Not Self employed but still need to file quarterly taxes

I recently was awarded a grant that pays my salary, but they do not take taxes out of my paycheck. This began July 1 and will continue for the rest of the year. How do I know how much to take out and where to file quarterly to avoid fees since it isn't for the full year? My yearly income would be around 56,000 if I had a full year salary, but everything before July taxes were taken out.