1

Black Magic and Gremlins:

Analog Flight Simulations

at NASA’s Flight

Research Center

NASA SP-2000-4520

by

Gene L. Waltman

MONOGRAPHS IN AEROSPACE HISTORY #20
3

NASA SP-2000-4520

Black Magic and Gremlins:

Analog Flight Simulations at

NASA’s Flight Research Center

by

Gene L. Waltman

NASA History Division

Office of Policy and Plans

NASA Headquarters

Washington, DC 20546

Monographs in

Aerospace History

Number 20

2000
4

 Library of Congress Cataloging-in-Publication Data

Waltman, Gene L., 1935-

 Black magic and gremlins : analog flight simulations at NASA’s Flight Research Center

 /by Gene L. Waltman.

p. cm. — (Monographs in aerospace history ; no. 20)

 Includes bibliographical references and index.

1. Flight simulators—History. 2. Flight Research Center (U.S.)—History. I.Title. II.

 Series

 TL712.5.W35 2000

 629.132’52’078—dc21

 00-064321

____________________________________________________________

For sale by the U.S. Government Printing Office

Superintendent of Documents, Mail Stop: SSOP, Washington, DC 20402-9328
5

List of Photos.................................................................................................................................v

Foreword ......................................................................................................................................vi

Preface ....................................................................................................................................... viii

Analog Simulations .......................................................................................................................1

Four-Stage Boost-Vehicle Simulation .........................................................................................34

X-15 Simulator ............................................................................................................................46

General Purpose Airborne Simulation.........................................................................................59

Hybrid Simulations......................................................................................................................65

Lifting-Body Simulation Systems ...............................................................................................91

Short Take-Off and Landing Simulations....................................................................................94

Personal Accounts of FRC Simulation Laboratory Personnel ....................................................98

Edward N. Videan....................................................................................................................98

Richard O. Musick.................................................................................................................101

John P. Smith..........................................................................................................................106

Gene L. Waltman ...................................................................................................................108

John J. Perry...........................................................................................................................109

Donald C. Bacon....................................................................................................................114

Lawrence Caw .......................................................................................................................124

Art Suppona ...........................................................................................................................129

Charles A. Wagner .................................................................................................................132

Personal Accounts of FSL Users ...............................................................................................136

Richard D. Banner .................................................................................................................136

Richard E. Day.......................................................................................................................137

Donald Reisert .......................................................................................................................140

Robert W. Kempel..................................................................................................................145

Dwain A. Deets......................................................................................................................148

Stanley P. Butchart.................................................................................................................153

William H. Dana ....................................................................................................................157

Thomas C. McMurtry ............................................................................................................159

Finale .........................................................................................................................................162

Appendices

1.Memorandum for Engineering Division Chief, Richard D. Banner and

Albert E. Kuhl, “The determination of the directional stability parameter

Cn from flight data,” 11 March 1955. ..............................................................................164

2. Richard E. Day, “Training Considerations during the X-15 Development,” paper

presented to the Training Advisory Committee of the National Security Industrial

Association, Los Angeles, California, 17 November 1959. ...............................................171

3. Milton O. Thompson, “General Review of Piloting Problems Encountered

during Simulation and Flights of the X-15” [1964]. ..........................................................189

Table of Contents

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4.Robert E. Andrews, “The Analog Simulator Programming,” originally published

as an appendix to Windsor L. Sherman, Stanley Faber, and James B. Whitten, Study of

Exit Phase of Flight of a Very High Altitude Hypersonic Airplane by Means of a PilotControlled Analog Computer (Washington, DC: NACA Research Memorandum L57K21,

1958), pp. 19-25, 30, 40, 47-53. .........................................................................................199

Glossary.....................................................................................................................................215

Index ..........................................................................................................................................219

Bibliography ..............................................................................................................................223

About the Author .......................................................................................................................231

Monographs in Aerospace History ............................................................................................231

iv
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List of Photos

E-1841 Dick Day at GEDA Inertia Coupling Simulation ............................................ 6

E-2145 Dick Musick with Film Reader .................................................................. 102

E-2581 Iron Cross with Stan Butchart .................................................................... 153

E-2626 GEDA Analog Computers.............................................................................. 7

E-2906 Iron Cross 3-axes Side-arm Controller ....................................................... 154

E-2950 Reaction Control Stick ............................................................................... 103

E-3395A Holleman in Reaction Control Cockpit (Black Box)..................................... 10

E-4287 Crowded Analog Simulation Laboratory ........................................................ 2

E-4396 F-104 Reaction Control Simulation—Black Box Cockpit ............................ 14

E-4548 Boost Simulation Couch, Panel, Controls (in FSL)....................................... 35

E-4550 Boost Simulation Instrument Panel .............................................................. 15

E-4661 Centrifuge Seat, Gondola ............................................................................. 36

E-4662 Centrifuge Seat, Gondola ............................................................................. 36

E-4725 Boost Simulation Side Arm Controller ......................................................... 35

E-4870 Boost Program photos .................................................................................. 37

E-4967 EAI-31R and EAI-131R and Black Box (F-104) Cockpit............................... 9

E-4969 Black Box (F-104) Cockpit .......................................................................... 49

E-4990 Boost Program Centrifuge Seat .................................................................... 37

E-5035 Orbital Rendezvous program photos .......................................................... 107

E-5037 Orbital Rendezvous program photos .......................................................... 108

E-5040 Boost Program Restraint Straps.................................................................... 38

E-5636 Fixed Based Simulator Diagram..................................................................... 1

E-5808 X-15 Simulator Analog Computers .............................................................. 23

E-5809 X-15 Simulator Analog Computers .............................................................. 23

E-5810 X-15 Simulator Analog Computers .............................................................. 34

E-8100 Paresev Simulation Cockpit ......................................................................... 25

E-10278 M2-F1 Simulator Cockpit ............................................................................ 15

E-10591 Early M2 Simulator Cockpit (Norden Display and TR-48)........................... 91

E-10840 LLRV Simulator Cockpit ........................................................................... 125

E-11778 X-15-3 Instrument Panel .............................................................................. 16

E-12942 Simulation Cockpit ...................................................................................... 25

E-14648 Servo to Synchro Units (LLRV Sim Cockpit)............................................ 105

E-15530 X-15 Simulator (Iron Bird) with Bill Dana ................................................... 50

E-16219 X-15 Simulator (Iron Bird) with Bill Dana ................................................... 50

E-16464 Lifting Body Simulator Cockpit ................................................................... 92

E-18728 GP Transport Simulator Cockpit................................................................... 16

E-18902 HL-10 Simulator and Display with J. Manke............................................... 17

E-22438 STOL Simulation Cockpit (ARC Moving Base Simulator) .......................... 96

E-22756 STOL Wind-Tunnel Mode ........................................................................... 94

E-23281 STOL Simulation Cockpit, Displays and Controls........................................ 95

E-23594 DFBW Simulation (Early—pre Iron-Bird —in Lean-to) .............................. 80

E-26099 RPRV Simulator Cockpit ............................................................................. 18

E-27824 JetStar (GPAS) Simulator............................................................................. 60

E-27825 JetStar (GPAS) Computers with H. Rediess and D. Musick.......................... 61

ECN-637 LLRV with Joe Walker and Don Mallick.................................................... 126

ECN-1346 Ken Szalai and GPAS Computers................................................................. 59

ECN-1456 Larry Caw with X-15 Simulation Analog Computer and Plotter................... 53

ECN-2399 General Purpose Airborne Simulator ............................................................ 60

ECN-6375 CYBER 73-28.............................................................................................. 68

ECN-7074 F-8 DFBW Iron Bird Cockpit....................................................................... 79

ECN-7075 F-8 DFBW Iron Bird Cockpit....................................................................... 80

EC91-661-005 Research Aircraft Integration Facility............................................................. 3

ED97-44197-1 Ed Videan and Dick Musick at EAI 31-R Analog Computer ...................... 101

ED00-0091-1 Applied Dynamic AD-4 Computer System .................................................. 67

EC00-0088-1 Drawing templates used for analog wiring diagrams .................................... 19

v
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Foreword

This history of the Flight Research Center (FRC) Simulation Laboratory (FSL) describes the development of experimental flight-test simulators and the rapid evolution

of the computers that made them run. (The FRC was a predecessor of NASA’s Dryden

Flight Research Center, Edwards, California.) Gene Waltman has provided a smooth

blend of anecdotal narrative and technical jargon that maintains reader interest whether

or not the reader is computer literate.

Less than a year after the end of World War II (WWII), the National Advisory Committee for Aeronautics (NACA) moved a small group of flight test personnel from the

Langley Memorial Aeronautical Laboratory (later, NASA’s Langley Research Center,

Hampton, Virginia) to the large dry lake at Muroc, California, in the Mojave Desert to

perform flight testing and aeronautical research on the XS-1 high-speed experimental

aircraft. (The XS stood for eXperimental Sonic, later shortened to X-1.) Among the

first personnel to arrive and set up shop was a group of “computers” under the direction

of Roxanah Yancey. These “computers” were young women who read flight-test data

recorded on film, typed these data into their mechanical calculators, and laboriously

plotted the results. This was the burdensome forerunner of today’s instantaneous

telemetered data displaying plotted information on ground-based multi-channel recorders, X-Y plotters, or cathode ray tubes. For many years Roxy and her complement of

“computers” performed these computations with slide rule, planimeter, and calculators.

High-speed, large-memory computers were still a decade or two in the future; nerds,

geeks and hackers were still in gestation, and college degrees in Computer Science did

not exist.

Prior to the establishment of the FSL, in the mid-fifties, the Air Force Flight Test

Center (AFFTC) purchased an analog computer on the advice of the NACA. The first

use of this computer was by NACA engineers Richard Banner and Al Kuhl who helped

assemble the computer and then mechanized (programmed) the three degrees of lateral

freedom to analyze directional stability from flight data. This analog, the Goodyear

Electronic Differential Analyzer (GEDA), was used by the NACA for a series of flight

research programs such as X-2 flight planning and pilot training, the newly encountered inertial roll coupling, reaction control, and other studies. Walt Williams, the

director of the NACA High-Speed Flight Station (HSFS, as the FRC was then named),

seeing the results of such a powerful research tool, purchased the Station’s first analog

computer in 1957.

This was the start of the FSL series of simulators that ran the gamut of aircraft and

spacecraft of this period. This was when the high key and steep approach for orbital

entries and landings were developed. This was when Neil Armstrong polished his

talents on simulations of orbital launch, as well as simulations and flight tests of the

Lunar Landing Research Vehicle (LLRV) and the X-15 rocket-powered aircraft. The

LLRV simulator simulated the LLRV “flying bedstead,” which in turn simulated the

actual Lunar Module; hence, the LLRV simulation was unique in that it was a simulation of a simulator.

The history of calculation and computing is one of discovery, development, and

obsolescence with new technology replacing the old, much like the end of a geological

period with some species dying and new species evolving. As the author has indicated,

even in the brief time span of this history, the shelf life of various computers has been

brief with most of them now residing in landfills. As an example, computers went

from analog to hybrid (combined analog and digital), to all-digital using paper tape,

punch cards, and various types of magnetic devices with short half-life operating spans.

vi
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Also during this period, as is true today, the rapid demise of particular programming

formats hastened the turnover cycle.

In this evolutionary period, digital computer speed increased to the point where digital

technology replaced analog for real-time computation and piloted simulation. In

addition to accuracy, the Boolean-logic capabilities of the digital vastly increased the

realism and selectivity of simulators. Although the analog was subject to noise and

some inaccuracies, it would render a truer answer to a rapid, continuous action and is

still being used for high-frequency phenomena. Another favorable aspect of the analog

for those working prior to the year 2000 was that analog computers were not Y2Kprone (i.e., subject to errors because digital programmers had used two digits to

indicate calendar years, and digital computers could not tell the difference between,

e.g., 1900 and 2000).

When digital computers started to perform administrative as well as technical functions

and bottlenecks began to form, priority number one was never disputed by administrative or technical personnel. Payroll always came first.

Richard E. Day

NASA engineer, retired

vii
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Preface

This publication describes the development of the Flight Research Center Simulation

Laboratory during the period from 1955 to 1975. These are the years in which analog

computers were used as a major component of every flight simulation that was mechanized in support of the many different flight research projects at the High-Speed Flight

Station (HSFS–redesignated the Flight Research Center [FRC] in 1959 and the Dryden

Flight Research Center [DFRC] in 1976). Initially, analog computers were used along

with a ground-based cockpit for these simulators. This started in 1955. In 1964 a

small scientific digital computer was bought and added to the X-15 simulator. This

was the start of the hybrid (combined analog and digital) computer period of flight

simulators. Both of these periods are covered in this document.

The simulation laboratory has had a number of different names over the years. I have

chosen to use a single designation—FRC Simulation Laboratory (FSL)—to avoid

confusing the reader with different names throughout this document.

This publication discusses how we developed the many different analog simulations.

However, it is also important to mention the reasons why we did so. For this purpose I

have included in the appendices a copy of a paper by Dick Day, “Training Considerations During the X-15 Development,” which was presented to the Training Advisory

Committee of the National Security Industrial Association in November 1959. In this

paper, Dick talks about the early use of analog computers to study instabilities that

were occurring with the X-1, X-2, X-3, and some of the century series aircraft. Dick

Day was an active participant in the early use of analog computers at the NACA HSFS

to study the problems that were being encountered by the pilots during the testing of

these vehicles. His paper explains the reasons that analog computers were originally

bought and used for real-time flight simulators and why flight simulators are still being

developed and used at the Dryden Flight Research Center. This paper by Dick Day

plus the comments from Dick Banner (in the section on analog simulations and in his

personal account) provide a good introduction to the events that began it all, and why it

all happened.

This narrative has been written with the help of many of the simulation programmers

and technicians, research engineers, and pilots who developed, used, and flew the many

different analog simulators. A number of these people have contributed much in the

way of information and anecdotes about what we did and how we went about developing and using those simulators. I am extremely grateful to each and every one who

contributed in any way. For most of these people, their stories are included as personal

accounts and are at the end of the narrative. These personal accounts (or PAs as they

are referred to throughout this publication) are brief biographical discussions of their

experiences with the analog simulators. Without these inputs, this would be a short and

dull accounting of the history of analog computers. We all see and experience events

and happenings in different ways. We also have our own styles and when asked to talk

about our experiences, do so in our own ways. The PAs are a very important part of

this history. They are as unique and individual as we all are and offer many personal

perspectives.

I worked for what is today the DFRC from 1957 until 1993. For the first 17 years I

was a part of the FRC Simulation Laboratory and have first-hand knowledge of a lot

that went on during those days. I also got stuck with buying many of the computer

systems that we used during that period. And as you will read, many of the events that

occurred were a direct result of the ever-changing computer systems that we bought

and used for our simulations. I also was involved with implementing several major

viii
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flight simulators during that period. I feel fortunate to have had such a part in the ongoing evolution of the FRC Simulation Laboratory. This publication is something I

started thinking about doing after I retired from the DFRC in 1993. I have had a lot of

fun collecting the information and talking to (and doing a lot of coaxing—even begging—of) the many people who contributed. In several cases, this was the first time I

had talked with several of them since they left or retired. It has taken several years to

get this all together and to write this account, and I have enjoyed every minute of it.

I am also grateful to the NASA DFRC for providing me the opportunity to publish this

history. NASA is doing a lot to record and archive its history. I am happy to contribute

towards that goal.

This particular monograph is the first of several anticipated histories of the FRC

Simulation Laboratory. The second publication will cover the history of the FSL from

about 1975 to 1991. This period covers the first era of the all-digital simulations,

during a time when the FSL was still in the same general area as the analog systems

used to be. In 1991 the FSL moved into a new building know then as the Integrated

Test Facility (ITF). There is some overlap in simulations during the transitions between these three periods (1957-75, 1975-91, 1991 to the present). Consequently there

will be some repetition of events and simulator history that will be included in the

different studies. That is unavoidable, but necessary. The same can be said about

many of the people who were key participants during these transitions. I will try to

point these people and their contributions out appropriately.

For those who may be using the present document for information-gathering purposes,

I have included an extensive bibliography listing almost every publication during the

period 1955-1975 that was written about a project at the HSFS/FRC in which analog or

analog-and-hybrid simulations were used. Most of the bibliography is taken from

Dave Fisher’s publication: Fifty Years of Flight Research: An Annotated Bibliography

of Technical Publications of NASA Dryden Flight Research Center, 1946-1996 (NASA

TP-1999-206568). I have also included many photographs. All of these photos are in

the DFRC Photo Archive, and someday they may be available on the DFRC Web site.

I wish to acknowledge and thank everyone who has helped in getting this bit of the

NASA Flight Research Center’s history into publication. They include: Dill Hunley of

the DFRC History Office for his encouragement and help in getting this publication

into print; Rob Binkley and Mike Najera of the Dryden Research Aircraft Integration

Facility (RAIF, which includes the present-day simulation facilities) for providing the

funds for this task and their support; Larry Schilling and Lee Duke for their support at

the upper management level: Dick Day, “the father of simulation,” (as research pilot

Bill Dana likes to call him) for his efforts in getting the pilots—in those early days—to

actually use the simulators for flight planning and training purposes as well as for his

contributions to this publication, including the Foreword; and every one else who

contributed to this publication. The list includes Ed Videan, John P. Smith, and Dick

Musick of the very first Simulation Group. Also: John Perry, Don Bacon, and Larry

Caw, simulation programmers; Al Myers, simulation engineer; Art Suppona and Billy

Davis, simulation technicians; Charlie Wagner, simulation hardware engineer; Stan

Butchart, Bill Dana, and Tom McMurtry, DFRC pilots; and many research engineers,

including Dick Banner, Don Reisert, Ed Holleman, Dwain Deets, Bob Kempel, Neil

Matheny, Bruce Powers, Roy Bryant, Dave Hedgley, Tom Wolf, Wilt Lock, Bob James,

Jack Ehernberger, and Don Gatlin; Judy Duffield in the pilot’s office; Dennis Ragsdale

and Erin Gerena in the Dryden library; Jim Young from the AFFTC History Office (and

anyone else I may have talked with but have forgotten to mention). Larry Schilling,

Bruce Powers, Rob Binkey, and Bob Kempel were kind enough to read an early draft

and provide technical comments that have improved the book immensely. I’ve also

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been able to go through the history files of Chester Wolowicz, FRC research engineer,

and found some important information about his analog computer usage. There are

others whom I have talked with while writing this monograph (including several who

had important roles) but who unfortunately chose not to be involved. That was their

choice, and I am sorry that I wasn’t able to get their inputs. Several active participants

have died and their inputs have been collected from friends, co-workers, publications,

and archives. A few have left the area and their whereabouts are unknown. I also want

to thank Carla Thomas and Tony Landis as well as the rest of the staff of the Dryden

Photo Lab for their help in collecting and scanning the photos in the volume; Steve

Lighthill, NASA visual information specialist, for his creative work in laying out the

book; Darlene Lister for her skill at copy editing; and Camilla McArthur for seeing the

book through the publication process.

Although I have written this publication, I feel that it is “our” story, and not just mine.

I wanted to get everyone’s input, but that was just not possible. I feel that those who

are included do provide a very good cross section of the programmers, technicians,

engineers, and pilots who developed and used the analog simulators. This story is

about us and our experiences with the analog flight simulations at the NASA Flight

Research Center.

Gene Waltman, simulation engineer

x
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Analog Simulations

Introduction

This is a history of the many aircraft

simulations that were implemented during

the early days at what later became

Dryden Flight Research Center using the

early generations of analog and hybrid

computers. The period to be reviewed is

from 1955 to about 1975. This is when

analog computer systems were being used

at the Flight Research Center (and its

predecessor, the NACA HSFS) as major

components of all the aircraft simulations

that were mechanized and used in support

of the various flight research programs.

In August of 1960, Euclid Holleman and

Melvin Sadoff presented their report

Simulation Requirements For The Development Of Advanced Manned Military

Aircraft (Citation #269)1 at the Institute

of Aeronautical Sciences, Inc. National

Meeting. The following is from the

beginning of that paper:

Paralleling the large increase in

performance capability of present

airplanes has been the increase in

the problems connected with the

design and operation of these

vehicles. Indications are that the

designer of advanced military

aircraft will be faced with the

present “crop” of problems as well

as additional problems as yet

unborn.

Many methods have been devised

to study these problems, but

perhaps no single method of

analysis has achieved the success

and universal acceptance accorded

the flight simulator as a design and

research tool. This was made

possible by the tremendous advances in development of the

analog computer which has been

used to solve any problem that can

be represented by a differential

equation.

Some of the most useful simulations have involved the pilot in the

control loop. A drawing illustrates

a pilot-operated simulator in the

control loop. [See photo E-5636.]

Illustrated is the flow of information from the computer to the pilot

and back to the computer. The pilot

is the key link closing the control

loop.

1

 The Citation Number is a reference number assigned to all publications; see the Bibliography.

Fixed-Based

Simulator Diagram (July 1960).

(NASA photo E5636)

1
14

NASA has had considerable

experience with a wide variety of

piloted flight simulators, from

relatively simple, inexpensive,

fixed-chair types to complex and

expensive human centrifuges and

variable-stability and control

airplanes . . . .

The report went on to discuss the different

forms of piloted simulators that had been

used by the research engineers at the FRC

up to that point in time. The FRC Simulation Laboratory (FSL) and its capabilities

play a very important part of the simulator

history of this Center.

In 1989, J. P. Smith, L. J. Schilling, and

C. A. Wagner wrote the paper: Simulation at Dryden Flight Research Facility

from 1957 to 1982, NASA TM 101695

(Citation No. 1689. ). That particular

paper reviews the history of the FRC

Simulation Laboratory, with emphasis

on the philosophy behind the development and use of the simulation laboratory (i.e., why we did simulations). This

publication will talk about how we went

about the process of mechanizing

analog and hybrid simulations. The era

of all-digital simulations will be covered

in yet another publication.

The following paragraph is from the

Introduction to the paper by Smith,

Schilling and Wagner:

Simulation at Dryden has developed over the past 25 years into an

integral and essential part of the

flight research program. Today,

pilots as well as engineers demand

that simulation be included in the

flight program. When the manager

of one joint NASA/DOD program

first learned the cost of a simulator,

he asked, ‘What did you do before

simulators?’ The project pilot

replied. ‘We named a lot of streets

after pilots!’ [Meaning that they

died in aircraft accidents.] This

statement reflects the most important value of simulation as it is

practiced at Dryden: flight safety.

It did not start out that way, but the role of

simulation has certainly changed during

the years. Today’s simulators are much

more sophisticated and complex and play

a very important role in the job that the

NASA Dryden Flight Research Center

does. The simulation facility has grown

from a single analog computer in one

office in the main building into an impressive facility of its own known as the

Crowded Analog

Simulation

Laboratory

(October 1958).

(NASA photo E4287)

2
15

2

 The photo of the first sim lab was taken in late 1958 and does (more or less) represent the actual lab as it was in those days. Bill

Dana is the pilot sitting in the cockpit, and he started work the day that NASA was officially founded (1 October 1958). Normally,

only two or three people were needed in the lab to run a simulation. This particular photo was staged to give the impression of a very

crowded facility. The peripheral equipment shown in this photo was jammed together, with extra people as a ploy to finagle a larger

room for the FSL analog computers.

3

 The Heath Company once manufactured electronic products in kit form that anybody could successfully build, if he or she followed

the instructions. The company no longer sells such kits.

Walter C. Williams Research Aircraft

Integration Facility (RAIF). (See photos

E-4287 and EC91-661-0052 of the first

lab and the current RAIF.)

One of the Best

The FRC Simulation Laboratory was (and

still is) one of the premier facilities of its

type in the United States. At least that is

how we felt about it. The FSL got started

about the same time that analog computers were really beginning to be appreciated as worthy tools for implementing

real-time aircraft simulations. Not only

were airplane manufacturers beginning to

use analog simulation to help design and

study the airplanes they built, but colleges

and universities were beginning to teach

classes in this technology. Analog computers had been around for several years.

Both the Ames and Langley Research

Centers had analog computer facilities

before the HSFS simulation laboratory

bought its first analog computer. The U.S.

Navy used analog computers during the

World War II. However, the analog

computers of those days never really

caught on until the early ’50s, when the

development had reached a point where

the operational amplifiers had both the

accuracy and stability that the users were

asking for. These qualities were necessary

for aircraft simulation due to the long

periods of time used by some of the

simulation runs.

Analog Computer Courses

I graduated from Michigan Technological

University in 1957 with a BS in Mathematics. Michigan Tech taught its first

course in analog computation in my

senior year, which was 1956/7. This

course was taught by one of the Mathematics Department professors (he was a

U.S. Navy Reserve officer and had just

returned from temporary duty at one of

the Navy’s facilities that had analog

computers). He and one of the professors

from the Physics Department had spent

most of the 1956 summer break building

two Heath Kit3 analog computers. These

were used for the classes on analog

computation.

Research Aircraft

Integration

Facility (1991).

(NASA photo

EC91-611-005)

3
16

Unfortunately, I did not take the class on

analog computation. At the time it did not

seem like something I would ever use.

Little did I know then that I would spend

the next 17 years programming analog

and hybrid computer simulations.

While I was interviewing for jobs, during

my senior year, I talked to an engineer

from the NACA facility at Cleveland.

This is now the NASA Glenn Research

Center. I really did not feel like working

in Ohio, and when he told me that the

NACA had a flight research facility at

Edwards Air Force Base in California, I

asked him to send my interview papers

and college transcript out there. After all,

I had been living in Southern California

since 1943 and I really preferred to work

in California. The NACA High-Speed

Flight Station at Edwards Air Force Base

offered me a job. This wasn’t the best

offer I got, but it was one of the best from

any company in California. Most of my

other offers came from companies in New

York and Michigan. I had had enough of

the snow and cold weather while attending Michigan Tech (which is way up in

the Keweenaw Peninsula of Michigan and

averages over 200 inches of snow each

winter). So I accepted the offer from the

NACA HSFS, and I went to work on 22

July 1957. Just over a year later, NASA

was created, and the NACA HSFS

became the NASA Flight Research

Center.

Day 1—NACA HSFS

I had been living in Fontana, California,

while enrolled at Michigan Tech. The

Saturday before I actually started work for

the NACA, I drove to Edwards Air Force

Base and spent the day scouting the area,

and locating the NACA facilities and

housing. The following Monday morning

I drove to Edwards, early in the morning,

hoping to get there at 7:30, when work

began. I was driving one of my

granddad’s cars (I did not own one, then),

and the fuel gauge did not work. I ran out

of gas near the community now called

Pinon Hills, on highway 138. It was about

6:30 a.m. Luckily I was able to coast right

into the only gas station in that area. But it

didn’t open until 8:00 a.m. So, I sat and

waited till it opened, got gas, and was late

to work. What a great way to start a job!

Looking back on that day and what

happened to me on the way to work, I can

see that it was just the first of many

strange events that were to happen to me

while I was a part of the FSL.

I actually thought that I was being hired to

program the digital computer that had

recently been installed at the NACA

HSFS. It was an IBM CPC (Card Programmed Calculator). My boss, Ed

Videan, upon looking at my college

transcript and noting that I had taken quite

a few courses in analytical mechanics and

differential equations, thought that I might

want to work in the brand-new simulation

facility. There really wasn’t an opening in

the digital programming group, but there

was one in the simulation group. So I

agreed to try it out. I have always wondered just what I would be doing now if

circumstances had been different and I

had actually become a digital computer

programmer at that time. I never regretted

being an analog programmer. This job

was a lot of fun, and besides, several

years later, when we bought digital

computers to add to our all-analog

simulations, I did get to program digital

computers.

As one of the original simulation programmers (and the only one who is still

working at Dryden), I feel that writing

down just what we did and how we went

about doing our jobs in those days is an

important step in documenting a part of

the history of this simulation facility. A lot

of aviation history has occurred in the

Mojave Desert, and simulators have

contributed to this in a big way. Looking

back on all this, I am quite proud of what

we did. It was fun and it was exciting. We

were working with great people, challenging equipment, fantastic aircraft, and we

really looked forward to coming to work

every day—and a lot of nights and

weekends, too. Unfortunately, we never

4
17

4 Gremlinity, as used here, is the opposite of serendipity. Webster’s New World Dictionary of the American Language, College

Edition, defines serendipity [a noun coined by Horace Walpole (c. 1754) after his tale The Three Princes of Serendip (Ceylon), who

made such discoveries] as an apparent aptitude for making fortunate discoveries accidentally. The opposite of such an aptitude is

creating unfortunate happenings on purpose. This is what gremlins do. So the word gremlinity, as used here, is an antonym for the

word serendipity.

really took the time to write things down

then. We were too busy growing and

doing the fun stuff, and as typical programmers, we hated to document. So,

now, let me take this time to reminisce,

and at the same time document an important part of the NACA HSFS/NASA FRC

history.

The Beginnings of Simulations

at the FRC

A lot of what is covered in this study

comes from the people who worked at the

HSFS and in the FSL during this period,

including some of the engineers and pilots

whom we worked with while implementing the various simulations. The entire

process of constructing a simulation has

undergone many, many changes over the

years. This is due to the ever-changing

technology in the computers, aircraft, and

other hardware that is being used. The

difficult part of collecting the information

for this paper comes about because we (in

the FSL) were not expected to write

technical papers on what and how we did

our jobs. Reports were not required to get

promotions, so we didn’t write. I have

been able to get inputs from many of the

people who were involved with the FSL

during those first years.

This history is not intended to be a rehash of all the research studies that used

the different analog/hybrid computer

mechanizations (or their results). There

were many reports and papers written

covering that subject matter. A selected

few of these papers may be briefly

mentioned, when appropriate, throughout

this monograph. Following the appendices is a bibliography of publications of

many different studies that used some

form of simulation during the time span

of this publication.

This history is intended to describe just

how we went about this job of programming the analog and hybrid computers,

the various tasks involved in getting the

cockpits set up and running, and a lot of

related tales that hopefully will illustrate

the myriad problems encountered along

the way. Looking back on these times, I

can say that programming analog computers was interesting in spite of all the

inherent problems that analog computers

and analog simulators exhibited.

There were times when each of us felt that

a part of what we did bordered on “black

magic.” The larger simulators, such as the

X-15 simulator, seemed to have personalities of their own. These personalities

were frequently described as cantankerous, malicious, mulish, or other less

friendly terms. It seemed like each of

these simulations had its own “master.”

which was usually the original programmer. Generally they behaved themselves

when that programmer was operating the

simulation, but if anyone else had to fillin when the “master” was out, then the

‘Jekyll and Hyde’ nature of the simulation

showed up and changed its persona to the

evil side.

I’m sure that many a pilot or engineer

using one of our simulators felt that we

kept a couple of gremlins hidden away in

the back room and let them loose in the

analog computer labs when no one was

around. There were too many unexplainable incidents that happened during those

years. A few of these incidents can

seemingly be considered serendipitous,

but there were many more that can only

be attributed to gremlinity.4

For anyone familiar with the aviation

history around Edwards, many of the

aircraft that were flown are well known.

But there were others, some of which

were only ideas or concepts and were

never built or flown but often simulated.

5
18

We programmed many types of real-time

simulations. It was a constant learning

experience for us. Not only were the

equations different, from simulation to

simulation, but so too was the equipment

we were using. We were always buying

and using the newest stuff. And not just

the newest of computers. We were also

involved in developing the interfaces and

hardware being used in the cockpits of

those simulations. It really helped to be a

jack-of-all-trades in those days in order to

get a new simulation up and running. It

was very much a group effort, with

research engineers, simulation programmers, and simulation technicians working

together to implement each new simulation.

The Very First Analog Simulations

The use of analog computers for flight

simulation had already begun when I

started work in 1957. The first such

simulations had been implemented using

GEDA (Goodyear Electronic Differential

Analyzer) computers that had been

bought by the Air Force. This was in

1955. The first NACA HSFS simulation,

on the AFFTC analogs, was a study by

Dick Banner and Al Kuhl, and is discussed in an in-house memo entitled “The

determination of the directional stability

parameter Cnβ from flight data,” dated 11

March 1955. This was an analog computer investigation of the F-100, and was

implemented in early 1955. A copy of this

memo is included in the appendices. This

study was also reported in NACA RM

H55E17B, Flight Experience of Inertia

Coupling in Rolling Maneuvers. (Citation

No. 130), by J. Weil, O. B. Gates, R. D.

Banner, and A. E. Kuhl in July 1955.

The following paragraphs from Dick

Banner briefly describe this first-ever

analog simulation by anyone at the HSFS:

Dick Day at GEDA

Inertia Coupling

Simulation (July

1955). (NASA

photo E-1841)

6
19

I don’t remember the dates, but it

was not long after we moved from

the main base to the new facility [a

move that occurred in 1954]. De

Beeler, then Director of Research,

asked Al Kuhl and me to look at

the subject of Vertical Tail Loads in

Rolling Pullout maneuvers. He

apparently had been in contact with

someone at the Air Force Flight

Test Center and had arranged for Al

and me to look at its new analog

equipment in hopes of using it to

simulate flight conditions. When Al

and I saw the equipment it was just

being uncrated, and the Air Force

lieutenant who was assigned to

work with us didn’t seem to know

much about it. It was manufactured

by Goodyear and called GEDA

(Goodyear Electronic Differential

Analyzer). [See photos of this

equipment (E-1841 and E-2626).]

The Douglas X-3 airplane, before

being turned over to us at NACA,

had undergone the usual Air Force

acceptance testing, which included

rolling pullout maneuvers. I went

to Douglas and got the time history

data and the flight derivatives that

were available. Al and I “programmed” the GEDA analog

computer to simulate the flight

conditions and were struggling with

the high angle-of-attack simulation

when an F-100 crashed somewhere

between Lancaster and Rosamond.

We were asked if we could simulate

the F-100 on the GEDA. We did,

and as we did, we discovered that

the lateral-directional period

simulated with the derivatives

given us did not match the flight

data. Al took a look at the way that

the in-flight directional stability

parameter was obtained and

decided it was not correct. He went

on to derive a new set of equations,

which gave us a better method of

obtaining the in-flight directional

stability parameter, allowing us to

simulate the F-100 flight conditions.

To the best of my knowledge, we

were the first at NACA, Edwards,

to simulate aircraft motions on a

computer.

Prior to these analog investigations,

Hubert Drake and Joseph Weil went to the

Langley Research Center to witness a 5

Dick Day with the

GEDA analog

computers (October 1956). (NASA

photo E-2626)

7
20

DOF5 analog simulation for studying roll

coupling. This simulation did not have a

cockpit, but instead used controlled

inputs. Subsequently, the NACA urged the

AFFTC to buy the GEDA computers.

The Banner/Kuhl simulation was followed shortly by several studies by Dick

Day, Joe Weil, and Don Reisert. Day and

Weil were investigating roll coupling and

implemented a comprehensive analog

simulation for that study. These results are

reported in two different publications

written by them: NACA RM H56A06, An

Analog Study of the Relative Importance

of Various Factors Affecting Roll Coupling, and NACA RM H56F08, Correlation of Flight and Analog Investigations

of Roll Coupling. The GEDA analog

computers were also used for additional

studies, including X-2 studies, analysis,

pilot training, and X-1B reaction-controlsystems studies. It was some time before

the Air Force had its own engineers

programming its GEDA computers. The

cockpits used for these simulations were

very simple set-ups, using spring-loaded

control sticks, voltmeters for instruments,

and a CRT (cathode ray tube) for an outthe-window display. (See photos E-1841

and E-2626.) The small control stick

shown in some of these photos is a

formation stick (as it was called) used in

some of the later U. S. bombers during

World War II. Dick Day was a B-17 pilot

in the 386th Bomb Group, England,

during the war and states that he was the

first pilot to ever use one of those “formation sticks.” (See the second PA section

for the personal accounts of Don Reisert

and Dick Day.)6

The following paragraph, also from Dick

Banner, further describes the events of

those days.

The usefulness of aircraft motion

simulation was becoming obvious

to many of us at the time Al [Kuhl]

and I were working on the GEDA,

but I had no sense of what it would

become. Langley had much more

capability at the time, and Joe Weil

went there to work with Ordway

Gates on problems of other aircraft

similar to those of the F-100. Al

and I continued to support their

simulation studies, sending them

our GEDA results for the F-100.

The results were published in a

paper given at a conference at

Langley, with all four of us as

authors (Citation 158). After that,

Al and I were re-assigned to other

work, and Dick Day was assigned

to the GEDA. I worked a little with

Ed Videan (some kind of a committee) to choose the first type of

simulation equipment we were to

use at our facility (REAC or

something like that, using ±100

volts DC). I even attended classes

at Ames with Ed Videan, Dick

Musick, and Dick Day on programming the equipment. My first

simulation (not documented) on the

new equipment was a simple heat

transfer problem. I did no more

documented aircraft motion simulations after the GEDA experience,

but I remember that Chet Wolowicz

worked on aircraft motions simulations on the REAC in those early

days, and we consulted occasionally. My recollection is that Dick

Day was working mostly on getting

the pilot into the simulation at that

time. I had at first thought that the

REAC equipment would be useful

in the coming heat transfer and

aerodynamic heating studies that I

5 A DOF (Degree Of Freedom) is a movement up or down, sideways, front or back, or around the pitch, roll, or yaw axis. Five

degrees of freedom are movements in five of these directions but not all six.

6

 Sections at the end of the narrative contain PAs of a number of the people who worked with the early analog computers. These

accounts provide individual experiences about what these people did with the computers and are very much a part of this history. I

will identify, at the appropriate places throughout this paper, the personal accounts of interest to the subject being discussed. I

recommend that you take the time to read those accounts at that time.

8
21

had been assigned to, but as it turned

out, I worked mostly with Ray

Jackson on the IBM digital computers, setting up methods to predict

aircraft skin temperatures in flight,

and backing out heat transfer data

from the measured skin temperatures.

The X-2 simulation was the first HSFS

implementation that was used for both

research and pilot training. Early-day

simulations were not completely accepted

by the pilots of those days as useful tools.

Since analog simulations were so new, the

concept of practicing the actual maneuvers

on the ground before they actually flew the

real flight had not been accepted by many of

the pilots. It was several years before most

of the NACA/NASA pilots really accepted

this idea. The older pilots were slowest at

appreciating the value of ground-based

simulators. The new pilots not only accepted the idea but in some cases insisted on

the development of such simulators. The X15 simulator was the first complete groundbased simulation built by the FSL for pilot

training, mission planning, and research

purposes.

The First HSFS Analog Computer

In January of 1957, the FSL installed its

first analog, an EAI 16-31R analog

computer. It had 48 amplifiers, 20 of

which could be used for integration. It

also had a number of multipliers, resolvers, potentiometers, and function generators. This computer was state-of-the-art

and included a removable patch panel for

connecting the many components. Many

of the first generation of analog computers (such as the GEDA and Heath Kits)

did not have removable patch panels.

Patch panels allowed for quick

changeover of the analog computers from

one simulation to another. The HSFS

bought a second analog computer and

installed it in late 1957. It was an EAI

131R and had about the same complement

of equipment as the earlier EAI 31R. (See

photo E-4967.)

The FSL was located in the area now

occupied by the Center Director for his

office and conference room on the second

floor in the northeast corner of building

4800. At that time the hallway along the

front row of offices on the second floor

ended at the door to the room shared by

the FSL and the woman computers.7 The

hallway on the second floor was in the

shape of the letter T, with one hall parallel

to the front of the building and one central

hall extending towards the back of the

7

 See Sheryll Goecke Powers’ Women in Flight Research at NASA Dryden Flight Research Center from 1946 to 1995 (Washington,

DC: NASA Monographs in Aerospace History #6, 1997) for what is meant by the term “women computers.” Dick Day also explains

this term in the Foreword of the present study.

Electronic Associates, Inc EAI 31R

(on the left) and

EAI 131R and

Black Box (F-104)

Cockpit (October

1959). (NASA

photo E-4967)

9
22

building. The Center Director’s offices

were in the middle of the front hallway.

The pilots and other flight operations

personnel occupied the offices at the back

of the building on this floor.

The office I shared (with John P. Smith)

was a small inner office in this larger

room at the east end of the front hall. My

desk faced the wall and the only window.

This window is currently hidden by a

bookcase in the Director’s Conference

Room, and can still be seen from the

outside, right next to the front wall of the

Calibration Hangar (Building 4801). I

could look out this window and see the

Borax plant in Boron, and I could swivel

around in my chair and look down the

front hall to the other end, which happened to be the door into the Research

Library. Out the window, I could see

planes take off and land on the north base

runway, and I could watch airplanes, such

as the X-1B, coming in to land on the dry

lakebed. Nowadays, the Data Analysis

Facility (DAF), the Research Aircraft

Integration Facility (RAIF), and the

Shuttle Facility block this view.

The simulation group consisted of Ed

Videan, John P. Smith, Dick Musick, and

myself. Ed was head of this group. John,

an Army Signal Corps lieutenant detailee,

was a simulation programmer, and Dick

was the electronics technician for the

group. Many of the other offices along the

front hall and the central hall were where

the research engineers were located. It

was a very convenient arrangement.

Everyone we worked with was only a few

steps away.

(For further details, see the personal

accounts of Ed Videan, Richard Musick,

and John Smith.)

The First Cockpit

The FSL had one “black-box” cockpit.

This was truly a “black box” since that is

the color the wooden cockpit had been

painted. (See photo E-3395A.) It was

constructed of plywood, with a movable

seat, removable instrument panel, a

hydraulic-powered control stick, and

bungee-loaded rudder pedals. This first

cockpit was built in-house in the model

shop and originally did not have the

hydraulics. Richard Musick talks about

this cockpit in his PA. The hydraulics unit

was also built in-house and installed later

and can be seen in the photos. The pump

was quite loud and was moved to the

other side of the wall. This just happened

to be inside the calibration hangar.

Because the pump was so loud when in

Holleman in

Reaction Control

Cockpit (Black

Box—April 1957).

(NASA photo E3395A)

10
23

8

 Pot-Set is one of the modes of the analog computer. When in Pot-Set, the operator could adjust the potentiometers used in the

simulation.

operation, it tended to annoy the technicians who were working there. A couple

of times, after several hours of use, they

would trudge upstairs as a group, and ask

us to please turn the d--- thing off.

If you were sitting in the cockpit, it was

important not to slouch down in the seat

when the hydraulics were on. On several

occasions, an electrical power fluctuation

caused the pilot’s control stick to slam

forward or back very quickly. This would

also happen if the computer operator

turned the computer mode switch into

Pot-Set8 by mistake. There were physical

stops to prevent the control stick from

coming back too far, but if you were

slouched down too far, you could get a

very unpleasant kick in a very tender part

of the anatomy. I’m surprised that no one

ever broke a thumb when the hydraulics

hiccuped. Simulation was not as dangerous as flying, but it did have its perils.

There were several simulators during the

early years that used hydraulic pumps to

provide power for the pilots’ controls.

One essential member of those simulator

support crews was the building facilities

technician responsible for operating the

hydraulics stand. The simulation technicians were not allowed to operate the

hydraulic equipment. We had to call and

get someone “qualified” in this equipment

to come handle this chore for us. Nowadays the simulations use an FSL-developed DC-torque-motor-powered control

stick and rudder pedals. It is much better

and quieter (and not so insidious!). The

DC-torque-motor-powered controls were

one of the FSL developments that greatly

advanced simulator technology. They are

described later in this paper.

Analog Computer Programming

Programming an analog computer was akin

to building something out of Tinkertoys.

Except that the pieces we used were

electrical components, which were built

using direct current vacuum tube circuitry

with a ±100 volt range. These components

were quite accurate and linear throughout

their voltage range. The primary component

in an analog computer was the operational

amplifier. Amplifiers could be used to add,

subtract, change sign, and to integrate or

differentiate with respect to time, and many

other things. Analog computers also had

many potentiometers (usually just called

“pots”) to scale variables or provide

constants, multipliers to multiply or divide

two variables, and function generators to

generate nonlinear functions. With these

components it was possible to build an

analog computer modal of a set of nonlinear

differential equations, where time was the

independent variable.

The equations of an aircraft in flight

constitute such a set of equations. It

consists of the six-degree-of-freedom (6

DOF) equations describing a typical

aircraft’s attitudes, accelerations, and

velocities that we programmed in implementing a simulation. In the beginning

before we had sufficient equipment to

implement full 6 DOF simulations, we

simplified the equations to 3 or 5 DOF.

The outputs of the amplifiers (summers or

integrators) were the calculated accelerations, velocities, angles or other parameters or variables required in solving the

very complex nonlinear 6DOF equations

of an aircraft. These variables could be

recorded on a strip-chart recorder, plotted

on an X-Y plotter, or displayed in the

cockpit for the pilot to see. The cockpit’s

pilot controls were built to provide the

required inputs into the equations. Instruments were designed and built to display

the calculated variables in a manner

similar (and usually identical) to what the

pilot would see in the real airplane. Visual

display units provided an out-the-window

view to add even more realism to the

simulators.

This was the state-of-the-art in analog

simulations at that time. Analog comput11
24

ers were quite linear throughout their

voltage range (± 100 volts) and had an

accuracy of about 1 part in 10,000. This

accuracy is certainly lower than what we

get from today’s digital computers and

was one of the drawbacks in using analog

computers. However, the digital computers being built in those days were not fast

enough for us to use in real time. Everyone doing real-time simulations of

airplanes, submarines, nuclear reactors, or

whatever, used analog computers. There

were several vendors that marketed

analog computers. The FSL eventually

bought analogs from three of these

vendors (Electronic Associates Inc.,

Applied Dynamics, Inc., and Comcor

Computer Company).

Parallel Computing

One of the advantages of an analog

computer was that all variables were

being calculated in parallel and in real

time. You could see immediately, when

you went into the operate mode (as it was

called), exactly what was happening. It

was also possible to either speed the time

frame up or slow it down, depending on

just what you were simulating. I don’t

remember any simulations in which we

actually slowed the time frame for

something that happened so fast it

couldn’t be observed or studied in real

time. But we did on several occasions

speed the time frame up and run simulations faster. For a number of derivativematching simulations, where either there

was no pilot or the pilot’s inputs had been

recorded and could also be speeded up,

we ran the simulation at up to 100 times

faster than normal. In fact, a number of

the analog computers that were being

marketed had this capability built right

into the mode control. This feature was

called “repetitive operation” and allowed

the outputs to be displayed on a multichannel oscilloscope rather than a standard strip-chart recorder. More on this

faster-than-real-time mode of simulation

in the following sections.

Generation of nonlinear functions was

difficult, but possible. Generating a

nonlinear function of one variable was

usually quite easy to do. Nonlinear

functions of two variables were a little

more difficult but still possible. Functions

of three (or more) variables took a lot of

equipment and were usually not implemented. Many of the aerodynamic

coefficients in the equations of motion of

an aircraft were functions of at least two

variables. The X-15 simulation had over

100 function generators, which was an

order of magnitude greater than the

typical simulation of those days.

The 48-amplifier analog computer that

was there (when I started in 1957) had

enough components for a fairly complete

three-degrees-of-freedom simulation with

some nonlinear coefficients or a fivedegrees-of-freedom with few, if any,

nonlinear functions. (In photo E-4967, the

EAI 31-R is the computer on the left.)

Consequently, most of my early simulations were limited to studies using either

the lateral-directional equations or the

longitudinal equations. A second analog

computer was installed shortly after I

arrived. With this new computer we were

able to implement two separate simulations, or we could combine the two

computers and implement a fairly complete 5 DOF simulation with nonlinear

coefficients and a constant velocity, or a

limited 6 DOF simulator with only a few

nonlinear coefficients. (In photo E-4967

the EAI 131R is the computer on the

right.) It wasn’t until we bought a third

analog computer (an EAI 231R), which

had about 100 amplifiers and a corresponding number of pots, multipliers, and

function generators, that we were able to

implement a complete 6 DOF simulation

with many nonlinear functions.

Cockpit Mechanizations

You have to remember that the aircraft

being built and flown then were not as

complex as current airplanes, especially

with regard to the number and type of

control surfaces. Rudders, ailerons, and

elevators were the norm. Also, the highly

12
25

complex digital control systems in today’s

planes hadn’t been built. The analog

computer mechanization for simulating

control surfaces was not a difficult task,

although at times it could be frustrating

because of their unusual nonlinear characteristics. Deadbands, hysteresis,9

 limits,

and other discontinuities were quite

common in this circuitry on an analog

computer simulation. To make matters

worse, the various pieces of hardware in

the simulator cockpits had their own

characteristics, and we had to occasionally compensate for those characteristics

in trying to create the characteristics for

the airplane being simulated. This is

where the art of analog programming

bordered on “black magic.” This type of

analog computer programming was not

taught in the classroom. One learned it on

one’s own—by trial and error, usually, or

by sharing circuits with the other analog

programmers.

Most of the difficulties in building a new

simulator in those days came about in

designing and building the hardware and

instruments used in the simulator cockpits. The technology of analog simulation

was so new that it was not possible to buy

off-the-shelf cockpit hardware. We had to

build or modify everything we used. The

cockpit instruments used in aircraft were

not designed to accept the ±100-volt DC

analog computer signals as inputs. The

simulation technicians spent a lot of time

developing the instrumentation we used in

our cockpits. The same thing was true for

the control stick (or yoke), rudders and

throttles, and other controls in the cockpit.

Everything we used had to be built in the

machine and instrument shops downstairs.

Fortunately, we had the best in the industry. These were the same shops building

most of the special-purpose instrumentation that went into the planes we were

flying. The equipment they turned out for

us was always first rate and had a lot to do

with why our simulation facility was one

of the best in the country. The simulation

technicians spent almost as much time

working with the people in the machine

and instrumentation shops as they did

working in the simulation laboratory. (See

the PAs of Richard Musick, Art Suppona,

and Charlie Wagner for more on the

efforts that went into designing and

building the cockpits.)

X-1B Simulations

My first two simulations were of the X1B, which was still flying in 1957. I also

did several X-1E simulations. The X-1E is

now mounted on a pedestal in front of

Building 4800 at Dryden. During this first

couple of years I also did simulations of

some of the Century-series airplanes,

including the F-100, F-101, F-102, and F104. I can recall implementing at least

four different F-104 simulators for various

research studies. The F-104 airplanes that

the FRC had were used for both chase and

research flights for many years.

I had the task of implementing the first

complete 6 DOF simulation in the FSL.

The other two engineers who had been

programming analog simulations, when I

started, had both been promoted to

management and were no longer programming simulations. So, I was the last

one of the very first official simulation

group and got to do many new things

first. For a number of years, I was the

only one who got to program simulations

that used moving-base cockpits. Movingbase simulators were never implemented

in the FSL. The few that I did were

implemented at the Ames Research

Center, and the one big one that we did

used the Navy’s centrifuge at Johnsville,

Pennsylvania (see below). There were a

couple of simulations at Ames for which I

took our own patch panels. They had the

same analog computers as we did, and by

wiring up the panels and taking them with

me, I was able to save a day or two of

temporary duty (TDY) at another location. I also did several simulations of skin

temperature studies using partial differential equations.

9

 Deadbands and hysteresis were both types of delays or lags.

13
26

Each simulation was assigned to a single

simulation programmer and that person

usually “lived” with that simulation from

beginning to end. In the beginning, when

we only had one analog computer, we

took turns. These simulations usually

lasted for weeks. During that time other

programmers could get their simulations

programmed and ready to run. Simulations were usually assigned on a who’snext basis.

Simulator Cockpits

Since we only had one cockpit, getting the

cockpit changed over to the next airplane

configuration was frequently the real

“hurry-up” task in this on-going parade of

simulations. Fortunately the pilots and

engineers were willing (in the beginning)

to get by with a generic black-box cockpit. The airplanes that were being flown

had similar instrument panels in the

cockpits. This meant that only minor

changes were necessary to change our

black-box cockpit to the next simulation.

This, of course, did not last.

As the airplanes got more sophisticated, so

too did their cockpit instrumentation. The

FSL kept up with this by expanding the

number of simulator cockpits being used

and by buying more analog computers. This

allowed us to have several simulations

operational at one time. More technicians

were hired to help keep up with the task of

developing the cockpit hardware. The

“black-box” wooden cockpits gave way to

blue wooden boxes with metal instrument

panels. These were designed to be even

more flexible and to reduce the time needed

to change between simulations. The

instrument panels were also designed to be

even more quickly and easily changed. (See

photos E-4396, E-4550, E-10278, E-11778,

E-18728, E-18902, and E-26099 for several

cockpits with different instrument panels as

they evolved over the years.)

F-104 Reaction

Control Simulation—Black-Box

Cockpit (January

1959). (NASA

photo E-4396)

14
27

Boost Simulation

Instrument Panel

(January 1959).

(NASA photo E4550)

M2-F1 Simulator

Cockpit (August

1963). (NASA

photo E-10278)

15
28

In addition, the analog computer manufacturers were designing and selling

computers that could be more easily

changed over from simulation to simulation. Servo set potentiometers coupled

with a paper-tape reader allowed a

programmer to have all the pots (and there

could be hundreds of these) automatically

set. The process of setting all the pots in a

simulation was one of the more timeconsuming tasks in getting an analog

computer changed over to another simulation.

Patch-Panel Wiring Diagrams

During the first several years of simulation programming at the FRC, we drew

our patch-panel wiring diagrams on large

22-inch drafting paper. These diagrams

showed just how the many analog components were to be connected. The diagrams

X-15-3 Instrument

Panel (August

1964). (NASA

photo E-11778)

General Purpose

Transport Simulator Cockpit

(March 1967).

(NASA photo

E-18728)

16
29

also had the component numbers and

other information used in wiring the patch

panel. We typically used several different

colored pencils to indicate different

attributes of the computer components. As

the simulations got bigger and bigger, the

single large wiring diagrams soon became

too cumbersome to use. At that point, we

changed to 11x17-inch drafting paper and

put these diagrams into binders. Each

page usually contained a diagram of one

of the main equations of the simulation.

These simulation binders also included

many other pages of data, such as the

settings for the potentiometers, function

generators, initial conditions, and test

cases.

Sample Wiring Diagram

There is a wiring diagram of a typical

analog mechanization in the appendices to

this monograph (Appendix 4 by Robert E.

Andrews). This set of diagrams is itself

from an appendix to a Langley Aeronautical

Laboratory report10 (and is discussed in

more detail in Don Reisert’s PA). I have not

been able to find a good example of such

patch-panel wiring diagrams prepared by

anyone who programmed the FSL analogs.

The Langley mechanization is very similar

to the ones we in the FSL prepared and is

included as an example for this reason. It is

unfortunate that none of the early wiring

diagrams that we did were ever archived. In

addition, the many reports that were written

about the simulation studies and their

results never included any descriptions of

the analog mechanizations.

Ozalid Copy Process

These wiring diagrams were made using

black ink on standard drafting paper that

was translucent for copying purposes. The

only copier available in those days was

the ozalid (blue print) machine in the

reproduction shop. These diagrams

always smelled of the ammonia that was

used in the copy process. We had to make

the originals without any of the component numbers, since we used several

10 This facility is currently called the Langley Research Center (LaRC).

HL-10 Simulator

and Display with

J. Manke (June

1968). (NASA

photo E-18902)

17
30

different colored pencils to indicate

different types of information on the

diagrams about the various components

(amplifiers, multipliers, etc.). The various

numbers and IDs were written on the

copies afterwards. In addition, the forms

we used to write down the pot settings

were usually typed, on translucent copy

paper using a special orange copy paper

that was turned so that the orange coating

was facing the back of the original. This

forced the orange coating to be deposited

on the back of the page being typed. This

page, with black type on the front and the

orange type on the back, would then be

copied with the ozalid machines. The

orange coating was a waxy crayon-like

substance and wore off after a number of

copies, but this process made for a very

good copy. That is the way things were

back then.

A couple of whiffs of a binder full of new

ozalid copies was better (as a quick wakeup) than a cup of coffee, but too much

exposure caused headaches. That ammonia smell would linger for many weeks. In

addition, the ozalid copies faded with age.

Just another couple of nuisances of those

early days of simulation.

Diagramming Templates

For our wiring diagrams, we all used

plastic templates that were usually

provided free by the analog computer

manufacturers. The accompanying photo

(EC00-0088-1) shows several templates.

These templates evolved over the years as

the computers themselves changed. The

analog computer sales representatives

seemed to have an endless supply of these

templates. We all had our own favorite

template(s), and later on when hybrid/

digital components were added to the

computers, we usually had to have

several—one for the analog components,

one for the hybrid components, and

frequently another for the special-purpose

basic electrical components (i.e., resistors,

capacitors, etc.). These templates were

always disappearing from our desks, for

they were also fancied by others around

the Center. We had to lock them up along

with our slide rules.

In those early days of analog simulation,

all the research engineers and all the

analog programmers were still using slide

rules. The FSL even bought several of the

20-inch slide rules for use in the computer

RPRV Simulator

Cockpit (May

1973). (NASA

photo E-26099)

18
31

labs. Fortunately the typical engineer

would never buy one of these long slide

rules for personal use, so we never had

the problem of their disappearing from

the labs. They were too obvious and well

known. The calculations needed for the

pots (i.e., four-digit accuracy) were

possible with the longer slide rules,

although most of us usually just went with

what we got from our standard 10-inch

slide rules.

Patch Panels and Patch Cords

All of the larger analog computers we

worked with used patch cords to interconnect the many electronic components. A

typical simulation took hundreds of patch

cords to connect all the pieces. Fortunately, the analog computers (and especially the 100-volt systems) used a patch

board system for this process. All of the

component inputs and outputs were

connected to the patch board in an

ordered array. An amplifier used as a

summer or integrator had from four to

eight input holes (on the patch board) and

a corresponding number of output holes.

Each piece of equipment (for example,

amplifier, pot, multiplier, function generator) had an adequate number of input and

output holes. Each piece of equipment had

its own area on the patch panel. These

areas were silk-screened using different

colors to designate the types of component and the input and output holes.

Programming an analog computer included the task of wiring the patch panel.

The patch cords came in an assortment of

lengths. These varied from as short as 6

inches (including the plug at each end) to

as long as 30 inches. The lengths were

color-coded. There were jumper plugs of

several styles to connect two adjacent

holes in either the vertical or horizontal

direction. The spacings between holes in

these two directions were not the same

Drawing templates

used for analog

wiring diagrams.

(NASA photo

EC00-0088-1)

19
32

and required different plugs. The amplifiers that could be used as a summer or an

integrator also had a special jumper plug

that would make the necessary selection

of feedback components. When used as a

summer, the feedback component was a

precision resistor, and when used as an

integrator, the feedback component was a

precision capacitor. Special jumper plugs

were used to select the appropriate

components.

The patch cables and jumper plugs were

quite expensive and used gold plating on

the contacts and shielded ends of the

plugs. This reduced the introduction or

propagation of noise. Signal noise was not

tolerated and analog computers were

designed to reduce signal noise as much

as possible. Extensive shielding was

required on all signals. Patch cords were

all shielded. The patch panel and patchpanel bay were also designed to help

eliminate noise and the propagation of

noise. Shielding also reduced crosstalk of

signals from adjacent cables. The computers were also designed to separate the DC

and AC signals. The few AC wires were

kept in separate bundles and kept away

from the DC parameter signals to help

reduce any cross-talk pick-up.

For those simulations that required two or

more analog computers, the patch panels

had many (hundreds of) holes for the

purpose of interconnecting analog computer components together. Cables of

these interconnections (called trunks)

linked the analog computers together. It

was also possible to slave the operational

control of one or more analog computers

to a master computer. This allowed an

operator to run a simulation from a single

master analog computer. There were

separate cables between the analog

computers just for this purpose of slaving

operational control. A separate and remote

control box was usually mounted in each

cockpit so that the pilots could start and

stop the simulations. There were other

trunks connecting the computer and the

cockpits and running to the various output

recorders (strip-chart recorders and X-Y

plotters).

