Nsgarch...Doc Draper first developed Inertial Guidance for aircraft. The first US Navy Inertial guidance system, MK1, for the Polaris missile was actually a clone of a German design for the V2 which (fortunately) never got into production. Draper's main contribution was the floated Inertial Rate-Integrating Gyro, IRIG, both for attitude sensing and as a component within the Pendulous Integrating Gyro Accelerometer, PIGA. MIT Instrumentation Lab got the guidance system contract because at the time they had the best gyro expertise. I worked on Mk1 (a bit) and all subsequent systems including the next generation, not yet deployed.
I never heard him called "Rusty". Where did that come from? It was always "Doc".