drama: an Analysis of Romeo and Juliet
CLASSICAL MYTHOLOGY IN ENGLISH RENAISSANCE DRAMA: AN ANALYSIS OF ROMEO AND JULIET Trabado de fin de grado presentado por Gonzalo Carpintero Díez Línea temática: Renaissance literature Prof. Tutor: Francisco Javier Castillo Curso Académico: 2014-2015 Convocatoria: julio 2 TABLE OF CONTENTS 0. ABSTRACT ........................................................................................................................... 5 1. INTRODUCTION .................................................................................................................. 5 2. CLASSICAL MYTHOLOGY IN THE ENGLISH RENAISSANCE: A GENERAL VIEW .................................................................................................................. 7 3. MYTHOLOGY AND ROMEO AND JULIET ....................................................................... 9 4. ANALYSIS OF THE MYTHOLOGICAL REFERENCES IN ROMEO AND JULIET ..... 12 4.1. Aurora ............................................................................................................................ 12 4.2. Cupid ............................................................................................................................. 13 4.3. Diana/Cynthia ................................................................................................................ 17 4.4. Venus ............................................................................................................................. 19 4.5. Vesta ............................................................................................................................. -
The Ovidian Soundscape: the Poetics of Noise in the Metamorphoses
The Ovidian Soundscape: The Poetics of Noise in the Metamorphoses Sarah Kathleen Kaczor Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy in the Graduate School of Arts and Sciences COLUMBIA UNIVERSITY 2019 © 2019 Sarah Kathleen Kaczor All rights reserved ABSTRACT The Ovidian Soundscape: The Poetics of Noise in the Metamorphoses Sarah Kathleen Kaczor This dissertation aims to study the variety of sounds described in Ovid’s Metamorphoses and to identify an aesthetic of noise in the poem, a soundscape which contributes to the work’s thematic undertones. The two entities which shape an understanding of the poem’s conception of noise are Chaos, the conglomerate of mobile, conflicting elements with which the poem begins, and the personified Fama, whose domus is seen to contain a chaotic cosmos of words rather than elements. Within the loose frame provided by Chaos and Fama, the varied categories of noise in the Metamorphoses’ world, from nature sounds to speech, are seen to share qualities of changeability, mobility, and conflict, qualities which align them with the overall themes of flux and metamorphosis in the poem. I discuss three categories of Ovidian sound: in the first chapter, cosmological and elemental sound; in the second chapter, nature noises with an emphasis on the vocality of reeds and the role of echoes; and in the third chapter I treat human and divine speech and narrative, and the role of rumor. By the end of the poem, Ovid leaves us with a chaos of words as well as of forms, which bears important implications for his treatment of contemporary Augustanism as well as his belief in his own poetic fame.