The technicians spent many an hour

making cables for us, and on a few

occasions some of the programmers

would chip in and help. Generally our

soldering skills were not quite good

enough, but we could certainly measure

and cut the wires. Much of the wire and

many of the connectors had to be bought,

at least in the beginning, because the

warehouse did not stock the sort of stuff

we needed for the analog computers. This

was also true for all the precision resistors, capacitors, and other such supplies

that we were using to interface the

instruments and control sticks in the

cockpits to our simulations.

Bob Kempel, one of the FRC research

engineers (who also learned to program

analog computers while working for the

Air Force at Edwards) recalls the following from his experiences:

The Midnight Patcher

Analog computer mechanizations

were very precarious, in that the

computer mechanization consisted

of a myriad of various length wires

on a front patch panel, which

linked the various analog components. To the uninitiated, this panel

looked like multicolored spaghetti.

A complex simulation patch panel

was typically a real mess. Once a

simulation was mechanized and

thoroughly checked, the wires in

the patch panel were not to be

touched by anyone but the simulation engineer. Analog mechanizations were required to be statically

and dynamically checked quite

frequently (like daily) due to the

problem of occasional component

failure. If a component failed, the

simulation could be mildly or

grossly invalid depending on the

criticality of that particular component.

It was always suspected that we

20
33

had a “midnight patcher” due to

some of the problems with patch

panels found by some simulation

engineers on their next shift. The

“midnight patcher” being a real or

mythical person who would either

pull or rearrange a wire on a patchpanel. These problems were

typically unusual and unexplained,

ones that could only be attributed to

the “midnight patcher.” [See Bob

Kempel’s PA.]

One might also attribute these “midnight

patcher” attacks to our gremlins!

Along the same line, there was one

research engineer (whose name is best left

unmentioned) who had the annoying habit

of changing the position of one of the

many switches on one of the analog

computers in the FSL. He usually

switched it back before he left the lab. But

not always. I guess he thought he was

never seen doing this, but he was. So, in

an attempt to discourage this practice, one

of the unused switches (on the X-15

analogs) was wired up with a big battery,

a resistor, and a fan. When the switch was

thrown, the resistor was connected to the

battery and burnt up. The fan came on and

blew the smoke out though the front of the

analog, where this engineer was standing.

Everyone in the FSL knew about the

switch, but no one else. It was several

days before the engineer actually threw

this particular switch. The smoke must

have really shaken him up, because it was

a long time before he ever did this again.

Someone must have squealed, because he

eventually returned to his old habit of

randomly switching switches. We tried

never to leave him alone in the FSL lab.

Fortunately he left the FRC to work at one

of the other NASA centers. This was

before smoke detectors or sprinklers were

installed throughout the building.

Patch panels allowed the patch cords to

extend behind the panel in order to make

contact with the connector pins located in

the panel bay. This made it possible for

these patch cords to be dislodged if the

panel was accidentally set down on some

small item on a table, such as a pencil. It

was also possible to dislodge a cord just

by moving one or more of them aside

when looking through the mass of wires

on a patch board. We eventually had

special panel holders built to hold the

panels when they were not mounted in the

patch bay of the analog computer. This

helped to eliminate (for the most part) any

problems caused by the “midnight

patcher.” However, a thorough check of

the backside of a patch panel was a

prudent thing to do before inserting the

panel in the patch panel bay of an analog

computer. For simulations such as the X15, where the panels were only removed

for maintenance and trouble-shooting,

patch cords became dislodged by pawing

through the large number of cords on a

panel. There was always a shortage of the

longer cords, and many times the shorter

cords were stretched so tight that they

almost came loose by themselves. When

we were checking the backside of a wired

panel, it helped to keep a pair of needlenose pliers handy to pull the loose patch

cords back into place.

Room Temperature

Room temperature was also an important

factor for the analog computers. The 100-

volt vacuum-tube analog computers

generated a lot of heat and required

special air-conditioning (A/C). The

computers were mounted on top of A/C

plenums with cold air blown into the

bottom of the computer racks and the

warm air collected out the top and returned to the A/C unit. Photo E-4967

shows the early A/C ducting, before we

had raised floors. Initially the A/C unit

was hung from the ceiling. When the X15 analogs were installed, the A/C unit

was mounted on the roof above the lab,

with large air ducts between the compressors and the air plenums. The sim lab was

always quite cold, especially on Monday

mornings. Monday morning was not a

good time to schedule any important

simulation runs. The computer racks took

several hours to reach a good, stable

21
34

temperature after having been turned off

over the weekend. For the larger simulations (such as the X-15 with over 400

amplifiers), it usually took all Monday

morning before the equipment rack

temperatures stabilized and the simulation

was ready for use. The integrators tended

to drift before they were “warmed up” and

had to be continually adjusted. Each

amplifier/integrator had a pot and meter

on the front of the unit just for this

purpose.

Fuses

The simulator facilities were quite sensitive to power outages. Thunderstorms in

the area caused occasional power outages.

There were only a few high-power lines

coming into the lab, and they was no

filtering for power fluctuations. The X-15

simulator was very fragile in this respect.

The X-15 simulation had over 100

function generators, 80 of which were

specially built diode-function generators

(DFGs). This particular type of function

generator was used with a special type of

servo multiplier called a “pot-padder” to

generate functions of two variables. Each

of these pot-padders had five multiplier

“pots,” each pot having 15 equally spaced

taps (or junctions). Each tap also had a

fuse to protect the servo pot. The 80

DFGs were connected to taps on the potpadders. Each DFG also had 15 fuses.

There were several occasions, after a

particular hard hit (usually lightning) on

the incoming power lines, when hundreds

of these fuses would blow. Replacing the

blown fuses was a time-consuming job.

There were several occasions when the

simulation pilot would join in and help.

In his PA, Bill Dana talks about doing

this. It wasn’t always obvious when

looking at a fuse if it was blown or not.

Each fuse had to be removed and checked

with an ohmmeter. 80 DFGs times 15

fuses each equalled 1,200 total fuses to be

checked! In addition, each of the 1,200

pots had to be set using a jeweler’s

screwdriver. The pots were that small.

This was state-of-the-art analog computer

equipment. Makes you wonder!

Amplifiers and Integrators

The different operations of an amplifier

were determined by the relationship of input

and feedback components (normally,

resistors or capacitors). For addition and

subtraction, both the input and feedback

components were resistors. When we

needed an integrator, the components used

were input resistors and feedback capacitors. These resistors and capacitors were

quite expensive because of their construction to assure their accuracy. They were

kept in a temperature-controlled oven inside

the computer to help maintain their specifications. Differentiation (input capacitor and

feedback resistor) was a no-no on an analog

computer due to the tendency of the

amplifiers to magnify any low-level noise in

the amplifier, which tended to mask the

input signals. Integration had the effect of

reducing such noise.

The gain of an amplifier was determined by

the ratio of the feedback component to the

input component. If both were resistors of

equal value, the gain was one. If the two

components were of different values, the

gain of the amplifier was determined by the

ratio: Rf/Ri, where Rf is the value of the

feedback resistor and Ri is the value of the

input resistor. Most of the amplifiers of that

era had input and feedback resistors that

provided 1 and 10 gains, respectively. Some

of the analog computers had 5-gain inputs.

It was also possible to wire other components for different gains. We did this so

often that the sim lab technicians were

always making special patchable components that we could use when we needed

some unusual gains for a particular simulation. These patchable components were just

high-quality resistors or capacitors with

patch cord connectors soldered and shielded

such that we could patch them in series with

the standard analog computer components.

Black Boxes

In addition to the patchable resistors and

capacitors, the technicians were frequently

called upon to build us a black box. These

black boxes were standard electronic

22
35

equipment boxes, of various sizes, containing some special circuit or component that

was not standard equipment on the analog’s

patch panel. The multi-wafer stepping

switches that were used for the boost (fourstage rocket) simulation that we did with the

Johnsville centrifuge (see below) is an

example of one type of black box that was

built. These black boxes used very highquality resistors, capacitors, diodes, and

other components so as to maintain the

accuracy and precision of the analog

simulation. Most of these components were

ordered especially for this purpose, since

the warehouse did not normally stock those

high-quality components. The Sim Lab,

over the years, always had a well-stocked

supply of those special high-quality components. They were essential to the operation

of the FSL.

The early-generation analogs did not have

many components to use in generating

nonlinearities such as limits or dead-bands.

We were frequently called upon to mechanize these nonlinearities using some

unusual circuitry built into a black box. The

box would then be patched into the patch

panel using standard analog computer patch

cords. Shielding and grounding were

always important considerations, and the

black-box circuits were always built with

these factors in mind. Many hours were

spent designing and building these black

boxes. There were several simulations that

would not have been completely implemented if we hadn’t been able to use one

or more of our special black boxes. The

photos of the X-15 analog computers (E5808 and E-5809) show several black

boxes patched into the patch panels.

Consoles E and F

of the X-15 Simulator Analog

Computer (September 1960).

(NASA photo

E-5808)

Console D of the

X-15 Simulator

Analog Computer

(September 1960).

(NASA photo

E-5809)

23
36

Because of the way we took turns implementing simulations, there was often an

idle analog computer that could be used to

develop and test these special black-box

circuits. I spent many an hour doing just

this. This is when we tuned and perfected

these unusual circuits. Most of these

circuits were used to simulate portions of

the mechanical and hydraulic controls and

surfaces in the airplanes of those days. We

also implemented a number of transfer

functions, which involved the use of the

S-plane technology.11 The downside of all

this is that many analog computer components were devoted to the cockpits, and

consequently not available to be used in

the mechanization of the model. This did

have an impact on the size of the model.

We were constantly taking analog components from the equations-of-motion

mechanization and using them in getting

the cockpits on-line. Many simulations

grew to almost twice the number of

analog components to order to get all

parts of the cockpits and visual displays

ready to use. Nowadays, the approach is

to simply add another digital computer.

Much better, in many ways.

Cockpit Instrumentation

Not only did we have to simulate unusual

aircraft controls, but we also frequently

had to simulate unusual cockpit instrumentation and displays. Airplane cockpits

were really beginning to evolve in those

days. We also had to develop special

circuitry to simulate this cockpit instrumentation and these displays. For several

years we did not have the luxury of being

able to use the actual instruments. We had

to develop “look-a-likes” that simulated

the actual instruments. Many of the

instruments were driven directly from the

analog computer’s amplifiers. This was

before the days of the special interface

computers that were later developed inhouse, which conditioned the signals

going to the cockpit instruments. The

black-box circuits were really the beginning of this in-house development of

cockpit-instrumentation signal-conditioning computers. The Sim Lab technicians

and engineers were quite ingenious in

developing the many special components

and interfaces we needed to implement

our simulations. The PAs of Richard

Musick and Charlie Wagner describe

some of these efforts.

Visual Displays

Almost every cockpit had some type of

visual display, in addition to the normal

instruments. During the early days, this

display was a large CRT with one or more

lines drawn that represented the horizon

or the airplane or a visual representation

of one or more of the calculated parameters—such as angle of attack, sideslip

angle, or roll angle. Since we did not have

an actual 8-ball,12 we many times tried to

represent the parameters (normally

displayed on an 8-ball) with lines on the

scope. These lines moved as the parameters changed. On many occasions the

display tried to represent a target or the

horizon, depending on the particular study

that was mechanized. We spent many

hours working the equations to provide a

display that the research engineer wanted.

(See photos E-1841, E-10591, E-12942,

and E-8100 for several cockpits that have

CRT display units.) The out-the-window

displays were an attempt to provide

something more than just a set of instruments for the pilots to look at. Dick Day

is the one who initially came up with this

idea and helped to develop the first CRT

display.

In some simulations the visual display was

an important part of the study. Dwain Deets,

in his PA, talks about a CRT display of a

11 This term refers to the use of Fourier transforms to convert differential equations to algebraic expressions that are more easily

calculated.

12 An 8-ball is the colloquial term for the attitude indicators used in the airplanes of those days. They provide the pilot an indication of

the airplane’s pitch angle, roll angle, heading angle, and maybe even angles of attack and sideslip.

24
37

side-view of an airplane that showed a

canard control surface and its location as

determined by the simulation that was

mechanized using one of the FSL portable

analog computers.

For the X-15 simulator, one of the various

displays that were provided over the years

was an energy-management display. This

display provided a heart-shaped view on a

CRT that outlined the area where the X-15

could glide to at all times during the flight.

For the X-15-3, this display was a small scope

mounted in the instrument panel (see photo E11778) rather than using a large oscilloscope

above the instrument panel. A small specialpurpose computer was developed under

contract to generate the display. During the

development of the database used by this

special-purpose computer, the larger CRT was

used for the display.

In his PA, Charlie Wagner talks about several

of the display units that he was personally

involved with. I recommend you take the time

to read his PA now, for he describes many of

Paul Loschke in a

Simulation

Cockpit (April

1965). (NASA

photo E-12942)

Milt Thompson in

the Paresev

Simulation Cockpit (May 1962).

(NASA photo

E-8100)

25
38

the problems we had with the different

visual display units that were used with the

analog simulators. Charlie spent many

hours fussing with this hardware, and his

recollections are a good accounting of the

troubles we had with this display hardware.

These visual displays got more sophisticated

(and expensive) as the FSL grew. However,

there were many times when they were not

enough. Many of the pilots always complained

about inadequate visual displays. The out-thewindow cues are particularly important during

the landing phase of a flight. However, every

visual display we had did not have sufficient

resolution to allow us to adequately simulate

this part of a flight simulator, especially for

those simulations that were mechanized for the

entire flight regime of an aircraft. Only those

few special landing simulations that we did (in

which the altitude range was limited to the

very last portions of an approach and landing)

had the resolution necessary to provide a

reasonable visual presentation. Until digital

computers came along, the analog systems we

built or bought were just not good enough. The

approach taken at the FRC was to use an

airplane that had similar landing characteristics

and have the pilot fly that vehicle to practice

landings. The F-104 was often used for landing

practice for the X-15 and several of the lifting

bodies, for example.

In 1964, Milt Thompson made a presentation to the Society of Experimental Test

Pilots Symposium. This paper was entitled

“General Review of Piloting Problems

Encountered During Simulation and Flights

of the X-15” (Citation 412). Since so much

of this paper is directly related, it is included

in its entirety in the appendices. It provides

a very good presentation of some of the

problems the X-15 pilots had because of the

deficiencies of the X-15 simulator—and not

just the lack of good visual cues, but in

other areas of the simulation. I recommend

that you take the time, now, to read that

paper.

Repetitive Operation Simulations

Repetitive operation (or Rep Op, as it was

usually called) was one of the features

available on the analog computers in the

FSL. It was quite useful for a certain class of

problems, especially those that did not have a

human in the loop. The analog solution was

speeded up by a factor of 100. This was

accomplished by using a 0.01 Microfarad

feedback capacitor in the integrators instead of

the usual 1.0 Microfarad capacitor. The output

results were displayed (usually) on an oscilloscope. The computer was cycled between

OPERATE and RESET modes 100 times

faster than normal. If a solution normally took

ten seconds in real time, in Rep Op it would

take 0.1 seconds. There was special circuitry in

the analog computers that caused the computer

to repetitively switch back and forth from

RESET to OPERATE modes. The repetitive

recalculation of the solution allowed the user

to see immediately (on the oscilloscope) the

effects of parameter changes. A solution could

be attained very quickly. The strip-chart

recorders of those days could not be used

during the fast Rep Op runs, as they could not

keep up with the data. However, once a

solution had been reached, the time constant

would be returned to one and the data plotted

on strip-chart recorders in real time. The

different capacitors used in the feedback

circuitry of the integrators were built into the

analog computer’s integrators. We did not

have to use external capacitors for this

purpose.

Rep Op was used in the FSL for derivative

matching—a way of analyzing post-flight

data of specific in-flight maneuvers to

determine the aircraft’s derivatives. Neil

Matheny, a research engineer, suggested the

use of Rep Op for derivative matching at

the FRC in 1966. He received an award for

this suggestion. Neil was an active user of

the portable analog computers for a number

of small simulations that he programmed in

his office. He was involved with the early

derivative-matching activities at the FRC

and recommended using the analog computer Rep Op capability to help in the

determination of aircraft derivatives. Larry

Caw was the FSL programmer who was

assigned to work with Matheny to implement his first Rep-Op derivative-matching

programs. Initially this was implemented

using one of the TR-48 portable analog

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39

computers. Later on, derivative matching

was done using one of the EAI 231-RV

analog computers. Theron Manning, John

Perry, Larry Caw, and other FSL analog

programmers also got involved in these

Rep-Op derivative-matching simulations.

Neil Matheny had been involved with a

similar real-time analog simulation in which

a tape recording was used to provide the

pilot’s inputs. This short time history,

recorded from an actual flight, was originally copied onto the (magnetic) tape many

times. The tape was read and used as input

to an analog implementation of the

airplane’s equations of motion, over and

over, but in real time. The derivatives used

in the simulation were changed between

runs until the output of the simulation

matched those recorded in real time during

flights. The magnetic tape was subsequently

changed to a continuous loop, with only one

time-history set of inputs. This process

eliminated having to rewind the original

tape and speeded up the process of trying to

match the derivatives. The use of Rep Op

was an outgrowth of the original process

that Neil was using. Since there were no

pilots in the loop, the transition to Rep Op

was fairly easy. Derivative matching was a

perfect example of the type of simulations

that Rep Op was designed for.

For derivative matching, the equations of

motion—frequently only 5 DOF—were

implemented. The pilot’s inputs were

simulated with pulses or time-varying

inputs using function generators. These

were input after the program was put into

OPERATE mode and the equations were

solved, but with time being 100 times faster

than normal. The coefficients, for a particular flight condition, could be varied until the

high-speed solution matched actual flight

recordings of the same variables using the

same inputs. In this way the actual vehicle

derivatives could be determined. The

desired solution was plotted on a transparent overlay that was attached to the front of

the oscilloscope. The appropriate parameters being calculated were then displayed

with the proper scaling, and the two solutions were compared (by looking at the two

traces). Differences between the desired

solution and the calculated solution were

easy to see and correct. Many of the

derivatives used in the airplane simulations

were obtained from wind-tunnel studies.

The wind-tunnel data had its limitations,

due to the inherent inaccuracies of such

research facilities. Rep Op was a way of

fine-tuning the wind-tunnel data to get it to

agree with the real aircraft’s data. These

derivative matching simulations were

eventually phased out when parameter

estimation algorithms were developed for a

digital computer.13

Rep Op simulations did not require a

cockpit and could be run by one person.

Chester Wolowicz and Roxanne Yancey

were two more of the FRC folk who spent

13 The following two paragraphs about parameter estimation (also known as parameter identification) are from Lane E. Wallace,

Flights of Discovery: 50 Years at the NASA Dryden Flight Research Center (Washington, DC: NASA SP-4309, 1996), pp. 56-57:

Once the X-15 flew, researchers at Dryden used the data collected during flight to understand better the relationship of

theory, wind-tunnel data, and the realities of actual flight. During the early years of the X-15 program, comparisons of flight

data with those from wind tunnels had to be done by traditional methods that were time-consuming and not fully consistent.

Moreover, the methods in use at that time were unable to provide values for many dynamic aircraft responses in flight. In

1966 Dryden researchers Lawrence W. Taylor, Jr., and Kenneth W. Iliff began developing a more automated technique for

obtaining numerical values for aircraft behavior. This involved theoretical contributions resulting in computer programs

(later improved by Richard E. Maine) for manipulating multiple differential equations to obtain the unknown values of the

parameters that define aircraft behavior. Called parameter identification, this technique allowed researchers to determine

precisely the differences between values predicted from wind tunnel data and those actually encountered in flight. Such

precision is essential for understanding and fixing undesirable or dangerous flight characteristics. This significant flight test

and flight research technique has been used on over 50 other aircraft at Dryden, including all of the lifting bodies, the XB70, the SR-71, the Space Shuttles, and the X-29. This technique has spread to virtually all flight test organizations throughout the world and has been used to enhance the safety, flight procedures, and control system designs of most current

supersonic aircraft as well as to improve flight simulators, submarines, economic models, and even biomedical models.

27
40

many an hour sitting in front of one of

the FSL EAI 231R analog computers

and running derivative-matching cases.

This type of simulation was used for

many different airplanes over the years.

The notes I have (copies of some of the

files of Chester Wolowicz) contain Rep

Op simulation mechanizations for the

X-15 and XB-70. These were just two

of the many vehicles for which Rep Op

was used. The report NASA TN D-4578

(Preliminary Flight Evaluation of the

Stability and Control Derivatives and

Dynamic Characteristics of the

Unaugmented XB-70-1 Airplane Including Comparisons with Predictions by

Chester H. Wolowicz, Larry W. Struts,

Glenn B. Gilyard, and Neil W. Matheny,

May 1968, [Citation No. 528]) describes the results of the use of Rep Op

for derivative matching purposes for the

XB-70. This report references another

report by John M. Rampy and Donald

T. Berry of the AFFTC: FTC-TDR-64-8

(Determination of Stability Derivatives

From Flight Test Data By Means Of

High Speed Repetitive Operation

Analog Matching, 1964). This AFFTC

report provides an excellent overview

of the Rep Op process involved.

The portable analog computers that

were loaned out for the engineers to use

in their own offices had Rep Op capability. The TR-48s were used for such

studies, with the outputs being displayed on a small CRT. These were

fairly simple simulations with few or no

nonlinear functions. It sometimes took

longer to get the simulation programmed than it took to run through all

the cases under study.

Not all the research engineers were

willing to do their own programming.

For those engineers, the FSL would do

whatever was needed to get their

simulations operational, including

programming and helping to run the

various cases. However, the nature of

the analog computers provided an

interactive awareness with the problem

being solved that was not available with

the digital computers of that time. A

number of the research engineers

appreciated the interactive and analogous relation between the electronic

analog model and the real-world system, and they preferred to implement

and run their own simulation studies. To

see the results being calculated in

parallel and in real time was something

most of them had never experienced

before. They could see the effects of

any changes they made and could do so

immediately. They could also determine

if the equations they had programmed

were in fact correct and accurately

represented the real physical system.

Testing

Each analog implementation had to be

tested before it was turned over to the

engineers for their studies. We used

both static and dynamic tests to check

out the simulation. Thereafter we

usually used the dynamic test(s) for

daily checkouts.

Static testing consisted of calculating

the results of the equations, at one point

in time, with known input values. This

was done using just a pencil, paper, and

a calculator (or slide rule). These test

cases were then used with the analog

computer set-up. Each integrator on the

analog computers had the capability of

having a known initial value applied

(known as an Initial Condition or IC).

This value allowed for establishment of

preset conditions at the start of each

run. These were usually needed for

variables such as altitude, velocity, X/Y

coordinates, and other parameters that

were not zero at the start of a run. We

could also use the IC pots to provide

known inputs for many of the parameters as a part of the static test cases.

For those parameters that were usually

provided by the pilots’ controls, etc., we

just used pots to provide an equivalent

input. With these known inputs, we

would then calculate the expected

accelerations (i.e., roll, pitch, and yaw

accelerations, alpha and beta accelera28
41

tions,14 etc.). We would then read out the

corresponding values as calculated by the

implemented equations. If we were

getting the correct results, we probably

had the patch board patched correctly and

the pots set right. Sometimes it took

several different static test cases to really

verify the correctness of the implementation. Since the test cases were not actually

run, we could use parameter values of any

magnitude. The values selected were

really to check out the circuits and did not

have to be realistic flight values. It was

common to set most of the parameters to

the maximum, which usually resulted in a

better test of the components and the

circuits. Analog computer components

seemed to have the most problems when

calculated values were near either zero or

the maximums. These conditions tended

to show up any scaling deficiencies.

Scaling

The process of converting the actual

calculated parameters’ units of measurements to the analog computers ±100

voltage range was called scaling. The

maximum expected values of each of the

variables used in an analog simulation

had to be estimated and then converted to

the ±100 voltage range. This was just one

of the steps in getting a simulation set up.

Some variables were frequently scaled at

a maximum (or minimum) value that was

much greater (or much less) than would

actually be calculated. These types of

parameters could easily overload the

amplifiers used for calculation. Dynamic

pressure was one such parameter that we

always had trouble with since the maximum dynamic pressure (usually) calculated was often 50 to 100 times less than

possible. To get a voltage reading that

was usable and could be displayed on

recorders or some other display, the

analog circuit calculating dynamic

pressure usually had a gain of 100 or

more. High gains like this were avoided if

possible, as they tended to increase the

noise level correspondingly. They were

usually the first ones to overload when

any analog component malfunctioned.

Each of the amplifiers in an analog

computer had an alarm that went off

when the component was overloaded (i.e.,

loaded over 100 volts). These alarms

were annoying and really got your

attention. They were there to warn of

equipment failure but could also be

triggered when maximum values (and

corresponding voltages) were exceeded.

The use of maximum values during static

testing was a good way to ferret out such

possible problems in scaling.

Dynamic testing was used to further test

the correctness of the implementation.

It was frequently used to determine the

condition of the analog computer.

Because of the structure of the analog

computer, there were no diagnostics (as

there were with a digital computer) to

determine if all the components were

working correctly. It was impractical to

test every piece of equipment in an

analog computer every day. Generally if

a particular piece of equipment failed,

the dynamic check case would not be

correct. The amplifiers had to be

balanced almost daily (remember these

were vacuum tube devices) in the

mornings (after having been turned off

all night), and sometimes they had to be

balanced several times before they

would stabilize enough that we could

use the simulator. The integrators were

the worst culprits, since the slightest

offset in just one integrator could result

in incorrect dynamic tests.

The early analog computers required the

programmer to make the appropriate

changes to the implementation to run such

static and dynamic tests. The latergeneration computers, with the paper tape

set-up, allowed for these test cases to be

14 “Alpha” is engineering shorthand for angle of attack. “Beta” means sideslip. Accelerations in alpha are increases in the change of

the angle of the relative wind with respect to the line of the aircraft’s fuselage or airfoils. Those in beta are increases in the rate of the

aircraft’s sideward motion.

29
42

set up and run by the computer itself. The

programmer still had to establish the test

case(s) initially and then program the

computer to repeat the tests on a regular

basis. This really speeded up the process

of getting an analog computer changed

over between simulations.

Analog Programmers—No More

Looking back on those simulations and

comparing them to today’s, I can see that

there are differences that are not obvious

to those who were not a part of both eras.

In the early days, those of us doing the

programming were just analog programmers. Since at many times we did not

have enough equipment to mechanize a

complete 6 DOF model, we were forced

to implement something less. The equations changed from simulation to simulation. The chore of mechanizing a fairly

complete simulation was the full-time job

of the analog programmer and not the

research engineer. After the FSL got its

own analog computer and hired programmers, the research engineers quit doing

their own programming. They were quite

willing to have us to do that job.

Early on, the analog programmers were

not usually responsible for the model (i.e.,

the equations of motion being implemented). The research engineers doing the

study knew which set of equations they

wanted to use and were responsible for

the correctness of the model. The analog

programmer was responsible for programming the equations correctly. The same

thing is true of all digital computer

programs. One has to prove that what has

been programmed is both doing the right

job and doing the job right—the purposes,

respectively, of verification and validation

testing. Back then, the research engineer

was responsible for the completeness and

correctness of the model, while the analog

programmer was responsible for the

completeness and correctness of the

implementation of the model.

Many of these early simulations were

really research studies investigating some

particular feature or characteristic of a

particular airplane. Not all the simulators

were for pilot training or flight planning.

And in a few cases our research pilots

were never even asked to fly the simulations. In addition, many of the research

engineers we worked with were pilots and

were quite adept at flying the simulations

themselves. We in the simulation branch

had the task of implementing the models

correctly. This is one of the reasons that

we did not need to have degrees in

aerodynamics. Having knowledge in

aerodynamics certainly helped, though. It

also helped to have an understanding of

basic electrical circuits. For some of us,

these were learned on the job. Programming the analog computer was a full-time

job, and we took great pride in doing this

job.

This changed when simulation became

all-digital. By then, after the Cyber 73

(the FRC’s digital mainframe computer)

was operational, the need for a quick

change-over from simulator to simulator

was a requirement, and the digital computer provided this capability quite well.

Also, the Cyber was large enough that a

single complete set of the equations of

motion could be implemented and used

for nearly every model. Once this model

was proven to be correct, it was then used

for all simulations. Many of the earlier

sets of equations used small-angle approximations and a flat earth. The new

model changed that and was necessary for

the newer aircraft being flown at the FRC.

The major difference between airplane

simulators was the set of derivatives and

the physical characteristics unique to each

plane. This factor — along with the

increasing sophistication of the aircraft

and especially their onboard systems,

including their control systems — led to

the desirability of the simulator programmers having a greater understanding of

aerodynamics and control-system design.

The era of the analog programmer was

over, replaced by the simulation engineer.

Analog computers were demoted to

cockpit interface, and this too eventually

phased out as this method of interface was

30
43

transferred to the in-house-built interface

units.

By this time, most of the first analog

programmers had either left or had

become hybrid computer programmers.

Computer maintenance and cockpit set-up

activities were being performed by

contractors. The need to quickly switch

from one simulator to another and the

automation that had been developed to

make this happen had also brought about

a change in the entire development

process of a new simulation. Just like the

differences between the early automobile

and today’s high-tech vehicles, the handson ease of fixing and maintaining

yesterday’s hardware has been replaced

with highly sophisticated automation

equipment and methods.

The same thing that happened to analog

programming also happened to the

simulator cockpits. Early on, almost

everything that went into simulator

cockpits was built in-house. The technicians’ job evolved in much the same way

as the analog programmers’ changed. The

technicians and the analog programmers

spent many hours developing, testing, and

programming the instruments, pilots’

controls, and anything else that went into

the simulator cockpits. I have many

memories working with all the technicians during these early days. The esprit

de corps was great. Nowadays, in the

RAIF, there are as many as six different

full-time simulations in operational status

at any one time. I suspect that there are

times when the people working on any

one simulator hardly know the folks in the

next lab. There is a lot of demand for

simulators for the many aircraft projects

being flown at the Dryden Flight Research Center. There has been tremendous

progress in the state-of-the-art in simulation development. There has been a

corresponding increase in the size of the

staff to build, maintain, and operate all

these simulators. It is extremely difficult,

if not impossible, to be proficient in all

aspects of today’s aircraft simulator

development and operations.

Simulation’s Firsts—Christmas

Buffet

As all of this would suggest, analog

simulation development was a group effort

involving all of the Sim Lab folk. There

was a lot of cooperation, team spirit, and

willingness to help out among those of us

in that group. And not just at work, but

also after work. Initially, many of us were

bachelors, with similar outside interests.

Softball, golf, fishing and backpacking in

the High Sierras, basketball, tennis, and

bowling are some of the many activities

that we engaged in. The Sim Lab has the

distinction of starting a number of Dryden

firsts. For example, it was the Sim Lab

that started an annual Christmas buffet.

We were the first office at Dryden that had

a sit-down potluck Christmas buffet to

which spouses and children were invited

to participate. This was a very special

event and later duplicated by other offices

within Dryden.

Bi-Weekly Poker Game

The guys in the FSL started a bi-weekly

poker game that was very popular

amongst not just us in the FSL but others

around the Center. I am sure there were

other similar poker games involving

specific groups of workers from the

Center, but I don’t recall any of them

being open to anyone who wanted to

participate. Those other games were, for

the most part, closed to outsiders. Our

games were originally on Thursday nights,

which was when we got paid. These biweekly poker nights began in 1959 at the

large apartment that one of the FSL

technicians (Serge Kostrakopf) and I

shared in Lancaster. After work, Serge and

I would go to one of the local liquor shops

and buy a pony keg of beer and drag this

and a large washtub and lots of ice up the

back stairs to our apartment. Later, just

before the local pizza joint closed, we

would call and order several large pizzas

(with everything) to go with our beer.

There were really only two places in those

days to buy pizza in Lancaster. Barones,

on West Avenue I, was the best in

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44

Lancaster and that is where we got ours.

The poker games later moved to Friday

nights and were hosted by other FSL folk.

The games eventually stopped when the

fellow that had been hosting the games for

the last couple of years left and went to

work in Los Angeles. By then, almost all of

us were married with children and had other

interests that interfered with playing poker.

The stakes were not high (penny, nickel,

and dime chips) and rarely did anyone win

or lose more than a couple of bucks. I’m

sure this factor was a big reason for the

popularity of the games. But, it was fun

while it lasted.

Deep Sea Fishing Trips

It was also the Sim Lab folk who started the

annual Dryden deep-sea fishing trips. Dick

Musick did most of the organizing and

scheduling. The first several ocean fishing

trips were out of San Diego, south into the

waters offshore from Mexico, and were

primarily for tuna. Later on, these fishing

trips went out of Oceanside, San Pedro, and

then Oxnard. There was one particular boat

and captain that we really liked. He kept

moving his base of operation from one port

to another. So we did, too. He really worked

hard to find us schools of fish. In addition,

his boat and crew were the nicest of all

those we rented, and his wife and daughter

ran an excellent galley. We went with this

particular boat for several years, until he

sold his boat and retired. That was when the

fishing trips changed from looking for tuna

to bottom fishing around the Channel

Islands. Fishing for tuna was exciting if we

got into some good-sized schools. But we

never really had very good luck finding

those larger schools of tuna. The bottom

fishing trips were more productive—and

became quite popular. We had no trouble

getting the 45 people needed to reserve a

nice-sized all-day boat. These fishing trips

were later organized and scheduled by the

Dryden Activities Committee and are still

scheduled about once a year.

Moving-base Simulators

The FSL never had any moving-base

simulators. We did investigate this technology, though. One such investigation (if you

can call it that) involved several of the FRC

engineers and a couple of the FSL folk (Jim

Samuels and Dick Musick). They actually

scheduled a trip to the Disneyland Park in

Anaheim to investigate a ride that was there

(in those days); it had a number of flyingsaucer-type ground-effects vehicles for

people to ride—much like bumper cars or

boats. If the person sitting in the seat leaned

in one direction, the saucer would move in

that direction. There was a skirt around the

saucer that held pressurized air, which kept

the saucer off the ground—like groundeffect boats. Leaning caused some air to

leak from under the skirt and propelled the

saucer in the opposite direction. This air

cushion was provided from a large air

chamber under the surface of the saucer.

The surface had a large number of air ducts

that would open when the saucer was

directly overhead. The ducts were small

enough and close enough together that the

saucer was always over enough of them,

thereby providing an adequate amount of

pressurized air to support the saucer. This

technology was actually considered as

something viable for moving-base simulators! I remember thinking at the time that

this trip was just a boondoggle. The group

that went got a very extensive tour including a lot of behind-the-scenes looks at a

number of the rides and attractions at

Disneyland.

Another (unfulfilled) venture into movingbase simulators was the acquisition of a 6

DOF cockpit that had been surplused an

airline companies’ simulation facilities. This

was a typical two-seat passenger transport

cockpit. It included the hydraulic actuators

and everything needed (except the computers) to mechanize a 6 DOF moving-base

simulator. It was installed in the hangar

lean-to that later housed the F-8 Digital flyBy-Wire (DFBW) iron-bird simulator.

However, this piece of equipment was

never used. For some reason, the decision to

actually do something with this cockpit was

never made. We rarely mechanized simulations of airplanes with that type of cockpit

(two-seat transports) in those days. The

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45

cockpit was eventually surplused and sat in

the AFFTC surplus lot for many years

before someone bought it for its scrap

metal.

Portable Analog Computers

The FSL had several analog computers

that were portable and were meant to be

loaned out for research engineers to use in

their own offices or labs. The ones we had

were from EAI (TR-10s, TR-20s, TR-48s

and TR-58s). These were all ±10-volt

transistorized systems. The first ones we

bought were the EAI TR-10s, and they

originally did not have removable patch

panels. The components were built with

patch cord holes right on the front face of

each component. These components

plugged into the cabinet in a rack similar

to a standard instrument rack. The standard components included amplifiers,

pots, multipliers, and diode function

generators. The TR-10 and TR-20 cabinets held about three dozen components

each. These components were interchangeable, so it was possible to change

the configuration to meet the needs of the

user. Each TR-20 had a removable patch

panel, which was also reconfigurable, just

like the components behind it. The TR48s had patch panels that could not be

reconfigured. The numbers in the model

number indicated the approximate number

of amplifiers available in the analog

computer. We also bought small portable

strip-chart recorders and flat-bed plotters

to be used with these portable analogs.

Research engineers used these portables

for small studies and generally did all

their own programming. We in the FSL

taught courses on how to program the

portable analogs. These portable analogs

became quite popular and were constantly

on loan.

Generally the more amplifiers one had to

use, the bigger or more sophisticated the

simulation became. On several occasions

we used these portable computers to add

to the larger ±100-volt analogs for those

few simulations when we needed just a

few more amplifiers or such. For a couple

of simulators, such as the Lunar Landing

Research Vehicle (LLRV), several of the

portable analogs were needed because all

the larger analogs were in use. The TR10/20 analogs did not have trunk connections on their patch panels. Connecting

them to some other analog(s) was done

with a lot of very long patch cords, which

were usually made up just for that reason.

The portable analogs used a different

patch cord than the larger analogs, so the

cords between the two different computers had to have different ends. Cords of

this style could not be bought and had to

be made in-house by the FSL technicians.

These particular simulations had the

appearance of a big ball of spaghetti. It’s a

wonder they ever worked. The simulation

programmer usually spent a lot of time

each morning in check-out to make sure

there were no loose connections.

Larry Caw’s personal account contains a

description of the LLRV simulation. This

simulator used several of the portable 10-

volt analog computers with one or more

of the 100-volt EAI analogs.

The function generators in the TR-10/20

analog computers required a special shelflike attachment to be used when setting

the pots for the nonlinear function. The

DFG was first removed from the rack and

the shelf installed. The DFG unit was then

mounted in the shelf. This exposed the

pots (mounted on the side of the unit and

normally hidden from view) that were

used to generate the nonlinear function.

These pots were set using a screwdriver.

After all the pots were set, the DFG unit

was removed from the shelf, the shelf

removed from the computer, and the DFG

unit re-installed in the computer. How’s

that for convenience?

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Four-Stage BoostVehicle Simulation

(1958-1959)

Of all the simulations that I worked on, the

four-stage boost-vehicle simulation was

easily the most interesting. It wasn’t the

biggest or even the longest-running simulation, and it wasn’t even an airplane. Maybe

that is why I remember it so well. I actually

implemented this simulation four different

times over a period of about two years. The

third time was on one of the first analog

computers ever built. This computer, as I

remember, was built for the U.S. Navy

during World War II. I got to use it in the

spring of 1959. It was connected to a large

centrifuge that provided motion with

appropriate velocities and accelerations.

This facility was at the Navy Aviation

Medical Laboratory (a part of the Naval Air

Development Center) in Johnsville, Pennsylvania. This is only a few miles north of

Philadelphia. The centrifuge was capable of

providing accelerations in excess of what

the human pilot could endure. Our launch

profiles normally went to just over seven Gs

(seven times the force of gravity at sea

level) and simulated the acceleration forces

experienced by a four-stage rocket-powered

launch vehicle during lift-off and entry into

an orbit around the earth. During the latter

days of our simulation, this acceleration was

doubled (to over 14 Gs) and flown at this

level of acceleration by most of the pilots.

This was the same centrifuge used by

NASA for the X-15 Program for pilot

training, and by the Dyna-Soar pilots for

verification studies of piloted control during

launch.

The purpose of this particular simulation

was to determine if a human could manually control a launch vehicle and put it into

an Earth orbit while being subjected to the

high G forces that occurred during such a

launch. The alternative method was to use

computers to control the vehicle during the

launch and injection into orbit.

The equations of motion that we implemented were the 6 degrees of freedom

(DOF) equations of a four-stage rocket

launch vehicle, such as the Apollo launch

vehicle. The longitudinal equations were

mechanized completely, since the piloting

task was concerned primarily with the

longitudinal modes. The lateral-directional

equations were simplified with constant

aerodynamic characteristics. We also

implemented a two-stage version, which

was flown by all the pilots. The first two

mechanizations were done using the EAI

31R and EAI 131R analog computers (the

ones shown in photo E-4967). The last

mechanization used the newer EAI-231R

analog computer (which was later used as

one of the X-15 analog computers; see

photo E-5810).

The pilot’s cockpit was actually a couch on

which the pilot lay, with the instrument

panel overhead. (See photo E-4548.) This

positioning was intended to provide the

Components of

the X-15 Simulator Analog Computer (September

1960). The EAI23IR has the chair

in front of it.

(NASA photo

E-5810)

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47

actual orientation that would be experienced

in the real vehicle. The Mercury, Gemini,

Apollo, and Shuttle vehicles all had this

orientation for the pilots during launch. The

pilots lay on their backs with the G forces

almost perpendicular into their chests. Our

simulator was built to provide this same

configuration. This was quite different from

all other simulations we had ever built in

the FSL. In addition, because of the accelerations that would be experienced during

an actual launch, the pilots used a side-arm

controller. The right-hand controller provided 3 DOF (roll, pitch, and yaw). The

launch vehicle was configured with

gimbaled rocket engines to provide the

control inputs needed by the pilots to steer

the vehicle along a predetermined path that,

if followed accurately, would put the vehicle

into the correct orbit.

Boost Simulation

Side-Arm Controller (July 1959).

(NASA photo

E-4725)

Boost Simulation

Couch, Panel,

Controls (in

FSL—April 1959).

(NASA photo

E-4548)

35
48

Three-Axis Side-Arm Controller

The simulator cockpit had a three-axis sidearm controller that was designed and built

in-house at the FRC. This controller was

definitely one-of-a-kind. Photo E-4725

shows this unit. It was mostly aluminum

and had been made in the machine shop

downstairs. Again, these guys in the shop

did an outstanding job in building this

controller. Dick Musick spent many hours

working with them to get it in its final form.

There were seven different pilots who

participated in this centrifuge simulation.

From the FRC, there were Neil Armstrong,

Stan Butchart, and Navy pilot Forrest

Peterson. The other pilots were Bob Innis

from the NASA Ames Research Center

(ARC) in Mountain View, California, Bill

Alford from the NASA Langley Research

Center in Hampton, Virginia, and Captains

Walter Daniels and Robert Rushworth from

the Air Force Flight Test Center (AFFTC) at

Edwards Air Force Base, California. Each

pilot made a series of runs in the centrifuge

and had his own form-fitting foam insert.

Each insert had to be installed in the seat

Centrifuge Seat

Insert with Ed

Holleman, Randy

Chambers, and

Forrest Petersen

(July 1959).

(NASA photo

E-4661)

Centrifuge Gondola (July 1959).

(NASA photo

E-4662)

36
49

in the centrifuge’s gondola before the pilot

could “fly.” This seat-exchange process

took a while. We worked many days and

evenings before all the pilots finished their

allotment of runs. (See photos E-4661, E4662, E-4870, E-4990, and E-5040.)

Boost Program

photo (September

1959). (NASA

photo E-4870)

Boost Program

Centrifuge Seat

(October 1959).

(NASA photo

E-4990)

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50

The first two fixed-based simulations at

the FRC were in preparation before we

went to Johnsville, Pennsylvania. This is

where we got everything ready, including

fine tuning the equations, the instrument

panel and related switches and controls,

the pre-programmed flight paths (for both

the four- and two-stage versions), and

building the three-axis side-arm controller

to be used in the centrifuge.

The simulation lab at Johnsville was over

half a mile from the centrifuge building.

Since I had to be in the computer lab

during the actual runs, I never really had a

front-row seat during any of our simulation runs. We did have intercom, but this

just wasn’t the same as being there when

the centrifuge was in motion. I did get to

see the centrifuge in action, though. Our

scheduled time period for using the

centrifuge followed a study by the Ames

Research Center. That study took longer

than planned, because bad weather

prevented the Ames group from flying. Its

investigation involved comparison

between actual flight and simulated flight

and required the pilots to make a run or

series of runs in the centrifuge and to then

fly those same pre-planned flights in an

actual airplane. I did get to watch several

of those ARC “flights” in the centrifuge.

Neil Armstrong in

the Boost Program Restraint

Straps (December

1959). (NASA

photo E-5040)

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51

Compared to our study, their centrifuge

runs were boring.

Anomalies/Aborts

There were times that I was glad that I

wasn’t in the centrifuge building. During

each simulation run, I had to do the actual

staging. This was done using two multiwafer switches that changed the many

parameters needing to be altered for each

of the four stages. I would stand in front

of the computer console and watch a

timer. At the appropriate staging times I

would switch to the next stage. In addition, I had also to input random flight

anomalies. These anomalies were windshear, time-delays for rocket ignition, or

other related inputs. Many of these

happened during the first-stage burn or at

staging between first and second stages.

These were designed to see how the pilots

could cope with such anomalies while

under the stress of piloting the vehicle

On several occasions, the pilots lost

control and the vehicle would deviate off

course. When this happened, the gondola

would hit one of the physical or electrical

stops that were built in to prevent damage. The centrifuge would immediately

shut down, the gondola would “snap

back” to its home position, slow down,

and then stop. This “home” position was

with the pilot sitting up rather than with

the pilot lying on his back. This immediate rotation of the pilot seat to an upright

position was quite a jolt to the pilots.

Fortunately they were well restrained in

the seat with wide web belts over their

legs and torso, and their helmets were

restrained to prevent sudden movement.

All this restraint was necessary because of

the high accelerations during the typical

run in the centrifuge. Nevertheless, I was

the one they blamed when they lost

control.

Patch-Panel Update

The old analog computer that we used did

not originally have a patch panel. All

components were originally connected

using patch cords that varied in length

from about 2 feet up to 50 feet. Each

amplifier was built on a metal plate

measuring about 8 inches by 19 inches.

These amplifiers and all the other components were mounted in standard-equipment 19-inch racks (of that era), which

were about 12 feet high. A ladder was a

necessary piece of equipment during the

process of wiring up a simulation. There

were actually two of these computers. I

believe the one we used was named

Typhoon. The other one was named

Cyclone, and the two computers had

originally had been identical in configuration. The Typhoon had just recently been

modernized and a patch panel had been

added. Now, all the components could be

connected using a patch panel and patch

cords very similar to the EAI analog

computers we had in the FSL. The patch

panels were not silk-screened to help

identify the location of the components,

which made patching an interesting

chore—kind of like putting a jigsaw

puzzle together that has nothing printed

on the pieces. Several of the programmers

from the facility had been assigned to help

us, and they did all of the patching. It was

our simulation, but it was their computer

and we were not really allowed to touch

the hardware, which was probably a good

thing.

Everything else in the Typhoon computer

was as originally built, with the exception

of a couple of recently added highprecision resolvers. (A resolver was a

multiplier where one input was an angle

and the output product was the sine [or

cosine] of that angle multiplied by a

second input.) A ladder was still needed to

set the many pots used in the simulations.

Actually, there were two complete sets of

pots, which could be switched (all at

once) to allow two different sets of

parameters. This feature made for a quick

switchover to a second set of coefficients.

We never used this feature for our simulation.

The amplifiers were ±100-volt units, but

were capable of over ±150 volts. Each

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52

amplifier had a small red light that

came on when the output voltage

exceeded about 120 volts. On almost

every run, a number of these lights

would come on. In spite of this, the

computer seemed to be working OK. I

don’t remember ever re-scaling any of

the parameters to eliminate these

overloads. We just worked with the

scale factors we had used during the

earlier fixed-base simulations. The

local programmers seemed to take this

in stride as an everyday experience.

Apparently they only re-scaled if the

outputs exceeded 150 volts most of the

time. The circuitry that was needed to

do the coordinate transformation for the

centrifuge motions and forces was

mechanized by the local programmers

and was generally the same for each

simulation that used the centrifuge. I

suspect that a few of the red lights

(amplifier overloads) were from the

amplifiers in this circuitry. They

weren’t worried, so we just accepted it

too.

Rocket Staging

Switching of equation parameters (for

each rocket stage) was accomplished

using two specially built manual

stepping switches. These switches were

ganged four-position rotary devices,

mounted inside a small metal box with

the appropriate number of plug holes

for the patch cords. During each simulation run, I watched a timer and turned

by hand the two stepping switches by

one position at each of the correct

staging times. This changed the parameters (by switching pots) that needed to

be changed for the next stage. This

included such parameters as weight,

thrust, fuel flow, inertias, and stability

derivatives to correspond to the particular stage. There were about a dozen

individual wafers (switches) in each

box. I also had a number of other

switches to throw to introduce anomalies such as windshear, ignition delays,

and thrust misalignments.

The fourth time we implemented this

simulation, back in the FSL, the stepping switches had been rebuilt and used

an electric stepping motor to switch

positions. Analog circuits to generate

and measure time and provide the

necessary switch-motor inputs replaced

the manual switching that I had previously done. But I still had to be there to

throw the other switches.

Most of my memories of this particular

simulation have to do with the long

hours I had to put in. There were seven

pilots, but only one of me. I had to be in

the simulation lab during all of their

runs. Videan, Musick, Bill Andrews,

and Ed Holleman were normally in the

sim lab with me, but they also got to go

watch the centrifuge runs. Towards the

end of our stay, those of us in the sim

lab were working 12- and 16-hour work

shifts. We got up, ate breakfast, went to

work, worked the morning shift, ate

lunch at the base cafeteria, worked the

afternoon shift, ate dinner (fortunately

we had to go out, since the base cafeteria was not open for dinner), came back

and worked another shift. Then we went

back to our motel rooms, slept, and

started it all over again—day after day

after day, including several Saturdays

and Sundays. The pilots came and went

according to their individual schedules.

They actually got bored between their

turns in the simulator.

Ames Delay

The Johnsville facility had never previously scheduled two back-to-back analog

simulations that both required the centrifuge. We learned the hard way. The

change-over period between when the

Ames folk left and the time we could

really get running was almost a week.

This time was spent in reprogramming

the analog computer and in re-configuring the cockpit with a new seat and

instrument panel. We never knew from

day to day just when Ames was going to

be finished, so we spent almost two

weeks, day by day, waiting for our chance

40
53

to get started. Once we got started, we

worked our tails off to make up for this

lost time. Getting the cockpit changed

over took a lot more time than reprogramming the analog. We had everything ready

in the analog computer lab. It only took a

couple of days to check out the simulation

and have it ready for when the cockpit

was ready. We had lots of help from the

folks in the simulation lab.

At the time, we were so busy getting

ready that I never really gave much

thought to the analog computers we were

using. They were at least 15 years old, at

the time, and still in use. The amplifiers

were chopper stabilized, and these choppers were no longer being built. (The

chopper was a device that helped to keep

the amplifier stabilized. The vacuum tube

amplifiers of those days would “drift”

[deviate] due to the heat they generated.15) The lab had two full-time technicians who had the job of rebuilding these

choppers. That is essentially all they did.

They would disassemble and replace worn

out parts with new parts that they manufactured in their own shop! They couldn’t

even buy these parts. They had to make

whatever was needed. Amazing! We kept

the analog computers we bought for the

X-15 simulation for about 10 years, and

we thought those analogs were really old

and out of date when we finally surplused

that equipment.

TDY Pay

In addition to the seven pilots, there were

six more of us, all involved with the

simulation in some way, all on travel

status. Travel expenses in those days were

quite meager. We were allowed $12.00 a

day per diem (for both lodging and meals)

for the first two weeks, $11.00 a day for

the next two weeks, $10.00 a day for the

following two weeks, and $9.00 a day

thereafter. I guess the government expected those on TDY to rent an apartment

if they were going to be on travel for

extended periods. Since Ed Videan and I

were there for 7 weeks, we were getting

only $9.00 a day for that last week. The

motel room I was sharing with Ed

Holleman cost me $8.00 (plus tax) a

night. I essentially lived on my own

salary. I actually had to move out of my

apartment in Lancaster so that I could

afford to make that trip. Dick Musick and

Ed Videan stayed at the BOQ at the

Navy’s Willow Grove Station, just down

the street from the Howard Johnson’s

Motel the rest of us roomed at. They only

paid about $3.00 a night for their quarters.

That was a Navy Reserve training facility.

I thought about doing this, but chose not

to. It was too much like my old college

dorm—small rooms, central bathroom

facilities, etc. Maybe if I had been married and had kids (like Ed and Dick) I

might have been more inclined to stay

there. The motel room was satisfactory

with me.

Government travel in those days was not

something to look forward to. On top of

this, the finance officer (John Yoshida) at

the FRC would only send me one week’s

travel advance at a time. Getting these

checks (and my paychecks) cashed back

there was quite a chore. These were both

government checks. Yet, I have never had

so much trouble getting government

checks cashed as there, just north of

Philadelphia—the founding seat of our

nation’s government. Who would have

thought it? Fortunately, Forrest Peterson

had just recently gotten an American

Express (AE) travel credit card. (AE had

started its credit card service only the year

before.) We were able to use this to get

checks cashed at the motel office. I was

so impressed with this, I sent away for my

very own AE credit card as soon as I got

home from this trip. This was in 1959 and

credit cards such as Diners, AE, and Carte

Blanc were new and not yet accepted all

over. I used my AE card for both personal

15 For a complete technical definition of analog computer amplifier drift, see the book by Rajko Tomovic and Walter J. Karplus, High

Speed Analog Computers (New York: John Wiley & Sons, Inc.,1962), or any of the other sources on analog computers that are

referenced in that book.

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54

and government travel purposes for many

years—until I retired 34 years later.

The Fun Stuff—Before the Hard

Work

In spite of these long hours and meager

travel expenses, all of us who were there

still talk about this simulation. It was

unique for the FRC. It was fun (at times).

While we were waiting for Ames to get

through, we did have some time to do

some sightseeing. We soon found all the

really great eating places in the area,

including Bookbinders (famous for great

seafood) in Philadelphia. Otto’s, a German-style beer Haus, with an outdoor

patio, for use when the weather was nice,

was also very popular. Otto’s served large

steins of a variety of good German beers.

Great goulash and Wienerschnitzel, too.

Most of us stayed at a Howard Johnson’s

that had its own cafe. We ate breakfast

there almost every morning, and after

several weeks of this, the waitresses

always had a large table already set up

when we showed up for breakfast.

There was a par three pitch-and-putt golf

course that we were able to play in the

evenings during the first couple of weeks

we were there, before the extra long work

shifts began. We were back there over

the Memorial Day holiday, and because

the base was closed that day, Dick

Musick and I drove over to Valley Forge

and spent most of the day looking around

there. Interesting! Especially since I later

found out that a number of my distant

forefathers (second generation Waltmans,

including the Waltman I am descended

from) were at Valley Forge with George

Washington during the Revolutionary

War. One Sunday, several of us rode the

local commuter train into Philadelphia

and sat through a double-header at the

Phillies’ baseball stadium.

Several of the bosses, who happened to

be on travel in the area, stopped and

visited with us to see the centrifuge

simulation. I remember Deputy Center

Chief De Beeler stopping by on at least

two occasions. We also got to know and

become friends with many of the folks at

the lab. The doctor assigned to our

project, Randy Chambers, invited us all

over to his house one Sunday afternoon

for an outdoor barbecue dinner.

The Old Mill

There was one particular restaurant, in the

little community of Hatboro, only a

couple of miles south of the lab, that we

all got to know quite well. This restaurant

was named The Old Mill. That is exactly

what it had been. It was a converted grain

mill, with a water wheel, on a small

creek. There was a large glassed porch

overlooking the creek that was very

pleasant, especially for Sunday brunch.

The main dinning hall was on the ground

floor, which was where the large grinding

wheels had been located. The ceiling

beams were large and at just the right

height to hit your head, if you didn’t

duck. This restaurant had just started a

Thursday evening all-you-can-eat buffet

dinner the first week we were back there.

We quickly made this buffet our favorite

place for Thursday’s dinner. The food was

both excellent and varied. Several of the

folk from the lab joined us on more than

one occasion. So, too, did the FRC bosses

who happened to be on travel to Headquarters and stopped by to see the centrifuge runs. I remember De hitting his head

on the overhead beams at least twice the

first time he went there with us.

We also had many other meals, and

drinks, at the Old Mill. In fact the bartender, who also happened to be the

owner, was nice enough to drive over and

pick us up for one last dinner before we

left. We had the FRC C-47 with us and

had finished up our work on a Thursday.

We were intending to fly out on Friday

morning. We had already turned in the

two GSA cars we were using and had no

other transportation. Dick Musick had

already left for New Jersey to pick up his

family for the drive home. There were

still eight of us left, sitting around our

motel rooms that Thursday evening,

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55

when Roger Barnicki got the idea to call

the owner and ask him if he would give

us a ride to his Old Mill for one last

buffet. And, by golly, he did. But then we

had spent so much money there I guess

he felt he owed us this courtesy.

If you ask any one of us who participated

in this particular simulation just what we

remember most about the area, I’m quite

sure that all will mention the Old Mill. It

was definitely one of the bright spots in

our stay at Johnsville. I heard later that

our last dinner was also the last time the

buffet was served. It’s hard to believe that

the 10-15 people in our Thursday night

dinner groups were that critical in the life

of these dinners. We certainly enjoyed

them. So, in spite of the many long hours

in the sim lab, we did have a few pleasant

times. We still talk about this trip, even

now, whenever we happen to see each

other.

The Simulation

The group from the FRC consisted of Ed

(Euclid) Holleman and Bill Andrews,

who were the research engineers conducting the study, Ed Videan, Dick Musick

and myself (Gene Waltman) from the

FRC Simulation Laboratory, Roger

Barnicki from the pilot’s equipment

office, and Neil Armstrong, Stan Butchart

and Forrest Peterson, the FRC pilots.

Ed Videan and I flew out a week early to

help get the simulation ready. Dick

Musick drove his own car with his family

and left them with relatives in New

Jersey. The others from the FRC flew out

in its C-47. They also used this plane to

go to the Langley Research Center and

pick up the foam inserts that the pilots

used in the gondola’s cockpit. These

inserts were of a Styrofoam-type plastic,

light but cumbersome because of their

size. They provided extra protection

during the high-G runs. I doubt, if we

were to do this simulation over, that these

foam inserts would be used today. Modern fighter-type airplanes subject pilots to

similar G forces, and they do not use

individually fitted foam inserts in the

pilots’ seats.

Toward the end of the simulation runs, we

began to experiment with higher G-force

runs. We multiplied the signals that

determined the G force the pilot experienced by two. This meant that the pilots

would be subjected to twice the G forces

of the normal launch. Their bodies were

not exactly prone, but with a 15-degree

heads-up tilt. At the higher G forces, the

blood drained out of their heads due to

this 15-degree angle, and their field of

view became quite narrow (like tunnel

vision). I remember Neil Armstrong

saying that at 14+ Gs, the only instrument

he could still see clearly was the one

meter that provided the error signal they

used to guide the vehicle. This meter was

in the center of the instrument panel. (See

photo E-4550.)

Error Signal Mechanization

We used a standard ILS (Instrument

Landing System) meter to display error

signals in two directions. If the pilot flew

the correct (launch to orbit) path, the error

signals would be zero. The “correct path”

had been determined during the early

simulation studies at the FSL. This path

was either the desired flight path, or the

desired pitch angle. We used a special

function generator to provide this signal

as input during the simulation runs. This

function generator was actually an 11-

inch by 17-inch X-Y flatbed plotter. The

required trace was first plotted on paper

(desired flight path or desired pitch angle

versus velocity) and then this trace was

covered with a special “ink” that was

conductive. This ink was a silver paint,

and the pen was replaced with an electrical pickup that would sense an electrical

signal in the ink. This signal was applied

to the metallic ink trace through connectors attached with a metallic solder-like

adhesive. Vehicle velocity as computed

during the simulation runs was used to

drive the plotter arm (in the X direction),

and the pen would follow the ink trace in

the Y (or vertical) direction. This signal

43
56

was then used to generate the error signal

for the ILS instrument the pilots used

during each flight. What a kludge!

