Mobile Robot Aided Self-Deploying Wireless Sensor Networks for Radiation Leak Detection

Tuna, Gürkan; Gülez, Kayhan; Mumcu, Tarık Veli; Güngör, Vehbi Çağrı

doi:10.1109/ntms.2012.6208745

Cited by 9 publications

(9 citation statements)

References 13 publications

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“…The slopes and y-intercepts in the coordinate system (described in section 1.7) were calculated for each of the four measurement positions using MATLAB. Putting the slopes and intercepts from this experiment into equation (16) gives the following matrix equation:…”

Section: Directional Profile and Visual Panorama Results: Sweep Scan mentioning

confidence: 99%

“…Some autonomous robots are capable of using simultaneous localizing and mapping (SLAM) algorithms to map sources of radiation using intensity and range measurement as well as mapping the physical geometr y of a local area [11] [12]. Another common method of measuring and mapping radiation is by using multiple robots or swarms of robots distributed around an area [13] [14][15] [16]. However, current robots are not capable of locating sources of radiation in a wide field of view from a single survey point.…”

Section: Introductionmentioning

confidence: 99%

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Development of a semi-autonomous directional and spectroscopic radiation detection mobile platform

Miller

Machrafi

Mohany

2015

Radiation Measurements

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This thesis presents a method for a small, inexpensive mobile robot equipped with a single high resolution scintillation detector to quickly survey an area and convey information about local sources of gamma radiation to a remote human operator. This is achieved by s urrounding the detector with a lead sheath that blocks all gamma rays except those incident along the detector's axial direction. A horizontal scan is performed by rotating the detector and a directional profile of gamma radiation is constructed. In addition a visual panorama of the local area is assembled using a camera mounted on the detector. A plot of the detector signal versus angle is then overlaid on top of the visual panorama and visible peaks clearly indicate the direction of local gamma radiation sources. Moreover, measuring the energy spectrum of gamma rays in each direction produces a 2D count frequency histogram where distinct peaks indicate the energy and direction of local gamma ray sources allowing the identification of different radio-isotopes.3

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Section: Directional Profile and Visual Panorama Results: Sweep Scan mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Development of a semi-autonomous directional and spectroscopic radiation detection mobile platform

Miller

Machrafi

Mohany

2015

Radiation Measurements

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“…This requires that the UAV follow a defined path, as demonstrated in Tuna et al (2012a). Node islanding occurs when unplanned obstacles or interference cuts off sections of the nodes from each other.…”

Section: Furthering the State Of The Artmentioning

confidence: 99%

“…Any deployment supported by a UAV would then be available as a mobile node, filling in the coverage gaps and reducing islanding. This requires that the UAV follow a defined path, as demonstrated in Tuna et al (2012a). Node islanding occurs when unplanned obstacles or interference cuts off sections of the nodes from each other.…”

Section: Furthering the State Of The Artmentioning

confidence: 99%

Prioritisation of citizen‐centric information for disaster response

Milliken

Linton

2015

Disasters

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In the aftermath of a disaster event, and in the absence of trained professionals, many responsibilities are assumed by uninjured citizens who are willing and able to help, such as care of the injured or search and rescue. These citizens are constrained by communications and logistics problems but are less equipped to deal with them as most often they are cut off from any coordinated assistance. The method proposed in this study would increase the survivability of those injured or trapped by a disaster event by providing a facility to allow citizens to coordinate and share information among themselves. This is facilitated by the proposed deployment and the autonomous management of an ad hoc infrastructure that liaises directly with survivors without central control. Furthermore, as energy concerns present critical constraints to these networks, this research proposes a system of categorising information elements within the network to ensure efficient information exchange.

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“…This system allows to have a series of moving stations in order to extend the communication range between the robot and the operator.Wireless communication solves cables disadvantages, but it is still challenging to build up a reliable communication channel in hostile environments such as tunnels and mines[333,334,335]. To increase Wi-Fi communication robustness, the introduction of several intermediate relays nodes has been previously proposed[336,337,338,339,340].…”

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confidence: 99%

A novel robotic framework for safe inspection and telemanipulation in hazardous and unstructured environments

Castro¹

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First of all, I would like to express my deep gratitude to my research university supervisor, Professor Manuel Ferre Pérez, for his patient guidance, enthusiastic encouragement and useful critiques of this thesis. An immense thankfulness goes to my research CERN supervisor, Doctor Alessandro Masi, who has believed in my potential and who has always supported me during the last years, being my mentor and my inspiration. Thanks to the unconditional support of Roberto Losito for the direction of the Engineering Department at CERN, that provides extraordinary opportunities and individual development to its scientists. I would like to express my great appreciation and deep respect to Professor Raúl Marín Prades for the support for writing of the thesis, help and profound discussions on teleoperation and robotic controls. Also, I would like to offer my special thanks to my colleagues of the Mechatronics, Robotics and Operation Section within the Survey, Mechatronics and Measurement Group at CERN for their inestimable help in the building-up of this work.

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Mobile Robot Aided Self-Deploying Wireless Sensor Networks for Radiation Leak Detection

Cited by 9 publications

References 13 publications

Development of a semi-autonomous directional and spectroscopic radiation detection mobile platform

Development of a semi-autonomous directional and spectroscopic radiation detection mobile platform

Prioritisation of citizen‐centric information for disaster response

A novel robotic framework for safe inspection and telemanipulation in hazardous and unstructured environments

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