Publication detail

Localization of ionizing radiation sources via an autonomous robotic system

LÁZNA, T. FIŠERA, O. KAREŠ, J. ŽALUD, L.

Original Title

Localization of ionizing radiation sources via an autonomous robotic system

Type

journal article in Web of Science

Language

English

Original Abstract

The article discusses an autonomous and flexible robotic system for radiation monitoring. The detection part of the system comprises two NaI(Tl) scintillation detectors; one of these is collimated to allow directionally sensitive measurements, and the other is used to calculate the dose rate and provides sufficient sensitivity. Special algorithms for autonomous operation of an unmanned ground vehicle were developed, utilizing radiation characteristics acquired by the implemented detection system. The system was designed to operate in three modes: radiation mapping, localization of discrete sources, and inspection of a region of interest. All of the modes were verified experimentally. In the localization mode, the time required to localize ionizing radiation sources was reduced by a half compared to the field mapping mode exploiting parallel trajectories; the localization accuracy remained the same. In the inspection mode, the desired functionality was achieved, and the changes in the sources arrangement were detected reliably in the experiments.

Keywords

robotic systems, gamma radiation, sources localization, directionally sensitive detection

Authors

LÁZNA, T.; FIŠERA, O.; KAREŠ, J.; ŽALUD, L.

Released

3. 12. 2019

Publisher

Oxford University Press

ISBN

0144-8420

Periodical

RADIATION PROTECTION DOSIMETRY

Year of study

186

Number

2-3

State

United Kingdom of Great Britain and Northern Ireland

Pages from

249

Pages to

256

Pages count

8

URL

https://academic.oup.com/rpd/advance-article-abstract/doi/10.1093/rpd/ncz213/5618733

BibTex

@article{BUT157029,
  author="Tomáš {Lázna} and Ota {Fišera} and Jaroslav {Kareš} and Luděk {Žalud}",
  title="Localization of ionizing radiation sources via an autonomous robotic system",
  journal="RADIATION PROTECTION DOSIMETRY",
  year="2019",
  volume="186",
  number="2-3",
  pages="249--256",
  doi="10.1093/rpd/ncz213",
  issn="0144-8420",
  url="https://academic.oup.com/rpd/advance-article-abstract/doi/10.1093/rpd/ncz213/5618733"
}