Looking back on what we had to do to get

this special function generator operational, along with the black-box switches

used for manual staging, and those really

old NADC analogs, I am reminded of

those old cartoons of the Rube Goldberg

contraptions.16 It is amazing that there

was any repeatability in simulations of

this nature. Another simulation, of similar

Rube Goldberg construction, that comes

to mind is the lunar lander simulation that

Larry Caw put together several years

later. The LLRV simulation was by far the

most Rube-Goldberg-like that I can

remember being mechanized at the FSL.

If Erector Sets and Tinkertoys were your

kind of toys when you were growing up,

then analog computers were the thing for

you. This is what made analog computers

fun to program. It helped to be something of a masochist, too. I feel sorry for

(digital) computer programmers who

have never had the chance to program an

analog computer. Since I did both while

at the FRC, I can easily say that programming a digital computer is boring compared to programming an analog computer. They are as different as Tinkertoys

and Pick-Up Sticks.

Upside-Down Centrifuge Run

Not only did many of the pilots fly the

high-G runs, but so too did a representative from the company that had designed

and manufactured the restraint system

that was used to secure the pilots in the

cockpit seat. These straps can be seen in

photo E-5040. This manufacturer’s

representative not only flew the simulation in the normal manner, but he also had

the gondola re-positioned such that the G

force would be in the opposite direction—with his body being forced out

against the straps. He was that sure the

straps would support him at 14+ Gs. I

believe we mechanized a simple autopilot

that flew the mission for him so that he

did not have to do that task. He went

along just for the ride. Gutsy! But he was

right. There were no problems. I would

have liked to have seen that run.

We had lots of problems with the weather.

There were several violent thunderstorms

that came through the area during our

centrifuge runs. There was quite a lot of

lightning, and there were several power

outages. On these occasions, we had to

shut down rather than chance an outage

while the centrifuge was moving. The few

times we had a power outage during a

run, the centrifuge would just coast to a

stop, with the gondola in the rest position.

There were no back-up power generators.

We just had to wait till the storms moved

on. The gondola did not always return to

the staging dock after a power outage.

When this happened, the technicians in

the centrifuge lab would have to bring out

a special platform to get the pilot out of

the cockpit.

There were several reports or papers

written about this simulation. The paper

entitled “Utilization of the Pilot in the

Launch and Injection of a Multistage

Orbital Vehicle” (Citation 289) by Euclid

Holleman, Neil Armstrong, and William

Andrews, presented at the IAS 28th

Annual Meeting in New York City in

January 1960, is the most complete. One

of the photos (E-4870) was taken during

the centrifuge study. The photo (E-4548)

of the couch was taken in the FSL during

the last fixed-base simulation, which

followed the centrifuge study.

The couch used for the fixed-based

simulations was built of plywood in the

FRC model shop. Roger Barnicki had one

of the AFFTC’s shops do the upholstery

for us—a really nifty tuck-and-roll royal

blue Naugahyde upholstery job that

would have made those who ever had

similar upholstery in their old ’50s classic

16 Rube Goldberg was a cartoonist known for his comical drawings of very complex machines that did very simple tasks. For more

information and examples of his artwork, see the web site: http://www.rube-goldberg.com/

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57

hot-rods drool with envy. We kept this

couch long after the boost simulations

were over. Some employees would

occasionally spend their lunch breaks

sacked out on it. Great on-the-job antistress therapy. I wonder where it went. It

just disappeared one day.

The trip home from Johnsville was

another interesting experience in itself.

Two whole days, flying west, in the C-47.

We refueled in Indianapolis, the first day,

and spent the night in El Paso. Apparently

it was customary for the FRC pilots who

were returning from duties back east and

who had to lay over somewhere to do so

in El Paso. El Paso was just across the

river from Juarez, Mexico. Booze bought

there and brought back into the U.S. did

not have liquor taxes added to the total

price, providing you did not exceed a

limit of two bottles per person. Consequently, we all were requested to help the

pilots carry back as much booze as we

were allowed to carry. I don’t remember

which pilot paid for the whiskey, but all

eight of us marched across the footbridge

to a small liquor shop in Juarez, bought

our quota, and trudged back to the hotel

with our duty-free booze. I think the toll

for the footbridge across the Rio Grande

was two cents per person. A fitting

conclusion to a very interesting simulation experience.

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58

The X-15 Simulator

(1960-1969)

The X-15 simulator was the largest analog

simulation ever mechanized in the FSL. It

also became the first hybrid computer

simulation when we added a digital

computer to the simulator in 1964. The

simulator was in use from 1961 until after

the last X-15 flight on 24 October 1968.

This simulation was used for many

purposes, including pilot training, flight

planning, systems hardware design and

checkout, emergency procedures development and practice, and many different

research programs. From the programmers’ perspective it was, in many ways,

the most complicated and frustrating

mechanization that we had to contend

with. For most of us who had to deal with

it on a daily basis, we were both glad and

sad to see it go. The X-15 Project was

both exciting and rewarding, and the

simulator played a big part in the overall

accomplishments of the program. For that

reason we were glad to be a part of the X15 team. By the same token, we were sad

to see the X-15 simulator go, in spite of

all the grief it had inflicted over the years.

It was like losing a favorite pet, even

though that pet was part gremlin.

There were numerous different programmers involved with this simulation

throughout its lifetime. John P. Smith

began the process by working with the

project office to select the original set of

equations for implementation. He also

worked on the procurement of the new

analog computers. Much of this early

preparation work was done using the

North American Aviation (NAA) X-15

simulation as a guide. Shortly after John

began this process, he was promoted to

section chief. At that time he passed the

X-15 programming job along to me. The

computers had already been ordered by

then and were installed in the fall of 1960.

This was right after I had finished the

fourth and last simulation of the fourstage boost vehicle, which is described

above.

NAA X-15 Simulator

North American Aviation built the three

X-15 rocket-powered aircraft. NAA

implemented an analog simulation for use

in designing and developing the vehicles.

The simulator was used for some time and

included the iron-bird cockpit. The X-15

simulation at the NAA facility near Los

Angeles International Airport was used

for flight planning for the initial 20 flights

of the X-15. Dick Day spent a considerable amount of time there during 1959

and 1960 for this flight planning and for

pilot training purposes. During this

period, the original engineering analysis

was done that resulted in the removal of

the lower vertical stabilizer on the aircraft.17 Dick Day also recalls that upon

his proposing to have the ventral fin

removed, Bikle said “Dick, pilots have

always wanted more tail and now you

want to take it away.” The first flight with

the lower ventral removed was the 42th

flight on 4 October 1961. The NAA

simulator was used for these and other

purposes for the first 31 flights. The initial

envelope expansion flight planning was

also completed with the NAA X-15

simulator.

Computer Room False Floor

The computers used for the FRC’s X-15

simulation were installed in the area

currently occupied by the Center

Director’s office and conference room. A

false floor was built, in-house, of 2x4s,

plywood, angle iron, and metal rebar

(reinforcing metal bars). It was covered

with an ugly brown linoleum tile. Holes

17 The large, wedge-shaped vertical stabilizers on the X-15 were a solution to the difficulty of stabilizing an airplane at high angles of

attack. The lower half of the lower vertical stabilizer had to be jettisoned before landing because it extended below the landing gear,

and eventually the X-15 team (notably, Dick Day as discussed below) discovered that it was not really needed for stability and in fact

made the airplane less controllable, so the program stopped using it.

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were cut where needed for the circulation of

cold air and for the many cables between

the computer racks. The design of this false

floor made it quite difficult to string cables.

The under-the-floor support structure was a

lot like a cheap bridge and really interfered

with getting our analogs connected. Years

later, the good store-bought false flooring

materials were installed, but not in the X-15

analog area. One of the photos (see E-5808)

showing the X-15 analog computers was

taken before the plywood flooring was

covered with linoleum. The linoleum was

standard GSA supply and obviously not

intended for fancy offices. It was thin and

flexible and molded itself to the uneven

plywood floor. You could even see the nail

heads in the plywood under the tiles. After

being used for several years, it became quite

worn and always looked dirty, no matter

how often it was cleaned. This lab was

where we did some serious work and was

not one of the fancy “glass-walled” computer rooms that some companies had for

their big, fancy digital computers. That ugly

brown tile floor was somewhat symbolic in

that sense.

The analog computer air conditioning (A/C)

units were mounted on the roof directly

above the X-15 simulation lab. Large holes

were cut in the raised floor, ceiling, and roof

for the air ducts. The A/C units were located

in an aluminum shack for weather protection. There were two large blowers in the

X-15 analog room to distribute the cold air.

These blowers were in sheet-metal boxes.

The fans in them were large and, when the

bearings wore out, got very noisy. The

blower boxes were about three feet tall and

were used as tables for many different

items. Because of the large amount of heat

generated by the analog computers, the air

temperature in this room would get quite

warm in the afternoons. In the mornings,

though, it was very chilly before we turned

the analogs on and all those vacuum tubes

started to heat up.

Wiring Diagrams

It took the last three months of 1960 to do

all the tasks involved with the actual

mechanization of the X-15 simulation.

This included drawing the wiring diagrams, wiring the three main patch panels,

setting all the pots, programming the

many function generators, and running

many types of tests for check-out. It was

the wiring diagrams for the X-15 simulation that forced me to convert from large

drafting paper to 11x17-inch drawing

paper (see above). There was one page for

each of the main equations, and there

were many more for the auxiliary equations. The many function generators

required several pages of their own. Later

on, when we were simulating the two

different control systems, several more

pages were added for those equations. It

was quite a chore to keep this folder of

wiring diagrams up to date. It was too

easy to make temporary wiring changes

and forget to make the appropriate

changes to the wiring diagrams. This

happened quite frequently and caused

many problems.

The simulation was declared fully operational on the first working day of 1961

(which was Tuesday, 3 January 1961). The

first X-15 flight that occurred after this date

was number 32, which was on 1 February

1961 and was flown by Jack McKay.

When we went to two and three shifts of

operation, with a different analog programmer on each shift, the accuracy of

this folder of wiring diagrams became an

important issue that we all had to deal

with. This was especially true for the

second-shift programmers, since that was

the shift when the research engineers were

always trying new things. The day shift

was used almost exclusively for flight

planning and pilot training. Fortunately

the shifts overlapped one-half hour, which

allowed the oncoming crew to get a brief

update from the departing crew about any

changes that had been made.

In spite of all this coordination between

programmers and careful diligence to

keeping the wiring diagrams correct, there

were many instances of unlabeled, loose,

or missing patch cords. We were always

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searching for one more missing patch

cord or the one that shouldn’t have been

there (according to the diagrams). Fortunately these computers were not timeshared with any other program. This

meant that the patch panels were not

removed from their patch bays very often.

This process of changing patch panels

was often the reason for loose or dislodged patch cords. If the wired panel was

accidentally set down on a small object,

such as a pencil, one or more of the patch

cords could be pushed loose from the

backside of the panel. And it wasn’t

always obvious until something did not

work as expected.

Function Generator Set-up

A large portion of this three-month set-up

time was spent in programming the many

nonlinear diode-function generators

(DFGs). The DFGs were used to generate

functions of angle-of-attack (AOA).

These were then connected to the taps on

the pot-padder multipliers that were

driven by Mach number. The resulting

outputs were functions of both AOA and

Mach number.

The DFGs used for this simulation were

not the store-bought version available

from EAI. These DFGs were designed

and built in-house and installed in standard 19-inch racks. They can be seen in

the photo E-5809 and were located

between the D and E consoles. There

were 15 pots for each DFG. The pots were

the 20-turn type, quite small, and were set

using a small jeweler’s screwdriver

instead of a knob. It was quite a chore to

set all these pots. We also had some of the

EAI DFGs and pot padders for other

nonlinear functions.

Nonlinear Functions Updates

During the first part of the X-15 program,

the data used for the nonlinear functions

came mostly from wind-tunnel tests and

theoretical studies. As the X-15 flew, and

the collected flight data were analyzed,

the coefficients in the X-15 simulation

were modified to agree with true flightdetermined data. In this way, the simulator was kept up-to-date and became an

even more useful tool.

SAS & Adaptive Controllers

One of the most useful features of any

iron-bird simulator was the capability to

connect actual flight hardware and use it

just as it would be used in the real aircraft. The fixed-gain Stability Augmentation System (SAS) and the variable-gain

Minneapolis Honeywell (M-H) Adaptive

Controller were the two different control

systems that were initially simulated as a

part of the X-15 simulation. Later, the

simulator used actual hardware just like

what was installed in the real airplanes.

There were many reports written about

these various studies. The report Adaptive

Control and the X-15, written by

Lawrence W. Taylor and Elmer J. Adkins

in1965, describes the M-H Adaptive

Controller, its development, and the role

of the X-15 simulator. The authors

commented: “It should be emphasized

that all of the problems were encountered

and corrected before the flight article

existed, by virtue of the extensive and

realistic simulation possible with the X15 flight simulator,” indicating yet

another use of analog simulations. In this

case, the concept and design of the

adaptive-control and stability-augmentation-system capabilities were thoroughly

tested using the simulator before any

actual hardware was built and flown.

Both the SAS and the M-H Adaptive

Controller required many hours of

simulation time during the design and

testing phases of their development.

A lot of this simulator time occurred on

second shift with Jim Samuels (one of the

FSL programmers) working with the

research engineers to mechanize and test

the different X-15 stability-augmentation

systems. Jim was the only FSL analog

programmer, during those early years,

who had a college degree in aerodynamics. He was the one we all turned to when

we had questions concerning the equa48
61

tions of motion or matters relating to

aerodynamics. Jim was a happy-go-lucky

person who enjoyed regaling us with tall

(real tall!) tales of his (supposed) past

experiences. According to him, he was a

combination of Indiana Jones, Sir Francis

Drake, and Kit Carson. Jim was very

imaginative and would creates his stories

on the fly. If you added up the time spans

of all these adventures, Jim would have

had to have been at least 150 years old to

have done all the things he told us.

Simulator Cockpits

The first cockpit we had for this simulator

was the one used for the full-scale X-15

simulation on the Navy’s computers and

centrifuge at the Johnsville, Pennsylvania,

facility. That simulation was operational

long before we had our computers. All of

the original X-15 pilots were able to fly the

simulator and experience the G loads

expected in the real flights. The hardware

we got at the FRC included the seat, the

instrument panel, and the pilots’ controls.

Later on, we also received the full-scale

iron-bird simulator from North American.

This iron bird was a replica of the X-15,

including the complete cockpit, and had

simulated control surfaces (rudder, elevator,

and ailerons). The control surfaces were

simulated using weighted beams, but the

hydraulics and other components were the

real things. This eliminated having to

simulate those mechanical and hydraulic

components. (See photos E-4969, E-5808-

10, E-15330 & E-16219 of the computers,

cockpit, and the X-15 iron bird.)

The first cockpit was installed in the same

room as the analog computers. We used this

cockpit for many months until the iron bird

could be delivered and installed. The iron

bird was located inside the calibration

hangar along the east wall. A wall was built

around the iron bird to divide the hangar

and provide the security and protection

needed for this project. The windows in the

hangar door had to be painted over to

eliminate the glare on the instrument-panel

meters. The cockpit faced away from the

hangar door. The door faced southeast and

the morning sunlight caused a lot of problems for the pilots until the windows were

painted.

Black Box (F-104)

Cockpit (October

1959), “flown” in

preparation for

the X-15. (NASA

photo E-4969)

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Patch Cords and Trunks

We never kept a count of the total number

of patch cords used in this simulation, but

there were at least 500 on each of the three

main analog computers. With that many

patch cords, the panels weighed a lot. Later

on, other analog computers were added, as

needed, for special purposes, such as

control-system development and interface

to the digital computer. We had as many as

six analog computers connected together at

one time. The main three computers were

used for the basic equations, two for

control-system simulations, and later on

another one was needed for the interface to

the SDS 930 digital computer (see below).

They were connected together with hundreds of signal trunks. There were at least

two occasions when—for some small shortterm experiment—one of the portable

analog computers was also connected to the

simulation. There were also many trunks to

connect to the cockpit.

X-15 Simulator

(Iron Bird) with

Bill Dana (August

1966). (NASA

photo E-15530)

X-15 Simulator

(Iron Bird) with

Bill Dana (August

1966). (NASA

photo E-16219)

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63

Cockpit Trunking

After the iron bird was installed in the

hangar, we had to connect it to the computers. There were several hundred trunks to/

from the cockpit. These trunks were routed

in cable trays originally hung on the outside

wall of the second floor of the mezzanine.

These went to the X-15 iron bird. The

trunks eventually were relocated to cable

trays that hung above the false ceiling of the

mezzanine offices.

This length of trunks (over 200 feet) for that

many analog signals always caused difficulties due to grounding problems. In fact,

grounding problems were a real headache

for a number of years in our simulation lab.

The FSL technicians spent a lot of time

working this particular problem. A separate

grounding buss of copper pipes and large

copper wires was eventually installed to

help alleviate grounding problems. The

copper pipes were under the false floors of

the simulation labs and were mounted on

special stands that provided signal isolation.

Large-core copper wires were then attached

to these pipes and to the computers and

equipment racks as needed. These largecore copper wires were also strung to the

cockpit(s) in the labs or in the hangar. The

pipe and wires were all shielded with a

thick plastic covering.

X-15 Simulator Hydraulics

The hydraulics stand for the iron-bird

cockpit was originally located next to the

mockup inside the hangar. The hydraulics

unit was later relocated into its own shed,

outside the Calibration Hangar. As with the

early black-box simulators, someone from

the facilities maintenance group had to start

and stop the hydraulics unit. On second and

third shift, we sometimes waited 30 minutes

or more after calling before he would show

up and power up the hydraulics. We also

had to allow time for him to shut down the

hydraulics before we left at the end of the

night shift.

The X-15 simulator was used so much

during the day shift by the pilots and the

flight-planners that we frequently had a

second shift for use by the research engineers, and especially those developing the

different control systems that were being

investigated for use in the X-15s. Later,

after a general-purpose digital computer

was added to the simulation, almost all of

the time needed for programming of this

digital computer was on third shift (midnight to 8:00 a.m.).

Earlier X-15 Simulations

The X-15 had been simulated using

analog computers at other facilities before

we started our simulation. Besides North

American’s complete 6 DOF analog

simulation described above, the Ames

Research Center had a simulator that used

a 3 DOF moving-base cockpit. The

Langley Research Center also implemented a fairly complete simulation but

without the iron-bird cockpit. The centrifuge at NADC was also used for X-15

simulations, as already discussed in part.

There were actually three different such

simulations at both the LaRC and NADC

during the years in which the X-15 was

being designed and built. There were

several conferences having to do with the

X-15 development beginning in the mid1950s. Some of this happened before I

started working at the NACA HSFS in

1957. Each simulation, as you might

expect, got better and better as the development of the X-15 progressed. Our

simulation took a lot from those earlier

efforts, and it too evolved over the years.

The digital computer added in 1964 was

used to generate the nonlinear coefficients

for the re-built No. 2 X-15. This was the

X-15 that was damaged during an emergency landing on one of the back-up

landing sites. The airplane was rebuilt,

with external tanks and other modifications for the higher-speed flights. Because

of the modification to the No. 2 X-15, the

original set of equations was also modified to include the additional dynamics

due to the external tanks. John Perry was

the lead programmer at the time, and he

did this upgrade. This was after I had left

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the X-15 simulation group and was

involved with other FSL projects.

Energy Management Computer

The SDS (Scientific Data Systems) 930 was

originally bought to simulate an airborne

computer that Minneapolis Honeywell was

building for installation in the X-15-3. The

M-H Energy Management Computer was

designed to calculate the landing area (or

footprint, as it was called) available to the

X-15 in case of an early engine malfunction. This footprint was essentially a map of

the surrounding ground area with dry

lakebeds that the X-15 could land on. The

footprint gave the pilot a schematic, shown

on a scope in the cockpit, of the attainable

landing sites based on the speed, altitude,

weight, attitude, etc., of the X-15 at the time

the engine shut down. If this engine shutdown was premature, the X-15 did not

always have enough energy to make a

landing at Edwards Air Force Base (EAFB),

and the pilot (and control room personnel)

had to make a quick decision as to which

emergency landing site the pilot would head

for. There were always several emergency

landing sites selected, and they had emergency crews standing by in case of such an

event.

Before the actual airborne M-H computer

was built, there was an interim system built,

under contract, to be used in the mission

control room during flights. This Energy

Management Console (EMC) was an allanalog unit. Unfortunately, the company

that built it did not stay in business very

long. The unit had lots of problems. Charles

Wagner, one of the FSL simulation engineers, inherited the job of trying to make it

work, right after he started working at the

FRC in 1964. In his PA, Wagner describes

his efforts with the unit. Wagner spent a lot

of time getting the EMC unit to work, but

by then it wasn’t really needed. The mission

control room personnel had enough experience from having used the simulator to

predict the best emergency landing site,

anyway.

The pilots spent a lot of time in the simulator practicing these emergency landings.

There were ten of these real-life emergency

landings that were required during the

actual flights. Without the extensive practice

in the simulator, there could easily have

been several more-serious emergency

landings than really did occur. I’m sure that

each X-15 pilot who had to make an

emergency landing was quite thankful for

all the hours he spent in the simulator

practicing those very same maneuvers.

There is no doubt that this type of emergency-procedures practice is one of the big

reasons that real-time simulators are still

being built and used by all the major

airlines.

A malfunction panel was added to the

simulation after the iron bird was operational. This panel contained about 3 dozen

switches that allowed the flight planners to

turn off signals going to the X-15 cockpit

instruments or to many of the aircraft

systems, such as the auxiliary power units,

SAS, M-H adaptive controller, reaction

control system, and the engine. The pilots

spent many hours practicing emergency

procedures that could occur during their

flights. A number of these emergencies did

in fact occur, but the pilots were always able

to cope and either continue the flight or

make a more or less successful landing at

one of the back-up lakebeds. Before the

panel was installed next to the iron-bird

cockpit, someone in the computer room

initiated these “emergencies.” The malfunction panel just made this task easier for the

flight planners who frequently were there

and sitting alongside the cockpit.

My tenure as lead X-15 sim programmer/

operator lasted only a couple of years.

Because of the multiple shifts needed to

provide an adequate number of hours each

week for the many users, several other FSL

programmers very quickly became full-time

X-15 sim operators and programmers. John

Perry, Larry Wells, Jim Samuels (and

others) were drafted to help operate and

program the X-15 analogs. Dick Musick,

Gerry Perry, Bill Sebastian, Art Suppona,

Billy Davis (and others) were the sim

technicians who supported the maintenance

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65

and development of the X-15 analogs and

iron bird.

When I got very involved in programming

the SDS 930, I was put on graveyard shift

and John Perry took over as the lead X-15

analog programmer. The graveyard shift

was the only time available for the SDS930 programming activity. The first two

shifts were used for pilot training and flight

planning (day shift) and control-system

studies (swing shift) and other such research studies that the FRC research

engineers were involved in doing. Any time

the second shift was not used for research

studies, I gladly used that time for the SDS

930 programming. I much preferred swing

shift to the later graveyard shift. I had a

hard time getting enough sleep while

working graveyard. It took a long time to

adjust my internal clock to working a

graveyard shift. It was also hard to find a

car pool, to keep from having to drive the

hour-and-a-half round trip to the FRC every

day.

Monday Morning Blues

The daily operation of the X-15 simulator

was quite a chore. We spent a lot of time

each morning getting the simulator ready.

Monday mornings were always the worst

because of the time it took for the computers to warm up after a weekend of non-use.

The X-15 Project Office quickly learned not

to expect much “up-time” before noon on

Mondays. It usually took us that long to get

the analog computers warmed up and

stabilized. There were several “checkout

flights” that we (the X-15 sim operators)

would fly to see if the simulation was ready

to go. We all got quite proficient in flying

these check flights—both in the first cockpit

(the one we got from NADC) and later in

the iron bird. After we installed the iron

bird, daily checkout of the simulation

became a two-person operation because of

the distance between the cockpit and the

analogs. Several of the technicians also got

proficient in flying the checkout flights,

while the operators were upstairs observing

the analogs and various output displays in

the sim lab. There was an intercom we used

to talk back and forth between the sim lab

and the iron bird.

Plotters and Strip-Chart Recorders

The analog computer output devices

included several 8-channel strip-chart

recorders and a large X/Y flatbed plotter.

This X/Y plotter had two independent pens.

One pen plotted the X-15’s position on a

map of the area. The second pen showed the

X-15’s altitude along a north-south axis.

(See photo ECN-1456.) These two traces

Larry Caw with X15 Simulation

Analog Computer

and Plotter

(August 1966).

(NASA photo

ECN-1456)

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66

were plotted on special maps that were

made specifically for this job. These maps

were also used on the mission control

room’s X/Y plotters during the actual

flights. There were different maps depending on the launch site chosen for a particular

flight. These maps showed the launch site

and the emergency-landing dry lakebeds

available for such landings and the dry lake

at Edwards Air Force Base, along with the

more prominent landmarks in the vicinity of

these dry lakebeds. The plotter would take

maps up to 36 inches in both directions. The

maps we used were that size. The flight

planners spent a lot of time draped over the

edges of this plotter in our sim lab, looking

at the traces. There were thousands of sim

runs flown during the life of this project.

The plotter had ink pens which caused

many problems, as they tended to clog up

when not used for some time (like over the

weekend). The pens were also quite messy

and got ink on everyone’s elbows or

shirtsleeves and ties. The plotter was just

the right height to rest your elbows on. A lot

of coffee got spilt there, too!

One of the jobs of the X-15 flight planners

was to prepare for each flight, which

included selecting the launch site and

practicing emergency landings. Later in the

program, the M-H energy management

computer aided in the emergency-landingsite selection. The flight planners had to do

this job as a part of each flight preparation.

Flight planning also included the job of

trying to integrate all the maneuvers the

many research engineers wanted the pilots

to perform during the flights. In addition,

the flight planners were trying to “expand

the envelope.” This envelope expansion

process was an important “step-by-step”

investigation of the performance limits that

the FRC has used in most all of its flight

programs. There were several flight planners, over the years: Dick Day, Warren

Wilson, Jack Kolf, and others from the

FRC, and Bob Hoey from the AFFTC.

SDS 930

The X-15 sim was used for many years

and underwent several major modifications. The first major mod was replacement of the initial cockpit with the iron

bird. The next was the addition of a SDS

930 general-purpose digital computer.

This was a state-of-the-art small-scale

digital computer. It was originally intended to be used to simulate a special

purpose airborne digital computer that MH was building for the X-15 aircraft. We

never programmed the SDS 930 for that

particular job. Later, a special purpose

computer was built to simulate the

airborne M-H computer.

Originally, M-H had planned to build

another of its airborne computers (just

like the ones planned to go in the X-15)

for use in the simulator. M-H was behind

schedule and the extra airborne computer

never got built. At about the same time,

we in the FSL were thinking about buying

a general-purpose digital computer to

provide the extra function generation

capability needed for the No. 2 X-15.

When we learned of the M-H problem

with its airborne computer, we offered to

buy the digital computer and connect it to

the X-15 simulator, provided that the Air

Force buy us another analog computer

and the interface equipment to connect the

two different computer systems. The Air

Force (AF; actually, it was an AF contractor that was also involved in the X-15

Project—Litton Data Systems as I recall)

bought the interface equipment and had it

delivered to us in the FSL. This simulator

was not only a strange collection of

hardware but also had an even stranger

collection of participants. Many different

companies around the U.S. were involved

in the X-15 Project throughout its many

years of existence.

I was sent to SDS programming class and

set about programming this new set of

non-linear functions for our real-time allanalog X-15 simulation. Combined

analog/digital simulation techniques were

just then being developed within the

simulation community. This was a whole

new ball game—an environment that no

one at the FRC had any previous experience with. I had taken some introductory

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classes in hybrid (combined analogdigital) simulation at EAI and UCLA. So

as the lead X-15 programmer, I had the

job of integrating this new technology

into our analog simulation. It took a

while, but I did get the job done. The

analog simulation was modified so that it

could be switched between the old set of

non-linear functions (using the analog

function generators) and the new set of

No. 2 X-15 digital functions. We now

had an X-15 simulation that could be used

for all three X-15s again.

SDS Fortran

The use of digital computers in hybrid

simulations was still new. The Fortran

programming language was also quite

new, and very few computer vendors had

a real-time Fortran compiler and run-time

package available. Fortunately, many

SDS customers were buying their computers for real-time applications. Consequently, there was a lot of pressure on

SDS to develop a real-time Fortran (RTF)

system. We acquired this system, which

we used for a number of applications.

This turned out to be quite a challenge,

due almost exclusively to the state-of-theart of real-time SDS software.

Real-time software packages (such as the

RTF from SDS) were designed to respond

to real-time interrupts from external

events. There were several of these

signals used in the simulation program on

the SDS 930. The RTF, being so new, had

many bugs in it. We found more than our

share and spent many hours programming

work-arounds until SDS fixed its software.

SDS 930 Characteristics

The original SDS 930 used 1.75-microsecond silicon-logic circuitry. It had 8K of 24-

bit (word) memory. The memory was stateof-the-art iron-ferrite magnetic core. The

CPU (central processing unit) had an

arithmetic register, an index register, and an

auxiliary arithmetic register. These three

registers were 24-bit and used octal (3-bit)

arithmetic. The 930 was the first small

pseudo-parallel computer of its time.

Previous computers of that era, in this class,

were serial computers. In serial computers,

arithmetic and other operations were

performed one bit at a time, in serial. The

930 actually used a combined serial, parallel

process that did its operations on octal

characters in a serial manner. This structure

allowed the 930 to run about four times

faster then the previous (SDS 920) computer, while using the same speed silicon

logic. This was state-of-the-art in those

days. Today, you can buy school calculators

that are faster and have more memory than

the 930 we used in our X-15 simulator.

The operating system was not memoryresident. It was loaded into memory whenever it was needed. The system software

programs—Fortran, real-time Fortran,

Assembler, Utilities, and Libraries—were

all stored on magnetic tape. (Actually, the

original system was delivered with all this

software on paper tape. Was that ever slow!)

We had one 8-track magnetic-tape unit, one

card reader, one paper-tape reader and

punch, and an IBM Selectric typewriter.

These were the only input/output (I/O) units

that came with the original SDS 930. No

printer or cardpunch or hard disk. We did

not add a line printer until some time later.

The original program was written in the

SDS Assembly language. All arithmetic

and function generation was done using

scaled fixed-point arithmetic. Because the

operating system was on mag tape, we

wrote the binaries of the programs we

developed onto paper tape. It took over an

hour to assemble and punch out (on paper

tape) the original X-15 digital simulation

program. It took several hours to list this

program on the typewriter. It was probably a

good thing that there was only one person

programming the SDS 930 at that time,

considering how long it took to get anything

done.

Analog Interface

There were numerous D to A (digital to

analog) and A to D (analog to digital)

converters for input and output of the

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68

analog variables. There were priority

interrupts and real-time clocks (connected

to priority interrupts) that were used for

timing and other signals that required the

digital computer program to respond

instantaneously. We also had a large

number of single-bit on/off-type functions

(which were called discretes) that could

be connected to devices such as switches,

lights, and relays. These discretes were

connected to both the cockpits and the

analog computers. This collection of

interface devices allowed the two different types of computers to communicate

with each other. We acquired another

analog computer and added this to the X15 simulation. This additional analog

provided the connections to the digital

computer. There wasn’t any room on the

original analogs to handle the additional

circuitry and trunking required for the

SDS 930. Later on, when we started to

use the SDS 930 for other simulations, the

availability of this interface analog

computer made it quite easy to connect

those simulations to the SDS 930.

X-15 Simulator Sidelights

Dick Day, one of the flight planners for

the X-15 program, recalls the following:

I can think of several interesting

anecdotes that occurred while the

X-15 simulator was still at NAA

and we did our flight planning and

training in Los Angeles.

When [then-] Commander Pete

Peterson [joined] the X-15 program, we had several training

sessions for him at the NAA, Los

Angeles, facility. There were

periods during the training when

Pete would become confused and

suddenly pull all the way back on

the side-arm controller, producing

excessive indicated g-levels and

halt the run. It was soon discovered

that, at that time, the needle on

angle-of-attack (alpha) indicators

of the Navy airplanes that Pete had

been flying read the reverse of the

AF indicators, and every time there

was a lightly damped or unstable

alpha, Pete’s correction was

immediate and violent. Retraining

Pete was unthinkable, so the

solution to the problem was to

reverse the polarity on the instrument both in simulator for training

and on the actual X-15 for flight.

This worked perfectly, Pete never

PIO’d18 again either in training or

in flight. Of course, the instrument

had to be reversed to the original

polarity before a different pilot

would fly. This is a prime example

(and there are many more) of the

early analog simulator’s large role

in safety-of-flight.

The X-15 simulator was not programmed

to handle landings. The visual cues that

the pilots normally used for landing any

airplane (the out-the-window views) were

not readily available and were quite

expensive. In addition the precision

needed to calculate parameters such as

altitude and rate of climb/descent for

landing studies was not really possible

with the parameter scaling used for the

rest of the flight. Analog computers were

accurate to about one part in ten thousand.

For the X-15 simulation, with altitude

scaled such that 400,000 feet=100 volts,

one tenth of a volt was equal to 40 feet.

Any altitude less than this value would be

down in the noise level of the analog

components and barely detectable. It was

not possible to accurately calculate

altitudes for the landing phase of the X-15

within these scaling restrictions.

The pilots found that the F-104 could be

configured to provide similar characteristics to the X-15 during the final approach

and landing phases, and this became the

preferred simulation method for landing

practice. Larry Caw did, however, mechanize a simple 4 DOF simulation of the X15 for studies of the X-15 landing gears.

18 I.e., created a pilot induced oscillation of the airplane.

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69

This simulation calculated the forces and

moments that occurred during touchdown

and rollout of the X-15.19 This simulation

was done at the request of Jim McKay.

Jim was a research engineer at the FRC

and, with Eldon Kordes, documents this

study in a NASA Technical Memorandum

(TMX-639, 1962, item 342 in the bibliography). This TM discusses landing loads

and dynamics of the X-15 airplane. The

paper talks about loads measured during

actual landings of the X-15 and also

discusses the purpose and results of the

simulation. Early X-15 landings showed

that the pilots landed the vehicle in a

similar way on each flight. Because there

was so little difference, an analog simulation study was conducted to study a wider

variation of factors. The forces that

occurred on the landing gear were quite

significant because of the locations of the

nose wheel and the rear skids. The

moments that were generated by the

locations of the nose wheel and rear skids

caused larger forces than the actual

touchdowns. After the initial touchdown

on the rear skids, the nose would rotate

downward and then slam down quite hard

on the front wheel. The simulation was

conducted to see if relocation or redesign

of either part of the landing gear would

reduce these loads. Changes were made to

the landing gear over the years as the X15 evolved, mainly due to increased

weight.

X-15 Simulator Deficiencies

In 1964, Milt Thompson wrote a paper for

a SETP conference entitled “General

Review of Piloting Problems Encountered

During Simulation and Flights of the X15” (item 412 in the bibliography). In this

paper, Milt talked about the differences

between the simulator and the real aircraft

and the problems that the pilots had to

deal with because of them. Many of the

differences were due to extra costs

associated with including particular

features or hardware and the decision(s)

made to not include these additional

features simply because they cost too

much. For example, the cockpits did not

provide any motions at all. The cost of

adding six degrees of motion to the iron

bird was prohibitive. Most of the first

group of pilots did get to fly the simulations that were implemented using the

centrifuge at the Johnsville, Pennsylvania,

facility. However, the pilots who entered

the program later did not fly the centrifuge simulation. This lack of real motion

simulation caused some problems when

these pilots actually flew the X-15s. In his

paper, Milt said:

Prior to my first flight, my practice

had been done in a relaxed, head

forward position. The longitudinal

acceleration at engine light forced

my head back into the headrest and

prevented even helmet rotation. The

instrument-scan procedure, due to

this head position and a slight

tunnel vision effect, was quite

different than anticipated and

practiced. The acceleration buildup

during engine burn (4g max) is

uncomfortable enough to convince

you to shut the engine down as

planned. This is the first airplane

I’ve flown that I was happy to shut

down.

Engine shutdown does not always

relieve the situation, though, since,

in most cases, the deceleration

immediately after shutdown has

you hanging from the restraint

harness, and in a strange position

for controlling.

Milt went on to discuss other differences

between flight and simulator, and concludes his report with the following

paragraphs:

Although relatively sophisticated

fixed-base simulation of the X-15

was generally satisfactory for

flight-mission studies and flightenvelope-controllability investiga19 Since the X-15 used rear landing skids rather than conventional landing gear, the “rollout” was really more of a slideout.

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tions, it was unable to predict all of

the flight problems experienced,

particularly when differences in

aerodynamics, control system, or

cockpit equipment existed between

simulator and airplane. A constant

updating of the simulator is therefore required. Absence of acceleration, motion, or visual cues in the

simulator has limited the adequacy

of pilot training for specific flight

phases and sometimes resulted in

surprises or in-flight problems.

The actual flight environment must

still be investigated, since the

effects of apprehension and anxiety

on the pilot cannot yet be simulated. It is simple to evaluate a

flight condition on a simulator, rate

it subjectively, and reset when you

lose control. Until a reset capability is provided in the airplanes, the

success of a mission is still up to

the pilot.

These words from Milt’s paper point out

the love-hate relationship that frequently

existed between the pilots and the simulators. They really appreciated the simulations for what they did but were the most

outspoken about what they didn’t do. And

heaven help us if there was something

implemented incorrectly,20 as happened

on many occasions. It was at the insistence of the pilots that we got the money

(directly or indirectly) to include those

capabilities that originally were neither

budgeted nor even considered. This paper

by Milt is included in the appendices and

is well worth reading in its entirety. I was

not able to interview Milt for his inputs to

this paper. He died only one week after I

retired from NASA in 1993. I suspect that

if I had been able to interview him, many

of his comments would have been the

same or similar to what is in that particular publication. Milt wrote a number of

other publications during his career at the

FRC, several of which are included in the

bibliography.

20 While reviewing this part of the study, Bob Kempel made the following comment: “We found in the lifting-body program that it

was far better to give the pilots no impression . . . than [to give them] the wrong impression.”

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General Purpose Airborne Simulator

(1960-1975)

In May 1960, the Center acquired a

Lockheed JetStar, a small jet passenger

transport, and equipped it with an onboard computer system to simulate the

flight characteristics of a wide range of

aircraft. The JetStar was also equipped

with an electronic variable-stability

flight-control system. It was called a

General Purpose Airborne Simulator

(GPAS), and the aircraft could duplicate

the flight characteristics of a wide variety

of advanced aircraft. It was used for

supersonic transport and general aviation

research. Later on, it was used as a

training and support system for the Space

Shuttle Approach and Landing Tests at

Dryden in 1977.

No matter how sophisticated our groundbased simulations were, they could not

provide the visual and motion cues that

are a part of every flight. On many

occasions, the visual and motion cues do

influence the performance and judgment

of the pilot. The GPAS was developed to

provide these and other simulation

capabilities. Photos ECN-1346, ECN2399, and E-27824 show the GPAS and

its computer system. The left-hand seat in

the cockpit was modified to be the test

pilot’s seat with the modified controls and

displays. The right seat was for the safety

pilot and had the normal controls and

displays.

My only real involvement with this

simulator was to help buy the analog

computer that was installed in the airplane. The GPAS was a flying simulator

that had an analog computer inside. This

computer was used to model the dynamics of another airplane or to mechanize

another experimental flight-control

system. There were special controls and

other equipment that essentially forced

the real airplane to follow the model

programmed on the analog computer. The

Cornell Aeronautical Laboratory (CAL),

Ken Szalai and

GPAS Computers

(1974). (NASA

photo ECN-1346)

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72

Inc. of Buffalo, New York, modified the

JetStar to be the GPAS. Several reports

were written describing the design,

development, and validation of the GPAS.

There were many reports describing the

many studies that used the GPAS. The

bibliography contains references to a

sampling of these many reports.

This airborne simulator was flown at the

FRC in the mid-to-late 1960s. After

acceptance testing, the analog programming task was handled mainly by the FSL

folk. Actually the FSL provided more

than just analog programmers. John J.

Perry of the FSL became the GPAS

project engineer. Larry Caw and Dick

Musick provided programming and

maintenance support for the analog

computers and flew on many missions.

The personal accounts of Stan Butchart,

Dwain Deets, Bob Kempel, John Perry,

General Purpose

Airborne Simulator. (NASA photo

ECN-2399)

JetStar (GPAS)

Simulator (September 1974).

(NASA photo E27824)

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73

Larry Caw, and Dick Musick all include

comments about their experiences with

the GPAS. There are some interesting

tales of events that happened with this

simulator.

Process-Control Analog Computer

The analog computer that was finally

selected and ordered was built by EAI

using that firm’s process-control analog

computer (TR-5) components. Normally

these components were programmed very

much like the original EAI TR-10 portable analog computer. The TR-5s were

±10-volt, solid-state (transistor) analog

computers. The original TR-5s did not

have a patch panel. Each analog component had patch cord holes directly on the

front of the component. These were

essentially the same components used in

the early TR-10, but “ruggedized” for

harsh-environment use. These components were located in the computer in

such a way that one could connect them

using patch cords as if there were a

removable patch panel. The photo ECN

1346 of the inside of the GPAS shows

these components in the cabinet on the

left and the holes for the patch cords can

be clearly seen.

For the GPAS, the computer system had

been modified so that all analog components were connected to a patch-panel

bay, and a patch panel (visible in photo

ECN 1346) was used when programming

this particular computer. The EAI processcontrol analog components were designed

to be used for manufacturing processes in

which there were infrequent changes to

the program. These process-control

computers were usually installed inside a

cabinet that could be locked. Consequently, there was no need for a removJetStar (GPAS)

Computers with

H. Rediess (in

back) and D.

Musick (September 1974). (NASA

photo E-27825)

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74

able patch panel. The process-control

components were also designed to withstand the harsh environment found in a

typical factory. The GPAS needed a

computer that could withstand the forces

and vibrations that would be encountered

during flight and the temperatures inside

the plane when it was in the hangar and

not being used (especially during the

summer months). The TR-5 processcontrol analog computer was suited to this

environment.

The complement of analog components

and their patch-panel arrangement had

been determined by the engineers in the

Control Systems Branch of the Research

Division. These engineers (Dwain Deets

and Ken Szalai) were heavily involved in

the development and acceptance testing of

the GPAS and did all the early programming of the on-board analog computer.

This computer was connected to the

JetStar systems for input and output. One

of the two pilot’s controls (stick, rudders,

throttles, etc) was modified to provide

inputs to the analog model. The calculated

outputs of the model were sent both to the

simulation pilot’s cockpit instrumentation

and to special circuitry connected to the

JetStar’s control systems. This special

circuitry forced the JetStar to follow the

signals calculated in the model and

thereby force the airplane to fly just like

the vehicle being simulated in the analog

computer. The other (safety) pilot’s

controls were unchanged, and the safety

pilot was always ready to take over the

controls if the GPAS got into some

situation that was dangerous. There were

several exciting situations that happened

during some of the more risky maneuvers.

They had those in the passenger compartment looking for parachutes and barf bags

at the same time.

The GPAS could simulate another airplane whose dynamics were the same as

or slower than the basic JetStar. It was not

practical to force the JetStar to be a more

dynamic airplane.21 The GPAS was better

suited to simulating larger, heavier

airplanes than smaller, more maneuverable ones.

Interesting GPAS Sidelights

When the EAI TR-5 analog computer

components were delivered, they were to

be sent directly to CAL for installation in

the JetStar, which was there being modified. Several of us went to Buffalo to

discuss delivery and acceptance of the

computers prior to their installation in the

JetStar. As it turned out, there was another

group from the FRC also there–for some

work on the airplane modification process. Our flights back to California were

the same morning after both groups had

finished their work at CAL. Since we had

the evening to ourselves, both groups

decided to go to Niagara Falls for a little

sightseeing and for dinner. We also made

reservations for a concert by Kate Smith

who was performing locally. Kate was a

popular singer of that period with a

powerful soprano voice. This happened to

be during the winter, and the drive to

Niagara Falls was quite scary because of

the icy roads. The Falls were mostly ice,

and very little water was actually falling.

The Seagram Tower (which overlooks the

Falls) was still being built, but the restaurant at the top was open for business.

Although the elevator was operational at

the time, some of us (pseudo-macho

types) just had to climb the stairs (at least

10 stories, as I remember) to get there.

The dinner was quite good, but the

restaurant hadn’t received its liquor

license at the time, so we couldn’t have

drinks with our dinner. One of the group

ordered baked Alaska for dessert, and

since it could not be served with the

traditional flaming brandy, it was served

with a (4th of July-type) sparkler. Cute.

The concert, with Kate Smith, took place

on a theater-in-the-round type stage. It

was superb. Our seats were in the second

21 I.e., oscillate faster or respond more quickly to a pilot’s or control system’s input.

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row, and the music with Kate Smith

singing was fantastic. That was the first

time I had ever seen her in person, and we

all enjoyed every minute of the show.

Our flight home the next day was also

quite interesting. There was a very nasty

winter storm moving through the Midwest. We weren’t sure when we left

Buffalo if we were going to get home that

day. We changed planes in Chicago. Both

groups from the FRC were on the same

plane. Somehow because of overbooking,

or whatever, several of us ended up in

first class on the flight from Chicago to

Los Angeles. I was sitting next to Jim

McKay (who was with the other FRC

group). Our seats were near the food

preparation area. Both Jim and I had

noticed, as we boarded, that as the flight

attendants were storing the bottles of

champagne, they hid several bottles (we

suspected for an after-flight party).

Because of the bad weather, we had to sit

and wait on the taxiway quite a while for

an opening between storm cells before the

plane could take off. Therefore, the

champagne (excluding the bottles that had

been hidden) ran out even before we took

off. Or at least that is what the passengers

were told—but Jim knew otherwise. He

kept pestering our attendant for another

glass of champagne. Although he never

threatened to say anything about the

hidden bottles of champagne, the attendant knew he knew.

Some time later, after we had gotten

airborne and above the storm clouds and

had been served dinner, our attendant

decided to grant Jim’s request for more

champagne. She probably figured Jim

would quit pestering her. All along, I had

said nothing to her—in spite of Jim’s

many requests for more champagne. I

knew we were in for a very rough trip

because of the bad weather, and I didn’t

want any champagne. Drinks with carbon

dioxide in them are not the best things to

be drinking during rough flights. Not for

me, at least. Anyway, she brought us what

appeared to be cups of coffee (in the usual

Styrofoam cups). But the contents weren’t

really coffee. They were mostly champagne with a dash of coffee to make them

look like coffee. Jim didn’t seem to mind

and drank all his. I had never had champagne with coffee before, and it tasted

horrible to me. I did drink some, but only

because I didn’t want to disappoint the

attendant. It was a long, difficult flight for

the attendants. They really earned their pay

that night, with the weather the way it was.

The plane was full with a lot of folks

wanting to get out of there and just get

home. The first-class seat was enough of a

bonus for me. It was a luxury I rarely

experienced as a government employee.

Government travel regulations generally

prohibit the typical government employee

from arranging such accommodations.

That takeoff and climb-out was by far the

steepest I have ever experienced on a

commercial jet. I felt like I was lying in a

hammock. And it was very turbulent. Kind

of scary. But it was the only way to quickly

get through and above the storm cells. I

was in no mood for lukewarm coffeeflavored champagne. The first part of that

trip was the closest I have ever come to

getting sick on an airplane. We could look

out the window and see the thunderheads

all around us. There was a lot of lightning,

also. As we got close to the top of the

clouds, we could see the moon, which was

almost full and which created a very eerie

outlook between the tops of the thunderheads—pretty and surreal at the same time.

To shift from flying commercially to flying

the GPAS—which in some ways was not

all that different—Bob Kempel, who

worked on one GPAS flight program,

recalls:

I remember when Larry Caw was

assigned to the JetStar. He became a

very good real-time analog programmer. We were looking at

different control schemes for riding

qualities as I remember it. I remember the incident when we were

airborne and we were looking at

different feedback schemes. I had

mechanized a beta [sideslip] feed63
76

back. Well, as you know, signs

[sign conventions] were sometimes

confusing. Fitz Fulton was the

pilot. The sign on beta was wrong,

and we ended up with a dynamically unstable airplane because of

it. We turned on the system for Fitz

to evaluate, and the airplane

immediately began an oscillatory

divergence! Larry and I were in the

back hollering to Fitz to turn it off,

but Fitz was intrigued with the

thing so he wanted to watch it as it

diverged or maybe just teach us a

lesson. He finally punched the

thing off and Larry and I sighed in

relief. Larry changed the beta-input

sign, and we proceeded with the

test.

The JetStar was a fun airplane to

fly in, but I always had a feeling of

impending doom or something else

going wrong. Herm Rediess was

my boss at the time and when he

wanted me to fly in the thing all the

time I told him “thanks, but no

thanks,” and I don’t think Herm

ever liked that. Don Gatlin can tell

you about the incident where they

almost tore the wings off. I think

Musick was aboard that flight too.

The particular flight that Bob is talking

about was the last flight of the GPAS. The

aircraft got into a serious flutter problem

that almost shook the wings off. This

flight was on 7 May 1975. Following the

flight, the airplane was restored to a

standard JetStar configuration and used

for a number of other research programs

in following years. John Perry talks about

this incident in his personal account. Don

Gatlin, the project engineer on the GPAS

at the time, provided the following in

response to my inquiry about this incident:

I was not on that particular flight. I

was the project engineer and was

monitoring the flight from the radio

room in the pilots’ office. I believe

Dick (Musick) was on board and a

KU [University of Kansas] grad

student whose name I don’t remember. [Actually, it was Dick Musick

and larry Caw.] Don Mallick was

the pilot, Stan Butchart in the right

seat. I don’t believe we even

scheduled telemetry so there was

no real time record of the event. As

I remember, we got a call that

“We’ve had a problem here. Get

someone up to look us over.” Betty

Callister and I sent Gary Krier up

in an F-104 to check them out.

Stan told me afterward that as the

limit cycle went on, he just looked

out the cockpit window to see

where they would crash as he

believed the wings would be torn

off. As I remember, there was no

damage, although the airplane

required a thorough inspection

before flying again.

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Hybrid Simulation

Systems (1964-1976)

The beginning of the hybrid (combined

analog and digital) era in the FSL started

even before we expanded the all-analog

X-15 simulator to include a digital

computer. I took my first class in hybrid

simulations more than a year before we

started to buy our first digital computer.

Also, the vendors that were making those

analog computers were constantly expanding their systems to include more and

more digital capabilities. Digital logic

components and a separate digital logic

patch panel had been added to the newer

lines of analog computers. In addition, the

internal mode control system had become

more digital in nature. The paper-tape

servo-set pot subsystem gave way to a

subsystem that also allowed a digital

computer to do this job. The analog mode

control (reset, run, and hold) was eventually digitized and controlled from the

internal circuitry, the logic patch panel, or

an external digital computer. These

changes evolved over a number of years

and were brought on by the many users

who requested more and more digital

computer capabilities. The consistency

and repeatability of digital computers

were gradually being added to analogs. In

addition, the analogs were being built so

that they could be interfaced and used

with digital computers.

The aircraft we were simulating were also

becoming more advanced. The instrumentation in the cockpit was more complex,

with digital displays and digital computers providing the inputs to the instruments. The aircraft controls were changing, with more control surfaces, and

stability control systems being added to

augment the pilots’ inputs. The pilots’

controls were also being changed and

becoming more complex to simulate. The

aircraft were becoming more dynamic in

nature, with increased maneuverability

and performance. All these factors forced

the evolution of the equipment we were

using to build the simulators. The basic

analog computers could not keep up with

these changes. At first we added digital

logic and other digital-like functions to

simulate the needed features, but this, too,

was not enough. The only way to really

simulate some of the newer features and

functions that were needed was to add a

general-purpose digital computer to the

analog systems. The digital computers not

only provided the additional computational capabilities needed to simulate the

addition systems in the aircraft but also

added a variety of set-up and operational

functions that improved the daily use of

the computer facility. All of these will be

discussed in the following parts of this

section.

Users were asking, moreover, that the turnaround time in getting an analog computer

reprogrammed for the next simulation

become as short as possible. Analog

computers were expensive, and the turnaround time between simulations was taking

too long and costing too much. Tying the

analogs to a digital computer allowed some

analog functions to be controlled by that

digital computer. It also allowed the use of

the digital computer for those computations

better suited to the digital. We now had

three different types of computational

capabilities available for developing

simulations: analog, digital, and hybrid.

Moreover, the digital computer could now

be programmed to handle set-up, check-out,

and operational-run-time management. The

pots could be set by the digital computer

and check cases run automatically, which

greatly reduced the time to change over to

another simulation. The digital computer

could also be used to calculate check cases,

to draw the maps that were frequently used,

and to handle other set-up needs. All these

features now allowed the research engineers

to load up their simulations and then run

them without having to have a simulation

programmer do these tasks for them. The

simulation contractor-support staff took care

of switching the instrument panels and other

such tasks involved in getting the cockpit

ready. So instead of a simulation being set

up and kept on the analogs for weeks at a

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time, we now had a sim lab that could be

scheduled in 2- and 4-hour segments,

thereby allowing for many different simulations to be scheduled each week. It took

several years to get to this point, but that is

what buying digital computers and tying

them into the analogs did for the FSL. The

following tells how that all came about.

Many of the following paragraphs tend to

be more technical than those in the preceding sections and are included for those

interested in such technology. Many of the

subjects to be discussed are specifically

about features and capabilities of the class

of digital computers and digital logic used

in hybrid computers. The topics are not

always related to specific aircraft but are

features that were needed in the real-time

simulations that we were implementing. For

this reason, some readers may want to skip

parts of this section. I have assumed some

knowledge of digital computers and do not

always define some of the terms I use. The

computer industry has spawned an enormous number of new words and acronyms,

and even new definitions to very common

words. It is almost impossible to write about

computers without using some of the terms

of the trade. To avoid these terms would

distract from the story, as would pausing to

define every term.

In order to use this hardware in real-time

simulations, we had to become intimately

familiar with what the hardware did. And

unfortunately, in talking about how we did

this, I have to describe in some detail how it

worked. Many of the problems we had in

dealing with the computer’s hardware,

software, and vendors would be difficult to

describe without this detail. We had many

problems that were due to the nature of our

application and the newness of the use of

general-purpose digital computers for realtime use—in particular when combined

with the analog computers we already had.

We were not alone. Many other simulation

laboratories were also having to contend

with this new technology—combined

analog and digital simulation. Several of us

in the FSL belonged to the Simulation

Councils Inc. (SCI), a professional organization for those involved in one way or

another with computer simulation. The role

of SCI evolved over the years, from analog

to hybrid to digital methods of simulation.

We went to many different meetings, both

locally (in Southern California) and nationally. The national meetings of SCI were, for

many years, scheduled at the same time and

place as the national computer conferences.

In those years, the national meetings

occurred twice a year: once in the eastern

part of the United States and the other in the

west. The western conference was almost

always held in Los Angeles, San Francisco,

or Las Vegas. Because these cities were

close, we were able to go to many of these

western meetings of the SCI. These conferences provided an excellent way to meet the

vendors and see the newest equipment. The

conference presentations were also a good

way to keep up-to-date on just what others

around the country were doing with their

simulation equipment.

Patchable Digital Logic Units

In the FSL, hybrid simulation actually

began with the purchase of a set of digital

logic components that were meant to be

used very much like analog computer

components. They were connected with

patch cords. This happened shortly after

we started using the X-15 simulation—

about 1963. The racks of digital logic

modules were mounted in some spare

rack space in the third X-15 analog

computer. The digital logic included AND

and OR gates, flip-flops, and digital

relays. The voltage levels of these components were only 0 volts and 5 volts

(which represented 0 and 1). Using these

components and some black boxes (built

in-house), we were able to breadboard

(build preliminary logic circuitry for)

simple hybrid devices such as a digital-toanalog (D/A)22 converter. The black box

22 A digital-to-analog converter converts a number in digital format to the equivalent number as an analog voltage. An analog-todigital device does the opposite, converting an analog voltage to the equivalent digital number.

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needed in this case contained the precision

resistor ladder used as the voltage divider.

An analog-to-digital (A/D) converter was

also possible, but a little more complicated.

It was essentially a high-gain analog

summing amplifier with a D/A converter in

the feedback. I don’t remember if any of

the other analog programmers ever used

these units, but I had a lot of fun trying

different things. It was a good way to try

this digital logic with analog circuitry,

which helped us to better understand the

use of these capabilities.

Early Hybrid Computers

This type of digital logic was eventually

added to the analog computers we bought

later, such as the EAI 231-RV and the two

Applied Dynamics AD-4 analogs. EAI

sold a hybrid system, which was called

the HYDAC (Hybrid Digital and Analog

Computer). The HYDAC included an

EAI 231-RV and a digital logic computer

that had a large assortment of digital

components. The HYDAC did not have a

general-purpose digital computer in it;

however one could be connected with

interface equipment, such as A/Ds and D/

As. We never bought one of the EAI logic

computers. The sort of simulations we

were doing did not use enough digital

logic to justify buying that part of a

HYDAC. We were able to get by with

relays, diodes, and similar components to

implement those functions that had

unusual characteristics—such as limits or

hysteresis or deadbands.

However, this type of digital logic did not

satisfy all of the requirements resulting

from the ever-increasing complexities of

the aircraft being simulated. The only way

to really provide all the needs was to

interface analog and digital computers

together and use each for what they were

better at doing.

Photo ED00-0091-1 shows a typical

Applied Dynamics hybrid system with an

AD-4 analog computer on the right. This

photo was taken in the early 1970s and

shows just how much smaller hybrid

systems had become by then. This was

due to the solid-state electronics used at

that time. The AD-4 Hybrid System did

have a general-purpose digital computer

in it. The digital logic and digital operations modules were included on the same

patch panel as the analog modules. We did

buy two of the AD-4 analog computers

later on for use with the CDC CYBER

73-28. We did not buy the digital computer portion of the AD Hybrid System

Applied Dynamics

AD-4 Computer

System. (NASA

photo ED00-0091-

1)

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(the computer rack on the left side in

photo ED00-0091-1).

Integration on the Analog Computer

Until digital computers became fast enough

(or the really fast ones became cheap

enough that we could afford them), we were

forced to go with the current-day small

digital computers. Even then, these computers were not fast enough to do a complete 6

DOF simulation. There were several

approaches as to just how much of the 6

DOF equations of motion would be

squeezed into the digital computers and

how much would be implemented on the

analog computer. The approach initially

chosen by the FSL was to do the integration

(with respect to time) of the accelerations

and velocities on the analog and to use the

digital computer to calculate the actual

accelerations and velocities. The digital

computer calculated the right side of the

equations of motion, which including doing

the function generation of the nonlinear

coefficients. The analog was also used for

the cockpit interfaces, the output displays

(strip charts, recorders, plotters, etc.), and

any control-system simulations. This

separation of tasks between the analog and

digital computers remained constant until

the FSL bought a second digital computer—

an SDS 9300. The 9300 was a faster

computer than the 930. It had true parallel

bit processing of its 24-bit words and ran

about four times faster than the 930 with

essentially the same silicon logic. However,

this still wasn’t quite fast enough to do all of

the integration on the digital. The later

versions of ICARUS23 did do the integration of the longitudinal equations. The

frequency content of the lateral directional

equations was still too high for digital

integration. The FSL eventually got a digital

computer that was both big enough and fast

enough. This occurred when the FRC

received the CDC (Control Data Corp.)

CYBER 73 in 1973, along with the special

analog interface hardware and software that

also had been built by CDC. (See photo

ECN-6375 of the CYBER 73-28.)

23 The ICARUS (Immediate Checkout Analog Research Unity Scaled) program is described in detail in a later part of this section.

CYBER 73-28.

