In recent years, the inspection of extreme environments using mobile robots has gained traction, as robots are able to mitigate the risk placed on humans and at times achieve what humans are unable to. In some scenarios, the robot is required to operate in cluttered environments with highly restricted access through 150 mm diameter ports. The MIRRAX robot has been designed to meet these challenges with the capability of reconfiguring itself to both access environments and navigate through tightly spaced obstacles. The joints used for reconfiguration of the robot introduce additional challenges for path planning due to the significant changes that can occur between adjacent poses. This paper presents a global path planner for MIRRAX. A Voronoi diagram is first used to generate a sparse graph to represent the topology of the environment, which allows for fast, coarse path planning. The coarse path is then refined via a heuristic pose fitting routine to ensure that the path is both collision-free and reduce unnecessary joint angle changes. The planner has been evaluated in simulation, demonstrating the feasibility of generating collision-free paths through narrow pathways for a reconfigurable robot.

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In this paper the design and implementation of a novel portable X-ray imager system is presented. The design features a direct X-ray detection scheme by making use of a hybrid detector (Medipix3RX). Taking advantages of the capabilities of the Medipix3RX, like a high resolution, zero dead-time, single photon detection and charge-sharing mode, the imager has a better resolution and higher sensitivity compared to using traditional indirect detection schemes. A detailed description of the system is presented, which consists of a vacuum chamber containing the sensor, an electronic board for temperature management, conditioning and readout of the sensor and a data processing unit which also handles network connection and allow communication with clients by acting as a server. A field programmable gate array (FPGA) device is used to implement the readout protocol for the Medipix3RX, apart from the readout the FPGA can perform complex image processing functions such as feature extraction, histogram, profiling and image compression at high speeds. The temperature of the sensor is monitored and controlled through a PID algorithm making use of a Peltier cooler, improving the energy resolution and response stability of the sensor. Without implementing data compression techniques, the system is capable of transferring 680 profiles/s or 240 images/s in a continuous mode. Implementation of equalization procedures and tests on colour mode are presented in this paper. For the experimental measurements the Medipix3RX sensor was used with a Silicon layer. One of the tested applications of the system is as an X-ray beam position monitor (XBPM) device for synchrotron applications. The XBPM allows a non-destructive real time measurement of the beam position, size and intensity. A Kapton foil is placed in the beam path scattering radiation towards a pinhole camera setup that allows the sensor to obtain an image of the beam. By using profiles of the synchrotron X-ray beam, high frequency movement of the beam position can be studied, up to 340 Hz. The system is capable of realizing an independent energy measure of the beam by using the Medipix3RX variable energy threshold feature.

The Lancelot beam position and profile monitor records the scattered radiation off a thin, low-density foil, which passes through a pinhole perpendicular to the path of the beam and is detected by a Medipix3RX sensor. This arrangement does not expose the detector to the direct beam at synchrotrons and results in a negligible drop in flux downstream of the module. It allows for magnified images of the beam to be acquired in real time with high signal-to-noise ratios, enabling measurements of tiny displacements in the position of the centroid of approximately 1 μm. It also provides a means for independently measuring the photon energy of the incident monoenergetic photon beam. A constant frame rate of up to 245 Hz is achieved. The results of measurements with two Lancelot detectors installed in different environments at the Diamond Light Source are presented and their performance is discussed.