Autonomous Exploration for Radioactive Hotspots Localization Taking Account of Sensor Limitations

Ardiny, Hadi; Witwicki, Stefan J.; Mondada, Francesco

doi:10.3390/s19020292

Cited by 20 publications

(10 citation statements)

References 51 publications

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“…The use of gamma cameras for the autonomous mapping and hotspot localization is limited by their long acquisition time and poor angular resolution. In order to reduce these sensor limitations, Ardiny et al [ 181 ] implemented some exploration algorithms based on two exploration approaches, the behavior-based and multi-criteria decision making (MCDM). For the analysis of the influence of FOV and angular resolution, parameters in the localization of a few sources (e.g., one or two), as well as the number of stops the gamma camera needed to create a radiation image, were considered.…”

Section: Mobile Radiation Detection Systemsmentioning

confidence: 99%

State-of-the-Art Mobile Radiation Detection Systems for Different Scenarios

Marques

Vale

Vaz

2021

Sensors

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In the last decade, the development of more compact and lightweight radiation detection systems led to their application in handheld and small unmanned systems, particularly air-based platforms. Examples of improvements are: the use of silicon photomultiplier-based scintillators, new scintillating crystals, compact dual-mode detectors (gamma/neutron), data fusion, mobile sensor networks, cooperative detection and search. Gamma cameras and dual-particle cameras are increasingly being used for source location. This study reviews and discusses the research advancements in the field of gamma-ray and neutron measurements using mobile radiation detection systems since the Fukushima nuclear accident. Four scenarios are considered: radiological and nuclear accidents and emergencies; illicit traffic of special nuclear materials and radioactive materials; nuclear, accelerator, targets, and irradiation facilities; and naturally occurring radioactive materials monitoring-related activities. The work presented in this paper aims to: compile and review information on the radiation detection systems, contextual sensors and platforms used for each scenario; assess their advantages and limitations, looking prospectively to new research and challenges in the field; and support the decision making of national radioprotection agencies and response teams in respect to adequate detection system for each scenario. For that, an extensive literature review was conducted.

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Section: Mobile Radiation Detection Systemsmentioning

confidence: 99%

State-of-the-Art Mobile Radiation Detection Systems for Different Scenarios

Marques

Vale

Vaz

2021

Sensors

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“…The second method of a search strategy is based on behavior and criteria [20][21][22]. For example, [20] used behavior-based navigation, combining data detected from previously visited areas.…”

Section: Search Strategymentioning

confidence: 99%

“…In this method, each behavior was implemented by a fuzzy controller and executed independently. The authors in [22] constructed a behavior-based control system architecture for the detection of radioactive hot spots under the limitation of sensors. Such methods need to define robot-related behaviors before searching, such as avoiding collisions, detecting radioactive sources and so on.…”

Section: Search Strategymentioning

confidence: 99%

“…Combining the observation value z 1 and the particle information (x i , y i , I i ), the normalized weight w i 1 of each particle is calculated. The position and size of the radioactive source are estimated by bringing the normalized weight w i 1 and particle information (x i , y i , I i ) into formula (24), and the information entropy is further obtained through Equations (21), (22) and (25). The information entropy is used to select the next movement behavior of the robot.…”

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confidence: 99%

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Autonomous Search of Radioactive Sources through Mobile Robots

Huo

Liu

Neusypin

et al. 2020

Sensors

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The research of robotic autonomous radioactivity detection or radioactive source search plays an important role in the monitoring and disposal of nuclear safety and biological safety. In this paper, a method for autonomously searching for radioactive sources through mobile robots was proposed. In the method, by using a partially observable Markov decision process (POMDP), the search of autonomous unknown radioactive sources was realized according to a series of radiation information measured by mobile robot. First, the factors affecting the accuracy of radiation measurement during the robot’s movement were analyzed. Based on these factors, the behavior set of POMDP was designed. Secondly, the parameters of the radioactive source were estimated in the Bayesian framework. In addition, through the reward strategy, autonomous navigation of the robot to the position of the radiation source was achieved. The search algorithm was simulated and tested, and the TurtleBot robot platform was used to conduct a real search experiment on the radio source Cs-137 with an activity of 37 MBq indoors. The experimental results showed the effectiveness of the method. Additionally, from the experiments, it could been seen that the robot was affected by the linear velocity, angular velocity, positioning accuracy and the number of measurements in the process of autonomous search for the radioactive source. The proposed mobile robot autonomous search method can be applied to the search for lost radioactive sources, as well as for the leakage of substances (nuclear or chemical) in nuclear power plants and chemical plants.

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“…Steady efforts to implement latest technological means to support their work aim at securing task forces' working conditions, such as accelerating search for orphan radioactive material and make the whole rescue mission more efficient. Besides of promising methods to guide an observer (Ristic et al, 2010), great effort has been put into localizing radioactive sources by mobile systems (Ardiny et al, 2019). While (Gordon et al 2017) relies on a UAV equipped with an imaging system and a radiation probe to navigate a UGV, we propose a system that is solely based on using a UAV carrying a gamma sensor.…”

Section: Introductionmentioning

confidence: 99%

Precise Radionuclide Localization Using Uav-Based Lidar And Gamma Probe With Real-Time Processing

Schraml

Hinterhofer²,

Pfennigbauer³

et al. 2019

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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<p><strong>Abstract.</strong> In this work we propose an effective radiation source localization device employing a RIEGL VUX-1UAV laser scanner and a highly sensitive Hotzone Technologies gamma radiation probe mounted on a RiCOPTER UAV combined with real-time data processing. The on-board processing and radio communication system integrated within the UAV enables instant and continuously updated access to georeferenced 3D lidar point clouds and gamma radiation intensities. Further processing is done fully automated on the ground. We present a novel combination of both the 3D laser data and the gamma readings within an optimization algorithm that can locate the radioactive source in real-time. Furthermore, this technique can be used to estimate an on-ground radiation intensity, which also considers the actual topography as well as radiation barriers like vegetation or buildings. Results from field tests with real radioactive sources show that single sources can be located precisely, even if the source was largely covered. Outcomes are displayed to the person in charge in an intuitive and user-friendly way, e.g. on a tablet. The whole system is designed to operate in real-time and while the UAV is in the air, resulting in a highly flexible and possibly life-saving asset for firstresponders in time-critical scenarios.</p>

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Autonomous Exploration for Radioactive Hotspots Localization Taking Account of Sensor Limitations

Cited by 20 publications

References 51 publications

State-of-the-Art Mobile Radiation Detection Systems for Different Scenarios

State-of-the-Art Mobile Radiation Detection Systems for Different Scenarios

Autonomous Search of Radioactive Sources through Mobile Robots

Precise Radionuclide Localization Using Uav-Based Lidar And Gamma Probe With Real-Time Processing

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