(NASA photo

ECN-6375)

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The hybrid systems described in this

document are those that were mechanized

before the switch from analog integration

to digital integration. This is an arbitrary

point in time, since analog computers

were used for many years after this date

for cockpit interface and even some

control-system simulation. Even today’s

highly sophisticated digital flight simulations still have some analog circuitry in

them. But there are no general-purpose

analog computers involved in the mechanization of the equations of motion. This

end to the analog and hybrid simulation

eras, while arbitrary, is easily accepted.

However, it was really all the other

problems that were characteristic of

analogs that led to their phase-out for

flight simulation.

Analog computers had a number of

undesirable characteristics that we had

to deal with—signal-ground problems,

amplifier drift, limited precision, warmup times, crosstalk, extensive set-up

times, fuses, and other things. These

problems that were inherent in analog

computers are what eventually led to

their replacement with all-digital

simulations. Unfortunately, all-digital

simulations still don’t provide a number

of the insights that are sometimes

needed to understand the processes

being modeled. In addition, the alldigital simulations are still sampled

data systems moving though time in

short but finite steps. While these time

intervals are getting smaller and smaller

(as the computers get faster and faster),

they are not yet truly real-time or

parallel in nature, as are the pilots that

fly them. But they are good enough,

and that is what simulation is all about.

The First FSL Hybrid Simulation

The X-15 simulation was the first hybrid

simulator in the FSL. It did not begin that

way. The accident to the number two X15 in late 1962 and the resulting changes

that were made during its reconstruction

forced us to have to deal with a major

change in the simulation. The nonlinear

coefficients were different due to the

addition of the external tanks to the

number two X-15. The plane also had a

longer body with the addition of another

fuel tank for the ramjet studies planned

for that particular X-15.

This need to modify the simulator occurred about the same time as Minneapolis Honeywell (M-H) was having trouble

in fabricating the airborne computers that

were to be used in the X-15. M-H was

behind schedule in this fabrication and

would not have time to build a back-up

unit that was planned to be used with the

simulator. Since the FSL was in a position

of having to expand the X-15 simulator

for the number two modifications, we

agreed to buy a general-purpose digital

computer, provided that the Air Force pay

for the interface equipment needed to

connect this general purpose digital

computer to the all-analog X-15 simulator.

This digital computer would be used to

provide the additional capability needed

to handle the different number two X-15

nonlinear derivatives. The new computer

would also be used to simulate the M-H

airborne computer. This was agreed to,

and we set about buying the digital

computer and interface hardware.

The thought of building up another set of

function generators like those already in

use was probably considered, but not by

me or any of the other X-15 simulation

programmers. We had had enough of all

those fuses and dinky pots. The idea of

using a digital computer to do this job was

unanimously and immediately accepted.

No discussion was needed. We were going

hybrid.

The Digital Side of the FSL

We bought the SDS 930 computer after

we had gone out with a competitive

solicitation. We were not even aware that

this particular model existed. It was so

new that SDS had not started to advertise

it. The FRC Radar/Telemetry (TM)

group—on the third floor of Building

4800—had an SDS 920. Our statement of

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work was for a computer of the 920 class/

speed/capability. The 920 was state-ofthe-art for that class of small scientific

computer. We were quite surprised when

SDS proposed its newest model—the 930.

The 930 was about four times as fast as

the 920 and all the other computers in this

class. This speed factor led us to select the

SDS 930. I now had my very own digital

computer to program.

First SDS 930 Out the Door

The 930 that SDS delivered was the first

one built using its regular manufacturing

production line. We got number six. The

first five 930s had all been built in the

engineering department as a part of the

development process. Because we bought

the very first 930 that was delivered, SDS

seemed to bend over backwards in subsequent dealings with us. I guess it was

proud of the fact that a NASA facility had

bought one of its newest computers. This

extra attention went all the way to the top.

There were a few problems later on that

involved the SDS sales or service staff.

They were resolved by the president or the

vice president. The fact that we could call

the president directly was a useful tool in

dealing with the company.

SDS 930 Characteristics

Some of the really great features of the SDS

930 were the memory access capabilities

that were included in its design. It had

direct memory access for its data channels. Most of the other computers (in this

class) required the use of the arithmetic

unit to handle memory access during data

input or output operations. The SDS 930

had several types of data channels that had

direct memory access and did not need the

use of the computer’s arithmetic registers

for memory access. This meant that

almost all types of input or output (I/O)

could be initiated and data would flow in

or out of memory without interfering with

the CPU doing its work. Interrupts were

tied to the data channels and would trigger

when events happened—such as the end

of data flow or if something had happened

to stop this flow (i.e. end-of-record,

malfunction, etc.). The analog interface

equipment used this direct-memory

feature, and thus this form of I/O could go

on in parallel with CPU operations. Large

volumes of data could be read or written

without interfering with what the CPU

was doing. This capability of the SDS 930

was a big selling point, and many of these

computers were sold because of this

direct-memory access feature. It provided

some of the advantages that the larger

mainframe computers had with respect to

the smaller scientific class of computers,

especially for real-time applications such

as aircraft simulations.

Our SDS 930 included the basic CPU

with 8,000 words of 24-bit-word ferrite

core memory. The initial operating system

was on paper tape and was not memoryresident. (The mag-tape version came

later.) The memory-resident part of the

operating system was small and included

a bootstrap, a few standard constants used

by all the SDS software, and a very small

routine that loaded the operating system

into memory whenever it was needed. (A

bootstrap routine was a small program of

only a few instructions that loaded itself

into memory and then followed this by

loading a larger, more comprehensive

loader routine.) Fortunately the paper-tape

unit had a winder/rewinder. The systemsoftware paper tape filled a 10-inch reel.

The bootstrap, the standard constants, and

the priority interrupt transfer instructions

occupied the lowest memory and used

another 200 words of memory. This was

the state of the art, then. Today’s computers with their nanosecond instruction

times, megabytes of memory, and

gigabytes of disk storage weren’t even

imaginable then.

The silicon logic cards in the 930 were

about 6 by 8 inches in size and contained

one or two basic circuits, such as a couple

of AND gates, flip-flops, or one-shots.

There were thousands of wires running

everywhere in the CPU chassis. All these

wires were connected using wire-wrap

equipment. When the wire wraps were

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installed correctly, they provided excellent connections and could be removed

and refastened in the field by maintenance

technicians. In addition, SDS provided

diagnostic routines that could pinpoint the

exact circuit board that was malfunctioning. Generally, all we had to do to fix a

hardware problem was to run the diagnostic, and then swap the sick circuit board

with a good board. We had bought enough

spare circuit boards to fill several storage

cabinets. The sick circuit boards were

returned to SDS for repair.

Program Debug Process

As the only 930 programmer for many

months, I had the entire computer to

myself during the development and debug

phase of the X-15A-2 simulation program. There were no debugging tools

available—especially for real-time code.

Debugging a real-time program, in those

days, meant sitting in front of the

operator’s console, stepping through the

instructions one at a time, and examining

the results of each instruction. Really! Try

doing that today. The computer console

could display the main computer registers

involved in the instruction execution. The

display had several 24-bit registers, where

each bit had a small light indicating if the

bit was zero or one. The 930 CPU had one

arithmetic register (called the A register)

where an operand (the data item being

operated on) was loaded before the

instruction was performed. The instruction itself was first loaded into the instruction register (called the C register). There

was also an Index register (called the X

register) that was used to determine the

memory address of the operand or storage

location. It could be used for repetitive or

looping operations on a sequential group

of operands. And finally there was a B

register that was an extension of the A

register and allowed for double-word

operations. These four registers (A, B, X,

and C) along with the memory addresses

of the instructions and operands were

about all we could look at. This, however,

was enough for us to actually debug our

real-time programs. It took a long time,

stepping through instructions one by one

and checking the arithmetic, branching,

and analog input or output, but that was

really the only way to do this part of the

checkout with the equipment we had. Not

only did we have to check every instruction this way, but we had to try every

different path through the code. Every

option had to be tested using all the

appropriate input values. Fortunately,

there weren’t too many different paths to

test.

It was mandatory to have taken the SDS

programming class. This was the only way

to quickly get up to speed on the Assembler, Loader, and other software that SDS

provided. The class was where I learned

the many basic machine instructions and

how to write Assembler code. Without this

class, it was almost impossible to develop

software of any kind. The X-15 program

was written in the SDS Assembler language, which took the input instructions

(on punched cards or paper tape) and

turned them into machine-readable

instructions. The input instructions were

called the source code and were written by

the programmer. The SDS Loader took the

machine-readable instructions and put

these into memory in machine-executable

form. The printed listings provided by the

Assembler gave us the information that we

needed while we stepped through instructions (i.e. executed the instructions

manually, one at a time). By knowing

what each instruction was supposed to do

and knowing what the operand was, we

could determine if the program was

calculating the right results.

Remember this was all in internal data

format, which is certainly not how we

learned to do arithmetic in grade school.

Binary arithmetic in twos-compliment form

is a long way from the decimal arithmetic

we learned in school. In addition, all the

equation’s variables were in a scaled format

similar to the scaling used in analog computer programming. We not only needed to

know what the parameters were but the

scaling factors that had been applied when

the analog program had been implemented.

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In the X-15 digital program all variables

were scaled to ±1.0 as the maximum. This

is similar to scaling the analog variables to

the ±100-volt range of the analog computers. The D/A and A/D converters used this

same scaling.24 Consequently the input

parameters were already scaled and we just

used this scaling in the calculations in the

digital computer.

Input/Output Routines

Some of the first routines I had to write

were the ones needed to read in the data

that was used in the X-15-2 simulation

program. Although SDS did have a library

of general-purpose subroutines for the

card reader, typewriter, and paper-tape

reader/punch units, we were not able to

use most of these as they were too general-purpose in nature and therefore took

up too much memory space. For our

programs, we had to write our own

shorter, simpler I/O routines. Since the

X-15 program calculated so many nonlinear coefficients for the number two X-15,

getting all this data into memory was an

important part of the program. In fact

reading the data was the first thing the

program did. This data was constantly

being updated as the number two X-15

flew, the research engineers wanting to

update the data in the simulation to match

what they were getting from flight. In the

beginning, this data was read from

punched cards. Once the data was read, it

was converted from the alphanumeric

characters to the proper internal binary

format. After all the data was read,

converted, and stored, it was possible to

punch this data along with the entire

program out on the paper-tape punch in a

memory-dump format that was easily

reloadable. Thereafter (until the next

change in coefficients), this paper tape

was all that was needed to load the X-15

simulator digital program. The entire

program with all the data filled an 8-inch

reel of paper tape. Reading this tape took

quite a while. The program almost

completely filled the 8K memory.

That’s right—8K (or, to be precise, 8,192)

words of 24-bit memory for both the

program and all the data. That sounds sort

of ludicrous now, considering the advances that have been made in computers

since then. But that is all we had—and

that was enough. We had to make some

sacrifices in our design and coding to

get everything to fit in this limited space.

The only one I can remember that may

have had an impact on the quality of the

simulation was having to limit the data

files (for all the nonlinear derivatives) to

a smaller size than was desirable. The file

size was quite adequate for the data we

had. As mentioned above, we could not

use the standard SDS-supplied I/O

routines. They were just too big and had

a number of capabilities that we could do

without. The ones I wrote were barebones code that did not check for any of

the possible hardware malfunctions that

could happen while data was being read.

If the card reader crunched a card or the

paper-tape reader tore the tape, we just

stopped the load process, repaired or got

another copy of the card deck or tape,

and restarted the load process. When you

are the only user, you can make these

choices. You don’t have to worry about

any other programs that might also be

running.

Computer Program Listings

In the beginning, we only had the typewriter for the printed listings generated by

the assembler. This was slow. It took

hours to type out the complete program.

Because of this, there were many times

when the program was re-assembled

without a new printout—especially if the

changes were only a couple of instructions. We just marked up the last printout

24 An analog value of +100 volts was converted to +1.0, zero volts was +0.0, and -100 volts was a -1.0 in the digital computer. The

digital computer really didn’t know what scaling had been applied to the numbers it did its arithmetic on. The programmer had to

keep track of this throughout the entire program. The scaling assumed maximum values of 1.0. Therefore the numbers we were

working on were really a decimal (actually, the binary equivalent), which when multiplied by the maximum value gave the correct

value for the parameter.

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with a red pencil and used it. This was OK

if the changes were minor and did not

affect the addresses (memory locations) of

the instructions or operands by more than

one or two locations. But after several reassemblies without a listing, the listings

got so marked up with pencil changes that

it became almost impossible to determine

the actual memory addresses. This made it

very difficult to debug the program. We

then had to take the time to assemble the

program with a new listing. I tried to

schedule these assemblies so that I could

take my lunch break while the computer

typed the printout. This situation also

meant that, when I was working graveyard

shift, I could not start one of these assemblies (with listing) during the last hour of

the shift. That would have interfered with

the day shift and the training or flightplanning activities. We eventually bought

a line printer when we expanded the 930.

That was a welcome improvement to the

operation of the computer.

Paper Tape

There were two forms of the paper tape

we used. One was a black all-paper tape

for temporary files. This was oiled and

this oil got all over our hands and stank

like mineral oils usually do. The oil also

caused the rubber bands (that were used to

keep the rolled-up tapes rolled up) to get

quite soft and mushy after a while. When

this happened, we had to throw the roll of

tape away and punch another copy from

the master tape. There was also a green

Mylar-reinforced paper tape. This was

quite strong and almost impossible to tear.

The system software and all the utility

routines came on this green tape. We had

boxes and boxes of these tapes in cabinets. All sorts of utility routines. The

larger software programs, such as the

Assembler, operating systems, mathematical routines, etc., usually came on aluminum reels. Each programmer had a

personal collection of the utility routines

that he or she used most. We carried them

around much like today’s computer nerds

carry their diskettes and CDs around in

their backpacks. We spent a lot of time

coiling these shorter utility tapes up and

were always getting paper cuts on our

fingers. If you set a roll of the black tape

down on a piece of paper, it would leave a

doughnut-shaped oil ring on the paper.

Nasty stuff!

We also used the green tape for our final

output tapes, after the source-code assembler had finished its work. The green tape

was not oiled, which was good. It also

cost a lot more. However, the green tape

was hard on the punch and caused it to

wear out quickly, so we did not use it until

we were ready to punch out the final

memory-dump (self-loading) tapes.

Because of the Mylar (between two layers

of paper tape), it was a lot easier to cut

your fingers with the green tape than with

the black kind.

None of these supplies were stocked in

the local warehouse in those days. We had

to keep track and order supplies when we

needed them. Fortunately the guys in the

TM lab, with the SDS 920, used the same

stuff, and we were always borrowing from

each other when our orders were late.

SDS Programming Classes

The basic programming classes were not

long enough to really cover in detail the

writing of input and output routines or the

individual instructions for the specialpurpose analog interface. I talked my boss

into letting me contract for a week of SDS

programmer support. I spent two days at

SDS with different programmers learning

how to write I/O routines. The first day

was a total waste, and I really got nothing

accomplished. The second day, a different

SDS programmer was assigned to help

and this turned out to be most productive.

His name was Rider Anderson and he was

very good. We designed the digital

program for the basic X-15 simulation

that day. We even started on some of the

I/O routines. With this start, I was able to

completely write and debug all the I/O

routines for the X-15 simulation program

in about one week. This included the cardreader input of the data, the paper-tape

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routines, and typewriter routines. I also

had to write routines to convert the input

data from alphanumeric characters to the

proper internal binary format. For someone who had never written digital computer programs before, I was quite proud

of myself to do all this in about one

week—in Assembly language—with the

limited peripherals we had. Following

this, I was also able to write, in about two

more weeks, all the function-generation

code that did the actual interpolation for

the nonlinear coefficients and the realtime I/O routines to read the analog

inputs and to write the calculated coefficients back to the analogs. It took a lot

longer to actually check out all this code

than it took to write the programs in the

first place. I did make a third one-day trip

to SDS to go over what I had done with

Rider Anderson, but by then the program

was nearly complete and I really didn’t

need any more help.

I never used the other two days of the

contracted programming support. SDS

did eventually offer a more comprehensive course covering its computer’s data

channels and peripherals. SDS also

provided a one-week class devoted to its

special-purpose data channels—such as

the analog interface. These types of

interfaces had a special class of instructions, which was not covered in the basic

classes. This class was also helpful for

when we got the SDS 9300. The I/Os in

these two different computers were quite

similar. I was able to take this class about

two years after we had received the

original 930.

NASA did this to me on several occasions—that is, allowed me to attend a

class I needed to do my job, many years

after I actually started doing that job. For

example, I started buying computer

systems in about 1958. That was when I

wrote my first-ever statement of work

(SOW) and automated data processing

(ADP) acquisition plan. An ADP plan

was a set of documents required by

NASA Headquarters to justify a computer procurement. I finally got to go

to a class on how to write statements of

work in 1992, the year before I retired.

Timely? By then, I had written well over

40 quite lengthy SOWs for all sorts of

computer systems. Come to think of it, I

never really had a class on basic analog

computer programming. That was something else I learned the hard way—by

doing it.

But that is the way analog computers

were; you could actually teach yourself

how to program one of them. Too bad

digital computers weren’t quite the same.

Maybe that is why I never chose to defect

from the FSL and transfer to the digitalprogramming branch in those days.

Analogs were a lot more fun. It helped to

have a good sense of humor and a ton of

patience to cope with all their frustrating

idiosyncrasies. Digital computers never

had the same appeal, even though I spent

more years programming them than I ever

did programming analog computers.

Analog Interface

The interface equipment between the

analog and digital computers was very

state-of-the-art and built by SDS. There

were A/D converters, D/A converters,

priority interrupts, real-time clocks, and

single-bit discretes.25 The real-time clocks

were programmable and allowed us to

generate timing signals (connected to

priority interrupts), which we used to

slave the calculations to a preset interval.

We were able to use a 10-millisecond

frame time for the X-15 simulation. The

converters were also timed by this clockinterrupt.

The analog inputs had simultaneous

sample and hold circuits on each channel,

which made it possible for all the analog

inputs to be sampled at the same instant,

then converted to digital and read in a

25 A discrete is a single-bit data value (of zero or one) and is used to represent those types of data that only have two distinct values—

such as on or off, switch up or down, light on or off, true or false.

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sequential manner. Also, the output

parameters from the digital computer were

written to the D/A converters, which were

double-registered, whereby the outputs

were written sequentially to the first register

in each D/A and then all these registers

were transferred to the final output registers

simultaneously. This technique eliminated

time-skew differences and the problems that

were associated with using parameters (in

the equations) that were not sampled

simultaneously.

The discretes were single-bit data items and

usually connected to such things as

switches (as input parameters) and cockpit

lights (as output signals). These discretes

were hard-wired to individual bits in a 24-

bit register. There were instructions to read

these 24-bit registers on input or to write to

similar registers for output. The basic 930

instruction set included the instructions to

test or set the individual bits or groups of

bits together.

Priority interrupts were similar to discretes,

in that a single input line was connected to a

single interrupt. These interrupts—for

example, the analog computer mode control

or a timer—were connected to signals that

required the computer to respond immediately. The interrupts were ordered in a

hierarchical chain. This meant that the

programmer had to select the order of

priority for the interrupt routines. When a

priority interrupt occurred, the CPU would

first determine if any interrupts of higher

priority were active. If so, the new and

lower priority interrupt(s) would have to

wait. If there were no higher priority

interrupts active, the new interrupt would

then become active and the routine tied to it

would be run. If the active interrupts were

of lower priority, the routine tied to the new

and higher interrupt would be run to

completion, after which control would be

returned to the interrupted lower priority

routine(s).

The real-time clocks were tied to priority

interrupts. We had several of these special

clocks, but rarely used more than one. The

real-time clocks had two modes. They

could be set to generate a continuous timing

signal that could be set anywhere between 1

and 1x223 microseconds. The clock could

also be set to generate a single interrupt

signal (also between 1 and 1x223 microseconds). We rarely used this second mode,

except during check-out of timed routines.

Normally, we just started the timer at the

appropriate interval desired for the particular simulation. In the beginning, this frame

time was 10 milliseconds. During the

following years, as the calculations got

more complicated, the frame time grew to

50 milliseconds. This occurred during the

latter days of the hybrid period and especially when we started to do all the programming in Fortran on the Cyber 72

computer in the middle ’70s. This 50-

millisecond time interval was about as long

as could be tolerated for the aircraft simulators of those days.

930 Expansion

Several years after we bought the 930, it

was expanded to its maximum size in

terms of memory (from 8K to 32K). The

number of D/As, A/Ds, single-bit

discretes and priority interrupts were also

expanded to at least twice the original

configuration. We were really into hybrid

simulation, and getting the digital computer expanded permitted us to do even

more with it. For one thing, the X-15

program, while still the main user, was not

using the 930 all the time. Since the 930

was only needed for X-15-2 simulation

practice or flight-planning purposes, it

was available for other simulations. Other

simulations were also developed to use

this 930. Having a larger computer

allowed us to better support this need.

Several of the FSL programmers had

taken classes at SDS and were also using

this computer. The SDS Fortran software

was available and the computer needed

more memory to handle the programs that

were being written in Fortran.

A Really Hot Computer

This additional memory was a sole-source

procurement, and it went OK. Or so we

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thought. In expanding the computer we

had to add another bank of power supplies. Both banks required 220-volt, 3-

phase service and the power lines in the

X-15 sim lab were rewired to accommodate the expansion. What we didn’t know

at the time was that in wiring up the

power, the electricians wired both sets of

power supplies incorrectly. Besides the

three phases, there were also a ground

wire and a neutral wire in the incoming

power lines. Somehow, the ground wire

got connected to only one bank of power

supplies and the neutral wire was only

connected to the other bank of power

supplies. Both of these lines should have

been connected to both banks. In spite of

this mistake, the computer worked, until

one day, about a year later, when someone

accidentally kicked loose the power cord

from one of the banks of power supplies.

The computer shut down, as you might

expect. Fortunately, the power cord that

was kicked loose was the one that had the

neutral wire in it. If the other power cord

(the one with the ground wire) had been

the one kicked loose, the entire cabinet—

including the outer metal skin—would

have been at 220 volts! That probably

would have seriously injured someone.

We were really lucky, that time! The

power cords were rewired.

Lots of Manuals

Another interesting (and funny) tale about

the 930 expansion had to do with documentation. When we wrote the specifications for the expansion, we asked for a

number of manuals. These were to be

delivered with the hardware. We asked for

20 copies of the several different programming manuals and 2 copies each of

all the maintenance manuals. Somehow,

the people who packed the manuals at

SDS for deliver sent us 20 copies of

everything, including all the maintenance

manuals. There were about three dozen

different maintenance manuals. And we

now had 20 copies of each of these—

boxes and boxes full. A small truck load! I

called SDS and explained what had

happened, and since all these extra

maintenance manuals were quite expensive, SDS agreed to send out a truck to

pick them up. The SDS plant was in Santa

Monica, California. The truck got to the

Flight Research Center in the afternoon.

We loaded all the extra boxes of manuals

onto the truck and it left. The next day, the

same truck was back, the same manuals

were unloaded at our warehouse, and the

truck left before anyone called me. (After

all, the shipping labels still said these

were for us.) Apparently, when the truck

had arrived at the SDS warehouse the

night before, the boxes were unloaded and

just left on the dock. The next morning,

the day-shift crew found these boxes

sitting there, decided that they were ready

to be delivered and sent the truck back

out, but with a different driver. The driver

from the day before wasn’t there to stop

this from happening. This time when I

called SDS, I was told to throw them

away. We did.

In spite of these strange happenings with the

SDS computers, we had a good working

relationship with the company. Its offices in

Santa Monica were in a very nice locale to

go to for programming classes. It was close

to the beach; it was nice and cool; and there

were many really good restaurants in the

near vicinity of the classrooms. This

included (or so we thought) the best place in

all of the Los Angeles area to get prime

rib—Cheerios—at the junction of Ocean

and Pico Boulevards. Everyone who went

there agreed with us. And collectively,

among all of us, we had tried every other

highly touted prime rib restaurant in the Los

Angels basin. That slab of prime rib, very

nicely aged, was as big as the plate, and at

least one inch thick. It was so tender you

could cut it with your fork. Many of us

continued to go there, even after we no

longer had SDS computers.

SDS was a small company, and we got to

know many of the top brass, including the

president and founder. I was even offered

the opportunity to buy 100 shares of stock

when it went public, at only $25 a share.

Unfortunately, I had to turn down this

offer—some sort of conflict-of-interest

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concern. I kept track of the stock for

several years, until SDS merged with the

Xerox Company in 1969. At that time the

stock had gone up by almost a factor of

19. That $2,500 worth of shares I was

offered was worth over $47,000. That was

a lot of money in those days. It still is.

SDS Maintenance

We had a very turbulent experience with

the maintenance of the SDS 930. We

contracted with SDS to provide both

preventative and corrective maintenance

services. From Santa Monica it took

several hours for an SDS maintenance

man to get to the FRC after we had called

about a hardware problem. Fortunately,

there were computer diagnostic routines

we could run, which were able to isolate

specific circuit boards that were malfunctioning. These diagnostics proved to be

quite handy. On many occasions, especially during night shift, I was able to

diagnose and change out circuit boards to

fix a problem. There were several times

when the SDS repairman had been to the

FRC, done his thing, and left to return to

Santa Monica, whereupon the computer

broke down again. Now we had to wait

for him to get back to the shop before he

could be sent back. This was long before

cellular phones existed.

SDS eventually had a maintenance man

living in the high desert. Its policy was

that it would not provide a local maintenance office unless there were at least

three computers in the same vicinity. The

Jet Propulsion Laboratory had a tracking

station at its Goldstone facility near

Barstow that also had computers maintained by SDS. The FRC had an SDS 920

computer in the telemetry facility, on the

third floor. Because of these three SDS

computers, all in the high desert, SDS

hired a technician who lived in the

Palmdale area, and he was able to get to

the FRC, usually within an hour, to fix

hardware problems. This arrangement did

improve the response time in getting our

hardware problems fixed. We also bought

a large supply of every type of circuit

board used in the SDS 930. Unfortunately

there were parts of the computer for

which we did not have spares—such as

power supplies and the memory units.

When one of these parts failed, we just

had to wait until they were replaced with

good parts.

Most computer companies (in those days)

took four hours to respond to maintenance

calls to our area. Very few computer

companies had local facilities staffed for

maintenance calls anywhere in the high

desert. Almost all these calls were to

offices in the Los Angeles area, and it

took at least four hours for those companies to respond. We had other maintenance contracts that stipulated four-hour

response times. I guess SDS considered us

to be good customers. The fact that SDS

930 computer we bought was the first one

delivered was both good and bad, for we

did have some unusual problems that were

most likely due to our computer being the

first one out the door. On the other hand,

we did get a lot of support from the top

managers at SDS. I think they liked the

idea that NASA was using one of their

computers for the X-15 project. This

project had a lot of visibility both locally

and nationally.

Salesman of the Month Club

During the next couple of years (following the delivery of the SDS 930), SDS

seemed to have a lot of trouble in keeping

a sales representative in our area. There

weren’t a lot of sales opportunities out in

the desert. There was one year when we

actually had 12 different sales reps

assigned to the area. A couple of these I

never met and only talked with over the

phone. When we were getting ready to

expand the 930, and had the money and

specifications ready to go, I called the

sales rep (of the month) and asked him if

he could come up and discuss our requirements. He agreed to a date but never

showed up. When I called and asked what

had happened, he gave no excuse and

agreed to another date about a week later.

Again he never showed up. This meeting

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was rescheduled for a third time. Still, he

never showed up and never called to say

why. This time my boss called the SDS

president and mentioned that we were

ready and willing to buy but his sales

representatives seemed to have some

aversion to driving out to the desert. The

very next day we had a brand new sales

rep show up to help us out. I don’t know

what happened to the “no-show” guy. He

may have been fired, because I never

heard of him again in subsequent visits to

the SDS facility in Santa Monica.

ICARUS

The ICARUS (which was an acronym for

Immediate Checkout Analog Research

Unity Scaled) program was a digital

computer program that calculated the 6

DOF equations of motion of a typical

airplane (see list below). The computed

accelerations and velocities were output

(via D/A converters) to an analog computer. There, the accelerations were

integrated with respect to time to get the

velocities and the velocities were integrated with respect to time to get the

angles or distances. These quantities were

then input to the ICARUS program (via

A/Ds converters) and used in the calculations for the accelerations and velocities

according to the equations of motion.

ICARUS calculated a large number of

nonlinear coefficients of three variables.

We programmed any control systems

needed by the particular airplane being

simulated on the analog computer. Also

the analog computer was the interface to

the cockpit and all such signal conditioning was programmed using the analog

components or a special-purpose cockpit

interface box. The pilots’ inputs were also

input to ICARUS through A/D converters

for use in the equations.

ICARUS was written in Assembly

language, originally for the SDS 930. It

was later ported to the SDS 9300 that we

bought in 1967. Initially, ICARUS ran

using a 10-millisecond clock. However,

since most of the airplanes of those days

could be simulated using a 20-millisecond

frame time, we set about re-configuring

the SDS 930 real-time operating system to

allow us to run two different ICARUS

programs simultaneously, using the SDS

930 computer. This was a big improvement in permitting the FSL to support all

the many simulations asked of it.

ICARUS was written using fixed-point

(scaled-integer) arithmetic. It was possible to reprogram ICARUS for airplanes

that varied from the norm. That was

discouraged to maintain a certain standard

to the hybrid simulations. But basically,

ICARUS remained as it started out to be.

This was a very successful program and

definitely was worth the effort spent in its

development. I was able to use it for the

Short Take-Off and Landing (STOL)

simulations, even though the STOL

aircraft had a number of nonlinear coefficients of four variables (see the section on

STOL Simulations for more on this

simulation). ICARUS was developed and

programmed by Lowell Greenfield and

Don Bacon.

Before ICARUS was put into general use,

it had to be validated. This testing involved trial runs using both all-analog and

hybrid simulations of the same airplane

and comparing results obtained. It took

several weeks, but the ICARUS implementation proved itself equal to the task

and was accepted as the preferred method

from then on. The HL-10 lifting-body

simulation used ICARUS on either the

SDS 930 or SDS 9300 and one or more

EAI 231R analog computers. This particular simulation was the first to use

ICARUS. Don Bacon talks a lot more

about ICARUS in his PA in the section on

FSL Personnel’s PAs.

ICARUS was used for the following

aircraft:

Lifting Bodies (M2, HL-10)

F-8 Digital Fly-By-Wire

YF-12

Hyper 3 Remotely Piloted Vehicle

STOL

Oblique Wing

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AD-1

F-4E

F-8 Oblique Wing

F-8 Supercritical Wing

JetStar

PA-30

Shuttle (Approach and Landing Tests)

Wake Vortex research

Lightweight Fighters—YF-16, YF-17

F-18 (engineering studies)

F-104

T-33

T-37

As can be seen from this list, ICARUS

was used for many different projects.

Several, such as the Lifting Body and

Digital Fly-By-Wire (DFBW) were very

important projects for the FRC. For

programs like the F-8 DFBW, the mechanization of the computer portion of these

simulators was not the most important

aspect of the program. The F-8 DFBW

program led to the development of aircraft

electronic control systems that are used in

many of today’s military and commercial

aircraft. The software development,

testing, and certification that went on

using the F-8 DFBW simulator is the real

story behind this simulation. This was

done using the “iron-bird” cockpit that

was installed in the same lean-to that had

housed the X-15 iron bird. Photos ECN7074 and E-23594 show the F-8 DFBW

cockpit and some of the hardware and

wiring that tied it into the hybrid computer system in the Sim Lab and the

airborne computers on which the software

was developed. There are many papers

and reports about this project. A book

chronicling this project has now been

written (James E. Tomayko, Computers

Take Flight: A History of NASA’s Pioneering Digital Fly-By-Wire Project, NASA

SP-2000-4224.)

The ICARUS program along with the

quickly changeable EAI 231-RV and

cockpits resulted in a large number of

simulations sharing the same hardware

and being scheduled for two- and fourhour periods each day. Weekly schedules

were prepared, usually for two weeks at a

time, and re-done each week because of

the somewhat variable flight schedules.

The early era of simulations’ being able to

use a computer (or computers) for weeks

on end was essentially over. Projects that

needed more than two-hour time periods

frequently worked second shift. The

ICARUS/Hybrid systems provided an

almost assembly-line mode of operation

that was a long time in the making. This

went on for several years until those

F-8 DFBW Iron

Bird Cockpit.

(NASA photo

ECN-7074)

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computer systems were replaced by the

CDC CYBER 73.

DUHOS

DUHOS (Dual Hybrid Operating System)

was a special real-time operating system

we had developed under contract to allow

us to run two different simulations (such

as with ICARUS) simultaneously on the

SDS 930 computer. This was my first

experience with a competitive solicitation

for a software development system. We

had over 20 proposals from companies all

over the United States. It took quite a

while to evaluate all these proposals and

narrow the field to the best qualified.

There were lots of small companies that

were developing software systems.

However, very few of them had much

real-time experience, and only a couple

had any experience with using combined

analog/digital computers. We had asked

for an operating system that would allow

us to use the SDS Real-Time Fortran,

Assembler, Loaders, and Libraries in a

F-8 DFBW Iron

Bird Cockpit.

(NASA photo

ECN-7075)

DFBW Simulation

(Early—pre IronBird—in Lean-to,

September 1971).

(NASA photo E23594)

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two-user (only) time-shared mode. We did

not have enough memory to run more

than two at a time. This was during the

very early days of such time-shared multiuser operating systems. Most of the

proponents had experience with multiuser, transaction-based systems that were

being developed for on-line applications,

but few had any true real-time simulation

background or even knew what the

difference was. Fortunately, there were

several companies that did have the

proper experience.

DUHOS was developed and written by

CUC (Computer Usage Company, Los

Angeles, California). The SDS 930 had

been expanded to its maximum size. Its

instruction format only allowed for

executable code to reside in the lower

16K of memory. The upper 16K could

only be used for data. There were instructions that allowed the programmer to

store and access anything in the upper

16K of memory, but only as operands and

not instructions. DUHOS ran two

ICARUS simulations, using the lower

16K for executable code and the upper

16K for the data for the two different

simulations. Each simulation used 10

milliseconds (or less), and both simulations were run at a 20-millisecond frame

time (i.e., 50 frames per second). DUHOS

was written so that each simulation could

be operated completely independently of

the other. For example, it was possible to

have one simulation in full real-time

operation, slaved to an analog computer

for run/reset/hold control modes and the

second simulation in the process of

loading the data required by the program.

The two simulators were completely

independent and could be in any mode

needed for set-up, checkout, and operation. The normal operating system for the

SDS-930 was not a multi-user real-time

system. It was not designed for more than

one user at a time. The DUHOS required

that the system routines be able to handle

two different users essentially simultaneously. Most of the operating system

software was neither re-entrant nor

recursive, although SDS’s Real-Time

Fortran system had these capabilities.

Compared to today’s computers, this

probably doesn’t sound like anything

significant. But this was quite a feat for

the computers of that era—especially in

view of the fact that the 930’s basic

instruction cycle time was 1.75 microseconds and most instructions took two or

more of these cycles to execute. CUC

took about a year to design and implement DUHOS, working mostly on second

and third shifts (and lots of weekends).

Unfortunately, the lead programmer (John

Swanson) quit about three-fourths of the

way through the contract. Swanson had

previously worked for SDS and was

involved in the development of SDS’s

Real-Time Fortran system. He was an

avid bridge player—one of the best in

California—and he quit so that he could

spend full time in preparation for an

important national bridge tournament that

was coming up. This really hurt CUC and

it took an extra three months (on a ninemonth fixed-priced contract) to finish the

job. The company took the FRC to court

in the attempt to get the extra costs paid, but

to no avail. The extra costs were only about

$8,000. The original contract was about

$75,000 (as I remember) and should have

been finished in nine months.

The DUHOS program was not written to

run on the SDS 9300 we bought for the

Lifting Body Program. The 9300 was a

faster computer, with more of its operatingsystem memory resident than was true of

the 930. The instruction format allowed a

program to directly access any wordinstruction or data in its 32K memory. Also,

the 9300 SDS Real-Time Fortran was much

better and we started to use it in addition to

the SDS Assembly language for our digital

programs. The analogs we were buying had

servo set pots and could be reprogrammed

in less than an hour. This meant that we

could change over from one simulation to

another, including the cockpit, in about an

hour. Our simulations programs were

getting bigger and bigger, which also

prevented us sharing the 9300 between two

typical simulation programs. Because of the

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increasing usage of the 9300 with ICARUS,

the 930/DUHOS/ICARUS usage declined

and the computer eventually was surplused

to get it out of the old X-15 simulator area

of the FSL. The X-15 Program had ended

and the analog computers used for the

simulator were surplused. The Center

wanted the office space for other uses and

the 930 was going to have to be moved.

Rather than do this, FSL management made

the decision to get rid of it. The useful life

of the new DUHOS had also ended. One of

the computer facilities at UCLA requested

the SDS 930 and we donated it to the

university.

I’m not sure what UCLA used this computer for. The cost of maintenance was

getting higher each year as the company

lost interest in providing people or parts.

This maintenance problem seemed to

always plague us in the FSL (and many

other customers), as the computers we

bought got old and the original manufacturers quit supporting them. There were many

companies that sprouted up to provide

maintenance of older-generation computers.

The computers of those days were expensive, and not like the throw-away PCs that

are being bought nowadays.

SDS 9300

When we bought this computer, via a

competitive procurement, SDS’s proposal

included a fully developed interface to our

newest analog computer. Our new analog

(an EAI 231-RV) included very sophisticated digital logic and digital automatic setup capabilities. SDS also, unfortunately for

the company, bid its interface to this

analog’s set-up hardware at no additional

cost! This turned out to a mistake on

someone’s part at SDS, but it was in the

proposal, and was a significant factor in

SDS’s being selected. It was free to us. It

took SDS about one whole year to design,

develop, and debug this software. A lot of

the analog automatic set-up circuits were

relay- and servo-based, and developing

digital logic and software to tie into this

type of analog hardware was an extremely

frustrating process. Getting the digital

circuitry in the SDS 9300 to work closely

with this analog circuitry was accomplished

only with a lot of patience and ingenuity, a

lot of sweat, and a great deal of trial and

error. This digital/analog circuitry seemed to

function as erratically as the temperature in

the sim labs. The SDS programmers slaved

for weeks to get the many digital subroutines operational. The sad part of this story

is that we never really used this specialpurpose software that SDS gave us. We

never used that portion of the new 9300

interface that allowed the digital computer

to control the mode of the analog computer,

either. Our simulations were still set up so

that the digital computer was slaved to the

analog computer. That had been our

philosophy all along, and we never changed

as long as we were doing hybrid simulations.

Who’s The Boss

In the world of hybrid simulations, there

seemed to be two different philosophies

concerning the slaving of the two different

kinds of computers. The larger camp, which

included most of the analog/hybrid

computer manufacturers, contended that

the digital computer should be the master

and the analog computer the slave. The

hybrid systems they were selling were

designed around this philosophy, including their operating system software. The

smaller group, which included the FSL,

always had the analog computer as the

master and the digital computer software

was slaved to what was happening on the

analogs. The digital computer program

would just sit and wait for something to

happen in the analog world. This seemed

more like real life than the other way

around. To us, slaving the analog world to

the discrete happenings of a digital

computer seemed backwards.

The special-purpose software was designed to allow the program in the SDS

9300 not only to control the operating

modes of the analog (i.e., reset, operate,

hold, etc.,) and the A/D and D/A interface

but also to set all the servo-set pots on the

analog computer. We never used that part

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of the digital software, either. We always

set the pots either manually or with the

paper-tape reader. This method was

actually faster and more reliable than

other methods.

SDS 9300 Acceptance

Because of this mistake by SDS in its

proposal, we could not take acceptance of

the 9300 computer and interface until

almost one year after it was installed.

Fortunately the HL-10 Lifting Body

Project took a long break due to stability

problems on the very first HL-10 flight.

That forced the Program Office to back

off and study what had really happened.

Until the problem was found and fixed,

the simulation was not really needed. The

problem turned out to be flow separation

over the afterbody, resulting in severe

handling characteristics. Modifications to

the vehicle were designed and tested in

wind tunnels to correct the problem. Once

the vehicle was modified, the pilots found

it to be a very nice craft to fly, and they

all wanted to do so. By then the simulator was operational.

SDS had several programmers using our

computers, mostly on second and third

shifts, for a number of months trying to

get its software operational. It seems

strange that the company would even

propose such a subsystem when it did not

even have the proper analog computer

system to develop and test the software

and interface that it proposed. SDS was

forced to use ours on a time-available

basis or buy its own computer. Because

we could not officially accept the computer, we were only allowed to use it to

convert our 930 software (that was to be

used to run acceptance tests) and to

become familiar with the different operating system and other software. Any other

usage would have been in violation of the

contract. So, the 9300 sat there almost one

full year before we could really use it for

anything productive. This also allowed

the SDS programmers to use the 9300

during the day shift when the EAI 231-RV

computer was not being used.

Applied Dynamics, Inc. AD-4

Analog Computers

The FSL bought two AD-4 analog computers from Applied Dynamics, Inc.

(ADI), in 1970. These were the most

sophisticated analog computers we had.

Don Bacon, Larry Caw, and I attended an

AD-4 programming class that was being

taught by Applied Dynamic at the Atomic

Energy Commission Facility in Oak

Ridge, Tennessee. This facility had also

bought some AD-4s and had contracted

with ADI to teach the class at its site. We

were able to get seats in the class. Otherwise we would have had to wait for the

next normally scheduled class, which if I

remember correctly would have been after

our computers were delivered.

Photo ED00-0091-1 shows an ADI AD-4

Hybrid Computer System. The computer

on the right is the analog computer similar

to our two AD-4s. The computer on the

left is the digital computer. Since we were

going to use our AD-4s with the new

central computer system, we did not buy

the digital computer part of the hybrid

system.

The AD-4 analog computer had a large

amount of digital logic, including functions not previously available with the

EAI analogs. After the AD-4s were

accepted, they were used with the 9300

digital computer, and the EAI computers

were eventually surplused. The Rocket

Site26 did opt to get the EAI analogs

about a year after they were surplused.

The AD-4 analog computers were bought

for use with the new digital computer that

was being bought for the central data

processing center, known as the CYBER

73-28. The specifications for the interface

to that digital computer were based on the

two specific AD-4s that we bought, which

were not the standard AD-4s. ADI also

26 An Air Force facility on Edwards AFB where rocket and missile testing and development occurred.

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marketed a hybrid system that included

an AD-4 as the analog half of that

system. The standard AD-4 was built to

interface easily with the ADI digital

computer. Consequently our AD-4s

were slightly different. This led to some

problems later on, since CDC developed its analog interface on information

it had gotten from ADI, which turned

out to be incorrect. However, our

statement of work (SOW) for the digital

computer and analog interface very

clearly specified that the new digital

computer had to be interfaced with our

specific analogs. CDC had to make

some changes to the interface system

after it was installed at the FRC. This

caused some problems during the

checkout and acceptance of the new

digital computer.

Since the new software that we used (see

below) was a full 6 DOF simulation, with

digital integration, many of the capabilities

of the AD-4s were never really used. This is

particularly true of the digital logic units on

the AD-4s. The AD-4s soon became just

cockpit interface systems. After several

years and especially after the special inhouse-built cockpit interface units were put

into use, the AD-4s were no longer needed

and were also surplused.

The only time I can recall working with

the AD-4s was during the acceptance

testing that we did upon delivery. I was

not able to complete all the testing, as I

was reassigned to the STOL Project to

handle its simulations needs. Don Bacon

had to complete the testing and acceptance. I don’t remember Larry Caw ever

actually doing any programming of either

of these two AD-4 analogs. Larry was

very much involved with the GPAS and

spent most of his time working on its

analog computers. Don had been promoted to a management position in the

Simulation Branch. There were none of

the older simulation programmers left,

which I am sure contributed to the poor

usage of the AD-4 analogs as an important part of the hybrid simulation capabilities of the FSL. The newer FSL programmers were more inclined to use the digital

computer for everything that could be

done there. Even the aircraft-controlsystems simulations eventually were

moved into the CYBER. Analog and

hybrid simulation was no longer the way

to go. The FSL had started a new chapter

in its evolution.

The history of that chapter will be told

elsewhere, but a key figure in the transition from the period of analog and hybrid

simulations to the digital simulations that

followed was Al Myers, who recalled his

early work at the Flight Research Center

and the FSL in an interview in 1998 as

follows:

I was with NASA from 1971 through

’81, for about ten years, which was

an interesting ten years. I came to

NASA as what I think was the last

Army detailee. When NASA was

originally created out of elements of

the Army’s Redstone Arsenal and the

old NACA, there was an exchange

program between the Army and the

NASA to cover the technical needs

over a transition period. After a

couple of years, the Army decided

they didn’t need any more NASA

people. But NASA, never turning

down a free help from the technical

side, continued it until the early

‘70’s. I know I was the last Army

detailee here. I think I was the last

one in the program itself.

When I came to NASA, I became

involved with the simulation activity

and what was then the Data Systems

Director. And it was an interesting

time in the technical history of that

technology. Because we were just at

the early stages of the transition

between doing simulation with

analog computers and moving into

the realm of doing them digitally.

And I just had the luck to have

arrived right at the right time and

kind of oversaw the transition from

one generation of technology to

another.

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97

At the time I came, major elements

of most of the simulation activity

we were doing—particularly those

that had higher frequency content

to them, such as the simulation of

the active control systems associated with the airplane or the

actuation system—the dynamics

were still being done in an analog

fashion. Also, doing a simulation of

a vehicle in an analog computer

that would have involved all of the

realm of flight dynamics at high

angles of attack, for instance,

simply was too complex a problem

to solve in anything but what would

have been a truly gargantuan

analog simulation.

And we found right at this time that

we were soon to be in need of the

ability to simulate that. And the

program that really kind of initiated

that was an RPV [remotely piloted

vehicle] program—one of the first

research RPV programs the Center

took, which was a three-eighths

scale F-15. And that program’s

aircraft went on to become known

as the Spin Research Vehicle. But

then its purpose was to examine the

high-angle-of-attack regime for the

Air Force’s new F-15 and to get

some actual flight experience in

that regime prior to the time the

full-scale airplane was going to be

flight tested in the same regime.

And initially it was felt that the

ability to simulate airframe dynamics at high angles of attack with no

small angle approximations and

equations of motion was simply not

within the state of the art of the

computer systems at the time.

Fortunately, that turned out to not

be the case. And at the same time

we were able to do that, we also

moved the digital computation

from the realm of Assembly

language into the realm of doing

things in Fortran, which had the

additional benefit that a wider

circle of engineers involved in the

program itself could participate and

understand the implementation of

the simulation and the controlsystem code.

And we went on to simulate the F15 through the full range of angle

of attack up to 90 degrees, as a

matter of fact, and to simulate the

entire F-15 MCS and SCS control

systems—both the mechanical

control system and the electronically augmented augmentation

system that overlaid the MCS, and

were actually able to both develop

and understand the spin modes of

the aircraft and to develop recovery

techniques on it. That caused a little

bit of consternation initially,

particularly with the F-15 prime

contractor, McDonnell Douglas,

who held that the airplane couldn’t

be spun. The contractor personnel

ultimately determined that the same

spin modes were, in fact, possible

on the full-scale aircraft. So that

was an interesting program and an

interesting point in time, not only

from an aerodynamic (aeronautics)

perspective, but also in terms of the

technology and support and the

ground aspects of it—in this case

the simulation.

It was also the period in which we

were about at the height of our

lifting-body programs. We’d been

in them a few years. The M2-F3

was still flying right at the tail end

of the HL-10 program and we were

just getting started on the X-24, all

of which were genuinely fascinating programs at the time.

Also, I came to Dryden right at the

completion of the test activity of

the first phase of the F-8 Digital

Fly-By-Wire program. During the

first phase the aircraft had been

converted to a fly-by-wire system,

which utilized the Apollo flight

computers. These were extraordi85
98

narily reliable but rather limited in

terms of the amount of memory

and from the computational

through-put point of view. At the

time, the program was getting

ready to redesign that system to a

triplex system using a more modern

flight computer. It turned out we

picked the IBM AP-101 computer,

which was an airborne-worthy

system. It actually turns out to have

been the predecessor of the systems

that were ultimately chosen for the

Shuttle. And the simulation technology activity and the F-8 Digital

Fly-By-Wire program were totally

intermeshed with each other.

We used the iron bird of the F-8 to

do all the flight systems qualification and, of course, the simulation

that provided all the simulated

inputs, if you will, to the iron bird

was an integral part of that. So I

had the real pleasure of participating in a rather direct fashion in the

qualification of that system on the

F-8. We learned an incredible

amount about the qualification of

digital flight control systems

through the experience of that

whole program—an amazingly

productive program—and really

did an excellent job of laying the

foundation for a whole new technology area in aeronautics, with

fly-by-wire clearly becoming the

new generation of military aircraft.

And now, in the last few years, we

see it also being implemented in the

commercial aircraft.

And the genesis for all of that and

how to go about developing and

qualifying that system was right

here at Dryden. It was also an

interesting program, from the

prospect that Dryden actually acted

as its own prime contractor.

Through that activity, we had a

number of subcontractors. But the

basic integration and development

activity was directed and done right

here at Dryden.27

CYBER 73-28

The CYBER 73-28 was to be shared by

both the simulation lab and the generalpurpose data processing facility. These

two different branches, up until then, had

been separate and independent. That

changed when we got ready to buy the

CYBER. We started working on this

procurement long before we even went

out for bid—even before the two groups

were re-organized into one division (see

below). Several of us were relocated to a

small office for the purpose of analyzing

the uses and needs of the two computer

facilities and preparing some sort of

design specification that could be used for

the SOW for the procurement. CDC,

IBM, Xerox, Univac and others were all

very interested in our upcoming RFP.28

We talked with many different companies

before we ever started to prepare the

SOW for this procurement. Large hybrid

computers were not the norm, and of the

ones that had been developed, none were

exactly what we needed.

I remember working with some IBM folks

who were in the process of developing

hardware and software for combined

analog/digital simulations. IBM, while

mostly a business computer manufacturer,

did have an extensive line of scientific

computers, and it also was interested in

this new hybrid technology. Its hybrid

research facility was at the Stanford

research labs in Palo Alto, California.

During a period of about one year, I made

four or five trips (at government expense)

with our local IBM sales representative to

this facility, which had an IBM 7040-class

computer connected to an Applied Dynamics Inc. AD-4 analog computer. There

27 Interview of Al Myers by Peter Merlin, 14 Aug. 1998, copy on file in the Dryden Historical Reference Collection.

28 Request For Proposal, which is a solicitation for bids on a contract.

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99

were others from the FRC who went with

me on a couple of these trips. I’m not sure

that what we did was totally above

board—that is, helping IBM develop the

hybrid system that it most likely would

propose when we sent out our RFP.

When we finally sent out the RFP, the one

mailed to IBM went to its Los Angeles

office. This was the address that IBM

requested we send the RFP to. However,

all this work we had done with IBM and

its hybrid development lab in Palo Alto

was handled through the IBM office in

Riverside, California. This is the office

that was covering the high desert area and

Edwards AFB. The Los Angeles team that

IBM put together to write the proposal

knew nothing about what had been going

on for the last year. Apparently these two

IBM offices did not talk to each other

very much. The proposal they submitted

in response to our RFP was so far from

what we asked for that we had to eliminate IBM during the very first go-around

of evaluations. All that work was for

nothing. I don’t know if a proposal from

the Riverside office would have been

selected, but I’m sure it would have been

a lot closer to what we wanted. After all,

we had helped them build their prototype.

Strange happenings! This was another

instance of gremlinity.

Pot or Not?

An interesting event occurred on a trip to

the CDC facility in Minneapolis to

discuss our requirements with the CDC

staff involved in our procurement. The

group from the FRC included Ed Videan,

Mary Little, John P. Smith, Ernie Dunn,

Lowell Greenfield, Bob Halasey, and

myself. We flew into Minneapolis and

spent the night at a motel outside the city

near the CDC plant. In the morning, we

were to meet for breakfast with some of

the CDC folks who would drive us to the

plant. The motel was out in the suburbs

and there were open fields nearby with a

variety of farm products being grown.

Greenfield and Little had gone for a short

walk before the get-together with CDC.

Along their way, Lowell spotted what he

thought was a marijuana plant growing in

the ditch beside the road. He picked a

sprig and brought it to where the rest of us

were standing, waiting for the CDC folks

to show up, in front of the motel’s restaurant. Lowell showed us this sprig and

asked if anyone else agreed that it was

marijuana? Ed Videan took the sprig,

looked at it, and agreed that he too

thought it was marijuana. Two strangers,

who just happened to be walking from

their car to the restaurant, stopped, looked

at the plant, and stated that it definitely

was marijuana. When Ed asked why they

were so sure, they proceeded to display

their badges and announced that they

were vice squad officers from the local

law enforcement agency. These two men

told us that marijuana grew wild all over

that area. One of the officers then stated

that picking the plant was illegal, and

since Ed was the one holding it when they

walked up, the officer then proceeded to

(begin to) arrest Ed. He was just kidding,

but Ed lost a few heartbeats before he

found out that the two officers weren’t

serious. The officers kept the marijuana.

The CDC CYBER 73-28 included a very

complete system to be used for flight data

processing and general-purpose engineering and scientific computations. The new

Fortran language was being used more

and more by the research engineers at the

FRC, and a bigger and faster computer

was needed. Previously, most of the

engineering programming had been done

by the programmers in the data processing

branch.

In addition to the standard data processing

capabilities, the CDC 73 included two

identical analog interface subsystems that

were connected to our two new AD-4

analog computers. There was also a realtime data-communication line that was

connected to the SDS 920 in the radar and

telemetry facility. Unfortunately, this link

was never used for its intended purpose. It

had the capability of transferring real-time

data directly from the radar/telemetry

system to the CDC 73. That facility only

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100

had only one programmer developing

software, and he never had the time to

develop the software to use the link to the

CDC 73. We tried this circuit during the

acceptance period and it worked. That

was in 1973. Dryden still hasn’t implemented a similar capability even now (in

1999 when these lines were written).

The interface that CDC developed to

connect to our analogs was both complex

and extensive. There were two complete

subsystems, one for each of the AD-4

analog computers. They included D/A and

A/D converters, discretes, real-time

clocks, and control circuits for the analog

computers. The AD-4 analogs were the

most sophisticated hybrid computers of

that era and had lots of digital logic and

other digital computer-like capabilities

that made them particularly well suited

for large complex hybrid simulations.

Larry Schilling, the Director of Research

Facilities at the Dryden Flight Research

Center, observed in the year 2000:

The CDC Cyber 73-28 utilized a

unique hardware/software scheme

for interrupt handling and real-time

I/O. It was called HRTM (Hardware Real-Time Monitor). This

scheme gave full control to the

programmer in setting up interrupts

and linking them to real-time code.

The user could specify the period

and the tolerance for each interrupt.

Clock resolution was 10 microseconds (2000 counts or ticks for 20

msec), remarkable for its day. Realtime input occurred at the beginning of the frame. Output occurred

as specified by the programmer

using the tolerance setting. For

example: if the frame was 20 msec

long, and the code took 10 msec to

execute, the user could specify

when the output would occur by

setting the tolerance to a value

between about 11 msec and 19

msec. The tolerance parameter also

affected the CPU priority since the

calculations would have to be

completed before output could

occur. It would technically be

possible to set the tolerance to 20

msec and have the output occur at

the same time as the input for the

next frame. This was avoided

because if several output discretes

changed state (a 5-volt change), the

resulting EMI could be seen on the

A/Ds, so settling time was necessary. The great advantage of this

interrupt scheme is that the output

parameters changed state at a

predictable and controllable time in

every frame. This deterministic

capability is of great value. I have

not seen a better scheme developed

since. To the best of my knowledge, CDC only sold two computers with our version of HRTM (and

just a few more with a later version), so we had a rare bird.

This was probably the first time CDC had

ever built such analog interface hardware,

and the team it put together to do this job

included not only some of its best hardware designers but also a couple of its top

system programmers. Impressive. It took

them a while, but they got it working.

This new hybrid system was the only one

the FSL used that shared a digital computer with the general-purpose data

processing group. The two branches

(Simulation and Data Processing) were

combined and a new division was created

to use and support this new system.

Besides the two different programming

groups, a new Systems branch was

created that included systems analysts

from both original branches. I was one of

about eight in this group. We had the job

of overseeing the development, installation, checkout, acceptance, and initial

operation of this new computer. We also

got involved in the conversion of software

to this CDC 73.

CYBER Software Conversion

For us in simulation, this conversion

process was not difficult. All we had was

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the ICARUS program. Converting this

one program turned out to be easy.

Actually, it wasn’t converted at all.

Instea, new software was developed. The

new simulation programs, written mostly

by Al Myers, were in Fortran and were

designed to use all this new capability.

ICARUS had been written specifically for

the SDS computers. Converting it to the

CYBER wasn’t necessary.

As Larry Schilling pointed out on reviewing these lines:

The new simulation program

written by Al Myers (with collaboration by Lowell Greenfield) was

known as RTSIM (Real-Time

Simulation). It was quickly replaced with RTSIMII (Real-Time

Simulation II) which was in use

when I arrived [in 1978]. There was

also a batch version called SIMII.

All of Dryden’s current sims trace

their heritage back to this work.

Not only was this a 6 DOF formulation, but it avoided small angle

approximations and used a full

floating-point implementation. The

digital integration algorithm was a

modified 2nd order Runge-Kutta

that was developed by Myers and

Greenfield (at least I think Al said

Lowell had a hand in it).29

Unfortunately, the ease with which those

in simulation converted to the CDC 73

was not the rule for all the data processing

programs. Conversion of these programs

turned out to be a lengthy job. CDC

provided a remote batch terminal to be

used for this purpose. This was the FRC’s

introduction into the world of digital data

communications. I remember working

with the telephone companies to get this

remote batch terminal operational.

Edwards AFB is in Kern County, while

the CDC computer facility was near the

Los Angeles airport. There were three

different phone companies involved in

getting the telephone line between these

two facilities. None of these telephone

companies had much experience in

providing telephone lines for use with

digital data. This was quite early in the

use of telephone lines for digital data, and

every phone company did things differently. It took some time before they were

able to provide us with a working link.

This link went from Edwards to Bakersfield to Los Angeles.

The remote batch terminal did allow us to

convert programs to be used on the new

computer. The terminal included a card

reader, printer, and cathode ray tube. The

communication line was only about 110

baud and quite slow. It took forever to get

a large program compiled, run, and the

output listed. It seemed as if we were

sharing this CDC computer with everyone

else in the Los Angeles area. For those

programs that required magnetic tapes, we

had to either take the tapes there or use a

courier service. I remember having to

make several trips to the CDC facility just

for this purpose.

Before the CDC computer was delivered,

the FRC employees had handled the daily

operations of the previous central data

processing computers. I believe that this

new computer was the first one for which

the FRC contracted for computer operational support. Until this contract started,

we in the new Division got stuck with the

job of being computer operators. Most of

us had no real experience doing this sort

of work. CDC provided a one-week

training class, which we all took. Everyone in the Systems Branch and all the

programmers in the Programming Branch

got drafted to be computer operators.

Each day, the Systems folks worked twohour shifts, and the programmers worked

one-hour shifts as operators. Mounting

29 The RTSIM program as Bacon remembers (Don was Myers’ boss at that time) was written for the XDS 9300 in Fortran, and Don

does not remember any airplanes that had simulators built using this program. It was done to study if such a Fortran sim could

actually run on the XDS 9300 in real time and to see what problems might arise. RTSIM was ported to the CYBER, and the all-digital

CYBER version (RTSIMII) was the one used for subsequent simulators.

