Radiation Mapping and Laser Profiling Using a Robotic Manipulator

Sam R White; Dave A Megson-Smith; Kaiqiang Zhang; Dean T Connor; Peter George  Martin; Chris Hutson; John Dilworth; Guido Herrmann; Thomas Bligh Scott

doi:10.3389/frobt.2020.499056

Radiation Mapping and Laser Profiling Using a Robotic Manipulator

Sam R White^*, Dave A Megson-Smith, Kaiqiang Zhang, Dean T Connor, Peter George Martin, Chris Hutson, John Dilworth, Guido Herrmann, Thomas Bligh Scott

^*Corresponding author for this work

Research output: Contribution to journal › Article (Academic Journal) › peer-review

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Abstract

The use of a robotic arm manipulator as a platform for coincident radiation mapping and laser profiling of radioactive sources on a flat surface is investigated in this work. A combined scanning head, integrating a micro-gamma spectrometer and Time of Flight (ToF) sensor were moved in a raster scan pattern across the surface, autonomously undertaken by the robot arm over a 600x260mm survey area. A series of radioactive sources of different emission intensities were scanned in different configurations to test the accuracy and sensitivity of the system. We demonstrate that in each test configuration the system was able to generate a centimetre accurate 3D model complete with an overlaid radiation map detailing the emitted radiation intensity and the corrected surface dose rate.

Original language	English
Article number	499056
Number of pages	10
Journal	Frontiers in Robotics and AI
Volume	7
DOIs	https://doi.org/10.3389/frobt.2020.499056
Publication status	Published - 26 Nov 2020

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title = "Radiation Mapping and Laser Profiling Using a Robotic Manipulator",

abstract = "The use of a robotic arm manipulator as a platform for coincident radiation mapping and laser profiling of radioactive sources on a flat surface is investigated in this work. A combined scanning head, integrating a micro-gamma spectrometer and Time of Flight (ToF) sensor were moved in a raster scan pattern across the surface, autonomously undertaken by the robot arm over a 600x260mm survey area. A series of radioactive sources of different emission intensities were scanned in different configurations to test the accuracy and sensitivity of the system. We demonstrate that in each test configuration the system was able to generate a centimetre accurate 3D model complete with an overlaid radiation map detailing the emitted radiation intensity and the corrected surface dose rate.",

author = "White, {Sam R} and Megson-Smith, {Dave A} and Kaiqiang Zhang and Connor, {Dean T} and Martin, {Peter George} and Chris Hutson and John Dilworth and Guido Herrmann and Scott, {Thomas Bligh}",

year = "2020",

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day = "26",

doi = "10.3389/frobt.2020.499056",

language = "English",

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journal = "Frontiers in Robotics and AI",

issn = "2296-9144",

publisher = "Frontiers Media S.A.",

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Radiation Mapping and Laser Profiling Using a Robotic Manipulator. / White, Sam R ; Megson-Smith, Dave A ; Zhang, Kaiqiang ; Connor, Dean T ; Martin, Peter George ; Hutson, Chris; Dilworth, John; Herrmann, Guido; Scott , Thomas Bligh.

In: Frontiers in Robotics and AI, Vol. 7, 499056, 26.11.2020.

Research output: Contribution to journal › Article (Academic Journal) › peer-review

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AU - Martin, Peter George

AU - Hutson, Chris

AU - Dilworth, John

AU - Herrmann, Guido

AU - Scott , Thomas Bligh

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