The Application of Advanced Robotics and Sensor Technologies to the Preservation of the USS Constitution

The application of robotics and advanced sensor technology to solve important problems in the fields of architectural, archaeological and art conservation and preservation is discussed. The USS Constitution is considered as a demonstration project of this work. Three important applications of this technology to the preservation of the ship are discussed. A design is presented for one of these applications -a keel deflection measurement system. It is concluded that robotics and advanced sensor technology offers substantial promise of having important benefits for the restoration and preservation of important historic and architectural sites and moments. INTRODUCTION This paper reports on a research program in which we are exploring the application of recently developed technologies in robotics, sensors and real-time computers to solve important problems faced by the architectural, archaeological and art conservation and preservation communities. Over the past decade, significant advancement has been made in the technology of robotics, sensors and computers, at substantial costs to government agencies such as NASA, the Department of Defense, and the Department of Energy [1-7]. This technology has important potential application in the area of preservation and conservation of historic and artistic treasures, and in particular monuments and field sites. Among the tasks that the conservation community is called on to perform, there exist a number that could greatly benefit from the application of advanced robotics and *Graduate Research Assistant ** Professor 2 sensor technologies. Some traditional conservation work has resulted, unavoidably, in the deterioration of the site. For example, conservation work on some large monuments has used scaffolding anchors installed in holes drilled into the monument itself. Some conservation tasks, such as detailed site mappings, require a great deal of tedious work. Many tasks are limited due to safety considerations. Indeed, some tasks that are of interest to the conservation community simply are now impossible or impractical to execute due to safety concerns and access limitations. Finally, many highly desirable conservation procedures are simply too expensive using current techniques. Advanced robotics and sensor technologies may be able to solve some of these problems. Working with researchers and practitioners in the conservation and preservation fields has made it clear to us, that while technical capabilities are very important, the acceptance of robotics and sensor technology to these fields will require a highly successful and visible demonstration project. From our studies, we have identified the USS Constitution as the ideal site for such a demonstration project. Our preliminary work has shown that there are a number of potential tasks, important to the preservation of the ship, that advanced technology could perform more effectively than current methods. In some cases the technology could offer greater safety or is potentially more cost effective. In this paper we describe three of these potential applications and their possible solutions. The first is an automated in-situ hog measurement sensor system to continuously monitor the shape of the ship’s keel while she in the water. The second is a robotic system to detect rot in the ship’s internal structure beneath its rock and chain ballast. The final is a robotic device to inspect the ship’s mast and rigging for deterioration. It should be recognized that a demonstration on the USS Constitution would also benefit the growth of robotics. It would provide a challenging and exciting test-bed for the technology under actual field conditions. HOG MEASUREMENT SYSTEM The keel of the ship changes shape over time due to the effects of water and loading. In order to reduce this hog and thereby extend the life of the keel, it is necessary to know the shape of the curve accurately. Presently, hog measurement methods include using divers who manually measure the displacement of the keel from a fixed reference line, or indirect methods from inside the ship’s hull. We have developed Figure 1. The USS Constitution