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mag tapes, changing disc packs, handling

stacks of punched cards, and fussing with

the printer outputs were not the types of

activities we were used to. This went on

for a number of months until the new

service contract started and its personnel

took over the job of operating our new

system.

The CDC 73 was so much faster and more

powerful than the previous computers in

the FSL that the new simulation software

included the integration of the accelerations and velocities with respect to time.

This part of the simulations was no longer

done on the analog computers. Those

brand new, very sophisticated AD-4

hybrid computers at that point in time

became very expensive cockpit interfaces.

This also meant that a lot of the new

digital interface hardware and software

that CDC had developed for us was never

really used as intended. This was the

beginning of the end of hybrid simulations in the FSL. Many of the original and

more experienced analog/hybrid programmers had been transferred to other jobs.

New simulation engineers were being

hired, many with no analog programming

experience, and this too had an influence

on the way things were done. From then

on, almost everything was done alldigital. The analog computers were still

being used to simulate the control systems, but that too was to be replaced a

couple of years later with an all-digital

simulation programming capability that

was developed at Dryden by John

Edwards. He developed the algorithms

that allowed for these very complex

aircraft control systems to be simulated

using a digital computer in real time. It

wasn’t too much later that all the analog

computers in the FSL were surplused.

Simulation was all-digital. The cockpit

interface was now handled by specialpurpose hardware developed mostly by

Charlie Wagner, and built in-house.

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Lifting-Body Simulations (1967-1972)

The lifting-body simulations30 were

mechanized by Don Bacon, Lowell

Greenfield, and Larry Caw. Initially, the

simulations were all analog. However,

they became hybrid with the use of the

SDS 930 computer and the ICARUS

program. The aerodynamic coefficients

for the HL-10 vehicle were very nonlinear

and could not be adequately mechanized

using analog components. The LiftingBody Project Office agreed to pay for the

purchase of a new digital computer for the

FSL for the purpose of implementing the

HL-10 simulator. The computer we

bought was an SDS 9300, and after it was

accepted, the ICARUS program was

modified to run on this computer.

This simulation was operational in 1967,

which overlapped with the period when

we were running the X-15 simulator. The

HL-10 simulator did not have an iron-bird

cockpit like the X-15. It used several

different simulation cockpits. (See photos

E-10278, E-10591, E-16464, and E-18902

of the M2 and HL-10 cockpits.) It did

have a visual display device to give the

pilot a rudimentary “out-the-window”

display. Also, the pilots used the an F-104

airplane for landing practice, as they did

in the X-15 program.

The following paragraphs are from Don

Bacon, one of the simulation programmers for the Lifting Body Program. His

personal account below includes much

more on the lifting-body simulations.

The HL-10 was the first one I did

myself. In the early days of the lifting

bodies, it was all analog. We took

several consoles to do one, and you

could only do one at a time. In the

long run, we did the M2-F2 and M2-

F3, which Lowell Greenfield was

responsible for. The HL-10 was mine

and the X-24 was over at the Air

Force. We also did some work on the

Hyper III (which was the switchblade

wing design) and another one, all of

which contributed to what later

became the Shuttle.

The derivatives were nonlinear and

the aero people had constructed the

family of curves. Ken Iliff did a lot of

the work—and Bertha Ryan. I still

remember the first time I went down

to ask her a question, and she stood

up and drew herself up to her full

height and said “I am a theoretical

aerodynamicist and I don’t chase

wind-tunnel data for simulation

guys.”

30 There have been several lengthy papers and books written about the Lifting Body Program. These are listed in the bibliography.

Bob Hoey in the

Early M2 Simulator Cockpit

(Norden Display

and TR-48—

October 1963).

(NASA photo

E-10591)

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The nonlinear curves were set up

with families of independent variables, so every Mach number had a

set of curves—and alpha and beta

[angle-of-attack and angle-ofsideslip, respectively] were independent variables. They were all done on

pot-padders [a type of analog

function generator]. During that time,

they wanted to fly each airplane

every two weeks. We took about a

week to get the pilot ready—to learn

what to do for the next flight. It took

40 hours to reset the pot-padders for

each airplane. Lonnie [Cooper—

EAI maintenance support team lead]

and the EAI guys worked all weekend. They worked around the clock

to get the 40 hours needed between

Friday afternoon and Monday

morning to switch from one liftingbody simulation to the other. . . .

Static checks were done. We’d

calculate the frequency and damping

for dynamic checks and then run

them out on the strip-chart recorders.

Again, once you had done this to

check them—we had plastic overlays

prepared in the reproduction shop—

you could lay them over the strip

charts and see. One of the interesting

things that happened: the process in

going from paper [recording] to

plastic [overlay] stretched the curves

on the plastic. If you took the

original and laid the overlay on it,

they didn’t match any more. . . .

So it was kind of a trick to get an

overlay that would work. That took

another 10-15 minutes. So it was

common to spend an hour—after you

were sure everything was all right—

on just checking things. And then, of

course, you flew it. You’d pick a

sample mission and fly it just to

make sure the computers, model,

controls, and displays were all right.

You didn’t have those problems with

simulations that were set on dedicated equipment and were flown day

after day, such as the LLRV and X15.

Lowell Greenfield was the primary digital

programmer on the ICARUS project. He

left NASA sometime after we had received

the CDC CYBER 73 to work for an

aerospace company in the Los Angeles area.

He has subsequently died, and his achievements and experiences are for the most part

unrecorded. After he got into digital computer programming, he concentrated his

Lifting-Body

Simulator Cockpit

(March 1967).

(NASA photo E16464)

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efforts in the systems programming support

area, and especially operating systems, such

as the CDC CYBER Operating Systems

(SCOPE, etc.). Lowell took a number of

courses through both UCLA and USC on

computer-systems software design and

programming and became thoroughly

involved in that particular line of programming. Lowell and Stan Yount were sent to

the Navy’s computer laboratory at

Johnsville, Pennsylvania, in the fall of 1972

to get hands-on experience with the CDC

SCOPE Operating System. Their travel

duty was before we received delivery of the

CDC CYBER 73-28 that was installed at

the FRC in 1973. Lowell and Stan spent

about four weeks there learning about the

software from a systems programmer’s

point of view. This is the same Navy facility

that had the centrifuge used for the boost

simulation described previously.

Larry Caw was a backup programmer on

the lifting-body simulations (M2 and HL10). Larry did very little digital programming; his work was mainly with the analog

computer and cockpit interface. Larry was

still responsible for the LLRV simulator at

the time, so his involvement with the

lifting-body simulation was primarily as a

backup analog programmer. He did this job

for only a couple of years, until he was

assigned to work on the GPAS program.

Larry’s PA is included below.

Robert (Bob) Kempel, one of the NASA

research engineers, was heavily involved

with the Lifting Body Program. His PA

account is included below and contains a

lengthy discussion on the lifting-body

simulations. Bob also wrote a document in

1998 entitled Simulation and Modeling

Support in the Flight Testing of Lifting

Reentry Vehicles. This, too, is an excellent

discussion of the role of simulation in the

Lifting Body Program. See the bibliography

for other publications by Bob on the Lifting

31 The paper by Milt Thompson, which is unpublished, is entitled “Lessons Learned from Flight Research,” and is available in the

DFRC Historical Reference Collection, location L1-5-11B-10.

32 Milton O. Thompson and Curtis Peebles, Flying Without Wings: NASA Lifting Bodies and the Birth of the Space Shuttle (Washington, DC: Smithsonian Institution Press, 1999).

Body Program.

Both Bob Kempel and Don Bacon, in their

PAs, talk about speeding up the simulation

so that the time period was shorter than real

time. This was the idea of Jack Kolf, one of

the lifting-body flight planners, after talking

with the pilots following several flights.

Apparently the pilots felt that the events

during a typical lifting-body flight seemed

to happen faster than they actually did. To

provide a similar feeling in the simulator,

the time constant (used in integration with

respect to time) was set so “simulator time”

was about 40 percent faster than normal.

This procedure was not used during the

normal flight-preparedness simulator runs.

The day before a flight, the time constant

was changed and the pilots made a number

of practice runs. This simulated a “faster

than real-time” sequence of events. The

pilots thought that these runs helped them

get ready for the actual flight. The typical

lifting-body flight lasted only about eight

minutes, and many were less than four

minutes.

Milt Thompson wrote a paper31 that

discusses his experiences with the Lifting

Body Project and the role of the simulations

that the FRC and the AFFTC implemented

in support of this project. Milt made the first

five flights of the M2-F2 in 1966. Milt also

flew a large number of flights in the

wooden M2-F1. This lifting body was

originally towed behind a souped-up 1963

Pontiac Catalina convertible that had been

modified to tow the M2-F1. Later, the

aircraft was towed behind the FRC’s C-47.

In the book entitled Flying without Wings

by Milton O. Thompson and Curtis Peebles,

Milt describes the early flights he made in

the M2-F1 and M2-F2 lifting bodies.32 This

book is a very interesting accounting of the

Lifting Body Program from the viewpoint

of one of the pilots involved with that

project.

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STOL Simulations

(1971-1972)

This set of simulations comprised the last

ones I did. A special Short Take-Off and

Landing (STOL) Project Office had been

established to study STOL aircraft technology. The office was located where the

X-15 simulation computers had been. Jim

Adkins was the project manager. Fitz

Fulton was our project pilot. Harold

Washington, John Gibbons, Bruce Powers, Dave Kier, Terry Putnam, and I were

also assigned to the project. I was about

halfway through the check-out and

acceptance of two brand new Applied

Dynamics, Inc. AD-4 analog computers

that had just been delivered to the FSL.

Don Bacon had to complete this acceptance testing after I was re-assigned to do

the STOL Project simulations.

There were two different STOL aircraft

configurations, an externally-blown-flaps

configuration, and an augmentor-wing

configuration. (See below for explanations of the two configurations, and see

the reports written about these simulations, citation numbers 738 and 770, for

further information.) This simulator, with

two different sets of nonlinear coefficients, was one of those that we implemented for airplanes that did not really

exist. There were models developed for

wind-tunnel studies and the like, but the

real planes were never built. (See photo

E-22756.) At least not the ones we

simulated. The two we simulated were

just models of what STOL airplanes might

be. Airplane manufacturers have, I’m

sure, benefited much from such studies by

NASA.

The STOL Project seemed to have

sufficient clout to do most of the tasks

that were planned; however, the STOL

simulation did not share in this high

priority. I had to work around all the other

simulations that were being run. This also

manifested itself in such a way that I had

little help in getting the cockpit set up. I

was essentially on my own, and could not

depend on much help from any of the sim

technicians, because they were all busy

working on other simulation tasks. They

helped out whenever they could. We used

an existing cockpit, with few or no

changes. I either did all of the cockpit

scaling by myself or enlisted the help of

one of the engineers in the project office.

For the first implementation, this wasn’t

too difficult, since the cockpit we used

was in the same lab as the SDS 9300 and

STOL WindTunnel Model

(February 1971).

(NASA photo E22756)

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the EAI 231-RV computers. Later the

cockpit was moved to another room as

this particular sim lab was reconfigured.

Many Nonlinear Functions of

Four Variables

What I remember most about these two

simulations was that I had to implement a

large number of nonlinear derivatives of

four variables. Analog computers were

not well suited for functions of four

variables. One- and two-variable

nonlinearities were not difficult. Threevariable function generation took a lot of

equipment and was avoided, if possible.

Four-variable function generation had

never been done in the FSL. I used the

ICARUS program, running on the SDS

9300, and two different analogs for two

different implementations. The 9300 was

connected to an EAI 231-RV. This analog

was used for integration of the accelerations and velocities calculated by the

digital program. It was also used for the

fourth variable interpolation of the

derivatives, which were read back into the

9300 program for use in the calculations

of the equations.

For the first implementation, the EAI 231-

RV was also used for the cockpit interface. The second implementation used a

Comcor portable analog computer for

cockpit interface. The second implementation was required when the cockpit was

moved to a different room. This necessitated the use of a second computer for

cockpit interface. The ground-based

cockpit is shown in photo E-23281. The

simulation equations were very typical for

this type of vehicle. ICARUS was set up

to do a large quantity of functions of three

variables. By using this capability and

interpolating for the fourth variable

(coefficient of thrust [Cμ]) on the analog,

I was able to do this four-variable function generation. Not very difficult, just

never been done like this before. The

cockpit that we used was configured for a

typical transport aircraft with a yoke,

rudder pedals, and two or four throttles.

Both of the STOL vehicles we simulated

had four engines.

STOL Simulation

Cockpit, Displays,

and Controls

(June 1971).

(NASA photo E23281)

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108

The cockpit shown in photo E-23281 is

the one we used for the STOL simulation.

Besides the SDS 9300 and EAI 231-RV, I

also had to use one of the FSL portable

analog computers, a Comcor 175. This

was the only time I used this particular

analog in any of my simulations. The

Comcor analog computer was a solid-state

computer. It had about 100 amplifiers but

limited function-generation capability. For

this simulator, it was used primarily for

interface to the cockpit instrumentation

and pilot’s controls. An out-the-window

display was provided by the Norden

Contact Analog. It generated a fake

ground plane consisting of random

checkerboard squares or other repeating

patterns. It also had fake oval clouds in

the sky. The display patterns moved and

changed, depending on the aircraft’s

position, velocities, and attitude.

Two Different STOL Configurations

In the two different STOL configurations,

the big difference lay in the design of the

wings to provide additional lift. For the

augmentor-wing version, a portion of the

jet engine exhaust was deflected down by

large flaps, thereby providing additional

lift during takeoff and landing. The

externally-blown-flaps aircraft diverted

bleed air from the jet engines over the

wings, thereby creating additional wing

lift during takeoff and landing. In both

cases, this additional lift was mechanized

as the derivative Cμ [coefficient of thrust,

deflected downward to increase lift].

Many of the aircraft nonlinear coefficients

were mechanized as functions of alpha

(angle-of-attack), beta (angle-of-sideslip),

Cμ, and Mach number.

STOL Simulation

Cockpit (ARC

Moving-Base

Simulator—

January 1971).

(NASA photo E22438)

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Ford Tri-Motor Flights

Besides flying this simulator, Fitz was

also able to fly several aircraft using

STOL-like approaches and landings. He

got to fly one of the few Ford Tri-Motors

that was still in use. This plane was being

used for short ferry hops to islands in

Lake Erie that were being serviced by a

small commuter airline in the area. The

runways on the islands were quite short

and required a STOL approach and

landing. The Tri-Motor was capable of

doing this. Fitz also got to fly some larger

commercial jets that flew in and out of a

number of small islands in the South

Pacific. Most of these islands had short

runways and the jets also had to use

STOL-like approaches and takeoffs.

Normal takeoff and landing procedures

could not be used for the short runways.

ARC Moving-Base Simulator

We also used the moving-base simulator

at the Ames Research Center at Moffett

Field, Mountain View, California. It had a

large 6 DOF motion simulator for such

studies, with a commercial-jet-type

cockpit. The ARC had implemented a

similar configuration STOL simulation on

the computers connected to the motionbased cockpit. (See photo E-22438 of the

ARC STOL cockpit.) I still remember the

day we went to Ames so that Fitz could

fly the moving-base simulator there. We

flew up in one of the small airplanes that

the FRC had. The weather over the San

Joaquin Valley was extremely bad, with

clouds, rain, lightning, you name it. The

local FAA vectored us clear out over the

Pacific before we could turn north for

Ames. Fitz was flying. He then spent

almost all day flying the simulator. When

we flew home, we were vectored east

almost to the high Sierras, to get around

the weather over the valley, before we

could turn south for Edwards. It was nice

and clear here. So, guess what? Fitz

decided to shoot some touch-and-go

landings before he finally landed! Almost

11 hours after we had taken off that

morning. These test pilots are a hardy

breed!

My Last Simulation

This was my last complete simulation of

any kind. My career as a simulation

programmer was coming to an end.

Shortly after this, I was transferred into a

different group to help buy a new computer system for the central computer

facility. Several years later, I got drafted

to do some programming for the HiMAT

(Highly Maneuverable Aircraft Technology) and DAST (Drones for Aerodynamic

and Structural Testing) simulations, but

that programming task was to

decommutate the real-time telemetry data

stream from these two RPVs (Remotely

Piloted Vehicles) for both the Simulation

and the RPV laboratories. Also, I was

getting more and more involved in buying

computers. Computer procurements

always took a long time in the government. Shortly after the STOL simulators

were no longer needed, we began to

reconfigure the entire simulation laboratory. The FSL offices moved into the area

where many of the simulation cockpits

had been located. It was also about this

period of time that we began getting ready

to replace our SDS 9300 computer. The

SDS 930 had already been donated to

UCLA.

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Personal Accounts of

the FRC Simulation

Laboratory Personnel

The following personal accounts (PAs) of

members of the FRC Simulation Laboratory were prepared from responses to

letters, phone calls, and electronic mail.

The inputs received varied widely both in

format and content. Some were dictated

onto audio cassettes either by the people

themselves or during interviews. Some

were pieced together from letters and emails. A few of the FSL personnel were

not located and have moved and left no

forwarding addresses with friends or the

FRC personnel office. Several of the FSL

personnel chose not to return any information, which is unfortunate, for some of

them were very active participants in the

development and use of the FSL. At least

one has died, and his account will never

be written.

The following sections are, for the most

part, as written or recorded. I have taken

few liberties in transcribing and editing

the material and then only to try to

maintain a certain approach in this

publication. I have also added information, suggested by the individuals, when

their recollections were dim and they

could not recall events exactly. In some

cases information has been added by other

FSL members during the review process.

For the most part, the PAs are the individuals’ own words.

The many reports that were written about

the results of the various simulations have

also provided data. The many research

engineers who used our simulations and

wrote technical papers have also provided

information, not only about the simulations, but about the FSL personnel who

implemented those simulations. I have

tried to mention all those people, but I am

sure I have missed some. I have spent

many hours in the DFRC Research

Library reading and scanning as many of

these technical reports as possible, in an

attempt to collect as much information as

possible about the actual simulation

implementations. Unfortunately, most of

these reports only mention the use of

analog computers and do not provide

details. Many of the reports only list the

equations that were programmed. Almost

none of them actually discussed the

specifics of how the simulation was

implemented. Since we in the FSL were

not required to write reports about how

we mechanized these simulations, very

little remains that could be used in the

preparation of this study. So far as I can

determine, analog computers are no

longer manufactured or used for real-time

simulations,33 so the details of how we

implemented ours is perhaps no great

loss, except to those of us who were there.

In many cases the data presented in these

PAs overlaps what is written in other

sections. This is particularly true when a

FSL member was very much involved in

the development of one of the more

important (and bigger) simulations that

are discussed in detail. But, even though

there is some repetition of data about

specific simulations, what follows are the

words of the different participants, and an

important part of this monograph. We all

see and experience things differently, and

our memories are as different as we are.

Edward N. Videan

Ed Videan was the first chief of the

original Simulation Laboratory. This

33 I based this statement on considerable research on the Internet. I also talked with Mike Najera (who heads the sim hardware group

in the RAIF), and he says that there are still some analog circuits in almost all of the simulators being built today. The newer “glass

cockpits” with the computer-driven displays have eliminated most of the analog circuits that were used in simulators built since this

building opened. However, there are no analog computers in use with the simulators. Just analog circuits (i.e., variable voltage

devices) as opposed to digital circuits—digital computer I/O words of some number of bits (1s or 0s). The electric stick used in all the

cockpits is an analog device and so are some of the instruments, and these instruments still use the SIMLINK interface that Charlie

Wagner designed and had built to replace the use of analog computer components (amplifiers, pots, etc.).

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organization had several different names

throughout the years, and as mentioned

earlier, is referred to as the FRC Simulation Laboratory (or the FSL) throughout

this monograph to avoid any confusion

caused by the different names.

The History of the First

Analog Computer at the

FRC

The analog computer (or more

properly, the electronic differential

analyzer) first came into use at the

HSFS in 1956, as best I can remember. The date might be as late

as 1957. The requirement which

drove the introduction of the analog

computer was a need to analyze a

dynamics problem troubling the

then-current jet fighters, known as

roll coupling. The F-86 fighter (and

others, I believe) were exhibiting

large uncontrolled excursions in

angle of attack and sideslip in

response to high-speed rolling

motions. At this time there existed

at the HSFS no practical way to

solve the differential equations of

motion which describe such a

complicated dynamics problem.

Digital computers were in their

infancy, and the limits on speed and

memory ruled out any practical

way to solve the equations.

Both Langley and Ames Laboratories were beginning to use analog

computers and had acquired some

facilities. In addition, the AFFTC

had recently purchased a modest

facility built by Goodyear. This

machine was known as the GEDA

(Goodyear Electronic Differential

Analyzer). The heart of the analog

computer system was a highquality operational amplifier,

which, suitably configured, could

sum several electrical signals and

also integrate the resultant sum.

This capability was exactly what

was needed to solve a set of aircraft

differential equations of motion.

Other required functions such as

the multiplication of two independent variables and function generation were performed by servo

devices.

When the AFFTC acquired its first

analog computer (the GEDA), the

HSFS made arrangements with the

AFFTC to use this system to start

investigating the roll-coupling

problem. I believe it was Richard

Day who led this effort along with

several others. I believe Albert

Kuhl was also working on this

problem. After two or three months

of successful work, the HSFS

decided to acquire its own computer system. During the procurement cycle, a small delegation of

people from the HSFS traveled to

the Ames Laboratory for a week of

training on the programming and

use of an analog computer. Those

from the HSFS were Richard

Banner, Richard Day, Richard

Musick, and Ed Videan. Our host at

Ames was Stanley Schmidt, who

headed up the Ames facility.

Shortly after this, the FSL received

its first system, the EAI 31R, built

by Electronics Associates, Inc. I

believe this early system contained

about thirty amplifiers, two servo

multipliers, plus a complement of

scaling potentiometers. The cost

was about $60,000. I am not sure

about the number of amplifiers, but

this is the number that comes to

mind.

Since the analog computer was able

to solve the aircraft equations of

motion in real time, it was recognized to be a natural for aircraft

simulation with a pilot in the loop.

However, in these early days there

were no controls or displays which

in any way looked, acted, or felt

like anything found in an airplane.

There were no commercial sources

known, and no resources available

to develop suitable devices. For the

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early roll-coupling investigation,

the stick input was provided by a

wooden stick attached to a potentiometer. Displays were provided by

voltmeters with a scale and pointer

calibrated for the appropriate

quantity. Some side-arm controllers

were borrowed from the space

program at a later date to be used as

pilot input devices. Through the

years, FSL personnel designed and

developed a rather full range of

general-purpose displays and

controls which could be tailored for

use in a wide variety of applications. Richard Musick, Charles

Wagner, and others were key to this

effort and can supply much more

detailed info. I believe this was one

of the genuine innovations which

the FSL made to the art of simulation.

Here is an anecdote which might be

of interest. It concerns the rivalry

which developed between the

analog and digital computer

approaches to simulation during

those early days. A simulation

conference was held in El Paso,

Texas, in 1958, I believe. I attended

this conference along with Stanley

Schmidt of Ames. One speaker

described early efforts to solve the

aircraft equations of motion

utilizing a digital computer. Because of the limited speed and

memory of the [then-]current

digital machines, this effort did not

demonstrate any practical capability. However, the speaker predicted

that one day, digital computers

would supercede analog machines

in the field of flight simulation. The

conference attendees were mainly a

very partisan group of analogcomputer loyalists who then heaped

ridicule on the speaker. In addition

to the problem of limited digital

computer capability, there existed

no analog-to-digital and digital-toanalog converters. General Dynamics in San Diego had built an

experimental model which was not

really practical because of size,

cost, and very importantly, reliability. As I remember, it was almost

the size of a washing machine. I

guess the moral of the story is,

sometimes it pays to listen to the

dreamers.

In 1958, I believe, the FRC became

interested in the piloting aspects of

the manned space program, specifically, the problem of piloting a

space vehicle from launch to orbit.

The Navy possessed a human

centrifuge at its Johnsville, Pennsylvania, facility, and the FRC

obtained the Navy’s cooperation to

utilize this facility for a piloted

launch investigation. This program

was the largest simulation attempted by the FSL up until this

time. A special function generator

was developed and built at the FSL

to simulate atmospheric density

from sea level to space. The full

simulation was designed and tested

in the FSL prior to traveling to the

Johnsville facility. The Navy had a

large simulation facility at

Johnsville which was devoted

principally to investigating submarine warfare. The FSL program was

installed on the Navy computers

and interfaced to the centrifuge. If I

remember correctly, NASA, Air

Force, and Navy pilots participated.

I think Neil Armstrong was a

participant. The program required

seven weeks of time at Johnsville

plus all the preparation time at the

FSL.

The next large program was the X15 simulator. John Smith and others

were much closer to the program

and can supply more details. One

episode stands out in my memory. I

believe the X-15 was the first time

we attempted to include an airplane

and its systems in a simulator loop.

While the simulation was successful, I remember how we struggled

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to solve the [electrical-signal]

ground loop problems between the

aircraft (hangar ground) and

simulation facility (facility

ground). As I recall, we finally ran

a ground cable from the [analog

computer] laboratory to the airplane and lifted the hangar

ground.34 The solution sounds so

simple and logical now.

Richard (Dick) O. Musick

Dick Musick was the first FSL technician

and was assigned to this job from his

previous position in the instrumentation

shop. He also provided support for the

data-reduction equipment that was in use

at that time. Most of this PA is from a

letter that Dick sent me. Photo ED97-

44197-1, taken in 1957 (from the 1957

AFFTC Year Book), shows Ed Videan

and Dick Musick in front of the first

analog computer in the FSL.

The simulation laboratory was

formed after the NACA moved

from the south base to north base. I

believe that to be 1955 or thereabouts.35 My duties during the premove period and shortly after were

building special flight-data instrumentation, repairing standard flight

instruments, and maintaining the

data reduction equipment. At that

time the data reduction equipment

was composed of three telereader/

telecondex machines, typewriters,

and IBM relay-operated card

reader/punch machines. [See photo

E-2145.]

An interesting sidelight to the datareduction process and a definite

credit to the ladies operating the

equipment involved the conditions

[under which they worked]. All units

were crowded into a small, darkened

room with no special air-conditioning

equipment (it was quite warm.) Each

telereader/telecondex had well over

200 tubes consuming a lot of energy

and converting it into heat. I would

34 There was almost a 1/2 volt difference between the hangar’s signal ground and the computer’s signal ground. To get around the

problems this difference was causing, all the trunks had their shields grounded only at the computer end. The hangar end of each

trunk had to have its shields disconnected (i.e., not connected to the hangar’s signal ground). The computer ground was also connected to the hangar equipment. Consequently the electronic equipment in the hangar was using the same ground as the computer

equipment in the simulation laboratory.

35 Actually, it took place in 1954.

Ed Videan ( on

left) and Dick

Musick at EAI 31R

Analog Computer

(1997—from

AFFTC 1957 year

book). (NASA

photo ED97-

44197-1)

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go in there periodically to perform

some duty and within 15 minutes, I’d

be sleepy. The operators had to stay in

the room eight hours a day.

The analog equipment and I first made

contact when it arrived at the HSFS.

Since I had the best electronic background of all the technical people in the

instrumentation division, the finger was

pointed at me, and I was told “From

now on, you are a computer specialist.”

And so it was!

Since our new equipment—an EAI

31R—used tubes, it had a heat problem, which required attention. A

plenum chamber had to be fabricated

upon which all the equipment would

rest to blow refrigerated air through it. I

can’t recall all the initial installation, but

it seemed to me to be an EAI 31R

console, a rack of amplifiers, a rack of

servo multipliers that also contained

several resolver units, and a rack of pot

padders.

Following the decision to set up a

flight simulation facility at the

HSFS, we assessed our on-board

equipment and talent and found it

lacking. Like nada.36 We started

Dick Musick with

film reader

(December 1955).

(NASA photo

E-2145)

36 Spanish for “nothing.”

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from scratch. Ed Videan drew the

short straw as simulation engineer, and I was informed I was

the tech for the project. At the

time, I was the sole support for

the research-film-data-reduction

equipment and was to continue in

that capacity. I didn’t think I

could do it.

Ed arranged for the computer

equipment to be purchased. I just

twiddled my thumbs (and worked

on telereaders) while waiting for

the EAI technical manuals, my

source of training, to arrive.

The equipment arrived and it was

installed on a plenum chamber

for cooling. I guess we did OK

because when Ed Videan, Al

Wilson, the electrician, and I

finished fumbling around, the

system worked. I don’t remember

in the slightest if we had any

major problems.

OK, we had our computer in

place and working; now all we

needed was to provide a simulator cockpit. Our first effort was,

as best I can recall, a cutoff

broomstick, which was springloaded to represent an aircraft

control stick. The instruments

were an oscilloscope display to

represent the horizon, and microammeters with limited needle

displacement to display necessary

flight parameters. This was crude

(pre-caveman stuff) to say the

least, but it was a start. [This

control stick is shown in photo E1841 and the display is shown in

photos E-2950 and E-3395A.]

Instruments

I’ll start with the instruments,

which were the highest priority in

coming up to speed on our physical

aircraft simulators. In looking at the

instruments locally, we found our

stockroom grossly lacking, but we

adapted. Although we were not able

to match the aircraft instrument in

Reaction Control

Stick (April 1957).

(NASA photo

E-2950)

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appearance, we faked it as best we

could. The instruments in stock

were micrometers, low-level

voltmeters, and milliammeters,37

all of which were single-needle,

limited-needle excursion and of

course not scaled for flight simulators. [The earlier instruments can

be seen in the photos mentioned in

the previous paragraph and also in

photo E-2626.]

We enlisted the aid of John Bostain

and the photo lab to produce a

more realistic face. At first, the

simulation techs would draw up an

oversize instrument face and John

would downscale the size as

required. It worked OK. [Several of

these instruments with the photo

background can be seen in the

photo E-4969.]

Later on, the photo lab employed a

draftsman, Jerry Lyons, who did

the artwork for the instrument

faces.

As a matter of interest, the instruments we used at first were manufactured by Triplett, Simson, and

GE. The greatest needle movement

was about 100 degrees stop-tostop.

Knowing that the in-housesupplied meters were inadequate

from the start, the technicians

started searching for a better unit

with a larger face and greater

needle movement. A meter manufactured by Weston was found,

which met our immediate needs. It

was larger in diameter, had better

damping, and had a needle excursion of 300 degrees. It was the

answer to our prayers for a singleturn instrument. We invested in the

Weston meter for quite a few units

over the years. [Several of these

instruments can be seen in the

Boost Simulator Instrument Panel

in photo E-4550.]

The next priority in instruments

was for multi-turn-needle units

such as Mach-meters and altimeters. We ended up taking several

steps in the development of a

totally satisfactory unit. We went

over to the Air Force surplus and

talked the people there into contributing some altimeters and Machmeters as well as other things that

looked interesting. No paper work!

We delivered the instruments

(unmodified) to Rebel Harwell and

the machine shop for modifications

per oral directions (plus a pseudo

work order). Rebel and his technicians were to adapt the altimeter to

be driven by a Kerfott synchro unit.

They did this both expertly and

quickly. We then drove the synchro

receiver with a synchro transmitter,

which was in turn driven by a

shaft-to-shaft coupling with a servo

unit responding to the analog

altitude signal. There was a lot of

slop in this arrangement but it did

the job. [Three of these servosynchro units can be seen in photo

E-14648.]

The next step up was the purchase

of a cylindrical-shaped servo unit

with the power and input plug

located on one end and a rotating

output shaft on the other. They

were manufactured by Spectrol. We

adapted the output shaft to the input

gear of the instrument being

fabricated. The overall unit was big

but operated better then the synchro-driven instruments.

As a final step in producing panel

instruments for single- and multiple-turn needs, we designed and

built, in-house, a DC servo unit that

was both small and easy to inte37 Instruments for measuring electric currents in milliamperes (multiples of one-thousandth of an ampere).

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grate into the instrument. Not only

was it compact; it also operated

smoothly throughout its entire

range and cost a small fraction of

the Spectrol servo’s price. This was

the final phase for the development

of a universal DC servo, which was

used throughout our aircraft

simulators thereafter.

Much credit has to go to Bob

Ballard and Robby Robertson of

the machine shop for their expertise

in putting life into our instrument

servos.

One other instrument problem

which required attention was how

to drive the three-axis 8-ball

[attitude indicator] without modifying the instrument itself. Built by

Bendix, it was flight-qualified and

would be too expensive to physically modify for our needs. The

answer turned out to be very

simple, since it took a synchro

signal to be the input (one for

each axis); we would drive one of

our servo units with a computer

output representing the parameter.

We then mechanically connected

the servo output shaft to a synchro

transmitter drive shaft and wired

the three-phase output to the input

plug on the back of the 8-ball.

Voila! The servo unit we created

solved many of our instrument

problems and found a lot of other

uses as well.

Cockpits

Our cockpits were a little slow in

getting started. The first was a

common chair (with no lap belt) for

the pilot to sit in and a spring-loaded

cut-off broom handle to provide

(simulated) flight inputs. [See photo

E-1841.] The flight instruments (all

electrical) were located in a narrow

aluminum pseudo panel, which

bridged a large Dumont CRT that

represented an “out-the-window”

view. We got by with this by using a

Servo to Synchro

Units (LLRV Sim

Cockpit—April

1966). (NASA

photo E-14648)

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lot of imagination.

The first real attempt at simulating

a cockpit came about a bit later. We

made contact with Flight Operations and borrowed blueprints for

an F-104 cockpit. Using this, we

recorded critical measurements

around which a semi-realistic

“black box” could be built: our

aircraft cockpit. The cockpit was

fabricated in our model shop by

Ernie [Lowder] and Chuck

[Garvey]. They did a hell of a job

in making all the measurements we

gave them to meet. The first major

cockpit was built of 3/4-inch

plywood with the plywood edges

finished with oak strips. It came

complete with a removable seat

mounted on rails for fore and aft

seat movement. Two other features

need to be mentioned. The floor

was about 12 inches above the base

floor and was hinged for access. It

was all painted flat black. The unit

was basic and needed a control

system, instruments, and other

electrical and mechanical devices,

which were added later. If I remember correctly, the stick and pedals

were spring loaded.

Several instrument panels were

manufactured by our model shop

and configured to represent the

instrument layout for specific

aircraft. Panel exchange was quite

easy.

The final aircraft simulator control

system was fabricated using DC

torque motors provided by Inland

Motors of Roanoke, Virginia, the

same manufacturer that provided our

instrument servo torque motors.38

John P. Smith

John Smith was the first FSL programmer/engineer and was initially a lieutenant in the U.S. Army Signal Corps who

had been assigned to work at the NACA

HSFS in 1957.

I reported to the High-Speed Flight

Station on 4 April 1957. The first

analog computer had been installed

early that year, around January or

February. The log for use of the

computer had as the first application a program, which Harriet39

provided in February, solving an

integral and not a true simulation.

She says it didn’t work too well,

which is not surprising, considering

the poor repeatability and low

accuracy of the analog computers

at that point in time. My first

simulation was a derivative matching program with Chet

[Wolowicz].40 We used a pen

follower as the control input in a

five-degree-of-freedom simulation

program. Chet said we did the work

in one hour that it used to take a

mathematician a month to accomplish.

During that period we did either

five-degree- or three-degree-offreedom simulation programs. That

was because of limited computer

38 Following his reading of this study in manuscript, Robert W. Kempel appended a note at the end of this PA: “One thing that really

made FRC ‘tick’ was the fact that there were so many talented people who were willing to apply their talent to unusual jobs [in places

like the] photo lab, machine shop, etc. Inventiveness, innovativeness, and the common cause. Dick was one of the greatest!”

Kempel also commented, “I remember going to Dick with some problem, and Dick would pull out a shelf from his desk with a sign on

it that said ‘pound here’ [meaning, if you were frustrated, you could pound your head there and get rid of your frustrations without

bothering him further]. Dick had a great sense of humor!”

39 Harriet Stephenson (who later married John Smith) was a research engineer at the HSFS.

40 Chester Wolowicz was a research engineer at the HSFS. He wrote a number of reports on such subjects as stability characteristics

of aircraft, stability derivatives, a simulator investigation of orbital derivatives, and operational and performance characteristics.

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119

capability. The equations were ones

that had been developed at Langley

several years before. For pilot-inthe-loop simulations we used a

classroom chair, which had a

writing surface on the side. We

mounted a B-17 formation stick on

the writing surface. The display

system was a CRT for the horizon

and up to three voltmeters mounted

on the side of the CRT for critical

cockpit instruments. We used

grease pencils to calibrate the CRT

and the voltmeters. When we had to

have a center stick, Dick would fix

up a pipe with springs and mount it

on a plate. [See photos E-1841 and

E-2950.]

One of the early simulations I did

was on the X-1B. It was a program

Wendy [Stillwell]41 tried [in an

attempt] to refine the reactioncontrol-system design for the X-15.

The objective was to define a zoom

maneuver, which would give the

maximum amount of time at low q

[dynamic pressure] where the

reaction control system would be

effective, and to develop the best

control laws. This was a threedegree-of-freedom simulation, and

we got some strange results. We

found that when we pulled to high

angles, the airplane would just keep

going up. That is when we found

out that the Langley equations were

small-angle approximations. After

that experience, we derived our

own equations.

We also did several simulations in

support of the future space program, including looking at various

concepts for multi-stage rockets to

use for orbit and reentry systems.

For our first visual simulation,

which was for orbital docking, Dick

[Musick] modified a projector

aperture so that we could control it

with a servo. We programmed the

system so that the size of an image

projected on a wall would represent

the size of the docking target as it

was approached. [See photos E5035 and E-5037.].

In 1958 we started our work on the

X-15 simulator. One of the major

things we did was the development

41 Wendell Stillwell was a research engineer at the HSFS. He, too, wrote a number of reports on such things as flight measurements,

reaction controls, and simulator studies of reaction controls, plus several studies on the X-15 including one well-known special publication.

Orbital Rendezvous program

simulation equipment (October

1959). (NASA

photo E-5035)

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of the round-earth equations. That

was a major step in being able to

predict the maximum performance

of the vehicle. I also did the

simulation with Jim McKay on the

landing-gear problem. That turned

out so well that when the Air Force

needed to define runway width for

the Dyna-Soar Program, its engineers asked us to develop the

dynamic simulation of their landing

gear and its run-out characteristics.

J. L. [Samuels] and [John] Perry

developed the equations of motion,

but we did not have the equipment

to do the simulation. So the simulation was done at FDL [Flight

Dynamics Laboratory].

In the early days, the time needed to

bring a new simulation on line was

about one to two weeks. We made a

big use of transfer functions, which

involved the use of the S-plane

technology. We would come up with

black boxes that used electronic

components in the feedback and

input of amplifiers to simulate nonlinear functions. The checkout and

validation of simulations was a new

and changing environment.

Gene Waltman

Since much of what I did has been

discussed throughout the other parts of

this monograph, this is just a brief summary, listing the major tasks, accomplishments, and other facts related to my

career in simulation. I have included a

number of the computer procurements in

this list because they were an important

part of the FSL history. I worked at

NACA HSFS-NASA DFRC from July

1957 to July 1993.

• Worked in the FSL from July 1957 to

about 1975, plus a brief period for

HiMAT and DAST Real-Time TM

decommutation software for Sim and

RPV labs in 1978.

• Worked as an analog programmer,

hybrid programmer, and systems

analyst during that period and

• Implemented several X-1B and X-

 1E simulations: 1957-1960

• Implemented a number of F-100

 series aircraft simulations: 1957-

 1960

• Implemented 4 different 4-stage-

 boost simulations (3 fixed-base and

 1 moving-base):1958-1960

• Programmed the X-15 simulation,

 all-analog:1960-1964,

• Programmed the X-15 hybrid

 simulation:1964-1968

• Programmed the STOL simulations:

 1970-1972

• Programmed several other moving-

 base simulations, 1958-1972, at the

Orbital Rendezvous program

simulation

equipment

(October 1959).

(NASA photo

E-5037)

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121

 Ames Research Center

• Programmed several heat transfer

 programs—analog (1958-1960),

 and digital (1964-1968)

• Taught analog computer program-

 ming classes

• Investigated the early hybrid computer

technology: 1960-1975

• Programmed in Assembler, Fortran,

 and real-time Fortran languages for

 the SDS, CDC, HP, and Varian

 computers

• Procured at least one major computer

system (hardware or software) each

year from 1958 through 1975, mostly

for the FSL, but also several systems

for other computer facilities at the

Center. I was actually involved in

such procurements until I retired in

1993—but not all for the FSL. Many

of these procurements were for oneof-a-kind systems and not off-theshelf systems, due to the unusual

needs of the FSL.

• Computer procurements: 1958-

 1975

• Including collecting requirements,

 writing the SOW, and working with

 Procurement on the request for

 proposal, proposal evaluations,

 negotiations, and selection

• Working with vendors during

 system buildup, installation, and

 acceptance testing

• Working with users for conversion

 and startup of new equipment.

• Searching out new equipment and

 technologies for possible use in the

 FSL

John J. Perry

I started 1 September 1959. That

was my first day. I had two interviews—I interviewed with John

Smith [in simulation] and Ken

Sanderson [in instrumentation] . . .

and John took me. He took me on a

tour and showed me the digital

computer, which at that time was

an IBM 650. This was a room full

of computers. I had never seen a

computer up close and personal. I

didn’t even know what an aeronautical research engineer did.42 They

offered me a job, and I figured if

they thought I could do it, I could

do it. So, I accepted.

Orbital Rendezvous Simulation

My first involvement with simulation was really primitive. I had

been at the FRC about 6 weeks. My

first simulation was an orbital

rendezvous. We were supposed to

simulate two bodies orbiting in

space, rendezvousing. And of

course, we had nothing, hardwarewise. All we had were the equations that described the phenomenon. So it was my job to use either

the TR-10 or the EAI 31R, that first

analog with the rotary voltmeter....

I don’t remember which I used. I

was working with Dick Musick to

develop the hardware. What we

ended up with was a strangelooking contraption. He went out

and built this cylindrical screen that

couldn’t have been more than five

feet tall. We took one of the metal

wastebaskets, turned it upside

down, and mounted a hand controller on it. Then he put a couple of

dials on a makeshift instrument

panel. He also modified a slide

projector aperture so that as we

closed on the target, the picture on

the screen got bigger. And he

projected the image on a servodriven mirror to simulate attitude.

That was the first simulation I

worked on as a young engineer.

42 John Perry graduated from Florida A&M University, Tallahassee, Florida, in 1959, with a BS in Mathematics. He got an MBA in

Management Decision Systems from the University of Southern California in Los Angeles in 1977. He also received a Certificate in

General Business Management from the UCLA Extension in 1973.

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[See photos E-5035 and E-5037 for

the final set of equipment used in

this simulation.]

We had pilots come in there, sit,

and try to dock, and it was amazing. We had a distance meter, just a

simple little voltmeter dial, showing distance from the target. And

the picture got bigger as we got

closer, and we could rotate. It was

very primitive, but it was effective.

Orbiting in space is a no-brainer

these days, but it was an interesting

challenge as I think about it now.

Back in those days we wondered,

“How are we going to do this?” I’m

sure we didn’t contribute to the big

solution that NASA finally came up

with, but we were probably among

the first to figure out, “How can we

do this?” And what kind of system

do we need to practice this, before

we have to do it live. I think I

worked on this simulation up to the

time I got assigned to work on the

X-15 simulation.

X-15 Simulator

At that time the X-15 simulation

was on the EAI 31R and 131R

computers. We then went “big

time” and got three brand new

EAI 231Rs. The voltmeter on the

131R had digital panels, and the

numbers would come up on the

different panels. I thought that

was the craziest voltmeter I had

ever seen. I thought that was an

improvement over the dials.

Then, we got the 231Rs with the

newer voltmeter—I don’t know

what the technology was, but the

numbers were all on one plane;

the numbers just changed around.

That was great.

I remember having the job of

working on that X-15 simulation,

with all of those patch cords. I

think I still have a couple of the

multiples that I keep just to remind

myself of how it used to be. Those

patch cords were hanging off the

patch panels, some connected by all

of those multiples. As I recall, we

were still using the 131R. I remember how the servo resolvers used to

get stuck. I used to have to go in the

back to put some torque on the shaft

to get them unstuck. One day I was

in there, and I put my hand back

there to unstick a resolver and

touched something hot. The natural

reaction was to jerk my hand away,

but there was a bar above the

opening. Since it was in a pretty

tight space, my hand just bounced

back and forth between the hot

source and that bar. It beat the heck

out of the back of my hand before I

was able to remove it. We had to do a

lot of things to make those simulations work. But they worked!

As the project engineer on the X15 simulator, my job, first thing in

the morning, was to make sure that

it going to play that day. As you

know, with analogs, sometimes

they would play and sometimes

they wouldn’t. We had those two

test runs that we did—the one was

an altitude run and the other was a

speed run. Every day, before the

pilots came down, we had to be

sure it was going to work right that

day. We had this little fudge factor

on a pot—we’d twist that factor

until it came out right. I’ll never

forget, that altitude flight was

314,000 feet. If the computer

would do that flight, then we could

practice altitude flights that day. If

we were planning to practice speed

stuff, where we wanted constant

dynamic pressure or constant

altitude or something like that, then

we would have to do the lowaltitude speed runs to see if that

was going to work. We would play

with it and play with it until we

were ready. Then we would call

Flight Ops and say, “OK, we are

ready to go.” The pilots would then

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come down to practice.

Some of the pilots were more excited

about practicing than others. Jack

McKay never wanted to practice. But

people like Joe Engle would practice

until they were blue in the face. They

just wanted to get it right. Bob

Rushworth was another one; he was

probably the most precise lowaltitude pilot we had. If we told Bob

we wanted a certain dynamic pressure for a certain number of seconds,

that is what we got. He would

practice on the simulator until he was

sure he could do that in flight. So, it

was fun working with those guys.

I don’t remember when I came into

the program. I just remember that I

worked on it for six and one-half

years. I started before we got the

SDS 930. I never really made the

hybrid transition. I went to the GPAS

from the X-15. Other people were

working on the 930, and later on the

9300.

We had some significant challenges,

but we were up to them. That is what

made working for NASA so much

fun. Because NASA was the glamour

agency of the federal government,

we could attract and retain the best

and brightest. We believed we were

good, and we set out to prove it

every day. That didn’t mean we

didn’t have conflict and didn’t fuss

and fight, but we brought our best

every day. We didn’t leave anything

on the practice field.

Derivative Matching

I remember Glenn Robinson and I

were doing derivative matching43

on swing shift. Glenn and I never

got along, but we rode together to

and from work. We would fuss

from the time he picked me up

until we got to work, and as soon

as we got in the computer room, all

our arguing stopped, and we

worked well together. We used

Sanborn recorders, with the red ink

flying everywhere. We had overlays, and we put them on the inked

paper to see if we were matching

the derivatives. When we were off

at midnight, and as soon as we got

to the car, we started fussing again.

However, we did some serious

business during our work shift.

That was a part of my simulation

career when I was basically

supporting Stability and Control in

the derivative matching process. I

wasn’t doing anything other than

making sure the computer was

working. They were the ones doing

all the work, but I think it was

important work that I did as well.

We were trying to refine the windtunnel data so that we could make

the simulations more accurate.

X-15 Landing Simulation

That was true up until we got to the

point where we decided that,

because of some problems we had

with some of the landings, we

wanted to write a simulation of the

X-15 landing. I was given the

responsibility of coming up with

the equations to do that. I’ll never

forget—it was right before I was

getting ready to go on vacation,

and I was going to be flying to

Florida. I took that stuff with me,

and on my flight back to Florida, I

did a lot of work on those equations. It turned out it was 10

degrees of freedom (DOF) because

43 As explained more briefly above, derivative matching, on an analog computer, was a process of determining the nonlinear derivatives for a particular airplane. Most of the X-15 derivatives used in the simulator were originally obtained from wind-tunnel tests and

were not always accurate or complete. Derivative matching was used to update the wind-tunnel data using actual flight data. Over the

years, derivative matching was done using several different analog computers and for many different airplanes. This analog process

was eventually replaced with digital parameter-estimation techniques developed by research engineers at the FRC.

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we had to do the 6 DOF for the

airplane and four for the landing

gear. We had to include sliding

friction for the skids, rolling

friction for the tires on the nose

gear, and the torque created by the

struts. I was working with Jim

McKay on that project. We ended

up getting that job done in terms of

the design of the system to simulate the landing of the X-15, and

then the FRC lost interest. However, it was implemented at

Wright-Patterson. I never got to see

it, but I heard that it worked really

well. That was probably the most

challenging job I had ever had to

do in applying the math I had

learned in college, primarily

because we had to do it from

scratch. We already had 6 DOF

equations for the aircraft, but we

had to add the 4 DOF for the

landing gear and integrate them.

We also had to add ground effects.

I never got a chance to play with it

after I had done it, but I was told

that Wright-Patterson did and

thought it was successful. It would

have been a real challenge for

analog computers, and I believe we

were still analog at that time. It

might have been a lot easier if we

had had faster digital computers.

I think my last major piece of work

on the X-15 was that landing gear

problem. Although that wasn’t the

end of the program, it was basically

the end of my active involvement

in it. I had been kind of moving

into supervision, and watching

Larry Caw with the TR-48s and the

LLRV thing he had—that mess he

had. Man, he had the messiest

hook-up I had ever seen—wires

running everywhere. Larry had a

hornet’s nest over there.

GPAS

I then moved on to the JetStar.

Bikle basically made that decision

to take it out of the hands of

Research and Dwain Deets and

Ken Szalai, who were working on

it, and put it back into simulation.

GPAS was fun work, too, because

it basically was the same thing we

had done, but in the air. It was a

different kind of challenge because

we had to try to make the GPAS—

the JetStar—fly like other kinds of

airplanes. Again, we were playing

the programming role because

Herm Rediess and those guys in

Stability and Control and Handling

Qualities were designing the

experiments. We were just trying to

make sure that we turned their

designs into effective simulations.

And we got to fly and run the

computer in the air while they were

doing the testing. It was fun work,

and it was exciting work.

The first couple of flights we went

up on, I took Dramamine. I sure

didn’t want to get motion sickness

up there because I knew we were

going to be all over the sky. I could

tell from the work we were doing

in the hangar that it was going to

be a wild ride. But Dramamine just

wiped me out. We usually tried to

fly in the morning when the

turbulence was low. I decided I’d

just rather be sick because once we

landed, I was worth nothing for the

rest of the day [because] I was so

lethargic. I stopped taking the

Dramamine. When I was a kid, I

fished. I’d go out in the Atlantic in

a rowboat and fish all day; yet I

never had motion sickness. I don’t

know why I thought an airplane

would create some. I never got sick

on the GPAS, but most of the other

folks did. Larry Caw did! Owen

Parish used to brag about how he

was a pilot and never got sick. I

saw him walk off the GPAS one

day with that [barf] bag full. The

GPAS got him. I don’t remember if

Musick ever got sick. I know Herm

did. Herm would get sick at the

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drop of a hat. The thing is, they

were always looking at these lowstatic-stability configurations, so

you knew the thing was going to be

unstable. The pilots were always

interested in seeing just how unstable it was before ever trying to

control it. I would tell them “we’re

ready,” and they would take their

hands off the controls to see how

quickly it would go divergent. They

were saying, “That is interesting,”

and I was saying, “Come on—

somebody control this thing.” We’d

be all over the sky. Herm couldn’t

handle it; he’d get sick almost

every flight when we were flying

low-static-stability configurations.

We had several interesting experiences. One, we were looking for

turbulence for Ken Iliff to work on

his doctoral dissertation and were

down in these canyons looking for

rough air.44 The pilots were up

there talking about “this is just light

chop,” and I couldn’t even keep my

feet on the floor in the back of the

airplane. I was saying, “Hey, wait a

minute, this is light chop? What are

we looking for?” We finally found

some good turbulence that Ken did,

in fact, use for the parameter

estimation part of his dissertation.

He did give us acknowledgement

for having gone through that. In

fact, I still have a copy of his

dissertation in my office.

The second thing was when we

added those side-force generators

to the fuselage and the direct-lift

devices to the wings. The modifications were done at Lockheed

Georgia. We were flight testing

them, and we got into a flutter

situation. I wasn’t flying. Larry was

in the airplane, and Stan Butchart

was flying. That was scary. I was

sitting in the control room, and

from what I could determine from

what they were saying on the

aircraft, it was going to be a

disaster. When they landed and we

went out to look at the airplane, we

had buckled some skin and popped

some rivets. We had probably come

very close to a situation where the

airplane would just come apart. In

fact, Butchart said that he was

looking for the spot where they

would likely crash.

So we had some interesting times

with the GPAS. I think Bob Baron

took over [as project manager] after

I left. They did some more interesting things with it. I was more into

managing the hardware when I was

working with Charlie [Wagner] and

those guys. Charlie developed the

first effective version of a variablefeel stick: the electric torque motor

stick. He did a great job on that.

The interesting thing about Charlie

[was that] his degree was in mechanical engineering. He had to

teach himself electrical engineering

to make that work. And of course,

he did it, and it worked very well.

So, I got into that part of simulation

where we were developing and

testing hardware. My primary role

was that of managing that operation. Charlie was the primary

engineer, and Dick [Musick], Art

Suppona, Gerry Perry, and Billy

[Davis] were doing all the building

and testing. My role became one of

coordinating with the project

managers, negotiating for resources, including time. My deal

with those guys was this: [as stated

by John,] “I don’t know how to do

what you do, so you tell me what

44 Ken Iliff is a research engineer and is currently the Chief Scientist for the DFRC. Actually, the JetStar was not flying as an airborne

simulator when it was gathering data for Iliff’s dissertation but just gathering data about turbulence. The reference for the dissertation

is K. W. Iliff, “Identification and Stochastic Control with Application to Flight Control in Turbulence,” UCLA-ENG-7340 (Ph.D. diss.,

University of California, Los Angeles, 1973).

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you need and how long it is going

to take. I’ll take that to the bank.

All I ask you to do is, if you find

out that you need more or are going

to take more time, let me know as

soon as you know. I don’t want to

get blindsided out there.” We

worked that way for years. They’d

tell me what they needed, and I’d

go out and get it from the project

managers. If the project managers

said they needed it in six months,

and those guys said it would take

nine months, I’d tell them they

could get it in nine months because

we can’t do it in six. So, that was

my job. Gerry Perry usually overestimated his time, so I learned

how to calibrate his estimates.

Gerry always wanted about 50

percent more time than he thought

he needed, just in case. We had a

good group of folks, and Charlie

was the main man. He developed

some wonderful stuff and he did so

up till the end of his career.

That was basically the end of my

career in simulation because I

moved up to become John’s deputy.

I still managed that part of the

organization up until I got ready to

go to graduate school, which was

’76. As John’s deputy, I was still

managing Charlie and that crew.

That was getting to be a no-brainer

because those guys were so good

that they didn’t need anything from

me. The Division pretty much ran

itself. And there wasn’t anything I

could do for the digital side. I

didn’t understand what they did

anyway. So, I knew it was time to

do something else if I wanted a

reason to get up each morning. At

that time, I could disappear for an

afternoon and go play golf, and no

one would miss me. There was

nothing for me to do. My job was

simply dealing with Procurement,

dealing with John Yoshida45 on

budget issues, and trying to make

sure the guys had what they needed

to do their job. I was doing no

technical supervision and was

primarily working with the project

managers to make sure that we

understood their requirements and

negotiating with them for extensions in schedule or money. That

wasn’t a frequent occurrence

because those guys were so good at

estimating what they needed and

how long it would take. That is

basically the reason I applied for

full-time graduate study. I was

getting bored with that job because

there was nothing for me to do. I

never thought they would accept

me as a full-time graduate-school

candidate, but they did. Then I had

to figure out what I wanted to do

once I was accepted. That was

basically the end of my simulation

career. When I came back from

graduate school, I went into

Administration.

Donald C. Bacon

I arrived on 1 September in ’64.

The 930 was just delivered. In the

first six months or so I did things to

get familiar. One of the things was

that Jim Samuels46 sat down with

me to teach me to derive the

equations of motion, beginning

with F=ma from basic physics.47

We worked on that for a couple of

45 John Yoshida was the chief financial officer at the FRC.

46 Jim Samuels was the first analog programmer in the FSL who had a college degree in aeronautical engineering.

47 Newton’s second law of motion asserts that the rate of change of momentum of a body is proportional to the force acting upon the

body and is in the direction of the applied force. This is usually stated as the equation F = ma, where F is the vector sum of the

applied forces, m is the mass, and a is the vector acceleration of the body. The equations of motion for an aircraft can be derived

starting with this basic equation.

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weeks. He’d say to me, “Think

about this How does that work;

what assumptions did you make?”

The example he used, and one of

the simplifications we made, was

that forward velocity was greater

than vertical velocity. If you ever

get into an airplane and it is dropping faster than it is going forward,

then you’ve lost terms [from your

equations that] you now need. And

particularly, there were different

kinds of airplanes that were experimental; you constantly had to keep

in mind the assumptions that you

made in the equations you were

using.

Lifting-Body Simulations

The first one I was assigned to do

was the HL-10—in ’65. Lowell

Greenfield was the guy assigned to

help, and Gene Waltman was the

technical advisor. By that time, Jim

Samuels had either just left or was

in the process of leaving. He

wanted to do more “hands-on”

work and John [Smith] wanted him

to do more management work.

They came to a parting of the ways

over how much time he spent on

the 930 and how much he spent

with the guys. [Jim went to work

for the Lockheed Rye Canyon

Simulation Facility.]

The HL-10 was the first one I did

myself. In the early days of the

lifting bodies, it was all-analog. We

took several consoles to do one, and

you could only do one at a time. In

the long run, we did the M2 [both the

M2-F2 and M2-F3], which Lowell

was responsible for. The HL-10 was

mine and the X-24 was over at the

Air Force. We also did some work on

the Hyper III,48 which was the

switchblade wing design, and

another configuration [of the Hyper

III]. All of these contributed to what

later became the Shuttle.

The all-analog, I still remember, was

drawn out on one sheet of paper the

size of a table—so you could see all

the connections for the basic simulation. And then each section was on

11 x 17 pieces of drafting paper—

grid paper—with all the inputs and

outputs carefully labeled so you

could look at one section. You could

look at the big picture as well as the

individual pieces.

Testing

There was a lot of work involved in

testing. I still remember the first time

I got it all ready to turn the HL-10

on. Ten or twelve simulation guys

gathered around. I said, “What I’ve

done is set the basic parameters for

the initial conditions49 to zero so that

I won’t have any trouble when I turn

it on.” And half the group snickered,

because they knew what was coming. So I said, “OK, I’m ready” and

turned it on. Whistles went off, bells

went off, servos went winding, and

amplifiers’ alarms screamed all over

the place—and they said. “Shut it

off, shut it off.” So I shut it off. They

said, “Think about it—you set

velocity and weight to zero, didn’t

you?” And I said, “Yes.” “Well, you

divide by those numbers and that

screwed everything up—what do

you get when you divide by zero?”

So everybody had a good laugh—but

it was a lesson learned: Sometimes

what you think is the simplest way to

approach something is not really

going to work.

48 There is an excellent description of the Hyper III project in the book by R. Dale Reed with Darlene Lister, Wingless Flight: The

Lifting Body Story (Washington, DC: NASA SP: 4220, 1997), pp. 158-166

49 Initial conditions are the values for those parameters in the equations that are normally not equal to zero when a simulation run is

started. Velocity, altitude, weight, heading, etc., are examples of calculated parameters that have initial values at the start of each run.

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The derivatives were nonlinear and

the aero people had constructed the

family of curves. Ken Iliff did a lot

of the work in getting the data

ready—as did research engineer

Bertha Ryan.50 I still remember the

first time I went down to ask her a

question—and she stood up and

drew herself up to her full height

and said “I am a theoretical

aerodynamicist and I don’t chase

wind-tunnel data for simulation

guys!” She left soon after to go to

work at China Lake. They wouldn’t

let her do the theoretical work she

wanted to do and they wouldn’t

let her in the hangars near the

planes, so she left to work at China

Lake.

