Detection of Nuclear Sources by UAV Teleoperation Using a Visuo-Haptic Augmented Reality Interface

Abstract

A visuo-haptic augmented reality (VHAR) interface is presented enabling an operator to teleoperate an unmanned aerial vehicle (UAV) equipped with a custom CdZnTe-based spectroscopic gamma-ray detector in outdoor environments. The task is to localize nuclear radiation sources, whose location is unknown to the user, without the close exposure of the operator. The developed detector also enables identification of the localized nuclear sources. The aim of the VHAR interface is to increase the situation awareness of the operator. The user teleoperates the UAV using a 3DOF haptic device that provides an attractive force feedback around the location of the most intense detected radiation source. Moreover, a fixed camera on the ground observes the environment where the UAV is flying. A 3D augmented reality scene is displayed on a computer screen accessible to the operator. Multiple types of graphical overlays are shown, including sensor data acquired by the nuclear radiation detector, a virtual cursor that tracks the UAV and geographical information, such as buildings. Experiments performed in a real environment are reported using an intense nuclear source.

Haptic Teleoperation of UAV Equipped with Gamma-Ray Spectrometer for Detection and Identification of Radio-Active Materials in Industrial Plants

“…Thus, we realized four 5 × 6 × 20 mm 3 strip detectors like the one shown in Fig. 9.4 to obtain good energy resolution and, at the same time, provide the volume requested to achieve the required sensitivity as reported in Table 9.1 [27]. The central grid is actually the collecting grid and is coupled to the charge sensitivity pre-amplifier.…”

Augmented Reality for Robotics: A Review

“…In [68], AR was emplyed for on-the-fly control of aerial robots utilized in structural inspection. In [69], AR with haptic feedback was used during teleoperation of an unmanned aerial vehicle (UAV) equipped with a gamma-ray detector. With the help of this system comprised of a 3-DoF haptic device, fixed camera, computer screen, and a nuclear radiation detector, an operator was able to remotely control a drone during its search for the source of nuclear radiation (Figure 6b).…”

“…AR in teleoperation and robot motion planning: (a) AR-based teleoperation of maintenance robot[38], (b) AR-based visual feedback on the computer screen[69], (c) virtual planning in AR with a 3D CAD model of the robot and teach pendant[72].…”

A Novel Force Sensorless Reflecting Control for Bilateral Haptic Teleoperation System

“…In recent years, the teleoperation techniques have been developed to reach a high level of sophistication and rapidly played an important role in numerous practical applications, such as robotic surgery, nuclear source detection, robotic construction [1] - [4]. Besides, these systems required the possibility of physical interaction with the remote environment to provide the feeling of the present there, called haptic.…”