外文翻譯--高級(jí)機(jī)器人技術(shù)和傳感器技術(shù)對(duì)美國(guó)軍艦構(gòu)造的維修的應(yīng)用 英文版

1、1The Application of Advanced Robotics and Sensor Technologies to the Preservation of the USS ConstitutionJeffrey Cole*Steven Dubowsky**Nathan Rutman*Craig Sunada*Department of Mechanical Engineering Massachusetts Institu

2、te of Technology Cambridge, MA O2139 USAABSTRACTThe application of robotics and advanced sensor technology to solve importantproblems in the fields of architectural, archaeological and art conservation andpreservation i

3、s discussed. The USS Constitution is considered as a demonstrationproject of this work. Three important applications of this technology to thepreservation of the ship are discussed. A design is presented for one of th

4、eseapplications -- a keel deflection measurement system. It is concluded that roboticsand advanced sensor technology offers substantial promise of having importantbenefits for the restoration and preservation of importa

5、nt historic and architecturalsites and moments. INTRODUCTIONThis paper reports on a research program in which we are exploring the applicationof recently developed technologies in robotics, sensors and real-time compute

6、rs tosolve important problems faced by the architectural, archaeological and art conser-vation and preservation communities. Over the past decade, significant advancement has been made in the technology ofrobotics, sens

7、ors and computers, at substantial costs to government agencies such asNASA, the Department of Defense, and the Department of Energy [1-7]. This tech-nology has important potential application in the area of preservation

8、 and conser-vation 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 ex-ist a number that could greatly benef

9、it from the application of advanced robotics and*Graduate Research Assistant ** Professor3a system based on distributed sensor technology for quickly, accurately, and inexpen-sively determining the keel shape. Simply pu

10、t, the system measures the water pres-sure at a small set of locations (seven) on the keel. From these measurements acomputer accurately infers the shape of the keel, in real-time. The system is able to use a small num

11、ber of sensors by applying Chebyshev theory todetermine the optimal locations for the pressure measurements. These locationsare selected to minimize the maximum measurement error. The water pressure onthe keel is conve

12、rted to an air pressure signal by fixed keel pressure transducers, seeFigure 2. Pressure sensors then measure the pressure at the keel, which is a directfunction of the depth. These pressure sensors are exposed only to

13、 air pressure andare located at an on-board measurement computer within the ship. This designputs all electronic hardware elements in a “shirt sleeve” environment. It permitsthe use of inexpensive commercial components

14、 and makes maintenance andcalibration of the system easy. differentialpressure Sensorsairhosescomputer reference pressureWater Pressure/Air Pressure TransducerskeelData Acquisition InterfaceFigure 2. The Hog measurem

15、ent system overview. Sensors on the keel report pressure at specific loca- tions, from which the computer calculates the keel shape.The keel pressures are compared to a reference pressure at one end of the ship usingthe