Simulation Switch-over

The nonlinear curves were set up

with families of independent

variables—so every Mach number

had a set of curves—and alpha and

beta were independent variables.

They were all done on pot-padders.

During that time, they wanted to fly

each airplane every two weeks. We

took about a week to get the pilot

ready—to learn what to do for the

next flight. It took 40 hours to reset

the pot-padders for each airplane.

Lonnie [Cooper—EAI maintenance

support team lead] and the EAI

guys worked all weekend. They

worked around the clock to get the

40 hours needed between Friday

afternoon and Monday morning to

switch from one [lifting-body

simulation] to the other.

And then we checked the derivatives out by sweeping them using

the Rep Op51—we had plastic

overlays and the Rep Op scope that

we had for derivative matching. We

used that to sweep through the

independent variables and be sure,

‘cause every now and then we’d get

a spike in one [of the derivatives].

Static and Dynamic

Checks52

Static checks were done first. Next,

we’d calculate the frequency and

damping for dynamic checks—and

then run them out on the strip-chart

50 Bertha Ryan and Harriet Smith were the research engineers responsible for the earlier M2-F1 analog simulation. Al Readiger was

the FSL programmer for this simulation. There is an excellent description of this simulation in Dale Reed’s Wingless Flight, pp. 26-

31.

51 Rep Op (which is short for Repetitive Operation) was a feature available on most analog computers. Rep Op allows the operator to

reduce the problem solution time by a ratio of 100:1 and the computer alternates between the RESET and OPERATE modes, causing

the solution to be produced many times a second. This allows the calculated outputs to be displayed on an oscilloscope at a rate

(usually) that is fast enough that the entire solution can be seen at one time. The operator can make changes to almost any of the

parameters in the equations (usually via one or more pots) and the effects of the changes can be seen immediately. Once the desired

solution is attained, the time constant can be returned to normal and the solution calculated in normal time, with the results plotted on

a recorder. Although not really intended for the use described, Rep Op was a very convenient method of displaying the nonlinear

derivatives. If one or more of the data points in the functions had been incorrectly programmed (or if there was a blown fuse), the bad

data point(s) would be immediately visible on the oscilloscope.

52 Static checks on an analog computer provided a method of determining if the implementation was correct (i.e., were all the

components correctly connected and were all the pots and function generators correctly programmed?). Static checks were done with

the computer in the RESET mode (i.e., computer time was equal to zero and not changing.) Dynamic checks were performed with the

computer in the OPERATE mode (i.e., computer time was changing.) Normally, for a dynamic check, a known time history solution

(with known initial conditions and known inputs) was used to determine if the implementation was working correctly. If the results of

the dynamic check were different (with the same inputs used in the known solution), then there was something wrong with the

implementation. This problem was usually some analog component that was malfunctioning, as might happen if a fuse were blown.

Many hardware problems did not always show up when the computer was in the RESET mode and would only be noticeable when the

computer was in OPERATE. Both static and dynamic checks were run during the initial implementation of the simulation. Thereafter

the daily dynamic checks were adequate to determine if the simulator was working correctly for that day. If changes were made to the

implementation, then new static checks were calculated for checkout purposes.

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recorders. Again, once we had done

this to check them, we had plastic

overlays prepared in the reproduction shop; we could lay them over

the strip charts and see where we

were. One of the interesting things

that happened [was that] the

process in going from paper to

plastic stretched the curves on the

plastic. If you took the original and

laid the overlay on it, they didn’t

match any more.

The same thing happened on all

copiers—everyone doing engineering work and using the copiers

knew that the copiers stretched the

scale. So it was kind of a trick to

get an overlay that would work.

That took another 10 to 15 minutes.

So it was common to spend an

hour—after you were sure everything was all right—just checking

things. And then, of course, we

flew it. We’d pick a sample mission

and fly it just to make sure the

computers, model, controls, and

displays were all right.

We didn’t have those problems with

simulations that were set on dedicated equipment and were flown day

after day, such as the LLRV and X15. One of the powerful uses of the

simulations was that you could take

pieces of hardware off the airplane

and tie them in [the simulation]. I

remember we took servos from

airplane stock and instruments and

tied them into the simulations as a

way of being sure they were ready

for flight. Of course, there were some

things that were very difficult to

simulate. Now the whole aircraft is

tied in at the RAIF routinely. We had

iron birds for the X-15, PA-30, and

F-8 DFBW. The JetStar flight vehicle

was tied to its computers for systems

development and model checkout.

Landing Simulation Capability

One of the problems we always had

was simulating landings. There was

a lot of work done on visual

displays and techniques to simulate

landings. Our group finally adopted

the policy: with the equipment and

the technology we had, we could

not adequately simulate landings

for research airplanes. So what was

worked out was to take the airplanes that were closest to the

research airplane in performance

and use them to practice landings.

The F-104 in a very dirty configuration53 was used to practice

landings for the lifting bodies. The

Grumman Gulfstream II was used

for Shuttle approach studies. This

[landing simulation] was always a

terribly difficult problem—even

though a lot of work went into

trying to provide better visual

displays to the pilot.

Another thing we did with the

simulation was prepare the pilot for

whatever was new. Typically, pilots

flew 40 hours of simulation for a 4-

minute flight of a lifting body,

though the pilots—Bill Dana, Milt

Thompson (who flew the first M-2

flight), and Bruce Peterson (who

flew the first HL-10 flight)—could

better tell you how long that was in

effect. And of course there were

surprises. The airflow over the back

end of the HL-10 wasn’t as expected. It was a year between the

first and second flights. Bob

Kempel and Wen Painter did a lot

of work as the controls guys, and

Iliff was the aero guy on the HL-10.

They also used the simulator in

later years to draw the maps that

were used in the range. We’d go in

53 This is the term used to describe an airplane that is not aerodynamically clean, which usually means that the landing gear is down,

or the speed brakes are extended, or the flaps down, or for some other reason something is causing a reduction in the airplane’s

performance.

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early on the morning of a flight.

We’d call the Air Force and get the

weather data, plug it in as extra

velocities [i.e., as crosswinds in the

appropriate directions] and their

altitudes, and then fly that day’s

mission and draw the expected

ground-track maps for the control

room.

Faster than Real-time

Simulation

It was only a 4-minute flight to go

from 45,000 feet to the ground;

they were falling like a rock. The

pilots were [extremely] busy during

the actual flight, and as I recall it

was Jack Kolf who came up with

the idea of making the simulation

run faster than real time. We did

that and as I recall it was about 40

percent54 faster than real time. The

pilots said that it now felt like the

workload they were seeing in

flight. They didn’t do the research

that way. What they would do is,

the day before a flight we’d change

the time constants by changing the

gains on all the integrators and run

the simulator about 40 percent

faster than real time with the pilots

flying the next day’s mission. That

way, they were sure to get enough

time to do everything on the

checklist of research tasks the

engineers wanted them to do each

flight. This was late in the program.

It wasn’t that way in the beginning.

Use of SDS 930

The first thing we did when the

SDS 930 became available for the

lifting-body simulations was to

use it for generation of the very

nonlinear derivatives. We had

derivatives as functions of control

surfaces, alpha, beta and Mach

number—four or five independent

variables for some of these. Some

of them were very unusual.

Derivatives that you’d expect to

be all one sign crossed the axis

and caused roll reversal, for

example, at certain conditions.

Coupling between roll and yaw

also occurred. The table lookup

[nonlinear function generation]

was the first thing we did. Of

course that completely changed

the load on switching from one

sim to another.55

The next thing was the calculation of the longitudinal or slowly

changing variables. So now we

are talking about velocity, dynamic pressure, and altitude—

parameters that were very difficult to do on an analog computer,

because they had large ranges of

variables. We always had a

precision problem with altitude

and velocity when the aircraft got

near the ground.

There was a lot of experimentation that was done coming up

with the integration schemes. A

lot of tests were run; we’d set it

up and let it run all night. We let

it calculate analytic functions like

sin2 + cos2 = 1, and the derivative of one is the other, so we

could take derivatives, and

integrate and square and let it run

all night and see how close to one

54 Several different values were tried, from 20 percent to as much as 50 percent faster. The pilots seemed to prefer a value of about 40

percent faster as being the one most like what they experienced in flight.

55 The use of the digital computer for function generation of the lifting-body nonlinear derivatives eliminated the use of much of the

analog-function-generation hardware. This also eliminated the need to reprogram these analog function generators whenever the

simulation had to change from one vehicle to the other. This function-generator-reprogramming job was usually done over a weekend

by the simulation support contractor, as described above. The simulation could then be changed from one vehicle to the other in a

matter of hours, rather than days.

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we still were. ‘Cause one of the

problems with digital integration

was phase shift. Another problem

was predicting what a parameter

was going to be at the beginning

of the time frame—so that we

were calculating with the correct

variables.56 Our solution—it was

Lowell Greenfield’s idea—was,

instead of using a complicated

integration scheme, as they were

teaching in the classes, we used a

very simple integration scheme

and ran it very fast. We were

running at 100 samples per

second where other people were

running at 10 or 20. This was

done by taking advantage of the

fact that a lot of the parameters

only needed engineering precision. 57 So a lot of the terms in the

power-series calculations were

dropped out of the standard

digital functions.

The next thing that was done on

the 930 involved sines, cosines,

and square roots58—since those

were noisy operations on the

analog. And we worked on

powers (exponents) so [calculations of] things like dynamic

pressure and altitude were a piece

of cake since we didn’t have

functions of altitude to worry

about [any more]. Another early

use—in table lookup—was to do

the atmospheric tables. We could

go in with altitude and temperature and get the parameters

needed to calculate dynamic

pressure and Mach number. That

was a big advantage.

We were very concerned about

doing anything that was high

frequency—anything that was

faster than 3 cycles a second

(because we needed 30 samples

per second), which we got from

the theoretical work we did

taking courses and working with

professors at UCLA and USC.59

Many courses were taught at

Edwards and others were taught

in Los Angeles. In those days, the

young engineers had car pools

going to UCLA one night a week.

Or taking classes out at Edwards,

which were usually taught by

USC. You must realize that in the

middle ‘60s, digital computers

were not fast enough to do what

they do today. And they didn’t

have the parallel architecture that

they have today—where we could

take a problem and divide it up

among a bunch of computers that

were yoked together. So people

were working all kinds of

56 This refers to one of the problems with combined analog and digital (hybrid) simulations. The digital computer calculated parameters using inputs read in from the analog at the start of each digital time frame. The parameters calculated during that frame were

then sent out to the analog at the beginning of the next frame. This resulted in a time delay, which usually affected the accuracy of the

simulation. The shorter the time period, the smaller the error. One method of dealing with this time delay was to try to predict, at the

beginning of each time period, what the input parameters would be at the end of the time period. These predicted values would then

be used in the calculations (instead of the actual inputs).

57 Engineering precision means that the degree of exactness (or refinement) of the measurement being made or the calculation being

performed is both adequate and sufficient to provide the accuracy needed for the task at hand. For example, in combined analog/

hybrid simulations, there was no need to calculate mathematical functions in the digital computer to a degree of exactness that

exceeded the analog computer’s accuracy (which was only about one part in 10 thousand.) This was a waste of the digital computer’s

time and memory, both of which were quite limited and better used for more significant calculations.

58 There are numerous terms in the equations of motion of an aircraft that require the calculation of mathematical functions such as

sines, cosines, and square roots. We used algebraic series, such as: Sine = A0 + A1

1

 + A2

2

 + A3

3

 + A4

4

 +...An

n

. We did

these kinds of approximations whenever we could, since it was faster to do so than to do a table lookup. On the other hand, there were

no such simple equations for approximations of the density parameter needed in the calculation of dynamic pressure, so we had to do a

table lookup in the 930. We did this since it was better than doing so on the analog (as we had to do earlier with the all analog sims).

59 University of Southern California.

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schemes to do integration and to

try to do other things where there

were time frames, time shifts, and

phase shifts that had to be dealt

with.

There were lots of Simulation

Councils Inc. meetings where the

analog guys and the digital guys

were basically calling each other

crazy, and those doing hybrid—like

us—would say: “Well, you’re both

right and you’re both wrong.” Our

view was to take the strengths of

the digital and the strengths of the

analog, with due respect for the

time delays, time shifts, and phase

shifts that were inherent in using a

digital and the precision constraints

inherent in using an analog. ‘Cause

100 volts represented whatever it

was—whether it was 50,000 feet of

altitude or ±5 degrees of beta. The

±100 volts had to be spread60 over

that calculation. So we took the

strengths of both systems. We kept

the control systems on the analog

to take advantage of parallel

processing and instant results. We

kept the lateral equations on the

analogs and the longitudinal

equations—such as altitude and

velocity—on the digital. The

analogs by now had logic components that were programmed on a

separate panel. This allowed

decisions to be made and alternatives selected. For example, gear

up/gear down could be more

accurately simulated.

In the middle phase of all this—

from ’64 to ’68—we began specifying a faster digital computer. In

the early ’70s, Gene Waltman’s

team specified and bought a timeshared digital computer. It was a

Control Data CYBER 73-28—in

which we put everything. In those

days, it was a good strategy to get

the biggest, fastest digital computer

and put everything on it. We had

business on it, we had batch on it,

we had range on it, and we had

simulation on it. We had one

processor dedicated to batch and

one processor dedicated to realtime. I don’t remember how many,

but there were 10 or 12 small

processors that just fed stuff in and

out of the big processors.

As I recall, there were only five of

the CYBER 73-28s built. We had

one; the Army Missile Command

had one; there was one in Europe—and they wouldn’t even tell

us on which side of the Iron

Curtain it was located.

These special 73-28s (with the

real-time front ends) collapsed of

their own operating system

weight61—it was so expensive

that the customers had to pay for

all the system upgrades. And

when we got tired of doing that,

the design group went on to other

things. So the support wasn’t

there. Everyone else (to the best

of my knowledge) ran batch and

real-time on different shifts. We

were the only ones who ran realtime and batch at the same time—

and not time-sharing but in true

parallel processing, because there

60 This refers to the scaling of parameters on the analog computers. Depending on the dimensional units, variables could have values

or rates of change that went from very small to very large numbers. Scaling is the process of setting the expected maximum values to

be equal to the ±100 volt range of the analog. For example, if the maximum altitude is 100,000 feet, then its scale factor would then

be 100 volts/100,000 ft. or 0.001H(volts/foot), where H = altitude (in feet). To convert a value to the corresponding analog voltage,

we would multiply the value by the scale factor. If the altitude was 40,000 feet, the voltage would then be 40,000 feet times 0.001

volts/foot—or 40 volts. To convert an analog voltage to the corresponding value, we would divide that voltage by the scale factor. A

voltage reading of 50 volts would therefore be equal to 50 volts/ 0.001 volts/foot—or 50,000 feet.

61 This refers to the large size and complexity of the special software that CDC developed to manage the real-time front-end hardware

connected to the two analog computers in the FSL. CDC had a very limited set of customers.

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were two processors running. We

simply forced CDC to make it

work. The acceptance testing that

was supposed to take 30 days took

a year.

At the same time we acquired the

CYBER, we acquired two Applied Dynamic Inc. analog

computers. They had a lot of

digital logic and what today

would be called firmware. One

comment—all the programming

we’ve been talking about was

done in Assembly language,

although Fortran was available.

There was real-time Fortran, and

Fortran designed for simulation.

But it was so slow we couldn’t

use it for the kind of vehicles we

had. At that time you could write

Fortran routines that ran batch.

So basically you were solving the

same set of equations two different ways—one in Assembly

language and using the analogs

and the other in Fortran. If they

didn’t match, we knew something

was wrong in one of them, but we

didn’t know which one. If they

did match, we had a fair confidence that the check worked,

since we were using the computer

in two different modes and with

two completely different languages.

It wasn’t until we got the CYBER

in the ’70s that the computer was

fast enough—what with two main

processors and 10 small processors

feeding it—and the Fortran compiler was efficient enough that we

could actually write simulations in

Fortran. It was Al Myers who wrote

the first Fortran simulation to run in

real time on the CYBER. There

were lots of thought processes, a lot

of agony, a lot of gnashing of

teeth—if you will—over whether

we were really ready to switch. It

turned out it really was a viable

way to do simulation, and it turned

out to be a powerful tool.

ICARUS

Another thing that happened about

that time was the ICARUS simulation. ICARUS started with Ken

Iliff’s idea of using the digital

computer to help set up the analog

computers and help run the check

cases to minimize the load on the

simulation engineer. He suggested

this because in addition to the

research engineers and the pilots, we

needed a simulation engineer present

anytime a simulation was running to

handle set-up problems, to be sure

the analog computer was running

right, and to be sure the digital and

analog were in sync, plus all the

kinds of things that could go wrong

with the cockpits, which were the

displays to the pilots. The thought

was if we simplified the set-up and

the checking by moving them onto

the digital computer, then use unity

scaling—in which we took the

biggest value of a variable and called

that 100 volts—and let the digital

computer do the scale factors for us,

research engineers could then set up

the simulation and run it for a basic

engineering problem. That would

also allow us not to need all those

other people there, which would

permit us to run off-shift or on

weekends.

There was always a problem when

we had emerging projects. They

didn’t yet have any money or

priority, but there was a lot of hard

work that was needed to get going,

and there were usually two or three

excited research engineers and pilots

who were ready to get going. The

structure wasn’t there to support

them, ‘cause they weren’t ready to

fly.

ICARUS meant Immediate Checkout Analog Research Unity Scaled.

We started with the word ICARUS,

and we sat around the office one

afternoon and made the words fit.

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The idea was that Icarus, the son of

Daedalus, escaped from prison with

his father, using wings made of wax

and feathers. He got so excited with

what he was doing that he flew too

close to the Sun, melted the wax, and

fell into the Aegean Sea. That is what

we told the research engineers. It’s

wonderful and you can really use it, but

if you lose track of the assumptions, if

you lose track of the simplifications that

say you can do this and that, and you

can’t do other things, you’ll get too

close to the Sun and fall into the sea of

misleading results. That was a graphical

way of telling them not to forget about

those terms that were taken out to

simplify the model.

So, that was a project that I did—

making it a practical thing to use the

digital. You could put in the maximum values of the parameters; you

could put in a simple set of the

derivatives. We had functions of

Mach number, alpha, and beta. The

tables were predetermined—we

could set the breakpoints wherever

we wanted—but the numbers of

tables, the kinds of derivatives, and

which ones we had were all pre-set

up. So if an engineer wanted to use

it, he could bring in a simple set of

wind-tunnel data. That is usually all

he had in the very early stages of the

project—a few wind-tunnel runs.

Then he could make some linear

adjustments on them—out in the

maximum values for the parameters.

ICARUS would scale it and set it up.

He could then type in the initial

conditions for the run he wanted to

make.

By then, switches had been installed

in the cockpit. Gerry Perry did that.

He was the one who figured out how

to run the analog from the cockpit.

Ken Iliff was confined to a wheelchair and couldn’t jump in and out of

the cockpit. It was his idea to put

controls in the cockpit so that a guy

running a simulation by himself

could control the analog and therefore control the whole simulation by

resetting it or stopping it in the

middle of something. Later he gave

up on HOLD and there were only

OPERATE and RESET. There wasn’t

any point in going to HOLD in the

middle of something since there

wasn’t anything to get out and look

at. Gerry Perry designed that, and by

this time Charlie Wagner had designed the cockpit setup. It had a card

reader, which used a punched card to

turn switches on or off and set the

pots (initial values) on that interface

computer that was built at the FRC

together with the electric stick, with

torque motors to provide forces.

So now we had a system in which

an engineer could come in (having

had a simulation setup), load a

copy, turn it on, go sit in the

cockpit, and fly the simulation. The

criterion now was 30-minute setup,

and simulation time was scheduled

by Dick Webb in 2-hour blocks.

Because now, in 30 minutes you

could change the cockpit and

computer. So, ICARUS was used

for dozens of projects, particularly

those in the early stages and also

where there was control-system

work to be done. At this time, the

FRC moved to many projects that

involved control-systems work—as

opposed to performance work. A lot

of the guys were setting up fairly

straightforward, simple control

systems on the analog patch boards

themselves. ‘Cause they were

Control Systems guys and were

turning the computers on and

running the system. We were

running 16 hours a day and frequently on Saturdays and Sundays,

if needed. Typically, if a pilot was

preparing for a mission, that was

done in the daytime. Even the highpriority guys would bring in their

requirements. They were scheduling on a two-week basis, with the

first week being firm and the

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second week preliminary. At the end

of the week, we would redo the

preliminary schedule into a firm

schedule and make another preliminary schedule for the following

week.

ICARUS allowed a lot of work that

did not have the priority and would

never have gotten any time to be

done under the previous arrangement. This resulted from these two

simple ideas: Immediate Checkout

using the digital to run the static and

dynamic checks, and Unity Scaling,

again using the digital to set up the

scale factors for all the variables that

had to be displayed in the cockpit.

We still had the control systems with

the high frequencies on the analog—

but now we were doing the derivatives and equations on the digital.

The period we are talking about was

the late ’60s and the ’70s. It was

about ’73 when the CYBER came

on-line. So we’re talking about ’69 to

’72. Then, with the advent of Fortran

and with the CYBER running the

simulations, two things happened.

The flight data ( from Telemetry)

was in terrible trouble; it was taking

two weeks to get flight data turned

around, and simulation was a breeze.

The decision was made to take the

guys who had been in simulation

and move them to solve the flightdata problem. Larry Caw was the

first. Gene Waltman was one of the

early ones. John Perry moved over,

and Lowell Greenfield became the

systems guy on the CYBER. So the

simulation group was broken up

(except for a couple of younger

guys) and moved in to attack the

flight-data problem. In a couple of

years we were getting 24-hour turn

around [on the flight data]. We

were getting 90 percent on-time

delivery with that kind of criterion.62

And I was one of the ones who

switched over, too. At the time the

CYBER was being specified, I took

a look at Mary Little as she was

running the flight and business data

and John Smith running simulation,

both on the same computer, and I

decided that was not going to work—

that somehow, someway we were

going to have to have one group

that ran the machine and specialists

who ran the applications. The

Systems Analyst Group—under

Dave Hedgley—was also founded

then. I went off and took a lot of

work at UCLA in statistics—in

mathematical statistics ‘cause no one

else was doing that. I was working

towards a certificate in numerical

analysis. About that time a Ph.D. was

hired—under contract—to do

statistics.

So I shifted over to the kinds of

things needed for operations. On

my own—while taking some

classes—I did a lot of work talking

to people and looking at what kinds

of problems there were in running a

computer center. Because at that

time, it was all magic. I remember

going to the guy who was head of

programming and asking how long

it would take to do a job. He said,

“Well, you know, it’s a creative

process. It might take a week or it

might take a month.” And he leaned

back in his chair and puffed on his

pipe and said, “You can’t push

creativity,” and of course in those

days that was a long-standing

argument whether software was an

art or an engineering practice. There

were lots of attempts to come up with

criteria—they did things like

“count lines per day” and it was all

a big game. And in my perspective,

62 The goal was to get the data collected from a flight processed and ready for use by the flight project personnel within 24 hours after

a research flight was completed.

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there was no way to predict—based

on IBM studies—who would be a

good programmer. You couldn’t

predict based on education or

intelligence, and the only thing I ever

saw that really worked was that, in

general, people with music backgrounds made good programmers.

And I’ve been told that is also true

with people working in the early

days of communications.

In my own view, it does make a

difference. My son studied music

in college. The idea came to me

while talking with him about this.

A musician has to pay attention to

both the theme and the flow of the

piece of music—as well as the

details of the structure of the

music. For example, on a keyboard

you have to pay attention to what

every finger is doing and at the

same time to the whole flow of

music in terms of the quality of the

music. My son is a drummer, so he

had both hands and both feet

going, six or seven pieces of

equipment. So that’s my own

thought on why music can be a

predictor of success in software—

because you have to pay attention

to both the big picture and the

details.

So at that point I became the chief of

the operations group when the two

divisions were combined—that is,

the whole CYBER organization was

realigned into a software group, a

hardware group, and an operations

group. Within the operations group

that I headed, we saw a major loss of

simulation engineering capability

because simulation required all three:

operations, engineering, and software. We did all those. We had a

technician assigned who was an

expert in all areas of electronic and

mechanics. To the extent that it was a

separate skill area to be a simulation

technician, simulation was out of

control in my view at that point. First

of all, we had taken the people and

sent them to do other things—

systems work or whatever. And

secondly, the structure didn’t really

allow for a simulation engineer. So

one of the changes that was made in

the latter ’70s, which went on for

several years, was that a simulation

group was re-established within the

software part of that structure. Larry

Schilling and others became what we

would call simulation engineers

again—or what NASA calls specialists in theoretical simulation techniques.

One of the interesting things was that

in the early days, around the ’60s, we

were classified as mathematicians.

To give an indication of the flavor of

the work positions, we had mathematicians, aerodynamicists, and physicists—there weren’t any computer

degrees. They didn’t know what to

do with the computer people. In the

later ’60s and early ’70s, if you were

more software than hardware, you

were considered a mathematician,

and if you were more hardware than

software, you were an electronics

engineer. My own classification

changed several times during that

period. I used to say I became an

engineer by act of Congress just like

officers became gentlemen. They

didn’t know what to do. There was

no computer scientist series among

civil service job classifications. The

only thing there was for a person

who did data entry, or keypunch, was

a clerical work category. It wasn’t

until the computer scientist’s series

was created that there was any

semblance of order.

Lawrence (Larry) Caw

Larry worked in the FSL from 1962 to

1975. I (Gene Waltman) wrote this PA from

a number of notes, letters, and various other

inputs provided by Larry, with additional

information from others in the FSL.

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X-15 Landing Studies

The first simulation Larry had as his own

was an X-15 landing-loads-analysis study

for the research engineer Jim McKay. Jim

was the twin brother of John (Jack) McKay,

the X-15 pilot. Jim wrote several reports

dealing with the landing characteristics of

the X-15. This simulation did not involve

any cockpit and only had four degrees of

freedom: main-gear motion, nose-gear

motion, airplane pitch, and vertical translation. A brief description of this simulation is

in an appendix to the report: (Citation No.

342) Landing Loads and Dynamics of the

X-15 Airplane by James M. McKay and

Eldon E. Kordes, NASA TM X-639, March

1962. This simulation used a single EAI231 analog computer. Larry also worked as

a programmer on the X-15 simulation.

Photo ECN 1456 shows him standing in

front of the X-Y plotter used by the simulation to display ground track and altitude

during flights. Larry and several other FSL

programmers were assigned to help out

with the X-15 simulator when we went to

two and three shifts of operation.

LLRV Simulation

The next significant simulation Larry Caw

did was of the Lunar Landing Research

Vehicle (LLRV). This simulation earned

Larry the dubious title of the FSL Kludge

King. It was implemented using an

unusual collection of different analog

computers, including an EAI 31R, EAI

231R, and several portable analogs (TR10s, TR-20s, etc.). Because of the differences between the larger analogs (31R

and 231R) and the portable analogs (TR10s), there were many home-made patch

cords connecting the two different types

of computers together, giving this particular simulation the appearance of one huge

Rube Goldberg kludge. Photo ECN 637

shows one of the LLRVs. Larry spent

many morning hours making test runs and

trying to get this mass of patch cords and

computers to work before he could call

the project office and tell the pilots to

come fly. The portable analog computers

were situated on one of the air-conditioner

blower housings in the X-15 simulation

lab. This housing was in a corner of the

lab and across from the EAI 231R that

was also used in the simulation. The

extra-long patch cords were hung from

the ceiling. The wood flooring used in the

X-15 lab interfered with running the

trunks under the floor. The cockpit was in

the next room, which had no false floor,

and also required the use of some overhead trunking. Photo E-10840 shows the

simulation cockpit. Unfortunately, no

photo was ever taken of the computers. If

there had been a photo taken, I’m sure

Larry would have had a copy mounted on

Frank J.

VanLeynselle in

the LLRV Simulator Cockpit

(January 1964).

(NASA photo

E-10840)

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a dartboard in his office. This simulation

shared the lab with the X-15 simulation

computers, and there were many mornings, when I would be in the process of

checking out the X-15 simulation, that I

heard all sorts of grumblings emanating

from the other corner where the LLRV

simulation was situated. Thinking back on

this simulation and the overhead mass of

patch cords, I am reminded of the

Munsters’ mansion and all its vines and

cobwebs in a popular TV program from

the 1970s.

This simulation was unique in that it was

a simulation of a simulator. The actual

LLRVs—there were two built by Bell

Aerospace—were eventually used by the

Apollo astronauts to practice Moonlanding maneuvers on the Earth. The

actual LLRVs had the capability of

simulating the Moon’s gravity (one-sixth

that of Earth’s), thereby allowing the

astronauts to perfect their landing techniques before ever going to the Moon.

The two LLRVs were first flown at the

FRC during the early check-out and

development phases of the landing

studies. The on-board avionics system

was designed and built by Bell and tested

using the simulation. Later, these vehicles

were transferred to the Manned Space

Flight Center (later redesignated the

Johnson Space Center) in Houston, Texas,

for use by the Apollo astronauts. NASA

also had three more of these vehicles built

for training use. The training vehicles

were called Lunar Landing Training

Vehicles (LLTVs) exclusively.

Besides Larry Caw, the FSL technicians

involved in this simulation included Art

Suppona, Gerry Perry, and Leo (Dick)

Webb. This simulation lasted for about

three years. The research engineers

included Gene Matranga, Cal Jarvis, and

Wilt Lock. Many reports were written

about the LLRV program. A number of

pilots flew the simulation and the simulator, including Joe Walker and Don

Mallick from the FRC, and Jack Kluever

from the Army. See photo ECN-637 of

one of the LLRVs with the FRC pilots.

Houston pilots Joseph Algranti and H.E.

Ream also flew the LLRVs during the

early days of the program. Deke Slaton

and Neil Armstrong were two of the

astronauts who also flew the LLRVs (in

LLRV with Joe

Walker (on right)

and Don Mallick.

(NASA photo

ECN-637)

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Houston) and the ground simulation.

This ground simulation also had flight

hardware tied into the analog mechanization. This particular black box was a

prototype of the electronics used in the

LLRV. The engineers were trying to

duplicate actual system responses as

closely as possible, and rather than try to

simulate this particular piece of hardware, a prototype unit was connected to

the simulation. It was several years later

before aircraft were connected to FSL

simulators. Once the FSL moved into the

mezzanine in the Calibration Hangar, this

began to happen more and more. Our

experiences with trying to simulate onboard computers was never good. It was

far easier to actually connect the real

hardware, either in an iron-bird cockpit or

the real aircraft. The new Integrated Test

Facility (ITF) was built with this concept

in mind. There were many simulations in

the FSL that used real avionics. In the

current facility (now called the Research

Aircraft Integration Facility [RAIF]),

entire aircraft are connected just for this

reason.

The LLRV was a unique simulation with

somewhat unusual equations. At that

time, the FRC was heavily involved with

the X-15 Program, and there weren’t a lot

of resources available to devote to this

simulation. The oddball collection of

analog computers made it an especially

difficult and frustrating simulation to

keep up and operational from day to day.

Larry and the FSL technicians who

worked on this simulation have a lot to be

proud of. We kidded Larry a lot about this

kludge, and the other sim programmers

(that filled in for him when he was on

leave) did not look forward to having to

work on his simulation. It definitely had

its own personality, and Larry was its

only “recognized and accepted” owner.

But it was so temperamental that it gave

even Larry fits at times. It was like

having a Tasmanian devil as a pet.

The attitude rockets on the LLRV made

quite a bit of noise. At first the pilots

complained about this, since it was

distracting. Later on, they found that there

was a pattern to the noise and they could

use this as an indication of just how the

vehicle was doing with the control system

engaged. Because of this, a study was

conducted with the simulation using a

white-noise generator to simulate the

attitude rocket jets to try to determine if

the noise patterns could, indeed, be of any

use. I don’t know what the results of this

study showed but I doubt if it had any

impact on the ultimate purpose of the

LLRV—which was to train the Apollo

astronauts to land their lunar lander on the

moon and to provide data for the design

of the actual lunar lander. But this little

ancillary study shows just another of the

interesting things that our simulators were

used for.

Lifting-body Simulation

The next major simulations that Larry

Caw was involved with were those for the

lifting bodies. There were several different mechanizations during the Lifting

Body Program. The first simulations were

all-analog implementations. As the X-15

Program was winding down, the SDS 930

digital computer used in the X-15 simulator became available for use with other

implementations. The lifting-body

simulations also began using this digital

computer. Because of the many different

lifting-body configurations, it became

necessary for the simulation to be easily

and quickly re-configurable. Using the

SDS 930 for the many different nonlinear

coefficients helped in achieving the rapid

changeover needed by the Lifting Body

Program Office. Larry Caw was a backup

programmer to Lowell Greenfield and

Don Bacon on this simulation. Larry

programmed and operated the analogs and

never got involved in the digital side of

the implementation. I don’t remember

Larry ever going to any of the SDS

programming classes. These lifting-body

simulations overlapped with his support

of the LLRV, which was his main concern

at the time. Like the X-15 simulation,

the lifting-body simulations originally

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used pot padders for the many nonlinear

functions in the equations of motion. Pot

padders were very time-consuming to set up

and check out. Larry spent a lot of time

working with these components. The

integration of the SDS 930 (see below) into

the simulation was a definite improvement

and resulted in a significant decrease in the

time needed to re-configure the simulation.

Even so, the Air Force and the FRC split the

simulation effort, with the Air Force providing the early M2 simulations (while the

FRC was installing the SDS 9300) and the

X-24 simulations. The FRC implemented

the HL-10 and the latter M2 simulations

(which used the SDS 9300 digital computer

instead of the original SDS 930). Larry

worked with the lifting-body simulations

from 1966 to 1969.

There are several excellent publications

about the Lifting Body Program that include

discussions of the simulations. I particularly

recommend: (1) NASA RP-1332, by Robert

W. Kempel, Developing and Flight Testing

the HL-10 Lifting Body: A Precursor to the

Space Shuttle, (2) Dale Reed’s book with

Darlene Lister, Wingless Flight: The Lifting

Body Story, and (3) the Bob Hoey study,

“Testing the Lifting Bodies at Edwards.”

The publication by Reed is available on the

DFRC Web page at URL http://

www.dfrc.nasa.gov/History/Publications/

WinglessFlight/. The Hoey publication is

also available on the DFRC Web page at

URL http://www.dfrc.nasa.gov/History/

Publications/LiftingBodies/contents.html.

There is also a document on the website by

Bill Dana, which is his talk to the National

Air and Space Museum, Smithsonian

Institution as a part of the Charles A.

Lindbergh Lecture at URL http://

www.dfrc.nasa.gov/History/lifting_bodies/

lifting-1.html. This document contains many

really great photos of different lifting

bodies. These photos are all downloadable,

and many are in color.

GPAS (General Purpose Airborne Simulator)

As a simulator of different aircraft configurations, the GPAS was as unique in its

own way as the LLRV simulation. Larry

worked on these simulations from 1968 to

1973. The various simulations were all

analog and included studies of the concept

of a flying simulator. This was done both

here and at CAL (Cornell Aeronautical

Laboratory in Buffalo, New York). CAL

was the organization that was selected to

build the airborne simulator. These studies

helped determine the feasibility of such a

flying lab and to design the appropriate

control systems. After the JetStar was

modified and the on-board analog computers installed, there were closed-loop

simulations that used the on-board

analogs and external ground-based analog

computers. There were also simulations

that used ground-based analog computers

tied into the airplane control systems. The

analog computers used in these different

phases of the simulations were EAI 231Rs

and EAI TR-58s. The section on GPAS

further describes the on-board analog

computer system.

The GPAS was used for a number of years

in many different types of studies: handling

qualities, stability and control studies,

parametric studies, noise turbulence studies,

and variable stability control systems

studies. During the latter years of the

program, direct-lift and side-force surfaces

were added to extend the simulator capabilities. The GPAS employed a modified

Lockheed C-140 JetStar. Photos ECN-2399

and E-27825 show the airplane and the onboard computer system. There were many

technical reports written covering the

various studies and the results.

Larry Caw worked on this project with John

J. Perry and Dick Musick from the FSL.

Herman Rediess, Dwain Deets, and Ken

Szalai were the control systems engineers,

and the FRC pilots included Stan Butchart,

Don Mallick, Hugh Jackson, and Fitz

Fulton. Many guest pilots also flew the

GPAS, including Wernher von Braun, who

stated that flying the GPAS was like dialing

an airplane. The GPAS did have the capability of simulating many other aircraft in

actual flight. Larry flew 176 flights in the

GPAS as the simulation specialist.

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Art Suppona

I got there—Computation and

Simulation [the FSL]—the day after

Labor Day in 1961. The big simulation then was for the X-15 Program.

And, of course, all of us technicians

were either under the floors pulling

cables or pulling parts of the EAI

analog computers apart, every day,

doing maintenance on them, and

trying to do preventative maintenance. Most of that effort was with

the operational amplifiers, which

were tube types, and trying to keep

them free of noise, basically, in that

the doggoned machines would

integrate on noise and they were

chopper stabilized amplifiers.63

Ninety percent of that work was

trying to check the tubes and to

check that the chopper stabilization

circuit was working.

Cleaning Spirits

The resolvers were another big thing,

which entailed cleaning the various

parts using 200-proof alcohol, which

only Dick Musick was authorized to

withdraw from stock. He was the

only one authorized in Computation

and Simulation to sign for it, in pint

bottle quantities. Needless to say,

some people just might have a

temptation to have a little stronger

refreshment during the day, but that

was one thing we never saw happen.

Floor Tiles

We ended up having to get under the

floors for all the cables. That was

always a fun thing. Sometimes

someone came up with a radical

change in programming; and we

would literally have to tear the floors

up as much as we could. Luckily,

they came out in two-foot squares,

and we were able to do our work

rather unimpeded—except we had to

always be on the alert as to where we

were stepping as it was very easy to

stumble on the steel supports, which

were threaded arrangements, each

one of which supported the corners

of four floor tiles. The idea was to

get those tiles adjusted precisely so

that there were no edges sticking up

for someone to stumble over later.

Glider Simulator

Now, the X-15 having all the

funding, when someone from

another program came up with a bit

of an oddball request of some kind,

we had to do a lot of improvising.

And my first experience with that

was when an individual—I cannot

remember the guy’s name—had a

private project (if you will); he came

in with some kind of a glider program that he wanted to establish.

Lowell Greenfield was the programmer for the simulation. But I built the

simulator for him. They wanted

absolute simplicity; the objective of

the simulation would be achieved

strictly by instruments. The only

reason I bring this up is that the

control stick was a cutoff broom

handle and the rudder pedals were

also made from a part of the broom

handle. Everything was strictly

tension-type springs, for providing

the force and maintaining a zero

position. There were pots, of course,

for stick-and-rudder-position indicators and for input into the portable

computer, which was a TR-10 analog

computer. It only took a few days to

jury-rig this thing up. This guy and

Lowell were very anxious to show it

to Paul Bikle.64 Paul got in and

operated it as Lowell and this

engineer looked on. Paul flew it,

with the ever-present cigar in his

63 Choppers are described in the section on Four-Stage Boost-Vehicle Simulation. See also glossary.

64 Paul Bikle was a world-class glider pilot as well as the center director.

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mouth, and then he got up and said

that it was totally unrealistic—and

stomped out. That was my introduction to the frailties of simulation. We

thought we did pretty well in getting

that thing cranked out in such a short

time and achieving the objectives of

the project engineer. We really got

shot down, but good!

F-104 Stick Kicker

There was another simulation that

was, more or less (shall we say?), not

done on a formal work request and

involved making do with what we

had or getting around the normal

methods of procurement, if you will.

Joe Walker came in one day and

expressed a desire for a simulation of

the “stick kicker” function of the F104. As I remember, when the F-104

was put into a certain climb or noseup attitude, it would fall flat and get

unstable unless the pilot reduced the

stick position. [The stick kicker was

a device that vibrated the control

stick to remind the pilot that he was

getting into an undesirable situation.]

I had no engineering guidance on

this, just his verbal request. I remember that I had to buy an electromechanical clutch. For the life of me,

I don’t remember how I got that

through the mill. I think we put it on

some other program’s charge

number. It only took about 10 days of

work in the machine shop; we

already had a stick of some kind that

needed some minor refinements. The

biggest thing was getting a function

generator that would respond to the

attitude of the airplane. This time

things worked out a little bit differently in the end. We busted our butts

getting what Joe wanted. Anyway, I

forget the name of the programmer I

was working with. As I remember,

we got things ready, and we gave Joe

a call and said we think we have

what you want. By the way, the

cockpit we used was an old one that

had been sitting there, alongside the

equipment in the analog room, but it

served the purpose. Anyway, Joe got

in there, flew it for about five

minutes, got his questions answered,

and that was the end of that!65

Early Lifting-Body Cockpit

Once again, working in simulation

was an education to us, at least for

this guy [himself] who was new to

this type of work and making his first

endeavor in any kind of research

work. It was a good precursor of

things to come. And of course, when

the lifting bodies came along, this

was (for me) an introduction from

beginning to end in getting a simulator built (I mean from scratch). The

program wanted it as nearly realistic

[as it possible could be], not only in

the handling of it but in the visual

environment for the pilots. The first

heavy-weight lifting body—the one

Bruce Peterson got hurt in—[was the

M2-F2]. We had the square box

simulator cockpit, but everything

else was pretty good as far as the

handling qualities went, and of

course the programming was pretty

straightforward. To get the stick

forces, we used surplus aircraft parts.

Dick Webb and I were sent to buy an

assortment of parts from surplus

aircraft shops in the L[os]A[ngeles]

basin. We bought quite a few items

we thought we would be able to use

in simulators. The first lifting-body

simulator used quite a bit of that

stuff. We acquired a fiberglass

cockpit that Northrop had used to

configure the vehicle. This was used

for the simulator. It provided a very

realistic environment.

Electric Stick

It was just a few years later that Dick

Musick and Charlie Wagner came up

65 The simulator was flown only that one time!

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with the design for the electric

[control] stick. There was one

cockpit that Dick Johnson [not in

Simulation] had designed that used

hydraulics and was built by

Northrop. It was a typical hydraulics

thing. By golly, if you weren’t

leaking hydraulics fluid, you were

fighting to get it in tolerance.

Dick and Charlie came up with the

design for the electric force generator, which everyone called the

electric stick, and we also had one

for the rudder pedals.66 This really

was a better unit and got rid of a lot

of the mechanical problems in the

old stuff.67 It was a close-tolerance

design that provided better forces

and travel and feel. We originally did

most of the construction and computer circuitry in-house, but eventually we had to contract this out,

which was a first. We either had to

do this or hire more people, and

NASA was reluctant to hire more

people for this job. The design kept

getting better, especially as solidstate devices came along. This was

used quite extensively for the various

RPV (Remotely Piloted Vehicle)

simulations and every simulation

thereafter.68

Visual Displays

Then there were the video displays

that started out being pretty crude but

got better as we went along. Since

we weren’t allowed to buy more than

one of the big monitors, we had to

design and have built a rather

elaborate hoist system to move this

heavy monitor around between the

different cockpits. We got to be

experts at moving these heavy loads

around the lab. Another big thing

then was when Charlie [Wagner] got

the patent for the rotating video

display, which made the visual

presentation much better for the

pilots.

Soldering Standard

In ’79, I got tasked by our boss to

come up with a soldering standard.

Headquarters had come up with a

directive that simulation was a part

of the “system,” and should have a

soldering standard, just like the

aircraft technicians used. Simulations, even though they were groundbased, still had to have the same

quality standards. So we had to

develop the specifications for this.

We took what was being used

downstairs by the aircraft technicians

and adapted it to simulation. I don’t

believe anyone was ever put in

charge of enforcing this standard.

F-8 DFBW Iron Bird

I was also involved in the modification of the F-8 iron bird for the

Digital-Fly-By-Wire simulator.

This was a real F-8 airplane, and

we spent a lot of time getting it

ready for use as a simulator. It

was located in the lean-to that

was attached to the side of the

calibration hangar. This modification of the F-8 took a lot of our

time, but once it was done and

connected to the computers, we

66 The “electric stick” was put into operation about 1971. It was first used for lifting-body simulators and almost every simulator after

that.

67 The “old stuff” mentioned here is in reference to all the pilot’s controls that have been discussed in previous sections; it includes the

various hydraulics and spring- and bungee-loaded sticks and rudder pedals that were used in the earlier cockpits in the FSL. These

hydraulic and mechanical devices had undesirable characteristics that made their use a very frustrating experience. The electric stick

was a major factor in the on-going development of the simulation capabilities and had a lot to do with the FSL being one of the best

sim labs in the world.

68 See Charles Wagner’s PA in the following section for further discussion of the electric stick.

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hardly ever had to go back down

and make changes. It worked

quite well for many years.

Tools

We spent a lot of time waiting for

our stuff to be manufactured in the

sheet metal and machine shops.

Simulation did not have a lot of

priority there. We got to thinking

about this and just how much time

we wasted waiting for things to be

built. It occurred to us that if we

had some of our own equipment,

we could make a lot of the stuff we

needed. John Smith approved the

purchase of a metal lathe, milling

machine, and a band saw. Unfortunately, this was when Dave Scott

was center director and had been

directed to reduce unnecessary

duplication. He had procurement

go through all outstanding PRs and

canceled those that appeared to be

duplications. Our orders for the

lathe and milling machine got

canceled. Some time later, one of

the buyers in small purchases

called and said that the order for

the band saw had been misfiled (at

the time that the other two had been

canceled) and was still there and

she wondered if we still wanted the

band saw. So we did eventually get

our (Sears, Roebuck, and Co.) band

saw.

Charles Wagner

I started working for NASA in late

1964, right after Thanksgiving. My

first assignment was to try to help get

an EMC [Energy Management

Console] up and running.69 This was

an all-analog device that was supposed to provide a real-time display

in the control room during X-15

flights. It produced a heart-shaped

display on a CRT [Cathode Ray

Tube] that outlined the area where

the X-15 could glide to at all times

during its flight. A transparent map,

attached to the CRT face, depicted

the available landing sites. The EMC

received real-time flight data, including altitude, speed, and direction.

Energy Management Console

Unfortunately, the EMC had been

built by a start-up company, which

apparently went belly up right after it

was delivered. I was told the company consisted of two guys in a

garage. The EMC was poorly

constructed, even by the standards of

its time, and a technician and I spent

many hours finding and replacing

hundreds of defective parts. We

finally got it to working (sort of), and

it found its way into the control

room. The feedback I got indicated

that the EMC worked, but the flight

controllers did not need it by the time

it became available; they already

knew by experience which landing

sites could be reached at any time

during the flights. Simulation had

been involved in the original research to determine the database

needed to define the X-15’s landing

area, and I believe John Smith had

been responsible for ordering the

device. So, when it arrived and did

not work, his group inherited the

responsibility of trying to fix it.

Dalto Visual Simulator

My next project was the Dalto

Visual Simulator. It was on order

when I started working at the FRC,

and when it arrived I became its

69 The X-15 was launched from a B-52 mothership long distances from the Flight Research Center and Rogers Dry Lakebed, its

intended landing site. Flight planners identified intermediate dry lakebeds for emergency landings when necessary. Flying at speeds

up to Mach 6.7 and altitudes up to 17 miles, the X-15s had a lot of energy that needed to be managed carefully so that the airplane

could reach a lakebed and land at the proper speed.

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caretaker. This device was intended

to provide an out-the-window view

of the area around Edwards. It was

probably funded by the X-15 project

(the only one with any money), but it

was never used for the X-15. The

Visual Simulator (VS) was an allanalog device that took a vertical

picture of a terrain transparency

(something like an aerial photograph) and distorted the picture to

make it appear as if it were being

viewed in perspective from a flying

aircraft. It used a now-obsolete

camera known as a flying-spot

scanner to view the transparency. It

seems the military had ordered a

bunch of these devices for its flight

trainers and had quickly discarded

them when they did not work well. I

must have spent a couple of years on

this gadget and learned a lot about

electronics in the process. I even

wrote a couple of technical papers on

it. Like the EMC, the VS was built

by a not-too-reputable company that

delivered something that was

unreliable and performed poorly

even when it did work. I eventually

got it working better than the factory

had been able to, but the technology

was inadequate for it to provide a

useful picture. At high altitudes, the

visual range was limited to about

three miles, which is fairly useless.

At low altitudes, the picture resolution was too poor for it to be useful

as a landing aid. It turned out to be

an expensive toy that never really did

much useful work for the various

simulations.

Norden Contact Analog

The visual device that was actually

used for many years by several of the

simulations was the Norden Contact

Analog. It usually worked, and it

generated a fake ground plane

consisting of random checkerboard

squares or other repeating patterns. It

also had fake oval clouds in the sky.

[See photo E-10591.]

Simulator Cockpits

Then, [it was] on to the simulation

cockpits themselves. The earliest

cockpits I can remember working on

were little more than wooden boxes

with spring-loaded sticks and panels

consisting mostly of simple, cheap

meter movements with dials printed

in the photo lab.

Altimeters were a particular problem. Dick Musick put together

homemade altimeters that worked

pretty well, considering what he had

to work with. But because of their

very high amplification (20 millivolts represented 1,000 feet, or one

full revolution of the fast hand),

small electrical errors looked really

big. A typical problem was that the

altimeters were jumpy, with the fast

hand oscillating constantly over 50

or 100 feet. They were annoying

when they did that. The problem was

that even a slightly noisy amplifier

on the analog computer would make

a good altimeter look bad.70

Another type of instrument that was

used fairly extensively was the

synchro.71 It was used when the total

movement of the needle had to

exceed the limits of a simple meter

movement. A synchro could revolve

through a full revolution (or many

revolutions). The problem was that

the available drivers that could

convert DC voltage to synchro were

expensive and unreliable (a common

70 Due to the high scaling normally used for altitude, if the amplifier that was providing the input to the altimeter was even a little bit

noisy (i.e., not steady, but jumping around) the altimeter’s needle would also jump around. The vacuum tubes in the amplifiers would

get old and cause this noise. This was distracting to the pilot. For most signals to the cockpit instruments, a little bit of noise in the

amplifiers (that provided the signal) did not have such an effect, but the altimeters seemed unusually sensitive to this noise.

71 The synchros used were three-phase 400-cycle alternating current motors. Many of the aircraft’s instruments were synchro-driven.

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problem with early solid-state

devices). I remember seeing many

burned synchro converter boards.

They were always burned in the

same place, indicating that it was the

same component that always failed.

Cockpit Interface Equipment

Another early problem was that we

had both 10-volt and 100-volt

analog computers driving the

cockpit displays. The interconnects

were made via patch panels. If an

incorrect patch was made, or the

wrong patch panel was put in place,

100-volt signals could get into

places such as the output of a 10-

volt amplifier, and the result was

usually a blown component. I got

the assignment of trying to prevent

these disasters, and I came up with

an interface console that could

withstand 100-volt signals at both

the inputs and the outputs without

damage. The original interface

console was programmed using a

punched-card reader. The card

reader was very difficult to wire up

without short circuits, and the

switch contacts were unreliable.

Even so, the interface consoles

usually had enough working

channels to be useful. A follow-on

model eliminated the card reader

and was more reliable. We constructed several copies of this

version and used them for many

years.

The spring-loaded sticks were a

constant problem. The pilots said

that they did not feel like [those on

the] the airplane. They also usually

had a lot of slop (free play). I

began work on a better springloaded stick that was adjustable, but

before I got very far, Dick Musick

had begun to demonstrate some

success with an electric-powered

stick. He and Art Suppona put one

together using TR-5 and TR-10

computers to program it. It was

fairly successful and was used for

some early simulations. (I don’t

remember for sure which ones, but

I think it was used on a lifting-body

simulation.) One of its problems

was that if the trim integrator

drifted, it could drive the motor

hard against the mechanical limit

and eventually burn out the motor.

These were expensive gadgets to

replace.

Electric Stick

I inherited the job of refining the

electric stick. I repackaged the

physical stick assembly and hooked

it up to a more sophisticated

program on a TR-48 computer. I

began incorporating safety features

to eliminate the motor burnout

problem and to relieve some fears

of some of the pilots. It seems that

there was an old hydraulic-powered

stick (or maybe it was a control

wheel) around that had a habit of

going hard over right into the pilot,

where it threatened his physical

safety. (I remember seeing one pilot

leaping out of the seat, fearing for

his life!) This gave powered sticks

a bad reputation, and some pilots

said they would never get into a

cockpit with one. Eventually, I was

able to make the electric stick safe

enough for pilots that there were no

threats or close calls. Gradually,

they began to accept it as safe and

began asking for more variable feel

characteristics to more closely

model the aircraft. I eventually

developed a self-contained equipment rack that included all of the

electronics required (including the

power amplifiers) and eliminated

the clumsy TR-48 and external

power amplifiers. This was the

most successful project I ever

worked on. Eventually, six copies

of the stick were built, and these

were in use for many years on

virtually every simulation.

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More on Sim Cockpit Instruments

I remember working on cockpit

instrument panels to make them

interchangeable. This was so a single

box with an electric stick could be

used for several different aircraft

simulations. Thus, a standardized

cockpit was born, and panels could

be arranged in many different ways.

The standardized panel interface was

matched to the interface console

described above, which incorporated

all of the stuff required to run 8-balls

and other specialized aircraft instruments.

We began buying simulator instruments from a small company in New

Jersey. (I don’t remember the name,

but there are a lot of its instruments

still around.) They looked like actual

aircraft instruments. Our first

purchase was for altimeters, and they

were quite successful. It seems we

finally found a company that knew

what it was doing. With the better

amplifiers and some filtering in the

cockpit interface, the altimeter noise

problems disappeared, and the pilots

were happier. We bought dozens

(maybe hundreds) of various simulator instruments, ranging from simple

one-turn instruments with replaceable dial faces to altimeters and

converted 8-balls that ran on DC

inputs instead of synchro.

Trunk Switches

Because we had a variety of analog

computers and a variety of cockpits

that needed to be interfaced, there

was always the problem of connecting the correct cockpit to the correct

combination of computers via the

many trunk lines running around the

lab. Dick Musick came up with an

early solution by using (I believe)

motor-driven rotary switches to

select the correct computer. While

this solution worked, a rotary switch

has the characteristic of touching

intermediate voltages of unknown

origin on its way to the correct

position. This was another one of the

causes of the blown components

described earlier, and it helped spur

on the desire to develop an overloadproof interface console. Eventually,

the rotary switches were replaced

with a massive patch-panel assembly

known as DISPATCH [Distributive

Patching]. It was built in-house. I

designed it and Gerry Perry built it. I

believe it contained somewhere

around 20,000 wires, and Gerry built

it without a single wiring error!

The world of analog computers,

requiring a trunk line for every input

or output variable, and analog

cockpits with the same requirement

led to literally miles of cables under

the floor. Art Suppona, Gerry Perry,

and the other technicians spent years

of their lives fabricating trunk cables.

Working hard, one man could make

about two cables a day. Thus, every

time some major change was

required, much work went into

making new cables.

A cockpit usually required about 20

cables, so there were about two

weeks of solid cable building

required just to hook up one single

cockpit. I remember Don Bacon

once remarked that it sure took a

long time to build a cable. Various

connector manufacturers began to

introduce connectors that could be

installed in less time. Unfortunately, every analog computer

maker had its own favorite trunk

connectors, so we had no choice

about which ones we could use.

Even worse, those connectors were

usually both expensive and difficult

to install. So we had to stock a

large variety of connectors and

tools to build all of those cables.

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Personal Accounts of

FSL Users (Research

Engineers and Pilots)

This section contains personal accounts of

research engineers and pilots who programmed, used, or flew a number of the

different analog and hybrid simulations.

These PAs are in a somewhat chronological order with the first group being the

engineers in the order that they were

involved with the analog sims throughout

those early years. The same is true for the

pilots’ PAs. The PAs are in somewhat

different styles, depending on how the

information was collected. For some of

the people, the PA is in the form of a

narrative or story. Several of the people

have sent me information via e-mail and

letters, and their PAs have been pieced

together into narratives. A couple of these

are from interviews, and the PAs are in

more of a question-and-answer form.

Again, I have tried to edit what they say

as little as possible and to keep their

information in their own styles.

Richard (Dick) D. Banner

The following is from several e-mails and

notes from Dick Banner:

The Very First Analog Simulation

I don’t remember the dates, but

[what I am about to relate occurred]

not long after we moved from the

main base to the new facility.72 De

Beeler, then Director of Research,

asked Al Kuhl and me to look at the

subject of vertical tail loads in

rolling pullout maneuvers. He

apparently had been in contact with

someone at the Air Force Flight

Test Center and had arranged for Al

and me to look at its new analog

equipment in hopes of using it to

simulate flight conditions. When Al

and I saw the equipment, it was just

being uncrated, and the Air Force

lieutenant who was assigned to

work with us didn’t seem to know

much about it. The lieutenant, Fred

Smetana, was very willing to let us

help unpack it and assemble the

parts. It was manufactured by

Goodyear and called GEDA

(Goodyear Electronic Differential

Analyzer).

The Douglas X-3 airplane, before

being turned over to us at the

NACA [High-Speed Flight Station],

had undergone the usual Air Force

acceptance testing, which included

rolling maneuvers. Flight data was

available for the aircraft motions

from these maneuvers. I went to

Douglas and got the time-history

data and the flight derivatives that

were available. Al and I “programmed” the GEDA analog

computer to simulate the flight

conditions, and we were struggling

with the high angle-of-attack

simulation when an F-100 crashed

somewhere between Lancaster and

Rosamond. We were asked if we

could simulate the F-100 on the

GEDA. We did, and as we did, we

discovered that the lateral-directional period simulated with the

derivatives given us did not match

the flight data. Al took a look at the

way the in-flight directional stability parameter was obtained and

decided that it was not correct. He

went on to derive a new set of

equations which would give us a

better method of obtaining the inflight directional stability parameter, allowing us to simulate the F100 flight conditions. [See the

appendices for a copy of the inhouse memo written by Banner and

Kuhl on this study.]

72 The move from the South Base facility took place in June 1954. The new facility marked the beginnings of the present facilities at

Dryden Flight Research Center.

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To the best of my knowledge, we

were the first at NACA, Edwards,

to simulate aircraft motions on a

computer. The usefulness of

aircraft motion simulation was

becoming obvious to many of us at

the time Al and I were working on

the GEDA, but I had no sense of

what it would become. Langley had

much more capability at the time,

and Joe Weil went there to work

with Ordway Gates on problems of

other aircraft similar to the F-100.

Al and I continued to support their

simulation studies, sending them

our GEDA results for the F-100.

The results were published in a

paper given at a conference at

Langley, with all four of us as

authors. After that, Al and I were

reassigned to other work, and Dick

Day was assigned to the GEDA.

I worked a little with Ed Videan

(some kind of a committee) to

choose the first type of simulation

equipment we were to use at our

facility, REAC73 or something like

that, using ±100 volts DC. I even

attended classes at Ames [Aeronautical Laboratory] with Ed Videan,

Dick Musick, and Dick Day on

programming the equipment. My

first simulation (not documented)

on the new equipment was a simple

heat transfer problem, which I

bungled at first. Your [Waltman’s]

recollection of using the wrong

time constant on a heat transfer

problem probably came later than

this, but I don’t remember. I did no

more documented aircraft motion

simulations after the GEDA

experience, but I remember that

Chet Wolowicz worked on aircraft

motions simulations on the REAC

in those early days, and we consulted occasionally. My recollection is that Dick Day was working

mostly on getting the pilot into the

simulation at that time. I had at first

thought that the REAC equipment

would be useful in the coming heattransfer and aerodynamic heating

studies that I had been assigned to,

but as it turned out, I worked

mostly with Ray Jackson on the

IBM digital computers, setting up

methods to predict aircraft skin

temperatures in flight and backing

out heat-transfer data from the

measured skin temperatures.

Somewhere along the line, I

supplied the equations to program

the X-15 simulation to read out

skin temperature, but I don’t

remember the details.

Richard (Dick) E. Day

I started at the NACA High-Speed

Flight Research Station in 1951. I

left to go to Houston in February of

1962. I came back in 1975 to do

Shuttle work and retired at Dryden

in 1981.

Initially, when the X-2 came to the

desert for its flight tests, Walt

Williams assigned me as the NACA

Project Engineer. At this time, we

served in an engineering advisory

capacity to the Air Force prior to

that service’s turning the airplane

over to the HSFS for flight research. The Air Force had engineers, but they were not sufficiently

acquainted with the research

aspects of flight test, so Joe Weil

and I went down and programmed

(mechanized) the Goodyear Electronic Differential Analyzer

(GEDA) with the equations of

motion and the airplane’s aerodynamic and physical characteristics

to make the X-2 simulator. We used

an iron pipe with centering springs

for the control stick and control

position transducers (CPTs) to

provide control-surface-position

input to the analog. Rudder control

73 REAC (Reeves Electronic Analog Computer) was an earlier acronym for the EAI analog computers.

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was not provided because the X-2

rudders were locked at supersonic

speeds. The display was a CRT, and

I believe Ed Videan provided the

equations for that. They were pretty

simple, but at the time, I didn’t

know how to do that. So we had a

wing as viewed from the rear on

the CRT. The wing would indicate

sideslip, angle of attack [AOA],

and roll, and that was our first

simulator. [See photo E-1841.] The

simulations were all performed

using 5 DOF. We didn’t have the

capability to calculate 6 DOF, so

we would set the aerodynamic

parameters to the various Mach

numbers and altitudes predicted by

performance calculations. Because

this was only a 5 DOF lateraldirectional simulation, there were

no meters, such as a Mach meter or

altimeter. We used the GEDA for

many aerodynamic programs prior

to acquiring our own analog

devices and going to Ames for

analog programming instructions.

Pete Everest made all the powered

flights except five. He incrementally increased Mach number on

each flight until he reached Mach

2.4, and after burnout, he would get

aileron pulses while decelerating.

We made analog matches to the

flight data and plotted the flight

data along with the wind-tunnel

and theoretical calculations. We

then came up with a curve for the

Cn [yawing moment coefficient

with respect to sideslip] vs. Mach

number [X-2 paper: TM X-137

(Citation No. 246), Fig. 7].74 Using

these data, the simulator showed

that beyond Mach 2.4 the airplane

entered into uncontrollable divergences when increasing angle of

attack beyond four or five degrees.

So when Pete made his Mach 2.8

flight, after burnout he kept the

angle of attack to almost zero—

maybe one degree—until he

slowed to Mach 2.2. He then

started turning (increasing angle of

attack), but Pete was not painted

into a corner as Mel Apt was going

to be on the final flight.

Oh, something that is pretty

important, these are all at one

Mach number—5 DOF at one

Mach number—because we didn’t

have the capability to do 6 DOF. So

we did [Iven] Kincheloe’s at

different altitudes up to the altitude

he finally got to, and a little higher.

I think he had 19 pounds of dynamic pressure. [Mel] Apt was the

third and final X-2 pilot to be

trained on the simulator. Then we’d

go to Mach 2.6, 2.8, 3.0. I’m not

sure if we went to 3.2; I think 3.0

was the highest we got. We showed

him if he increased AOA to about 5

degrees, he would start losing

directional stability. The tail would

be in the shadow of the wing. He’d

start this, and due to adverse

aileron, he’d put in stick one way

and the plane would yaw the other

way. We’d say all you had to do

was push over. We showed Apt

this, and he did it many times.

Unfortunately, on the final flight,

the unexpected increase in performance to Mach 3.2 positioned the

X-2 farther from the landing site

(Rogers Dry Lake) than planned,

placing the airplane at a possible

point of no return. Apt was now

literally painted into a corner. He

had to decide whether to decelerate

to Mach 2.4, as briefed, to make a

safe turn, thus increasing the

distance even farther from the

landing site, or try to make the turn

immediately and risk the instabilities that had been predicted and

“flown” on the simulator.

Well, the simulator was a new

74 Cn

β 

is the yawing moment coefficient with respect to sideslip.

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device that had never been used

previously for training or flight

planning. Most pilots had, in fact,

expressed a certain amount of

distrust of the device. Whether

distrust of the simulator or a fear of

not making it back to the landing

site affected Apt’s decision, he

opted for the turn. His radio

message was, “OK, she’s cut out.

I’m turning.” There was an ominous silence of 20 seconds before

Apt uttered an almost unintelligible, “She goes. . . .”

You can see his aileron input here

[TMX-137, Fig 6]. He started a

right turn. Then he put the stick in

left and he still kept rolling to the

left. Then he put the stick in 10

degrees to the right. He kept

staying at a constant roll velocity,

until he hit here, and that is when

he got this AOA and beta75 and he

hit roll coupling. On his final flight,

he was so far out because he went

so fast (Mach 3.2). He may have

been at what he thought was the

point of no return. He thought,

“Gosh, I’d better get back.” But he

knew, from the simulator, if he

made the turn and increased his

AOA, he’d get in trouble. So,

anyway, he chose to make the turn

and got in trouble. That’s the Apt

story.76

The foregoing is a fairly condensed

history of what happened with

NACA’s use of the Edwards Air

Force Base GEDA prior to NACA’s

obtaining its own analog system. I

think it also indicates the impact of

the first analog simulator at

Edwards and the HSFS on the

conduct of flight-test and flightresearch programs.

Larry Taylor and I did some work

with his theory and my piloting and

analog work [see NASA TN D746-Flight Controllability Limits

and Related Human Transfer

Functions as Determined from

Simulator and Flight Tests. (Citation No. 304)]. [This report discusses the results of a simulator

study and associated flight and

centrifuge studies that were performed to determine the levels of

static stability and damping necessary to enable a pilot to control the

longitudinal and lateral-directional

dynamics of a vehicle for short

periods. Novel piloting techniques

were found which enabled the

pilots to control the vehicle at

conditions that were otherwise

uncontrollable.]

We had a pretty good X-15 centrifuge program that lasted about two

months. That was all analog. [This

is in reference to a X-15 simulation

using the NADC centrifuge at

Johnsville, Pennsylvania.]

I made one statement, that the

GEDA down at the AF was the

very first flight test simulator;

however, I qualified it quite well by

saying [it was] used for pilot

training, obtaining aerodynamic

data, derivative extraction, and

flight planning. Other people had

analogs and they were doing design

work, and other such things, but I

don’t think an analog had ever been

used as a flight-test tool to the

extent that the GEDA was. It was

the first of its kind, even with all

these qualifications. There were the

old training simulators—the Link

simulators—that were only training

simulators and not research simulators. I guess research would go

with these others. It had fixed

derivatives, all servo-driven, and

75 Angle of sideslip

76 Apt lost control of the X-2 due to roll-coupling and lost his life when the aircraft’s nose section hit the desert floor.

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even 50 years ago there was a

simulator that was the same thing—

all servo-driven displays and that sort

of thing.

One of the first jobs I did on our

analog was to run an F-104 3 DOF

climb program. The last time I used

the GEDA was after Apt’s flight, to

get some data to put into the accident

report. It was after that—in 1956—

that we got the (analog) simulator. I

was using that simulator to try to

duplicate the flight. I did the programming on it. Dick [Banner] did

his own, and I guess Videan did

some. I always programmed my

own.

I did all my own mechanizing.

Here’s what I did at FRC with our

new computer [he refers to TMX

137]. The input was silver ink.77 The

rest of them are the actual flight

records and the analog records.

That’s at the end of that report. I used

it for that. I think we got it very

quickly—around the first of 1957.

All I had was the Boeing B-17 sidearm controller. We got it from Ralph

Sissle. It was a formation stick. I

don’t know if you know the details

of it, but the copilot had one and the

pilot had one, and there was a red

button on top. When you wanted to

take over, you’d push the button and

start flying. It was a good thing, but I

never tried landing with it. There

weren’t many others with it then. I

think the reason I got it was because

I’d had so many hours flying in the

Canadian Air Force. I guess they

figured they’d let this old geezer use

it, and. . . .

One note I had, after we had the X15 simulator, with the iron bird

downstairs: Bill Johnson of North

American Aviation called up and

asked—now that we had the X-15

simulation—if we would do a favor

for him. He wanted us to see what

we could do if we were to attach a

so-and-so rocket to the X-15 and

launch it near the maximum height.

So I did that for him. I took different

heights and launch angles—and we

didn’t have any dynamic pressure; it

was pure space. It didn’t get to orbit,

whatever the rocket was. It was a

North American missile of sorts.

John Perry was doing the simulator

work for me. This is when we were

still in the X-15 program. I had to

sneak that one in for Bill. He had

always been generous with his time

when the X-15 simulator was still at

the North American Aviation site at

the Los Angeles International

Airport.

Donald Reisert

I found two reports on projects that

used analog computers to help

guide the flight programs: TM-137

[X-2, Citation No. 246] and ARS

No. 1674-61 [F-104A, Citation No.

297]. Both reports mention the use

of computers to provide simulation

of the aircraft.

X-2 Simulation

I don’t have dates but I believe

about six or seven of the thirteen

powered flights of the X-2 were

made during 1956.78 Dick Day and

77 This term “silver ink” is in reference to a method of implementing a nonlinear function using an X-Y plotter. This had the ink pen

replaced with a sensor that follows a path drawn on a piece of plotting paper with silver ink. An electrical signal was transmitted

through the ink path by means of wires attached at each end of the path. The plotter arm was driven by the independent signal (in this

case, time) in the horizontal direction, and as the pen arm moved across the paper, the pen sensor followed the “silver ink” path. The

output of the pen arm was then the signal that represented the input parameter (in this case a time history of the pilot’s input) that was

used in the simulation model. Not very elegant, and it took some time to set up; but it worked.

78 The correct number of flights in 1956 for the X-2 was 12.

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I started the computer program

about this time. This work was

performed on the Air Force computer and was to help guide the

Mach-altitude flight-envelope

expansion. The X-2 was in the

Research Airplane Program that

was paid for by the NACA, Air

Force, and the Navy.

The Air Force pilots were to fly

these flights to obtain the Mach

number and high-altitude records

before the NACA was allowed to

fly it. Bell Aircraft supplied people

to maintain the vehicle and help to

train some NACA mechanics and

rocket people. NACA instrumentation people performed the installation and maintenance of the

instruments to measure the flight

data.

The computer was only large

enough to perform the threedegree-of-freedom equations for

the speed and altitude runs or some

five-degree-of-freedom equations

(for stability and control) with the

Mach number held constant. The

constants and coefficients of the

equations were installed by setting

rotational resistors that were all

connected together with plug-in

wires. When ready to run, it was a

mass of wires on top of a shelf

about waist high. Some values were

put in using pots (about 100) that

covered a vertical panel above the

shelf.

The cockpit simulation was very

sparse. I think we calibrated

voltmeters with a grease pencil.

Dick Musick made a two-axis

control stick using a broomstick

and two pots. There was a strip

chart that had six or eight pens to

record the data. A photograph was

taken of me at the controls demonstrating the setup. I was growing a

beard for some contest and looked

pretty bad. For the later runs, Dick

Day brought in a B-17 formation

control stick to replace the broomstick and made things look better.

The early flights were made by Lt.

Col. [Pete] Everest, and after one

visit to the simulator when we were

having some trouble because we

didn’t believe data, he declared that

machine no good. (The problem

occurred when presenting the

stability data at the higher angles of

attack. The wings would not remain

level after starting the run, and the

aileron inputs to level the wings

made things worse until the roll

mode was lost after full aileron

input.) I remember one meeting

with the Air Force, probably after

some flights were made where

Col. Hanes79 strongly suggested

to Lt. Col. Everest that he go

back and fly the simulator again

as we tried to present the flight

conditions for each flight before

the envelope expansion to higher

Mach number. He did fly the

simulator again.

The flight program went slowly. I

think the X-2 was designed to go

to Mach 4; however, the windtunnel data indicated a low

directional stability at the Mach

numbers below 4.0.

Our procedure was to use the

directional period80 at the highest

flight Mach number to calculate

79 Col. Horace A. Hanes, Director of Flight Test and Development, AFFTC.

80 The period (length of time) between peaks in the oscillations that occurred after a disturbance (such as a stick or rudder pulse by the

pilot) that caused the aircraft to oscillate about one or more of the aircraft’s axes. For the case mentioned, the pilot would put in a

small rudder pulse and the plane would oscillate about the vertical axis—the nose would move from side to side, and this motion

would then die out over a short period of time. Using the recording of this motion, the research engineers could determine the

appropriate aircraft derivatives for the corresponding conditions (i.e., Mach number, attitude, etc.).

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the coefficient Cnβ (using the

Dick Banner-Al Kuhl equation);

use the flight data to modify the

computer inputs; fly the simulation to the next safe, highest

Mach number; write a flight plan

to obtain flight data at this point;

then continue until the flight

envelope was fully expanded.

The X-2 did not have any stability

augmentation, so after it went

supersonic, the beta (sideslip) vane

would start to oscillate and the

period would lengthen as the Mach

number increased (indicating a

decrease in directional stability).

We did not ask for many specific

flight-data maneuvers and requested periods of fixed controls,

especially at the higher speeds near

engine burnout, so we could

measure a clean period of beta

oscillation.

Lt. Col. Everest made about four

flights, the last two achieving Mach

2.7 and Mach 2.87 (shown as flight

B in TM X-137).81 He must have

believed some of what we said

about not going to high lift at high

speeds as flight B data show he

pushed over slightly after engine

burnout, even though the aircraft

was speeding away from the

landing site and started to turn

about 35 seconds later near Mach 2.

We had a problem getting our

lateral-directional period for the

flights above Mach 2.4 to calculate

the Cn . The period was getting

longer, and we could not find even

a half cycle without some lateral

control inputs to invalidate the data.

As Lt. Col. Everest was preparing

for the last two flights, he was

also preparing for a new assignment with relocation and had only

a limited amount time to fly the

X-2. This was during the summer

of 1956. At this time, Capt. Iven

Kincheloe was assigned to

perform the high-altitude flight,

and Capt. Mel Apt was assigned

to finish the Mach-number

expansion. Another time constraint was that the aircraft was to

be delivered to the NACA on 7

October 1956.

Capts. Kincheloe and Apt came

by to fly the simulator often and

were very cooperative. I don’t

remember how many flights Capt.

Kincheloe performed, but he did

have more than one and was

exposed to the X-2 gliding characteristics before he made the high

altitude flight.82 On 7 September

1956, Capt. Kincheloe very successfully performed the highaltitude flight (flight A of TM X137). With the turn-around time

required, there was time for one

more flight before delivery of the

aircraft to the NACA.

The last Air Force flight was to be

an introductory and high-speed

flight for Capt. Apt. The drop,83

engine start, and rotation for the

climb out were very important for

the success of the high-speed flight

(as it left more fuel for the highspeed end of the flight). I remember being at the simulator with

Capt. Kincheloe guiding Capt. Apt

in the launch and climb-out as he

flew the three-degree-of-freedom

performance setup. Capt. Apt flew

a very efficient engine start and

climb-out in his flight. I was on the

lakebed for this flight and remem81 Everest actually made ten flights, the last one going to Mach 2.87.

82 Kincheloe made four flights, with the fourth reaching 126,200 feet on 7 September 1956.

83 From a modified Boeing B-50 mothership.

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155

ber watching the flight after engine

start. As the X-2 passed over the

south lakebed, I was impressed

with the speed, as I had never seen

a contrail laid down that fast. After

burnout and the contrail stopped,

the chase planes could not find the

X-2, and there was no response to

radio calls. The Air Force had a

small tower, I believe on the east

side of the lakebed, with personnel

who had watched the flight with

high-powered glasses and witnessed the rolling as the wings

flashed in the morning sun. The

people [in the tower] also were able

to see the capsule dropping (there

was a small stabilizing parachute

that inflated after the capsule

separated from the aircraft) and

reported its location.84 A helicopter

with a medic on board was sent to

the capsule.

The aircraft survived pretty much

intact as with the weight of the

nose capsule and pilot removed, the

center-of-gravity traveled aft and

allowed the aircraft to recover from

the inverted spin that was indicated

by the over-the-shoulder camera.

The aircraft glided and contacted

the ground at a shallow angle. It

landed to the east of the base. I got

a ride out to the wreckage. The

aircraft was upright and the vertical

tail did not touch the ground (some

people felt the tail would break off

if high-Mach-number maneuvers

were performed).

The instrumentation was in the

nose capsule and the aircraft, and it

survived to let us plot a time

history of the flight, as shown in

flight C of the report. After the

flight data was worked up, a sixdegree-of-freedom analog computer simulation was performed at

the NACA HSFS. Also, The

Langley Laboratory performed

some more wind-tunnel tests on the

X-2 models to provide higher

Mach number Cn and Cn/aileron.

85

Large overlays of the data were

made and the control inputs were

plotted to this large scale and then

covered with soft wire.86 These

wires (elevator and aileron only)

were then used as control inputs

starting at burnout. Small mouselike items ran over the wires in real

time, making control inputs to the

six-degree-of-freedom simulation.

Dick Musick made the wire inputs

and Glenn Robinson and Herman

Rediess performed the computer

program.

F-104 Reaction Control

Analog Simulation

The F-104 program studied the use

of reaction controls at low dynamic

pressures. The F-104 was outfitted

with small rocket motors to control

the three axes as described in report

ARS-1674-61 [Citation No. 297].

As the aircraft was being modified,

a three-degree-of-freedom analog

program was started to determine

the performance characteristics of

the F-104 at low dynamic pressures. We also had to define a task

for the pilot to perform using the

reaction controls.

84 The X-2 featured a nose capsule in which the pilot could eject from the aircraft. Once it stabilized, he would then separate from it

and descend to the ground using a seat-pack parachute. Unfortunately, Apt never got out of the nose capsule before it hit the desert

floor.

85 Yawing moment coefficient with respect to sideslip and aileron deflection, respectively.

86 This refers to a method of generating a nonlinear function that was very similar to the “silver ink” method described earlier. In this

case, the plotted trace was covered with a piece of soft wire that was bent to match the trace. This wire was glued to the paper, a

signal was transmitted through the wire, and the sensor on the arm would follow the wire as the pen arm moved across the paper.

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We wanted to provide a familiar

computer cockpit for the pilot, so I

measured the F-104 instrument

panel and gave Dick Musick a

cardboard cutout of the panel, and

he had one made in aluminum.

Dick also made up an open box

about the cockpit size with a seat at

the proper distance from the panel.

A center stick for aerodynamic

controls and a three-axis reaction

stick on the left side of the instrument panel were installed. Dick

also had the panel and the cockpit

painted a flat black, which did a lot

to clean up the presentation. To

start the program, Dick installed

gauges to show angle of attack,

bank, and sideslip as located on the

aircraft panel. Airspeed, altitude,

and g meter were also installed so

the zoom maneuver could be flown.

After the initial performance data

were defined, the simulator was

changed to six degrees of freedom.

Joe Walker (the project pilot) flew

the simulation and commented that

it was better than our usual simulations.

The F-104 instrument panel was

modified to include an X-15 threeaxis ball, and we were able to also

get one for the simulator, which

helped in keeping the simulator as a

valid tool. The three-axis ball was a

new design, and NASA wanted to

get some experience with it. [Photo

E-4287 shows the first cockpit

with the reaction-control stick but

before the three-axis ball was

installed. This photo was taken in

late 1958.]

Other NASA and Air Force pilots

flew the F-104, but I don’t remember if they flew the simulator. The

program didn’t last very long, as

the X-15 was coming along and

everyone was assigned to that

project. We never got to modify the

simulator or the aircraft to use the

reaction controls as rate dampers or

combine the aerodynamic controls

and reaction controls on the center

stick.

Comments on Don Reisert’s

F-104 Simulation

[I believe Don is talking about three

different F-104 reaction-control-simulation mechanizations, with some time in

between. There were two different

simulations that happened before I got

there. The first one was mechanized on

the AF GEDAs (see NACA RM

H58G18a, Citation No, 214). The second

simulation was done using the HSFS’s

new EAI 31R. In his PA, John Smith

mentions doing an F-104 simulation for

Wendell Stillwell, which Don worked on,

too. The cockpit Don describes was

already here when I got here. Also, the

analog computer that was here (an EAI

31R) did not have enough equipment to

do a 6 DOF simulation. I suspect that for

his first mechanization, Don did his own

analog programming, with possibly some

help from Videan or Day. The third

mechanization was done after we had

bought more analogs. I remember doing

such a simulation about that time, which

must have been the one Don mentions. I

also remember the 8-ball being installed

in the black cockpit and getting to use it.

There were no true 6 DOF simulations

implemented from when I got there until

after we had bought our third analog.

There was at least one 5 DOF with a time

varying velocity parameter (i.e., velocity

was input as a function of time, which I

refer to as a 5 1/2 DOF simulation) being

used in the other equations. Again, the

lack of good records interferes with being

completely certain about these facts.

This 5 1/2 DOF simulation could have

been the one Don is talking about. This

study had the pilots doing a zoom maneuver until the F-104 got to its maximum

altitude and went into almost a zero-g

ballistic type arc—during which the pilots

did a number of maneuvers using the

reaction controls (i.e., under near-zero

dynamic-pressure conditions). This

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particular simulation was done using the

31R and 131R analogs.

The report Simulation Studies of Jet

Reaction Controls for Use at High

Altitude (NACA RM H58G18a) by

Wendell H. Stillwell and Hubert Drake

references another report entitled Study

of Exit Phase of Flight of a Very High

Altitude Hypersonic Airplane by Means of

a Pilot-Controlled Analog Computer

(NACA RM L57K21) by Windsor L.

Sherman, Stanley Faber, and James B

Whitten of the Langley Aeronautical

Laboratory. This report has an appendix

written by Robert E. Andrews that

describes the analog mechanization in

complete detail. This is by far the best

such documentation I have been able to

find of any analog mechanization from

those early days. The study is also very

similar to the 5 1/2 DOF that I did. The

only real differences are the particular

airplane used and the cockpit mechanization. The HSFS study used an F-104,

while the Langley study used a hypothetical hypersonic aircraft.

Since I have not been able to find a

similar document written by anyone here,

I have included many of the pages of that

specific appendix in the appendices to

this monograph. In his appendix, Robert

Andrews not only describes the details of

the analog mechanization but also talks

about certain equipment inaccuracies that

plagued all of us who had to program

those computers. He also describes the

special testing and work-arounds that he

used to deal with these problems. This

mechanization happened during those

early days in the use of analog computers

for flight simulations and is a good

example of the state-of-the-art of analog

programming at that time. The techniques

employed at Langley and Ames had an

early influence in the way similar simulations were programmed at the HSFS in

the beginning.]

Robert (Bob) W. Kempel

Bob Kempel is an aeronautical research

engineer who spent a lot of time working

with the simulation lab. He started at

NASA in 1960 and left to work for the

AFFTC in 1963 because he wasn’t

allowed to program the analogs as much

as he wanted to. He returned to NASA in

1966 and worked on the Lifting Body

Program. There has already been a lot

written about Bob and his involvement

with the Lifting Body Program, both in

papers by Bob, and in Dale Reed’s book

Wingless Flight. In April 1994, Bob,

along with Wen Painter and Milt Thompson, published the NASA Reference

Publication 1332, entitled Developing

and Flight-Testing the HL-10 Lifting

Body: A Precursor to the Space Shuttle.

This publication is an excellent and

informative history of the HL-10 flighttest program. Dale Reed, in his book, tells

about all the lifting bodies that were

flown at the FRC. Both of these publications discuss the involvement of the FSL

simulations of the different lifting bodies.

The AFFTC also implemented simulators

of the M2-F2 and X-24B. This division of

tasks was due in part to the FSL simulation capabilities being so tied up with the

X-15 program. Like the X-15 Program,

the Lifting Body Program was another

example of the FRC-Air Force team

working together to accomplish the goals

requested of it.87

Bob’s activities at NASA include working

on the X-15 program during his early

years at the FRC. Following this job, he

was heavily involved with the Lifting

Body Program as the principal stabilityand-control, handling-qualities, and

flight-simulation engineer on the HL-10

and M2-F3 lifting bodies. He has also

been actively involved with the Highly

Maneuverable Aircraft Technology

(HiMAT) and Controlled Impact Demonstration (CID) programs, both of which

87 The Navy and North American Aviation were also part of the X-15 team. The lifting-body team also included Northrop and

Martin.

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involved RPVs, and the GPAS flying

simulator.

The lifting-body simulations in the FSL

began as all-analog mechanization and

became hybrid in the late 1960s, first with

the use of the ICARUS program on the

SDS 930 and later on the SDS 9300. The

SDS 9300 was bought to improve the

simulation capabilities because the liftingbody nonlinear derivatives were, in fact,

too nonlinear for analog-computer

implementation. Fortunately for the FSL,

the HL-10 was down for such a long

period of time between the first and

second flights that the extended SDS

9300 checkout and acceptance period (of

almost one year) did not affect the flight

program. The SDS 9300 had been accepted by the time the HL-10 Project

group had resolved the problem encountered on the first flight.

In one of the e-mails I got from Bob, he

recalls:

As I remember the situation, after

the HL-10’s first flight on 22

December 1966, we grounded the

vehicle. We went to the Langley

Research Center (LaRC) and told

the involved engineers there about

the aerodynamic problem. Once a

modification was proposed, or I

should say two possible vehicle

configuration changes were proposed, they wouldn’t choose either.

They insisted that we at the FRC do

that. I did all the plotting by hand

and picked one based on all my

comparisons, and then I remember

Larry Caw doing something with

all the data. I remember Larry and

John Smith coming to me, indicating that the data were too nonlinear

to mechanize on the analog. That

was when we approached John

McTigue [the Lifting Body Program manager] to buy us a digital

computer to do the function generation. We did that. Then one day,

Lowell Greenfield came to us and

wanted to demo[nstrate] a mod to

us in the sim mechanization. We

flew the sim, and it looked OK to

us. Then Greenfield told us that it

was all-digital. That is the first alldigital sim I remember working

with. I remember ICARUS, but I

don’t think we did [much] with that

in the sim. ICARUS, as I remember

,used linearized (simplified)

aero[nautical] derivatives. I really

can’t remember, though. I never

used it very much. It was a good

idea, but I had the full nonlinear

HL-10 to work with and I worked

with that a lot.

Both of these documents mentioned

above [Wingless Flight and Developing

and Flight Testing the HL-10] refer to the

ICARUS simulation program performing

the integration (with respect to time) of

all the calculated accelerations and

velocities on the digital computer. The

early version of ICARUS did no integration on the digital computer. A later

version of the ICARUS program used by

the HL-10 simulation did digital integration of only the longitudinal equations—

such as horizontal and vertical accelerations and velocities. The natural frequencies of the lateral-directional equations

were too high for digital integration on

either the SDS 930 or the SDS 9300. The

integration of these parameters was

always done on the analog computer. The

M2-F3 was the last simulation to use the

9300/ICARUS hybrid system. This was

followed by a new all-digital 6 DOF

Fortran program that used the XDS 9300

(formerly SDS 9300) and a new set of

large-angle equations for the threeeighths-scale F-15/SRV (Spin Research

Vehicle) in the early1970s. The program

was later ported to the CYBER 73.

The following paragraphs are also from

Bob:

Acceleration due to Gravity

Then there was the story about

daily checks of analog computers

because they were known to

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possibly be different from day to

day. One day the dynamic checks

didn’t come out quite right. Differences between the standard dynamic check and that day’s dynamic response were very subtle.

Don Bacon, the sim engineer,

insisted that everything was OK

and nothing had changed. Upon

further investigation, I remained

unconvinced. I determined that the

acceleration due to gravity (32.174

feet per second squared) was

wrong! Don said this was impossible! Don looked at me and said,

“How could this be?” I insisted that

the only thing I could determine

from the dynamic responses was

that the acceleration due to gravity

had to be wrong. Don went back

and did more checking and then

came to me kind of sheepishly and

admitted he had found the mistake.

It was indeed the acceleration due

to gravity that was wrong. He never

did tell me how it was incorrectly

mechanized. We just never said

anything more about it. Looking

back, it was kind of humorous,

though.

The “Midnight Patcher”

Analog computer mechanizations

were very precarious . . . in that the

computer mechanization consisted

of a myriad of various-length wires

on a front patch panel, which

linked the various analog components. To the uninitiated, this panel

looked like multicolored spaghetti.

A complex simulation patch panel

was typically a real mess. Once a

simulation was mechanized and

thoroughly checked, the wires in

the patch panel were not to be

touched by anyone but the simulation engineer. Analog mechanizations were required to be statically

and dynamically checked quite

frequently (like daily) due to the

problem of occasional component

failure. If a component failed, the

simulation could be mildly or

grossly invalid, depending on the

criticality of that particular component.

It was always suspected that we

had a “midnight patcher” due to

some of the problems with patch

panels found by some simulation

engineers on their next shift, the

midnight patcher being a real or

mythical person who would either

pull or rearrange a wire on a patchpanel. These problems were

typically unusual and unexplained,

ones that could only be attributed to

the “midnight patcher”.

Electric Stick and the “Blue

Box”

Significant innovations were

pioneered in the FRC simulation

lab. The electric stick was one. The

development of this stick enabled

engineers to duplicate the stick

characteristics of many different

airplanes. These sticks had the

capability to vary stick breakout

force, force gradient, mass damping, range of deflection, etc. This

was a significant development and

many aerospace agencies across the

USA were interested in using this

technology in their labs.

The “blue box” (so called because

of its color) was a generic cockpit

enclosure that had interchangeable

instrument panels representing

different airplanes. Cockpits could

be reconfigured from one airplane

to another in about 30 minutes.

With more than one blue box, a

tight simulation schedule could be

maintained.

JetStar

I remember when Larry Caw was

assigned to the JetStar. He became a

very good real-time analog programmer. We were looking at different

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control schemes for riding qualities,

as I remember it. I remember the

incident when we were airborne

and we were looking at different

feedback schemes. I had mechanized a beta (sideslip) feedback.

Well, as you know, signs (sign

conventions) were sometimes

confusing. Fitz Fulton was the

pilot. The sign on beta was wrong,

and we ended up with a dynamically unstable airplane because of

it. We turned on the system for Fitz

to evaluate, and the airplane

immediately began an oscillatory

divergence! Larry and I were in the

back hollering to Fitz to turn it off,

but Fitz was intrigued with the

thing so he wanted to watch it as it

diverged or maybe just teach us a

lesson. He finally punched the thing

off and Larry and I sighed in relief.

Larry changed the beta-input sign,

and we proceeded with the test.

The JetStar was a fun airplane to

fly in, but I always had a feeling of

impending doom or something else

going wrong. Herm Rediess was

my boss at the time and when he

wanted me to fly in the thing all the

time, I told him “thanks, but no

thanks.” I don’t think Herm ever

liked that. Don Gatlin can tell you

about the incident where they

almost tore the wings off. I think

Musick was aboard that flight too.

The following is from Don Gatlin in

regard to this particular flight:

I was not on that particular flight. I

was the project engineer and was

monitoring the flight from the radio

room in the pilots’ office. I believe

Dick [Musick} was on board and a

KU [University of Kansas] grad

student whose name I don’t remember. [Actually, it was Dick Musick

and Larry Caw.] Don Mallick was

the pilot, Stan Butchart in the right

seat. I don’t believe we even

scheduled telemetry, so there was

no real time record of the event. As

I remember, we got a call that

“We’ve had a problem here. Get

someone up to look us over.” Betty

Callister and I sent Gary Krier up in

an F-104 to check them out. Stan

told me afterward that as the limit

cycle went on, he just looked out

the cockpit window to see where

they would crash as he believed the

wings would be torn off. As I

remember, there was no damage

although the airplane required a

thorough inspection before flying

again.

Dwain A. Deets

Waltman: I’d like to get your

comments on some of the simulations that you might have been

involved with; talk about what they

did or didn’t do, their capabilities,

and any problem areas, or anything

that you thought might have been

lacking, or any of their good

features.

Deets: OK. Do you want me to start

with the F-8, or does it matter?

Waltman: The GPAS.

Deets: OK. I can even go back

before the GPAS—you’re starting

in which year?

Waltman: In 1955—that’s when the

simulations started. Were you

involved with the X-15?

Deets: No, I was thinking about a

precursor to the GPAS—the F-100

airborne simulator, our first variable stability airplane. Are you

interested in airborne simulators in

your study, or are you restricting

your study to ground-based simulators in support of research airplanes.

Waltman: This publication is about

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simulators/simulations that used

analog (and hybrid) computers,

which includes the GPAS, but not

the F-100 airborne simulator. It also

includes some moving-base simulations that we implemented at other

computer centers.

GPAS

Deets: The things that come to my

mind are where you had analog

computers, general-purpose analog

computers in your office, the

portables—like the TR-10 or TR48—those kinds of things, where

you could work with them in your

office and then take them down

next to the airplane and tie them in

somehow. But it wasn’t anything

like the X-15 simulator—they

weren’t that grand and capable and

in a sim lab like that. The GPAS, all

along, when I was involved with it,

used analog equipment. And as we

progressed to the more capable

computers—like TR-48s that were

upgraded—we started getting more

user-friendly function generators.

And that became an important

thing. How easy is it to change

your breakpoints and function

generators? What kind of mechanism is it? It became sort of a

mechanical issue—did the

jitteriness of the mechanics of the

function generators show up when

you turned the knob? It was those

kinds of issues that we stewed

about.

A lot of things I remember about

the GPAS (the JetStar) involved

getting to the point of having an

analog computer on board the

airplane. It served as a model of the

airplane you were trying to simulate. We actually specified a good

share of that system. So, it was

kind of built to our specs. The

layout of the patch panel was as we

requested, and things like that. So,

that certainly was part of the whole

simulation.

Waltman: Did you ever fly in and

use it—go up in the airplane?

Deets: Oh, yeah. I definitely did. If

you want to consider the GPAS as

one of your simulation tools rather

than how did simulation support

GPAS, one of the stories occured as

we were checking out the system—

back at CALSPAN [Cornell

Aeronautical Labs]. Basically, we

were hooking up a ground-based

simulation outside the airplane to

actually try everything before the

first flight. We spent the whole

summer checking everything out so

that we had complete confidence

that we had done everything right

with the model and hooking up the

airplane. There were some points

where you couldn’t use the actual

hardware, like the sideslip vanes.

You couldn’t actually flow air over

any of the vanes. So you bypassed

the vane itself and tested the sim

model of the vane as best you

could. We did a lot of worrying

about the dynamics of the vane and

whether you needed to model it or

not. We stewed about that a lot.

So, when we were finally ready to

fly, I was test engineer for the first

series of flights. The first time we

engaged the lateral control system

so that we were using feedback

from the sideslip vane, among other

signals, we obtained an estimate of

the sideslip rate [beta dot] using

analog circuitry. Its purpose as a

feedback was to provide damping

to the Dutch roll. As I turned up the

gain, after the system was engaged,

we started veering off as I was

turning it up. The more I turned it,

the more the airplane started to

wobble back and forth—more and

more unstable in the lateral

directional axis. This was not

supposed to be happening. My

reaction was: I am doing something

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wrong. I’d better crank it up some

more. I actually considered this a

PIO, although I as the test engineer

was in effect the pilot. And I was in

the back of the airplane doing this,

and the pilots were calling out,

“What’s going on back there?” So

they shut it down and called me

forward to have me explain what

had happened. (They were supposed to be “hands off” to let the

system respond alone.)

Well it turned out, through that

whole summer, we had been

working with reverse polarity in

our signal for the sideslip. The

person who calibrated it set it up

wrong. It wasn’t clear in his mind

which way was positive when the

vane moved for positive sideslip,

and we didn’t have a carefully

reviewed calibration procedure

throughout a summer-long checkout. So, everything we did was

based on that wrong sign. And we

never knew about it until we

actually turned the system on in

flight.

Ken Szalai was the other person

flying about that time. There was a

series of flights as we were expanding the flight envelope. One person,

as I remember, who was a Cornell

person responsible for overseeing

the flutter clearance—I can’t

remember his name, but he always

insisted on wearing the parachute

when he was in the cabin. We had a

special [escape] chute that would

allow crew egress by dropping

down through the floor of the

cabin. It always unnerved me that

he thought he couldn’t take time to

put his parachute on if we had a

problem.

One of the other stories that comes

to mind is that one of our real

challenges was getting a strip-chart

recorder that (1) was rugged

enough for the aircraft environment, (2) had a read-out that we

could see soon enough—that didn’t

have too much delay between when

something happened and when we

could see something in the

records—and (3) could be seen

right away because of the type of

paper and pen. The pen was some

sort of heat thing, but what it wrote

wouldn’t necessarily be really vivid

right away and we would have to

wait for the record to develop. So,

that was always a challenge.

Another thing I remember was just

in the analog computers. This is

more in the ground checkout

around the airplane. Sometimes

when things weren’t quite checking

out when they had been working

previously, the first step in troubleshooting was to take your hands

and push against the patch cords,

hoping that by doing that, suddenly

it would start working. And sometimes it did start working. You had

some connections that were pretty

unreliable. That’s the analog days.

F-8 DFBW (Digital Fly-ByWire)

I’ll now move to the F-8. This is

just simulation and support of

advocacy stuff. In the early days,

we used TR-10s or TR-48s. Ken

Szalai and I were trying to sell the

idea of a CCV (Control Configured

Vehicle), and so we had the idea

that you could put a canard up

there somewhere near the nose of

the airplane and take the tail off.

We were going to demonstrate the

fact through computerized fly-bywire, although at the time we only

had analog flight control. We

weren’t bold enough to think about

digital. But we were bold enough

to think about taking that horizontal stabilizer off. Our main argument was that the force of the rear

tail was in a direction that was

down in order to trim things up,

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which meant that the wing had to

offset that or carry more lift and

therefore more drag because of the

lift. So, we thought that if we put

the canard up in the front, we could

actually be using the lifting surfaces of the canard for part of that

lift. We kind of analyzed that to the

point where that would be a better

airplane. Not so much in the

savings in weight, but just where

the lift was being applied.

So we hooked up the TR-10 with a

model of this, and we concocted a

side view of the airplane display

that showed where the canard

would have to be [located] to

stabilize the airplane. We had just a

stick figure of the fuselage and

where the canard would have to go.

So we did some very early conceptual research, I guess, using this

mechanism, to see what that canard

would be doing under any kind of

maneuvers. It never went anywhere, but it was instructive to us

and we were always looking for a

way of using some dynamic visual

representation to help sell the

whole idea. We put it on a scope. It

was just Ken Szalai and me. If

there was someone from the sim

group, I can’t remember who [it

was]. I know there was interest in it.

That’s applying simulation to the

world of advocacy. And then when

we actually got into the F-8 Digital

Fly-by-Wire [Project] itself, we

made use of a lot of the Apollo

simulation capability that was back

at Draper Laboratory. And in my

own case, I became educated in a

big way on what was already being

done in the world of simulation, all

in support of the Apollo Program.

The engineers at the Draper Lab

were very methodical about the

way they would do things.They

were very systematic in testing a

software load. A lot of what they

did in the F-8 program was basically brute force—the flight control

system was a fixed-point digital

computer. One of the primary

concerns was overflow. All parameters must be scaled relative to the

maximum value the parameter

could take on. But they had to

check what happened if something

overflowed in some register in

there. So, you had to do hundreds

and hundreds of cases to see what

broke down and how that impacted

the closed-loop system. So, much

of what we did wasn’t piloted

simulation; it was batch simulation.

We ran so many cases, and then we

examined every case to see whether

what had happened was reasonable.

We didn’t try to predict everything,

but rather we would just look at it

and see if it all made sense. Did the

things seem to be happening that

ought to be happening?

So, that was a learning experience

on how to use simulation. And then

we came back here and basically

tried to do the same type of thing

but using a lot more pilot-in-theloop as compared to the batch

stuff—and tying in more and more

hardware to the simulations. So

many of our simulations were a

build-up to get more and more of

the hardware—actual actuators and

hydraulics. So, that is what was

really happening with the F-8 iron

bird that was down in the lean-to.

Each one was kind of a step

progression towards more and more

completeness of our simulation to

the point where we were ready to

go out and fly. Some of the big

issues involved components that

were digitally embedded within

things that still had to be analog.

We were trying to understand any

effects that the digital [systems

had]—the sample rate, any latency.

Also, we had simulation up in the

mezzanine and the iron bird

downstairs and we had the communication lines between these, all

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artifacts of the simulation that

wouldn’t necessarily be in the real

flight world. We probably spent

more attention on all those simulation artifacts than we did in the

elements that would be in the real

flight environment.

The step from analog to digital on

the flight-control side brought in a

lot of other issues. One of the

aspects of that is trying to bring the

whole management system [together]—it is more of a cultural

thing than anything else. It involved the different types of

people, whoever it was, such as the

head of the safety office, people

with their own particular past

experience that they felt comfortable with—which [consisted of]

all-analog type systems, whether

they were computers or whether

they were hardware, mechanical

hardware that was analog in nature.

So [we had] to bring that set of

people along to being comfortable

about this box that they didn’t

understand. They only knew that it

had zeros and ones, and a one could

turn into a zero, and so they could

imagine the worst things that could

happen. So, that was a very important thing. I’m trying to think

whether the same concern was

shared by those types of people

towards the simulators that they

depended on as building confidence

towards what was going on with

the airplane. I don’t know if they

had the same worries about the

simulators.

GPAS Again

On the GPAS, we did studies in the

effects of motion—where we had

the real-world motion to some

degree—if you want to say whatever the JetStar did in the way of

motion was the real-world motion.

Then we had it exactly. If we were

trying to simulate some other

airplane, we had some degrees of

freedom matched and we didn’t

have others. But still, we were

interested in trying to figure out

what were the effects of washout

filters and those things that would

have to be in a moving-base ground

simulator—a motion simulator—

which would have to be taken into

account. We didn’t have any of the

motion simulators here at the FRC

because that was not highly important to us. But when we got interested in the research aspects of it,

we did some of it in the airplane,

and some of it we’d go up to Ames

and use its moving-base simulators.

But that was a pretty small part of

what we did.

[The following comments are] on

the subject of the controllers—the

stick or the wheels—and how

important that is in having a good

overall simulation. I was involved

with a lot of research studies from

the standpoint of how the differences in feel affect the pilot—in

terms of the net results or evaluation of the airplane. So, [we dealt

with] topics such as: should you

pick off the force that the pilot

applies to the stick or the [control]

wheel as your input to the simulator, or should it be the position of

the stick? How are these two

different? [What are] the dynamics

between the two of them? Should

you use mechanical devices such as

bungies, springs, and [similar]

devices in order to give [a simulator] the right feel, or should you

have servo actuators that are

moving the controller? . . . If you

have something that is programmable, . . . you are going to have to

use some sort of actuator to move

the stick according to the pilot’s

input. That gives you the flexibility

to change it easily so that you can

go from one simulation of an

airplane to a different one. The

problem with mechanical systems

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is that you can’t make those kinds

of changes easily. So, much of the

debate over GPAS requirements

struggled with that issue because

we had to figure what to put in the

GPAS. A lot of what we were

struggling with was also a major

item of concern to the groundbased simulators for other reasons—issues such as whether you

needed a hydraulic actuator for the

servo controlling the stick; whether

electrical-mechanical was better or

worse, [or at least] adequate, [and]

how did that affect the dynamics of

the controller? I’ll leave it at that.

That was a major topic of interest

and, therefore, research.

Stanley P. Butchart

Stan joined the NACA HSFRS in May

1951 as a research pilot. Most of the

aircraft he flew did not have flight

simulators, since there were no such

simulators in those days. Some of the

simulators he did fly were the Iron

Cross88 [see photo E-2581], F-100, F104, GPAS, and the Boost Program.

Waltman: Let’s start with anything

you want to say about the Iron

Cross simulator.

Butchart: On the Iron Cross—from

the pilot’s point of view—the first

thing was getting the controls in

the right direction. Roll was pretty

straightforward, twisting the wrist,

[as was] yaw. [See photo E-2906

for a picture of the pilot’s control

stick.] When it came to pitch

control, the engineers had set it up

to go one way—I can’t remember

which way it was, now—like, for

the nose to go up, I think they had

it so that you went down [with] the

stick. It soon became obvious to us

that the normal way of thinking

was to get the nose up, you lifted—

rather than the logical way, as if

you had a normal stick for pitch

control.89 So, that sort of thing

didn’t take too long to straighten

out.

The development of the amount of

thrust that was required to control

it took a lot longer. It seemed like it

took a long time to determine the

88 The Iron Cross was a mechanical device to simulate reaction controls designed for flight research on the X-1B airplane. Most of the

flight research actually occurred on an F-104, as discussed above, because of fatigue cracks in a propellant tank of the X-1B. Then,

further research occurred on the X-15.

89 In typical aircraft with the usual control stick for pilot’s inputs, the pilot would pull back on the stick to get the nose of the aircraft

to go up. Thus, going down with the stick was the opposite of what the pilots were used to.

Iron Cross with

Stan Butchart

(September 1957).

(NASA photo

E-2581)

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right amount of thrust to get the

proper response. As with any

simulator, there was quite a learning technique—how to beep it, how

long to beep it. Fortunately they

had the crash bars on it, so if you

hit them, you’d start over again.

Waltman: Do you remember any

other simulations?

Butchart: I don’t really recall what

we had. For the early simulations,

the biggest problem I had was with

the displays. They didn’t seem real.

It wasn’t a true-life thing. It was

hard to correlate between real life

and looking at a meter. The fellows

who rigged them up were the

pinball experts who could run them

better than we could when we got

in and tried to fly ‘em.

In the early days, too, there was no

motion or feel to it. And I think an

awful lot of the ability of a pilot

flying an airplane has to do with

his feel of the motion and of the

degree of motion and that sort of

thing. Until they got the advanced

part of it where you could get the

motion and the feel of it, it was just

a pinball game. I didn’t get much

out of ‘em.

Waltman: That was one of the

things we looked at in the early

days—whether or not we should

have moving-base simulators. I did

some simulation at Ames, where

we used moving-base simulators.

But it just never happened at the

FRC.

Butchart: Probably a money thing?

Iron Cross 3-axes

Side-arm Controller (April 1957).

(NASA photo E2906)

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Jack McKay and I participated in a

simulation at Ames on the centrifuge there. There you have all the

motions. It was a whole lot more

realistic. We would go up there on

Monday on the Gooney Bird and

stay there three or four days using

the centrifuge. We did this for a

number of weeks. I don’t remember

what the Ames engineers [were

after]—it was a general-purpose

thing they were doing. You had the

ability to dial in all the parameters—to develop the best airplane

you could—by yawing moment

coefficient or whatever the derivatives were. You could dial it in—up

or down—until they all matched

and you had the best airplane you

could fly. But we got up there one

morning and they weren’t quite

ready. We crawled into the simulator and were looking at it, and all of

a sudden we noticed there was a

Mach meter that goes up over 3,

and an altimeter that goes up to

100,000 feet. And we wondered,

what are they looking at? Lockheed

was using the thing on weekends.

We had seen Lew Shock of

Lockheed there. They were developing early SR-71 [actually A-12,

in all probability] stuff—before

they flew—and they were using the

Ames simulator for that.

I always had the feeling that the

best thing you could do was to get

motion. The centrifuges seemed to

have an awful lot, because you

could get the G inputs, all of the

real-life feels to the thing.

I guess we could on and talk about

the program we did back at

Johnsville on the centrifuge. When

was that? The spring of ’59. I was

the only one who had two chairs

made, one for my regular flying

suit and one for my T-100 pressure

suit. I could get up—it seemed

like—to 14 or 15 Gs in the pressure

suit—2 or 3 Gs above what you

could do without it. We made those

chairs back at Langley. We went

back there and took our suits. It

was kind of interesting how they

made them. We would lie in sand

and they would shoot some kind of

gas into the sand to harden it. And

[they would] make the Styrofoam

seats from that. I have a photo from

back there that shows all of us

sitting in our seats, except for

[Neil] Armstrong; he was off

somewhere and not in the picture.

One of the things that struck me,

and I guess all the pilots about the

same, [was that] as I remember we

did a single-stage, a two-stage, and

a four-stage [launch]. The pilot’s

job was to keep the needles centered [on an instrument that was

usually used for instrument landings]. There were vertical and

horizontal needles and we had to

keep those centered, and they were

programmed with what your

trajectory should be. You just kept

them centered and you went

through the whole thing. But

between stages it was very critical.

From my recollections, if it was

more than half a second, you’d lose

it. The whole program, as I recall,

was aimed at looking at whether or

not a pilot could be in the loop, fly

it, and launch it into orbit.

Waltman: The control stick was

built here—the three-axis controller

—it was one of the things we did

during the first two fixed-base

studies at the FRC.

Butchart: Was that made out here?

Waltman: Yes.

Butchart: That may have been why

Joe [Walker] and I went up to MIT

and stopped at Johnsville on the

way back. We were looking at a

three-axis controller that they were

developing at that time. It seemed

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to work pretty well, considering

that you had 10 or 12 Gs on you

and you were able to sit there and

control the thing through your wrist

motion.

That time at Johnsville was an

interesting one. We had a lot of fun,

going out to dinner and places. As we

talked about earlier, we went to the

Old Mill. I guess every Thursday

night we’d wind up out there for

dinner. De [Beeler] was going to buy

us all dinner one night, and I’ve still

got the check that he signed with a

fictitious name so it wouldn’t go

through. I roomed with Neil

Armstrong back there and he got in

trouble when they lost his laundry

one time and we were busy buying

shirts and underdrawers and the

whole nine yards.

I can’t think of much more since I

didn’t use many of the simulators.

The first simulators that I remember, in 1957, were so simple that I

couldn’t see from the pilot’s point

of view where it was going.

Waltman: That’s the way it was in

those days. We spent a lot of time

those first couple of years working

out the cockpits and problems with

the cockpits, and hydraulics and

instruments and developing new

instruments and such.

Butchart: Looking back, I remember that you were doing more work

on the instrumentation—was it real

and so [forth]?

Waltman: That was part of growing

up during that period. Once we got

started, we had one of the best

facilities in the country, and now it

probably is the best.

Butchart: I think it is amazing what

they have now, where they can tie

the airplane right into the computers upstairs.

I flew the X-4 and the X-5 and the

Skystreak and Skyrocket [two

different version of the D-558]. I

didn’t have any simulation work

because there wasn’t any in those

days. Then I did most of the work

on the B-47 when we had it instrumented at Langley and brought it

out in ’53, I guess it was.

I did a lot of work on the F-100—

the roll coupling stuff that I got into

kind of by accident. I was doing a

series of rolls for—I don’t remember who the engineer was—but we

had straps attached to both sides of

the cockpit with a chain and a piece

of metal with holes drilled in it for

two degrees, four degrees, eight

degrees, etc., for aileron throw. We

would put a pin in the stick and you

could pop it over—and it would be

exactly six degrees or eight degrees

or whatever you needed. One of the

funny incidents that happened one

day: [Iven] Kincheloe was chasing

me, and I was at 40,000 [feet] at

the speed I should have been for

30,000 feet (it was my mistake as

much as the engineer’s), and when

I popped it over, it uncoupled like

crazy. It went in such a direction

that you couldn’t sit and tell

anyone which way it went or what

happened. It was just over with.

Kincheloe was flying chase and he

laughed and he thought that was

the funniest thing he had ever seen.

He said, “Do that again.” And I

said, “No thank you.” When they

uncork, they really go ape. Gene

Matranga was running that program. Early on, the F-100 had 30

degrees of plus and minus aileron

and about two inches of stick

throw. It was very sensitive. Two

inches and you got 30 degrees.

Later on, they doubled the stick

throw to four inches on each side

for full aileron. But his study was

to see if we really needed the full

30 degrees of aileron. I’m quite

certain they changed that later on,

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‘cause it was a whole lot more

aileron than you could live with. I

don’t remember if there were any

simulations about that.

William (Bill) Dana

Note: These comments from Bill Dana’s

interview have been edited to eliminate

some discussion that seemed unrelated to

the main theme of the personal account.

The original interview—along with all the

others that are included as personal

accounts in this document—are available

in their original form and will be (with

any other pertinent information collected)

in the Dryden Historical Reference

Collection.

X-15 Simulators

Dana: I came here the first of

October of 1958. To put that in a

time perspective, it was about two

weeks before they rolled out the

first X-15 for a press conference at

El Segundo. And I remember Vice

President Nixon was there. I wasn’t

at the press conference, but Vice

President Nixon was there. And it

was interesting that at that time I

was working on the X-15 simulation that Dick Day had. I don’t

remember how many degrees of

freedom it was. It was probably

only three. It was probably pitch

axis only. Because Dick was

looking for the maximum Mach

number and maximum altitude he

could get out of the X-15 with the

interim engines [two XLR-11s

instead of the single XLR-99

designed for the X-15] in it. That

was the program he was doing, and

I was his cockpit pilot.

And about the only thing I remember about the technology was that

Dick had to run a check case every

morning to make sure the analog

computer was putting out the same

output it had put out the day before.

And as soon as we got that check

case done to Dick’s satisfaction,

then generally the simulator

worked all day reliably. I remember

one of the sim engineers, of course,

was you and one was John Smith.

And the third one I remember was

J.L. Samuels.

Then about 1961, as I remember,

we moved the X-15 simulator [iron

bird] up from El Segundo. You

might remember exactly what year

that was. And then we became

really pretty sharp in our simulation. We had the inertias of the

control surfaces simulated and real

hydraulics driving the actuators. So

we had actual hysteresis in there.

And it was a very good simulation.

I didn’t fly the X-15 simulation

that came up from El Segundo

much until I got in the program

much later, in mid-1965. So from

about the time the simulator moved

up from El Segundo to when I

checked out, I did not fly the X-15

simulator very much. But it was

considered a high-fidelity simulator at that time.

And I remember one anecdote

about it. The electronics for the X15 simulator were up in the room

presently occupied by the center

director’s office and the executive

conference room. And there were

literally about 1,000 fuses in that

analog simulator. And every time

we’d have a summer electrical

storm, why it would blow every

one of those 1,000 fuses. And J.L.

[Samuels] would walk down the

back of that analog computer with

one bucket full of good fuses that

he was putting in and another

bucket he was filling up with

burned out fuses that had been shot

by the lightning system. And the

only technicians whose names I can

remember from those [days were]

Dick Musick and Bill Sebastian. I

guess we had Gerry Perry. And

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then from ’65 till the end of the X15 program in 1968, I worked on

the X-15 simulator on an almost

daily basis. Sometimes I’d spend

50 hours simulating for one tenminute flight if I had the time

available due to weather or the

aircraft [being] out of commission.

There was something else I wanted

to say about the X-15 simulator.

Oh, it was interesting that one of

the X-15s had a research instrument panel in it. It had vertical

instruments, which were the rage in

those days, as contrasted to the

round dials that were in the number

one and number two X-15s. The

number three X-15 had this research panel, which was very

significant research at that time.

And the X-15 was a challenging

airplane to do instrumentation

research in. [See photo E-11778 of

the X-15-3 instrument panel.]

But the interesting thing was that

we had to build two separate

instrument panels for the X-15

simulator. We had one with the

round dials, and we had another

one with the vertical tapes in it.

And these were heavy. They

probably weighed a couple of

hundred pounds. They were more

than one man could wrestle in and

out of the simulator. So we had a

little fork-lift—a little cherry picker

that we lifted the round dial

instrument panel out of the simulator with when we were going to fly

ship three. And we dropped the

vertical-tape instrument panel in

with that same cherry picker and

then “flew” our simulation. And

then when the next pilot came

along, why we put his instrument

panel in. And it was a lot of administration, but it worked very

efficiently.

And we flew the analog X-15

simulator all the way to the end of

the X-15 program in 1968, and

then I went into the lifting bodies—

first into the HL-10 and then into

the M2. And the engineer I worked

with most on the lifting bodies was

Jack Kolf. He was a flight planner

for both the HL-10 and the M2.

And the lifting-body simulator, in

contrast to the X-15 simulator, was

digital. And now of course, we

think of digital simulators as being

the Cadillacs of simulation. But it

wasn’t always so. At the time we

made the transition from the X-15

to the lifting bodies, the analog

simulator was quite mature and

well-developed and the digital was

a new thing. And we had a lot of

trouble—a lot of reliability problems—with the digital simulator.

And I think that’s a little vignette

that ought to be recorded because

now we think of digital computers

as being quite reliable and quite

capable. But it wasn’t always so.

Waltman: We did have a digital

computer in the X-15-2. It was an

interesting period going from

analog to hybrid.

Dana: Yes, it was. That’s right. I

had forgotten the hybrids. But you

were definitely right about ship

two. A portion of the X-15 number

two simulation was digital. And

they weren’t very reliable because

the digitals weren’t very reliable

for awhile.

Other Simulations

And when the M2 program—the

M2-F3 program—ended in the fall

of 1973, I went on to the sub-scale

F-15 program. I was alternate pilot

on that to Einar Enevoldson. And I

flew some sub-scale F-15 simulations.

Well, I can’t remember any other

programs before ’75 that I flew

besides the rocket airplanes. There

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probably were others. I guess we

had a Vigilante [A-5 (1963)]

simulator. Don Hughes would have

been the principal investigator on

that. And I think we had a Vigilante

simulator up. But I don’t remember

much about it. And I don’t remember any of the other participants in

it except Don Hughes, who was the

principal investigator

I think I’ve mentioned about all the

early players that I remember from

simulation. Dick Day, of course,

was kind of the father of analog

simulation. And I worked with him

on the X-15 early in the X-15

program. He’s got just about total

recall. So you’ll get a lot of information out of Dick. I’m having a

little trouble dredging up players.

You and Ed Videan and John Smith

were in simulation when I got here.

And I think you and John were

mainly working analog.

John [Perry] was probably here in

’59, if I remember correctly—’59

or ’60. He was an early comer.

I remember one other little vignette

about the M2 simulation. We didn’t

use this technique during the flight

program, but we investigated it on

the simulator after the flight

program was over. And that was

that rocket pilots always complained that the mission went

faster—seemed to go by faster than

the simulation did. So Jack Kolf

had the idea, why not run the

simulator at faster than real time

and see if that reminds the pilot of

the actual flight. And we did that on

the M2-F3 simulator—ran the

simulator at faster than real time

and experimented with 1. 2 and 1. 5

times the real time and finally

empirically came up with the idea

that about 1.4 times real time was a

good representation of how the

mission appeared to the pilot in real

time. And so Jack did some real

ground-breaking work on the

simulator. And that would have

been about 1974.

Waltman: Yes. I got some stuff

from Bob Kempel just the other

day, and he said the same thing.

This faster than real time seemed to

. . .

Dana: More accurately simulate

the boost portion of the flight.

Thomas C. McMurtry

Supercritical Wing Program

I came here in late 1967. The first

program I really got involved in,

that had any simulation associated

with it, was the F-8 Supercritical

Wing (SCW) program. Wilt Lock

was the controls engineer on that

airplane. We spent a lot of time in

the simulator looking at gain

schedules, looking at the modification to the control system. The

simulation activity was never one

that I got enchanted with [and I

never] spent a lot of time looking at

the approaches to simulation.

Instrumental from my view was

putting together a usable simulator

that served two purposes. One was,

we had not flown a significantly

modified airplane. It wasn’t a brand

new airplane, but one with the new

wing on it, a change in the configuration. The basic airplane had an

arrangement where the fuselage

moved down and changed the

incidence angle for landing. And of

course we didn’t have that. But

there were a lot of major changes to

the control system that had to be

done to make the airplane have the

flying qualities we wanted it to

have, and also to see what kind of

performance we thought the

airplane would have. It served the

purpose of preparing for the

characteristics of the airplane from

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172

a stability-and-control level and

[for] me as a pilot. Wilt worked the

auto-gain scheduling and everything. I obviously factored in my

thoughts about the qualitative

judgments of how the airplane

behaved.

The second thing that the simulator

provided was mission planning.

The benefits I got out of the simulation—the engineering simulation

approach, where we had just basic

cockpits, basic controls—were

adequate. I felt for my entire career

here at NASA that that was all we

needed. We didn’t need a mockup

of the cockpit with all the frills and

fancy furnishings that airplanes

have. The engineering simulation

approach has been completely

adequate, in my view, to provide

the benefits that a simulation can

provide to a piloted program.

Again, the first program I was

involved with that really used

simulation to a great extent was the

F-8 Supercritical Wing Program. I

also got in on the F-8 Digital FlyBy-Wire Program—participated in

the simulation there—but that was

driven primarily by Gary Krier as

the project pilot. I’m trying to

remember who led that simulation—Wilt Lock was involved in

that pretty extensively, also.

Then the other program was the

Lifting Body Program. I only flew

two flights in the X-24B. I used to

go out and fly the F-104 and

practice simulated approaches with

that airplane. My experience with

the simulator was pretty limited.

The Air Force had the simulator. I

spent a lot of time practicing with

Jack Kolf. By that time, the simulation had really matured. They kept

enhancing the simulation based

upon the results of flights. The

simulation was a great preparation

for me to go out and fly a couple of

drop flights on the X-24B.

All of the simulations, from my

view, were beneficial in that they

provided the mission planning and

gain settings. They gave us a good

look at variances in the behavior of

the airplanes, especially in stability

and control. The analog systems

did that well enough, I thought. We

could look at some variations as to

the good characteristics and

changes that made us start to be

sensitive or overly sensitive. I

thought we were able to do that

effectively with the simulations

that I was exposed to. Interestingly,

I made a note. The first flight of

the F-8 Supercritical Wing airplane, for example, that I got to

make. When I came back, I have to

tell you honestly that it was so

much fun and so exciting and such

a thrill to fly that airplane the first

time, that I probably would have

said that the simulator was exactly

like the airplane or the airplane

was exactly like the simulator, I

should say. I think that oftentimes

it takes a flight or two before a

pilot is able to feed back to the

simulation. Well, obviously, there

is quantitative data that you can

use to change the simulation. But

the qualitative data sometimes isn’t

completely effective until the pilot

has had a chance to fly the airplane

a couple of times. ‘Cause that first

time you are so excited, so enthusiastic that you could make it all

work. Unless there was something

that was really major, it is pretty

hard to sort out the minor difference between the simulation and

flight.

I mentioned that the engineering

simulation approach has been an

adequate approach here at Dryden.

Another thing that I would add to

the engineering simulation approach is that, the way we do

business here, a pilot preparing to

fly something that is new and

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173

unique could go out to the airplane;

a lot of procedures can be developed between the time that is spent

in the cockpit before the flight

takes place and [time in] the

simulator. So you don’t need a fullup simulation to develop all the

procedures that are needed to

accomplish a research test-flight.

Moving-Base Simulators

Moving-base simulators add some to

a simulation. I do believe that. It’s

another characteristic that is added to

your total perspective. To say,

though, that moving-base simulators

add a dimension, big step, and a

great dimension to simulators, quite

honestly I don’t feel [that they do].

They do add something.

Visual Presentations

The biggest need in simulation is an

accurate visual presentation. That’s

the feature of simulations, in my

view, that is most lacking even today.

I’ve not stayed with simulations and

looked at the most modern simulations. I did go up to United Airlines

and flew its 747 simulator. They

have some fairly recent technology

there. It’s good simulation, it’s good

visual presentation, but it’s still not

real-world; it’s got a long way to go

to get to that point.

So, moving-base simulators do add

to a better representation of a

vehicle’s characteristics—both

[with respect to] performance and

[to] stability and control. And then

the visual presentation adds

another dimension. But I still say

that the engineering approach taken

here with a minimum of visual

display and no moving base has

been adequate.

Aircraft Speed Is a Factor

Another thing that strikes me: the

speed of the vehicle is definitely a

factor here, too. Now, the simulations that I have been associated

with, with minor exceptions, are

subsonic activities. I’ve flown the

SR[-71] simulator a little bit—for

several hours before I flew the

airplane for one time. I’ve flown

the F-15 at supersonic speeds, and

some other vehicles. Obviously a

vehicle like the X-15 had different

cues to the pilot that, I think, would

have [made] a visual representation

more beneficial to them. On the

simulations for the F-8 Supercritical Wing and others, the

engineering approach was adequate

without a really good visual

presentation. The faster you go, I

think, the greater the need is to

have a really useful visual display,

at least when you get down in the

atmosphere and you are starting to

make approaches and landings.

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174

Finale

This is our story. It was interesting and

challenging. It started in 1955 and went to

the mid-’70s. Analog/hybrid simulation

had run its course and, after about 20

years, was no longer the preferred

method. Analog computers were not able

to keep up with the advances being made

in the airplanes we were simulating.

Digital computers had grown up and were

the better type of computer to use. We had

to move on, and the present simulation

laboratory is doing that.

This was the end of a very exciting period

in the history of the NASA Flight Research Center. Those of us who were there

(and I’m sure I speak for most of us) are

all very happy and proud of having been a

part of that history. In a sense, we were

the “barnstormers” of flight simulations at

the FRC. Looking back on this period, I

will never regret the decision I made that

very first day when I was given the

opportunity to work in the simulation

laboratory. Simulation is an important

component of almost every flight project

that Dryden is involved in. The analog/

hybrid simulation systems of the NACA

HSFS and NASA FRC were an important

foundation in the development of today’s

capabilities. Dryden is a unique institution. So, too, is the Dryden Simulation

Laboratory.

The X-15, the Lifting Body, LLRV,

GPAS, the F-8 DFBW, and other flight

programs owe a lot to the simulators that

we built. It is difficult to imagine any of

these programs having been as successful

as they were if simulators had not been

included.

For those of you who are a part of the

present-day simulation facility, you have a

strong and proud heritage—keep up the

good work. I say that both as a commendation and as a challenge!

162
175

Appendices

163
176

Appendix 1. Memorandum for Engineering Division Chief, Richard D. Banner and Albert E. Kuhl, “The determination

of the directional stability parameter Cn from flight data,” 11 March 1955.

164
165 177
166 178
179 167
180 168
181 169
170 182
183

Appendix 2. Richard E. Day, “Training Considerations during the X-15 Development,” paper presented to the Training

Advisory Committee of the National Security Industrial Association, Los Angeles, California, 17 November 1959.

171
172 184
185 173
174 186
187 175
176 188
189 177
178 190
191 179
192 180
193 181
194 182
195 183
184 196
197 185
186 198
199 187
188 200
201

Appendix 3. Milton O. Thompson, “General Review of Piloting Problems Encountered during Simulation and Flights of

the X-15” [1964].

189
190 202
191 203
204 192
205 193
206 194
207 195
208 196
209 197
198 210
211

Appendix 4. Robert E. Andrews, “The Analog Simulator Programming,” originally published as an appendix to Windsor

L. Sherman, Stanley Faber, and James B. Whitten, Study of Exit Phase of Flight of a Very High Altitude Hypersonic

Airplane by Means of a Pilot-Controlled Analog Computer (Washington, DC: NACA Research Memorandum L57K21,

1958), pp. 19-25, 30, 40, 47-53.

199
212 200
213 201
214 202
215 1203
216 204
217 205
218 206
219 207
220 208
221 209
210 222
223 211
212 224
225 213
214 226
227

Aircraft

Analog to Digital

Applied Dynamics Inc

Automatic Data Processing

American Express

Air Force Flight Test Center

See AOA

Angle of Attack

Angle of Sideslip

Ames Research Center

Angle of sideslip

A small program of only a few instructions that loaded itself into memory and then

followed this by loading a larger more comprehensive loader routine

To build preliminary logic circuitry

Cornell Aeronautical Laboratory

Compact Disc

Control Data Corporation

A device to keep an amplifier stabilized. The early tube-type amplifiers would drift

(deviate) because of the heat they generated.

Coefficient of thrust deflected downwards to provide additional lift

Yawing moment coefficient with respect to aileron deflection

The yawing moment coefficient with respect to sideslip

Card Programmed Calculator

Central Processing Unit

Cathode Ray Tube

Computer Usage Company

Drones for Aerodynamic and Structural Testing

Digital to Analog

Direct Current

Glossary

A/C

A to D (and A/D)

ADI

ADP

AE

AFFTC

Alpha

AOA (alpha)

AOS (beta)

ARC

Beta

Bootstrap

Breadboard

CAL (also CALSPAN)

CD

CDC

Chopper

Cμ

Cn/aileron

Cn

b

CPC

CPU

CRT

CUC

DAST

D to A (and D/A)

DC

215
228

Deadband

Derivative matching

DFBW

DFG

DFRC

Dirty configuration

Discretes

DOD

DOF

DUHOS

Dynamic checks

EAI

Eightball (8-ball)

EMC

Engineering precision

FAA

FDL

Fortran

FRC

FSL

GE

GEDA

GPAS

GSA

Heath Kits

A type of delay or lag

A process of determining the nonlinear derivatives for a particular airplane

Digital Fly-By-Wire

Diode-Function Generator

Dryden Flight Research Center

A term used to describe an airplane that was not aerodynamically clean, which usually meant

that the landing gear was down, or the speed brakes were extended, or the flaps down, or for

some other reason something was causing a reduction in the airplane’s performance

Single-bit, on/off-type functions

Department of Defense

Degree of Freedom, a movement either up or down, sideways, front or back, or around

the pitch, roll or yaw axis

Dual Hybrid Operating System

Checks of an analog computer in which, usually, a known time history solution (with

known initial conditions and known inputs) was used to determine if a particular implementation was working correctly

Electronic Associates Inc.

The colloquial term for the attitude indicator used in the airplanes of the 1960s and 1970s

Energy Management Console

A level of exactness in which the degree of refinement of the measurement being made or

the calculation being performed is both adequate and sufficient to provide the accuracy

needed for the task at hand but nothing more

Federal Aviation Administration

Flight Dynamics Laboratory

Formula Translation software

Flight Research Center

FRC Simulation Facility

General Electric

Goodyear Electronic Differential Analyzer

General Purpose Airborne Simulator

General Services Administration

“Build-it-yourself” electronic kits sold by the Heath Company of Benton Harbor,

Michigan. The company quit selling these kits in 1992.

216
229

Highly Maneuverable Aircraft Technology (RPV)

Hewlett Packard Company

High-Speed Flight Station

Hybrid Digital and Analog Computer

A type of delay or lag

Immediate Checkout Analog Research Unity Scaled

Input and/or Output

Institute of Aeronautical Sciences, Inc.

International Business Machines

Instrument Landing System

University of Kansas

Langley Research Center

Lunar Landing Research Vehicle

Lunar Landing Training Vehicle

Minneapolis Honeywell (now Honeywell, Inc.)

North American Aviation

National Advisory Committee for Aeronautics

Naval Air Development Center

National Aeronautics and Space Administration

Personal Accounts

An automated method for obtaining numerical values for aircraft behavior by manipulating multiple

differential equations; this technique allowed researchers to determine precisely the differences

between values predicted from wind-tunnel data and those actually encountered in flight.

Pilot Induced Oscillation

A special type of servo multiplier

Potentiometers

Research Aircraft Integration Facility

Reeve’s Electronic Analog Computer

A feature available on most analog computers that allowed the operator to reduce the

problem solution time by a ratio of 100:1 with results displayed on a multi-channel

oscilloscope

HiMAT

HP

HSF

HYDAC

Hysteresis

ICARUS

I/O

IAS

IBM

ILS

KU

LaRC

LLRV

LLTV

MH

NAA

NACA

NADC

NASA

PA

Parameter estimation

PIO

Pot padder

Pots

RAIF

REAC

Rep Op

217
230

Request For Proposal, which is a solicitation for bids on a contract

Real-Time Fortran

Remotely Piloted Vehicle

Simulation Councils, Inc.

CDC Cyber Operating System

Supercritical Wing

Scientific Data Systems

Society of Experimental Test Pilots

Stability Augmentation System

A method of determining if the implementation was correct (i.e., were all the components

correctly connected and were all the pots and function generators correctly programmed?)

A device that vibrated the pilot’s control stick to remind him or her that he or she was

getting into an undesirable situation.

Short Take Off and Landing

Temporary duty

Telemetry

University of California at Los Angeles

University of Southern California

World War II

Year 2000

RFP

RTF

RPV

SCI

SCOPE

SCW

SDS

SETP

SAS

Static checks

Stick kicker

STOL

TDY

TM

UCLA

USC

WWII

Y2K

218
231

Index

A-5, 159

Adkins, Elmer J., 48

Air Force Flight Test Center (AFFTC), vi, 20, 28, 36, 136,

137, 145

Alford, Bill, 36

Algranti, Joseph, 126

Alpha, see angle of attack

Ames Research Center (Ames Aeronautical Laboratoryunder NACA), 8, 36, 38, 40-41, 51, 96-97, 108-109, 137,

152, 155

Amplifiers, 11

Drift, 41

Analog programmers, 30-31

Analog simulations, passim but esp. 1 ill., 5-12, 30-31, 33,

39-40, 74-75, 98 n.

Anderson, Rider, 73-74

Andrews, Robert E., 145

Andrews, William, 43, 44

Angle of attack, defined, 29

Apollo Program, 35

Applied Dynamics Inc., 12, 67, 83

Apt, Milburn G. (Mel), Capt., 138-139, 142-143

Armstrong, Neil A., v, 36, 38 ill., 43, 44, 100, 126, 155, 156

Army Missile Command, 120

Atomic Energy Commission Facility, Oak Ridge, Tn., 83

B-17 side-arm controller, 140, 141

Bacon, Donald C. (Don), 78, 83, 84, 89, 91, 93, 94, 114-124,

127, 135, 147

Ballard, Robert R., 105

Banner, Richard D (Dick), vi, viii, 6, 7, 8, 99, 136-137, 140

Barnicki, Roger, 44

Beeler, De Elroy, 7, 41-42, 136, 156

Bell Aircraft, 141

Berry, Donald T., 28

Bikle, Paul, 46

Black boxes, 22-24, 25 ill.

Black magic, 5, 13

Blue box, 147

Boeing 747, 161

Boost-vehicle simulation, 15 ill., 34-45, 35-38 ill., 108, 153

Bostain, John M., 104

Breadboard, defined, 66

Butchart, Stanley P. (Stan), 36, 43, 60, 64, 113, 128, 148,

153-157

C-47, 42

Calibration Hangar, 127

Callister, Betty J., 148

Caw, Lawrence J. (Larry), 26, 27, 33, 44, 56, 60, 61, 63,

83-84, 91, 93, 112, 123-128, 146-148

Centrifuge, Navy, 13, 23, 36-37 ill., 100, 155, see also

Johnsville

Cockpit simulations, 10 ill., 14-18 ill., 49 ill., 91 ill., 92 ill.,

95 ill., 96 ill., 105 ill., 105-106, 131, 133-134, 135

Comcor Computer Company, 12

Computer “languages” (software programs)

Assembler, 55, 71, 109

Fortran, 55, 75, 109

Libraries, 55

Loader, 71

Real-time Fortran (RTF), 55, 81, 109, 121

SDS Assembly, 55, 81

Utilities, 55

Computers (human), v, 9 n.

Computers (analog), see also Goodyear Electronic Differential Analyzer

AD-4, 67 ill., 83-84, 86, 90, 121

Comcor 175, 96

Cyclone, 39

EAI 31R, 9 ill., 34, 99, 102, 109, 110, 125, 144

EAI 131R, 9 ill., 34, 99, 102, 110

EAI 231-RV, 12, 27, 34, 67, 79, 95, 110, 125, 128

TR-5, 61, 134

TR-10, 33, 61, 109, 125, 134, 149-151

TR-20, 33, 125

TR-48, 28, 33, 91, 112, 134, 149-150

TR-58, 33, 128

Typhoon, 39

Computers (digital)

CDC 73, 89-90

Cyber 72, 75

CYBER 73-28, 67-68 ill., 80, 83, 86-87, 92-93, 120-123

SDS 920, 55, 69-70

SDS 930, 50, 52-55, 70-71, 74-77, 81-82, 97, 111, 118-

121, 127, 146

SDS 9300, 68, 74, 81-83, 89 n., 91, 94-97, 146

XDS 9300 (formerly SDS 9300), 89 n., 146

Computers (hybrid), 55-56, 65-90

AD-4, 67 ill., 83

HYDAC, 67

Computer Usage Company, 81

Control configured vehicle (CCV), 150

Control Data Corporation (CDC), 68

Control stick, 11, 130-131, 155

Controlled Impact Demonstration (CID), 145

Converter

Analog-to-digital, 66 n., 67

Digital-to-analog, 66 n., 67

Cooper, Lonnie, 92, 116

Cornell Aeronautical Laboratory (CAL), 59-60, 128, 149

Coupling dynamics, 118

Credit cards, 41-42

D-558, 156

Daedalus, 122

Dalto visual simulator, 132-133

Dana, William H. (Bill), 3, 22, 50 ill., 117, 128, 157-159

Daniels, Walter, 36

Davis, Billy E., 52, 113

219
232

Day, Richard E. (Dick), vi-viii, 6, 8, 24, 46, 54, 56, 99, 137-

140, 141, 144, 157, 159

Deets, Dwain A., 24, 60, 62, 112, 128, 148-153

Degree of Freedom (DOF), defined, 8; mentioned, passim,

esp. 68

Derivative matching, 26, 111 (including definition in n.), 116

Digital data communications, 89

Digital integration, 118-120

Diode-Function Generator (DFG), 22, 33

Discretes, 74-75

defined, 74 n.

Distributive patching, 135

Drake, Hubert M., 7, 145

Draper Laboratory, 151

Drones for Aerodynamic and Structural Testing, (DAST), 97,

108

Dryden Flight Research Center (DFRC), v, passim

Dual Hybrid Operating System (DUHOS), 80-82

Edwards Air Force Base, 4, 20, 36, 52, 139

Edwards, John, 90

Electric control stick, 130-131, 134, 147

Electronic Associates Inc. (EAI), 12, 55, 92, 99 and see

Computers

El Paso, Texas, 45

Enevoldson, Einar, 158

Engineering precision, defined, 119 n.

Engle, Joe H., 111

Error signals, 43-44

Everest, Frank (Pete), Lt. Col., 138, 141, 142

F-8 Digital Fly-By-Wire (DFBW) program, 32, 79, 85-86,

117, 131-132, 150-152, 160

F-8 Supercritical Wing (SCW), 159-161

F-15 Remotely Piloted Vehicle, 85, 146, 158

F-100, 6, 7, 13, 108, 136, 148, 153, 156

F-101, 13

F-102, 13

F-104, 13, 14, 26, 56, 143-145, 160

Reaction controls, 143-144

Stick kicker, 130

Faster-than-real-time simulation, 93, 118, 159

Film reader, 102 ill.

Flight Dynamics Laboratory (FDL), 108

Flight Research Center (FRC, later Dryden), v, passim

Move from South Base, 136 n.

Flight Research Center Simulation Laboratory (FSL), vi, 2

ill., 108, passim

Ford Tri-motor, 97

FRC, see Flight Research Center

FSL, see Flight Research Center Simulation Laboratory

Fulton, Fitzhugh L., Jr., 94, 97, 128

Function generators, 11, 43, 48

Fuses, 22

Gates, Ordway B., Jr., 6, 8, 9, 137

Gatlin, Donald H. (Don), 64, 148

Gemini Program, 35

General Electric (GE), 104

General Purpose Airborne Simulator, 59-64, 60-61 ill., 111,

112-114, 128-129, 146, 148-150, 152-153

G-forces, 43 and see centrifuge

Gibbons, John, 94

Gilyard, Glenn B., 28

Glider simulation, 129-130

Goodyear Electronic Differential Analyzer (GEDA), v, 6-9,

20, 99, 136-137, 138-139, 144

Greenfield, Lowell, 87, 91, 92, 115, 123, 129, 146

Gremlins, Gremlinity, 5, 21, 87,

Grounding, 51

Halasey, Robert L., 87

Hanes, Horace A., Col., 141 n.

Harwell, Rebel, 104

Heat transfer, 109

Heath Company, 3, 8

Hedgley, David R., Jr. (Dave) 123

Highly Maneuverable Aircraft Technology (HiMAT) project,

97, 108, 145

High-Speed Flight Station (HSFS), v, 137, 143, 144

HL-10, 17 ill., 83, 85, 91, 93, 115, 117, 128, 146

Hoey, Bob, 54, 91 ill.

Hold mode, 122

Holleman, Euclid (Ed), 1, 10, 40, 41, 43, 44

Hughes, Donald L., 159

Hybrid Digital and Analog Computer (HYDAC), 67

Hyper III, 91, 115

IBM CPC (Card Programmed Calculator), 4

Icarus, 122

Iliff, Kenneth W., 27 n., 113, 116, 117, 121, 122

Immediate Checkout Analog Research Unity Scaled

(ICARUS), 68 n., 78-80, 91-92, 121-124, 146

Initial conditions (IC), 28, 115 n. (defined)

Innis, Bob, 36

Input/Output (I/O) routines, 55, 70, 72-74

Instruments, 103-105

Integrated Test Facility (ITF), 127 and see Research Aircraft

Integration Facility

International Business Machines (IBM), 86-87, 101, 124, 137

Iron bird, 32, 46, 117, 151

Iron Cross, 153 ill., 154 ill.

Jackson, Hugh, 128

Jackson, Raymond H., 137

Jarvis, Calvin R., 126

JetStar (Lockheed C-140), 59-64, 60-61 ill., 112, 117, 128,

147-148 see also General Purpose Airborne Simulator

Johnson, Richard G., 131

Johnson, William (Bill), 140

Johnsville, Pa., 13, 23, 34-45, 100, 155, 156

Juarez, Mexico, 45

Kempel, Robert W. (Bob), 20-21, 58 n., 60, 63, 93, 117, 128,

220
233

145-148, 159

Kerfott (synchro manufacturer), 104

Kier, David A., 94

Kincheloe, Iven, Capt., 142

Kluever, Jack, 126

Kolf, Jack, 54, 93, 118, 159

Kordes, Eldon, 57, 125

Kostrakopf, Serge, 31

Krier, Gary, 148, 160

Kuhl, Albert E. (Al), vi, 6, 7, 8, 99, 136, 142

Landing simulations, 117-118, see also X-15

Langley Memorial Aeronautical Laboratory, v, 17, 143, 145

Langley Research Center, v, 7, 8, 36, 43, 51, 146

Lewis Aeronautical Laboratory (now Glenn Research

Center), 4

Lifting-body program, 85, 145-146, 160

simulations, 15 ill., 17 ill., 91-93, 115, 127-128

Little, Mary, 87, 123

Lock, Wilton P. (Wilt), 126, 159, 160

Lockheed, 115, 155

Loschke, Paul, 25 ill.

Lunar Landing Research Vehicle (LLRV), vi, 33, 44, 92, 93,

112, 117, 125 ill.-127, 126 ill., 128, 162

Lunar Landing Training Vehicle (LLTV), 126

Lyons, Jerry, 104

M2-F1, 15 ill., 93, 117

M2-F2, 91, 93, 115, 130, 145

M2-F3, 85, 91, 115, 145, 146, 158-159

Maine, Richard E., 27 n.

Mallick, Donald L., 64, 126 ill., 128, 148

Manned Space Flight Center (later Johnson Space Center),

126

Manning, Theron, 27

Matheny, Neil W., 27, 28

Matranga, Gene J., 126, 156

McKay, John B. (Jack), 47, 111, 125, 155

McKay, James M., 57, 63 , 112, 125

McMurtry, Thomas C. (Tom), 159-161

McTigue, John, 146

Mercury Program, 35

Michigan Technological University, 3, 4

Midnight patcher, 20-21

Milliammeter, defined, 104 n.

Moving-base simulations, 32-33, 96 ill., 161

Musick, Richard O. (Dick), 5, 8, 10, 13, 24, 32, 36, 40, 41,

42, 43, 52, 60, 61 ill., 64, 99, 100, 101-106, 101-102 ill.,

107, 109, 128, 129, 130, 133, 134, 135, 137, 141, 143,

144, 148, 157

Myers, Albert F. (Al), 84-86, 89, 121,

NASA, vi, 13-162

National Advisory Committee for Aeronautics (NACA), vi,

1-13, 84, 101, 139, 143

Navy, U.S., 3, 34-45, 100, 145 n.

Naval Air Development Center (NADC), 34, 51, 139

Navy Aviation Medical Laboratory, 34

Norden display, 91 ill., 133

North American Aviation, 46, 49, 140

Northrop, 131

Operate mode, 116 n., 122

Orbital rendezvous and docking, 107-108 ill., 109-110

Ozalid copy process, 17-18

PA-30, 117

Painter, Weneth D., 117, 145

Paper tape, 73

Parameter identification, 27 n.

Paresev, 25 ill.

Parish, Owen O., 112

Patch panels and cords, 19-20, 61, 135

Perry, Gerald D., 52, 113, 114, 122, 126, 135, 157

Perry, John J., 27, 51, 52, 60, 64, 108, 109-114, 123, 140

Peterson, Bruce A., 117, 130

Peterson, Forrest (Pete), 36, 41, 56

Pinon Hills, 4

Plotters, 53-54

Pontiac Catalina tow vehicle, 93

Pot-Set, defined, 11 n.

Potentiometers, 9, 11, 16, 17, 99

Powers, Bruce G., 94

Putnam, Terrill, 94

Rampy, John M., 28

Reaction controls, 107, 143

Readiger, Al, 116 n.

Real-Time Simulation (RTSIM), 89

RTSIMII, 89

SIMII, 89

Ream, H. E., 126

Reeves Electronic Analog Computer, 137

Rediess, Herman A., 61 ill., 128

Redstone Arsenal, Al., 84

Rediess, Herman A., 112-113, 143

Reisert, Donald (Don) 8, 17, 140-145

Remote Batch Terminal, 89

Remotely Piloted Research Vehicle (RPRV), 85, 131, 146

and see F-15

Cockpit simulation, 18 ill.

Repetitive operations (Rep Op), 26-28, 116 n. (defined)

Research Aircraft Integration Facility (RAIF), ix, 3 ill., 10,

31, 127

Reset mode, 116 n., 122

Rio Grande River, 45

Robertson, Robby, 105

Robinson, Glenn H., 143

Rocket Site, 83

Rocket staging, 40

Rogers Dry Lake, 138

RPRV lab, 108

Rushworth, Robert, 36, 111

Ryan, Bertha M., 116

221
234

Sadoff, Melvin, 1,

Samuels, J. L. (Jim), 32, 48, 52, 108, 114, 157

Sanderson, Kenneth C., 109

Scaling, 29-30, 120 n.

Schilling, Lawrence J (Larry), 2, 88, 89, 124

Schmidt, Stanley, 99-100

Scientific Data Systems (SDS), 52, 54, 76-78 and see

computers

Scott, David, 132

Sebastian, Bill, 52, 157

Servo units, 104, 105 ill.

Shock, Lew, 155

Short Take-Off and Landing (STOL) simulations, 78, 94-97,

94-96 ill., 108

Side-arm controller, 35 ill., 36-39 and see B-17

Silver ink, 140 n.

Simson (instrument maker), 104

Simulation Councils Inc. (SCI), 66, 120

Simulations, see aircraft designations, computers

Sissle, Ralph, 140

Smith, John P., 2, 9, 19, 46, 87, 106-108, 123, 146, 157, 159

Slaton, Deke, 126

Soft wire, 143 n

Space Shuttle, 35, 91, 115

Approach and Landing Tests, 59

Spectrol (servo manufacturer), 104

S-plane technology, defined, 24 n.

Static checks, 117-118

Stillwell, Wendell, 144, 145

Strip-chart recorders, 53-54

Struts, Larry W., 28

Suppona, Art, 13, 52, 113, 126, 129-132, 134,

Swanson, John, 81

Synchro units, 104, 105 ill.

Systems Analysis Group, 123

Szalai, Kenneth J., 59 ill., 62, 112, 128, 150-151

Taylor, Lawrence W., Jr., 27 n., 48, 139

TDY (temporary duty), 41-42

Telemetry (TM), 69-70, 108

Temperature, 21-22, 53

Templates, 18-19 ill.

Testing, 28-30

Dynamic, 29

Static, 28

Thompson, Milton, 25 ill., 26, 57-58, 93, 117, 145

Transport simulation, 16 ill.

Triplett (instrument maker), 104

Trunking, 51, 135

United Airlines, 161

University of California at Los Angeles (UCLA), 55, 82, 119

University of Southern California (USC), 119

VanLeynselle, Frank J., 125 ill.

Videan, Edward N. (Ed), 4, 5, 8, 10, 40, 41, 43, 87, 89, 98-

101, 101 ill. 103, 137, 138, 140, 144, 159

Visual displays, 131, 161

von Braun, Wernher, 128

Wagner, Charles A. (Charlie), 2, 13, 24, 25-26, 90, 122, 130,

132-136

Walker, Joseph A., 126 ill., 130, 144, 155

Waltman, Gene L., v, ix, 42, 87, 94-97, 108-109, 115, 120,

123, 124

Washington, Harold, 94

Webb, Leo R. (Dick), 122, 126

Weil, Joseph E., 6-8, 137

Wells, Larry, 52

Weston (instrument maker), 104

Williams, Walter C. (Walt), 3, 137

Willow Grove Naval Air Station, 41

Wilson, Al, 103

Wilson, Warren, 54

Wolowicz, Chester H. (Chet), x, 8, 27-28, 106, 137

Wright-Patterson Air Force Base, 112

X-1, vi, viii, and see X-1B

X-1B, 8, 10, 13, 107, 108, 153

X-2, vi, viii, 8, 9, 137, 138-141, 142, 143

X-3, viii, 7, 136

X-15, vi, viii, 2, 5, 8, 9, 10, 12, 16 ill., 21, 22, 23 ill., 25, 26,

27, 28, 34 ill., 41, 46-58, 65, 66, 69, 71-79, 91, 92, 94,

100, 107, 143, 108, 110-112, 117, 125, 127-129, 132,

136, 138-139, 144-145, 148, 153, 157-159, 162

Centrifuge program, 139

Energy management, 52-54, 132

Landing simulation, 56, 111-112

Lower vertical stabilizer, 46

Minneapolis Honeywell adaptive controller, 48, 69

Stability Augmentation System (SAS), 48

X-24, 85, 115, 160

XLR-11 engines, 157

XLR-99 engines, 157

XS-1, vi

Y2K, vii

Yancey, Roxanah, vi, 27-28

Yawing moment coefficient, 138, 142, 143

Yoshida, John, 41, 114

222
235

Biblography

These references are all taken from the NASA/TP 1999-206568: Fifty Years of Flight Research: An Annotated

Bibliography of Technical Publications of NASA Dryden Flight Research Center, 1946-1996, by David F.

Fisher of the NASA Dryden Flight Research Center. The numbers at the beginning of each reference are taken

from that bibliography and are the chronological number of citation. Those numbers are used throughout this

paper as an easy way to identify the report being referenced. The documents listed here are all the reports that I

have been able to find that were written by Dryden personnel about studies that used any of the FSL’s (and other

simulation facilities’) simulation equipment during the period from 1955 to 1976. They are listed below using the

conventions in Fisher’s bibliography as explained below.

Key to Citations

Typical Citation

11993. 2Burcham, Frank W., Jr.; Maine, Trindel; and Wolf, Thomas. 3Flight Testing and Simulation of an F-15

Airplane Using Throttles for Flight Control. 

4NASA TM-104255, 5H-1826, 6NAS 1.15:104255, 7AIAA Paper 92-

4109. 8Presented at the AIAA Flight Test Conference, Hilton Head, SC, 24 Aug. 1992. 9August 1992, 

1092N32864, 11

# 12 (see also 2004).

1 Chronological number of citation (not a date)

2 Author(s)

3 Title

4 NASA publication number

5 NASA Dryden production number

6 GPO number

7 Assigned conference publication number

8 Conference name, place, and date

9 Date of publication (underlined)

10 Accession number

11 Available on microfiche (#)

12 Chronological number of cross-reference citation

113. Holleman, Euclid C.; and Triplett, William C.: Flight Measurements of the Dynamic Longitudinal Stability and Frequency-Response Characteristics of the XF-92A Delta-Wing Airplane. NACA RM H54J26A,

January 1955, 87H24535.

120. *Gates, O. B., Jr.; Weil, J.; and *Woodling, C. H.: Effect of Automatic Stabilization on the Sideslip and

Angle of Attack Disturbances in Rolling Maneuvers. In NACA Conf. on Autom. Stability and Control of Aircraft, March 30, 1955, pp. 25–41, (see N72-73193 12-99), 72N73195.

* Langley Aeronautical Laboratory, Hampton, Virginia

223
236

148. Weil, Joseph; and Day, Richard E.: An Analog Study of the Relative Importance of Various Factors

Affecting Roll Coupling. NACA RM H56A06, April 1956, 87H24558.

158. Weil, Joseph; and Day, Richard E.: Correlation of Flight and Analog Investigations of Roll Coupling.

NACA RM H56F08, September 1956, 87H24591, 93R19575.

161. Stillwell, Wendell H.: Control Studies. Part B: Studies of Reaction Controls. Research-Airplane-Committee Report on Conference on the Progress of the X-15 Project, Langley Aeronautical Laboratory, Langley Field,

Virginia, October 26, 1956, 93R21728. Declassified per NASA ccn 14, dated 25 April 1967.

183. Drake, H. M.: Flight Research at High Altitude, Part 1. AGARD Proceedings of the Seventh AGARD

General Assembly, 1957, pp. 74–75, (see N82-73409 12-01), 82N73414.

190. Holleman, Euclid C.; and Boslaugh, David L.: A Simulator Investigation of Factors Affecting the Design

and Utilization of a Stick Pusher for the Prevention of Airplane Pitch-Up. NACA RM H57J30, January 1958,

87H26852.

203. Holleman, Euclid C.; and Stillwell, Wendell H.: Simulator Investigation of Command Reaction Controls.

NACA RM H58D22, July 1958, 87H26855, 87H26220.

204. Holleman, E. C.; and Stillwell, W. H.: Simulator Investigation of Command Reaction Controls. In NACA

Conference on High-Speed Aerodynamics, 1958, pp. 157–165, (see N71-75285), 71N75297. (See also 203.)

208. Finch, Thomas W.; Matranga, Gene J.; Walker, Joseph A.; and Armstrong, Neil A.: Flight and Analog

Studies of Landing Techniques. This paper is from the Research-Airplane-Committee Report on Conference on

the Progress of the X-15 Project held at the IAS Building, Los Angeles, California on July 28–30, 1958, NACACONF-30- Jul-58, July 30, 1958, pp. 83–93, 93R21698. Declassified per NASA ccn 14, 29 Nov. 1966.

214. Stillwell, Wendell H.; and Drake, Hubert M.: Simulator Studies of Jet Reaction Controls for Use at High

Altitude. NACA RM H58G18A, September 1958, 87H26229, 87H24697, 93R19525.

227. Finch, Thomas W.: Flight and Analog Studies of Approach and Landing Characteristics of Low L/D

Configurations. NASA Conference on Review of NASA Research Related to Control Guidance and Navigation

of Space Vehicles, NASA Ames Research Center, February 25–27, 1959.

229. Holleman, Euclid C.: Utilization of Pilot During the Boost Stage of Multistaged Vehicles. NASA Conference on Review of NASA Research Related to Control Guidance and Navigation of Space Vehicles, NASA Ames

Research Center, February 25–27, 1959.

230. Boslaugh, David L.: Investigation of Precise Attitude Control—Simulator Program. NASA Conference

on Review of NASA Research Related to Control Guidance and Navigation of Space Vehicles, NASA Ames

Research Center, February 25–27, 1959.

238. Williams, Walter C.: Pilot Considerations in the X-15 Research Airplane Program. Presented at the

Annual Meeting of the American Psychiatric Association, Philadelphia, Pennsylvania, April 29, 1959.

246. Day, Richard E.; and Reisert, Donald: Flight Behavior of the X-2 Research Airplane to a Mach Number

of 3.20 and a Geometric Altitude of 126,200 Feet. NASA TM X-137, September 1959, 87H25418.

247. Finch, Thomas W.; and Matranga, Gene J.: Launch, Low-Speed, and Landing Characteristics Determined

from the First Flight of the North American X-15 Research Airplane. NASA TM X-195, September 1959,

62N72019, 87H25292.

224
237

256. Day, Richard E.: Training Considerations During the X-15 Development. Presented to the National

Security Industrial Association Training Advisory Committee Meeting, Los Angeles, California, November

17, 1959, NASA CC-H-157 OTP-1959, 1959.

259. Beeler, De Elroy: The Supersonic Transport. A Technical Summary. OTP-1959, 1959.

269. Holleman, E. C.; and Sadoff, M.: Simulation Requirements for the Development of Advanced

Manned Military Aircraft. NASA TM X-54672, Presented at the IAS National Meeting, San Diego,

California, August 3, 1960, 75N72588.

278. Wolowicz, C. H.; Drake, H. M.; Videan, E. N.; Morris, G. J.; and Stickle, J. W.: Simulator Investigation of Controls and Display Required for Terminal Phase of Coplanar, Orbital Rendezvous. NASA TN

D-511, October 1960, 62N71085, 87H27353.

280. Beeler, De E.: The X-15 Research Program. AGARD Report 289, Tenth Annual General Assembly of

AGARD, Istanbul, Turkey, October 3–8, 1960.

284. Andrews, W. H.; and Holleman, E. C.: Experience With a Three-Axis Side-Located Controller

During a Static and Centrifuge Simulation of the Piloted Launch of a Manned Multistage Vehicle.

NASA TN D-546, November 1960, 62N71120, 87H26912.

286. Holleman, E. C.: Utilization of the Pilot During Boost Phase of the Step 1 Mission. In its Joint

Conference on Lifting Manned Hypervelocity and Reentry Vehicles, Part 2 1960, pp. 261–272, (see N72-

71002 06-99), 72N71021.

289. Holleman, Euclid C.; Armstrong, Neil A.; and Andrews, William H.: Utilization of the Pilot in the

Launch and Injection of a Multistage Orbital Vehicle. Presented at the IAS 28th Annual Meeting, New

York, New York, January 25–27, 1960, 87H30992.

295. Day, Richard E.: X-15 Simulation and the X-15 Flight Program. Presented to the National Academy

of Sciences, Panel on Acceleration Stress, ARC, March 11, 1961.

297. Reisert, Donald; and Adkins, Elmor J.: Flight and Operational Experiences With Pilot-Operated

Reaction Controls. ARS Paper-1674-61. Presented at the ARS Missile and Space Vehicle Testing Conference, Los Angeles, California, March 13–16, 1961.

302. Weil, Joseph; and Adkins, E. J.: Review of Selected X-15 Development and Operating Experiences.

Presented at the ISA Aero-Space Instrumentation Symposium, Dallas, Texas, April 30–May 4, 1961.

304. Taylor, Lawrence W., Jr.; and Day, Richard E.: Flight Controllability Limits and Related Human

Transfer Functions as Determined From Simulator and Flight Tests. NASA TN D-746, May 1961,

87H27401.

305. Matranga, Gene J.: Analysis of X-15 Landing Approach and Flare Characteristics Determined

From the First 30 Flights. NASA TN D-1057, July 1961, 62N71631, 87H27661.

309. Taylor, Lawrence W., Jr.: Analysis of a Pilot-Airplane Lateral Instability Experienced With the X15 Airplane. NASA TN D-1059, November 1961, 62N71633, 87H27667.

322. Hoey, R. G.; and Day, R. E.: X-15 Mission Planning and Operational Procedures. Research-Airplane-Committee Report on Conference on the Progress of the X-15 Project, 1961, pp. 155–169, (see N71-

75443), 71N75454.

225
238

338. Hoey, Robert G.; and Day, Richard E.: Mission Planning and Operational Procedures for the X-15

Airplane. NASA TN D-1159, March 1962, 62N10585, 87H27608.

342. McKay, James M.; and Kordes, Eldon E.: Landing Loads and Dynamics of the X-15 Airplane. NASA

TM X-639, March 1962, 63N12564, 87H26336, #.

348. Taylor, Lawrence W., Jr.; Samuels, James L.; and Smith, John W.: Simulator Investigation of the

Control Requirements of a Typical Hypersonic Glider. NASA TM X-635, H-226, March 1962,

72N71506, 87H26322.

356. Armstrong, Neil A.; and Holleman, Euclid C.: A Review of In-Flight Simulation Pertinent to Piloted

Space Vehicles. AGARD Report 403, 21st Flight Mechanics Panel Meeting, Paris, France, July 9–11, 1962.

357. Holleman, Euclid C.; and Armstrong, Neil A.: Pilot Utilization During Boost. Presented at the InterCenter Technical Conference on Control Guidance and Navigation Research for Manned Lunar Missions,

Ames Research Center, Moffett Field, California, July 24–25, 1962, 63X14567.

366. Tremant, R. A.: Operational Experiences and Characteristics of the X-15 Flight Control System.

NASA TN D-1402, December 1962, 63N11123.

369. Holleman, Euclid C.; and Wilson, Warren, S.: Flight-Simulator Requirements for High-Performance

Aircraft Based on X-15 Experience. ASME Paper 63-AHGT-81, ASME Aviation and Space, Hydraulics,

and Gas Turbine Conference and Products Show, Los Angeles, California, March 3–7, 1963, 63A17579.

370. Row, Perry V.; and Fischel, Jack: Operational Flight-Test Experience With the X-15 Airplane. AIAA

Paper 63-075, AIAA Space Flight Testing Conference, Cocoa Beach, Florida, March 18–20, 1963,

63A15995.

376. Matranga, G. J.; Washington, H. P.; Chenoweth, P. L.; and Young, W. R.: Handling Qualities and

Trajectory Requirements for Terminal Lunar Landing, as Determined From Analog Simulation. NASA

TN D-1921, August 1963, 63N19606.

378. Videan, Edward N.; Banner, Richard D.; and Smith, John P.: The Application of Analog and Digital

Computer Techniques in the X-15 Flight Research Program. Presented at the International Symposium on

Analog and Digital Techniques Applied to Aeronautics, Liege, Belgium, September 9–12, 1963.

381. Weil, Joseph: Piloted Flight Simulation at the NASA Flight Research Center. Presented at IEEE 10th

Annual East Coast Conference on Aerospace and Navigation Electronics, Baltimore, Maryland, October 21–

23, 1963.

378. Videan, Edward N.; Banner, Richard D.; and Smith, John P.: The Application of Analog and Digital

Computer Techniques in the X-15 Flight Research Program. Presented at the International Symposium on

Analog and Digital Techniques Applied to Aeronautics, Liege, Belgium, September 9–12, 1963.

385. Rediess, H. A.; and Deets, D. A.: An Advanced Method for Airborne Simulation. NASA TM X51360. Presented at the AIAA, AFFTC, and NASA FRC Testing of Manned Flight Systems Conference,

Edwards, California, December 4–6, 1963, pp. 33–39, 64N12880.

406. Rediess, H. A.; and Deets, D. A.: An Advanced Method for Airborne Simulation. NASA RP 337.

Reprinted from J. Aircraft, Vol. 1, No. 4, July–August 1964, pp. 185–190. Presented at the AIAA, AFFTC,

and NASA FRC Testing of Manned Flight Systems Conference, Edwards AFB, California, December 4–6,

1963, 64N31214.

226
239

412. Thompson, M. O.: General Review of Piloting Problems Encountered During Simulation and Flights of

the X-15. NASA TM X-56884, Society of Experimental Test Pilots Ninth Annual Report. Presented at the SETP

Symposium, Beverly Hills, California, 1964, 66N83857.

415. Windblade, R. L.: Current Research on Advanced Cockpit Display Systems. NASA TM X-56010, 1964,

65N20814.

443. Andrews, W. H.; Butchart, S. P.; Sisk, T. R.; and Hughes, D. L.: Flight Tests Related to Jet-Transport Upset

and Turbulent-Air Penetration. NASA SP-83, NASA Conference on Aircraft Operating Problems, May 10–12,

1965, 1965, 65N31114.

450. Smith, Harriet J.: Human Describing Functions Measured in Flight and on Simulators. NASA SP-128,

Second Annual NASA-University Conference on Manual Control, M.I.T., Cambridge, Massachusetts, February

28– March 2, 1966.

457. Taylor, L. W., Jr.; and Iliff, K. W.: Recent Research Directed Toward the Prediction of Lateral-Directional

Handling Qualities. NASA TM X-59621, AGARD paper R-531 presented at AGARD 28th Meeting of the Flight

Mechanics Panel, Paris, France, May 10–11, 1966, May 1966, 67N23242.

458. Berry, D. T.; and Deets, D. A.: Design, Development, and Utilization of a General Purpose Airborne

Simulator. NASA TM X-74543, AGARD Paper 529. Presented at AGARD 28th Flight Mechanics Panel, Paris,

France, May 10–11 1966. May 1966, 77N74646.

478. *Rolls, L. S.; *Snyder, C. T.; and Schweikhard, W. G.: Flight Studies of Ground Effects on Airplanes With

Low-Aspect-Ratio Wings. NASA SP-124, (see N75-71754 05-98), 1966, pp. 285–295, 75N71774.

* Ames Research Center, Moffett Field, California

482. Jarvis, Calvin R.: Fly-By-Wire Control System Experience With a Free-Flight Lunar-Landing Research

Vehicle. AIAA Paper 67-273, AIAA Flight Test, Simulation, and Support Conference, Cocoa Beach, Florida,

February 6–8, 1967.

483. Matranga, Gene J.; Mallick, Donald L.; and Kluever, Emil E.: An Assessment of Ground and Flight Simulators for the Examination of Manned Lunar Landing. AIAA Paper 67-238, AIAA Flight Test, Simulation, and

Support Conference, Cocoa Beach, Florida, February 6–8, 1967.

488. Jarvis, C. R.: Flight-Test Evaluation of an On-Off Rate Command Attitude Control System of a Manned

Lunar-Landing Research Vehicle. NASA TN D-3903, April 1967, 67N23293.

492. Lytton, L. E.: Evaluation of a Vertical-Scale, Fixed-Index Instrument Display Panel for the X-15 Airplane. NASA TN D 3967, May 1967, 67N25037.

508. Thompson, M. O.; Weil, J.; and Holleman, E. C.: An Assessment of Lifting Reentry Flight Control Requirements During Abort, Terminal Glide, and Approach and Landing Situations. NASA TM X-59119.

Presented at Specialists meeting on Stability and Control, Cambridge, England, September 20–23, 1966, 1967,

68N27404.

512. Taylor, L. W., Jr.: Relationships Between Fourier and Spectral Analyses. Three-D Annual NASA University

Conference on Manual Control, 1967, pp. 183–186, (see N68-15901 06-05), 68N15913.

521. Van Leynseele, F. J.: Evaluation of Lateral-Directional Handling Qualities of Piloted Reentry Vehicles

Utilizing a Fixed Base Simulation. NASA TN D-4410, March 1968, 68N19226.

227
240

522. Reed, R. D.: Flight Testing of Advanced Spacecraft Recovery Concepts Using the Aeromodeler’s

Approach. AIAA Paper 68-242. Presented at the 2nd AIAA and Flight Test Simulation and Support Conference,

Los Angeles, California, March 25–27, 1968, March 1968, 68A23665, #. (See also 510.)

528. Wolowicz, C.H; Strutz, L.W.; Gilyard, G. B.; and Matheny, N.W.: Preliminary Flight Evaluation of the

Stability and Control Derivatives and Dynamic Characteristics of the Unaugmented XB-70-1 Airplane

Including Comparisons With Predictions. NASA TN D-4578, May 1968, 68N24498, #.

556. Kock, B. M.; and Painter, W. D.: Investigation of the Controllability of the M2-F2 Lifting-Body Launch

From the B-52 Carrier Airplane. NASA TM X-1713, December 1968, 71N15004, #.

560. *Newell, F. D.; and Smith, H. J.: Human Transfer Characteristics in Flight and Ground Simulation for a

Roll Tracking Task. NASA TN D-5007, February 1969, 69N17814.

* Cornell Aeronautical Laboratory, Inc., Buffalo, NY

562. Taylor, L. W., Jr.; Iliff, K. W.; and Powers, B. G.: A Comparison of Newton-Raphson and Other Methods

for Determining Stability Derivatives From Flight Data. AIAA Paper 69-315, 3rd AIAA and FTSS Conference,

Houston, Texas, March 10–12, 1969, 69A22379.

564. Wagner, C. A.: Visual Simulation Image Generation Using a Flying-Spot Scanner. NASA TN D-5151,

April 1969, 69N23194.

567. Painter, W. D.; and Kock, B. M.: Operational Experiences and Characteristics of the M2-F2 Lifting Body

Flight Control System. NASA TM X-1809, June 1969, 71N14526, #.

574. Taylor, L. W., Jr.; and Iliff, K. W.: Fixed-Base Simulator Pilot Rating Surveys for Predicting LateralDirectional Handling Qualities and Pilot Rating Variability. NASA TN D-5358, August 1969, 69N35762.

590. Deets, Dwain A.: Optimal Regulator of Conventional Setup Techniques for a Model Following Simulator Control System. Fourth NASA Inter-Center Control Systems Conference, Boston, Massachusetts, November

4–5, 1969. (See also 969.)

 600. Szalai, K. J.; and Deets, D. A.: An Airborne Simulator Program to Determine if Roll-Mode Simulation

Should Be a Moving Experience. AIAA Paper 70-351. Presented at the AIAA Visual and Motion Simulation

Technology Conference, Cape Canaveral, Florida, March 16–18, 1970, 70A24202.

621. Holleman, E. C.: Flight Investigation of the Roll Requirements for Transport Airplanes in Cruising

Flight. NASA TN D-5957, H-616, September 1970, 70N38625.

626. Wagner, C. A.: Frequency Responses and Other Characteristics of Six Fast-Decay Phosphors Applicable

to Flying-Spot Scanners. NASA TN D-6036, H-609, October 1970, 70N42118, #.

630. Manke, J. A.; *Retelle, J. P.; and Kempel, R. W.: Assessment of Lifting Body Vehicle Handling Qualities.

NASA TM X-2101, October 1970, pp. 29–41, 71N10104.

* Air Force Flight Test Center, Edwards, CA

673. Kempel, R. W.: Analysis of a Coupled Roll Spiral Mode, Pilot Induced Oscillation Experienced With the

M2-F2 Lifting Body. NASA TN D-6496, H-633, September 1971, 71N33307 fixed center fin lessened the pilotinduced-oscillation tendencies in the critical flight region.

228
241

677. Szalai, K. J.: Validation of a General Purpose Airborne Simulator for Simulation of Large Transport Aircraft Handling Qualities. NASA TN D-6431, H-591, October 1971, 71N37823.

678. Szalai, K. J.: Motion Cue and Simulation Fidelity Aspects of the Validation of a General Purpose

Airborne Simulator. NASA TN D-6432, H-648, October 1971, 71N36672.

680. Kempel, R. W.; and Thompson, R. C.: Flight-Determined Aerodynamic Stability and Control

Derivatives of the M2-F2 Lifting Body Vehicle at Subsonic Speeds. NASA TM X-2413, H-520, December

1971, 72N11900, #.

697. Layton, G. P., Jr.; and Thompson, M. O.: Lifting Body Flight-Test Techniques. NASA TM X-68306,

AGARD-CP-85, Paper 10. Flight Test Tech., (see N72-20976 12-02), February 1972, 72N20986.

718. Smith, J. P.: Research Aircraft Simulators. Western Simulator Council, Los Angeles, California, July

27, 1972.

722. Deets, D. A.; and Szalai, K. J.: Design and Flight Experience With a Digital Fly-By-Wire Control

System Using Apollo Guidance System Hardware on an F-8 Aircraft. AIAA Paper 72-881, presented at

the AIAA Guidance and Control Conference, Stanford, California, August 14–16, 1972, 72A40060.

724. Strutz, L. W.: Flight-Determined Derivatives and Dynamic Characteristics for the HL-10 Lifting

Body Vehicle at Subsonic and Transonic Mach Numbers. NASA TN D-6934, H-708, September 1972,

72N30903.

738. Kier, D. A.; Powers, B. G.; Grantham, W. D.; and Nguyen, L. T.: Simulator Evaluation of the Flying

Qualities of Externally Blown Flap and Augmentor Wing Transport Configurations. NASA SP-320,

1972, (see N73-32934 24-02), pp. 157–800, 73N32948.

770. Powers, B. G.; and Kier, D. A.: Simulator Evaluation of the Low-Speed Flying Qualities of an

Experimental STOL Configuration With an Externally Blown Flap Wing on an Augmentor Wing.

NASA TN D-7454, H-780, October 1973, 73N31951.

799. Matheny, N. W.: Flight Investigation of Approach and Flare From Simulated Breakout Altitude of

a Subsonic Jet Transport and Comparison With Analytical Models. NASA TN D-7645, H-803, April

1974, 74N19672.

812. Gilyard, G. B.; Smith, J. W.; and *Falkner, V. L.: Flight Evaluation of a Mach 3 Cruise Longitudinal

Autopilot. AIAA Paper 74-910, AIAA Mechanics and Control of Flight Conference, Anaheim, California,

August 5–9, 1974, 74A37890.

* Honeywell, Inc., Minneapolis, MN

837. Smith, J. W.; and Berry, D. T.: Analysis of Longitudinal Pilot-Induced Oscillation Tendencies of YF12 Aircraft. NASA TN D-7900, H-805, February 1975, 75N16560.

867. Gee, S. W.; Wolf, T. D.; and Rezek, T. W.: Passenger Ride Quality Response to an Airborne Simulator Environment. NASA TM X-3295, DOT-TSC-OST- 75-40. The 1975 Ride Quality Symposium, November 1975, pp. 373–385, (see N76-16754 07-53), 76N16770.

869. Manke, J. A.; and *Love, M. V.: X-24B Flight Test Program. Presented at the Nineteenth Society of

Experimental Test Pilots Symposium, Beverly Hills, California, September 24–27, 1975, Society of Experimental Test Pilots, Technical Review, Vol. 12, No. 4, 1975, pp. 129–154, 76A18659.

229
242

* USAF, Edwards AFB, CA

875. Holleman, E. C.: Summary of Flight Tests to Determine the Spin and Controllability Characteristics of

a Remotely Piloted, Large-Scale (3/8) Fighter Airplane Model. NASA TN D-8052, H-889, January 1976,

76N17156.

882. Petersen, K. L.: Evaluation of an Envelope-Limiting Device Using Simulation and Flight Test of a

Remotely Piloted Research Vehicle. NASA TN D-8216, H-914, April 1976, 76N21218, #.

230
243

About the Author

Gene Waltman graduated from the Michigan Technological University in 1957 with a bachelor’s degree in

mathematics, and started to work at the NACA High-Speed Flight Station in July of 1957. He worked in the

Simulation Laboratory as an analog and hybrid computer programmer and engineer until about 1971. The Sim

Lab had received its first analog computer earlier that year and as one of the first programmers he had the

opportunity to participate in the early development of the lab. He not only programmed several major simulations but also began buying the lab’s computer systems very early in his career. After reassignment to the

Systems Analysts Branch in 1971, he became involved with the development of several flight-data processing

systems used to process the large volume of aircraft data collected during all of the Dryden’s aircraft research

flights. He continued to buy computer systems for Dryden until his retirement. When the Center was

merged with the Ames Research Center, he became the Dryden representative on the Ames ADP Management

Board and also was involved with the process of planning and acquiring the Dryden’s computer systems. He

became involved with the early development of the Dryden’s personal computer (PC) evolution by buying the

first personal computer and participating in the procurement, training, and support activities for these PCs for

several years. Following his retirement from NASA in 1993, Gene returned to Dryden as an employee of the

Woodside Summit Group Inc. in 1996, when that company was awarded the Center’s computer support

service contract. He has been involved with computer software documentation and the Center’s Y2K program. He began to collect information and write about the history of the Simulation Laboratory shortly after

returning to Dryden.

Monographs in Aerospace History

Launius, Roger D., and Gillette, Aaron K. Compilers. The Space Shuttle: An Annotated Bibliography. (Monographs in Aerospace History, No. 1, 1992).

Launius, Roger D., and Hunley, J.D. Compilers. An Annotated Bibliography of the Apollo Program. (Monographs in Aerospace History, No. 2, 1994).

Launius, Roger D. Apollo: A Retrospective Analysis. (Monographs in Aerospace History, No. 3, 1994).

Hansen, James R. Enchanted Rendezvous: John C. Houbolt and the Genesis of the Lunar-Orbit Rendezvous

Concept. (Monographs in Aerospace History, No. 4, 1995).

Gorn, Michael H. Hugh L. Dryden’s Career in Aviation and Space. (Monographs in Aerospace History,

No. 5, 1996).

Powers, Sheryll Goecke. Women in Flight Research at the Dryden Flight Research Center, 1946-1995

(Monographs in Aerospace History, No. 6, 1997).

Portree, David S.F. and Trevino, Robert C. Compilers. Walking to Olympus: A Chronology of Extravehicular

Activity (EVA). (Monographs in Aerospace History, No. 7, 1997).

Logsdon, John M. Moderator. The Legislative Origins of the National Aeronautics and Space Act of 1958:

Proceedings of an Oral History Workshop (Monographs in Aerospace History, No. 8, 1998).

Rumerman, Judy A. Compiler. U.S. Human Spaceflight: A Record of Achievement, 1961-1998 (Monographs in

Aerospace History, No. 9, 1998).

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244

Portree, David S.F. NASA’s Origins and the Dawn of the Space Age (Monographs in Aerospace History, No. 10,

1998).

Logsdon, John M. Together in Orbit: The Origins of International Cooperation in the Space Station Program

(Monographs in Aerospace History, No. 11, 1998).

Phillips, W. Hewitt. Journey in Aeronautical Research: A Career at NASA Langley Research Center (Monographs in Aerospace History, No. 12, 1998).

Braslow, Albert L. A History of Suction-Type Laminar-Flow Control with Emphasis on Flight Research (Monographs in Aerospace History, No. 13, 1999).

Logsdon, John M. Moderator. Managing the Moon Program: Lessons Learned from Project Apollo (Monographs in Aerospace History, No. 14, 1999).

Perminov, V.G. The Difficult Road to Mars: A Brief History of Mars Exploration in the Soviet Union (Monographs in Aerospace History, No. 15, 1999).

Tucker, Tom. Touchdown: The Development of Propulsion Controlled Aircraft at NASA Dryden (Monographs in

Aerospace History, No. 16, 1999).

Maisel, Martin D.; Demo J. Giulianetti; and Daniel C. Dugan. The History of the XV-15 Tilt Rotor Research

Aircraft: From Concept to Flight. (Monographs in Aerospace History #17, NASA SP-2000-4517, 2000).

Jenkins, Dennis R. Hypersonics Before the Shuttle: A History of the X-15 Research Airplane. (Monographs

 in Aerospace History #18, NASA SP-2000-4518, 2000).

Chambers, Joseph R. Partners in Freedom: Contributions of the Langley Research Center to U.S. Military

Aircraft in the 1990s. (Monographs in Aerospace History #19, NASA SP-2000-4519).

Those monographs still in print are available free of charge from the NASA History Division, Code ZH, NASA

Headquarters, Washington, DC 20546. Please enclosed a self-addressed 9x12" envelope stamped for 15 ounces

for these items.

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