Development of Unmanned Remote System to Find Radiation Sources Based on 4π Gamma Imaging-Reference-Cited by-同舟云学术

Development of Unmanned Remote System to Find Radiation Sources Based on 4π Gamma Imaging

Published:2024-02-20 Issue:1 Volume:36 Page:79-87
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:JRM

Author:

Mukai Atsushi¹^ORCID, ,Kanda Minato¹,Shimazoe Kenji²^ORCID,Ishida Fumihiko³^ORCID,Takada Eiji³^ORCID,Tamura Yusuke⁴^ORCID,Woo Hanwool⁵^ORCID,Takahashi Hiroyuki²^ORCID,Uenomachi Mizuki⁶^ORCID,Asama Hajime⁷^ORCID,Kawarabayashi Jun⁸^ORCID,Tanabe Kosuke⁹^ORCID,Tsuchiya Ken’ichi⁹,Kamada Kei¹⁰^ORCID,Tomita Hideki¹^ORCID

Affiliation:

1. Department of Energy Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, Japan

2. Department of Nuclear Engineering and Management, School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

3. National Institute of Technology, Toyama College, 13 Hongo-machi, Toyama, Toyama 939-8630, Japan

4. Department of Robotics, Graduate School of Engineering, Tohoku University, 6-6-1 Aramaki Aza-Aoba, Aoba-ku, Sendai, Miyagi 980-8579, Japan

5. Department of Mechanical Systems Engineering, School of Engineering, Kogakuin University, 2665-1 Nakano-machi, Hachioji, Tokyo 192-0015, Japan

6. Unit of Synergetic Studies for Space, Kyoto University, Kitashirakawa-Oiwakecho, Sakyo-ku, Kyoto, Kyoto 606-8317, Japan

7. Department of Precision Engineering, School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

8. Department of Nuclear Safety Engineering, Faculty of Science and Engineering, Tokyo City University, 1-28-1 Tamazutsumi, Setagaya-ku, Tokyo 158-8557, Japan

9. National Research Institute of Police Science, 6-3-1 Kashiwanoha, Kashiwa, Chiba 277-0882, Japan

10. New Industry Creation Hatchery Center, Tohoku University, 6-6-10 Aramaki Aza-Aoba, Aoba-ku, Sendai, Miyagi 980-8579, Japan

Abstract

A prototype system based on a combination of 4π sensitive gamma imaging and simultaneous localization and mapping (SLAM) was developed to find unknown radiation source(s) rapidly. The system consisted of a spherical visible camera, a three-dimensional light detection and ranging, a CdTe pixel array detector for 4π gamma imaging, a portable battery, and a control laptop personal computer; these were mounted on an unmanned vehicle. In a search area of 16 × 16 m2 with a height of 3 m, the prototype system successfully demonstrated the finding of a 137Cs point source with an activity of 0.67 MBq in the surrounding thin walls.

Funder

Japan Society for the Promotion of Science

Publisher

Fuji Technology Press Ltd.

Reference20 articles.

1. K. Suzuki and K. Kawabata, “Development of a robot simulator for decommissioning tasks utilizing remotely operated robots,” J. Robot. Mechatron., Vol.32, No.6, pp. 1292-1300, 2020. https://doi.org/10.20965/jrm.2020.p1292

2. Y. Kobayashi, S. Kanai, C. Kikumoto, and K. Sakoda, “Design and fabricate of reconnaissance robots for nuclear power plants that underwent accidents,” J. Robot. Mechatron., Vol.34, No.3, pp. 523-526, 2022. https://doi.org/10.20965/jrm.2022.p0523

3. M. K. Sharma, A. B. Alajo, and H. K. Lee, “Three-dimensional localization of low activity gamma-ray sources in real-time scenarios,” Nucl. Instrum. Methods Phys. Res. A: Accel. Spectrom. Detect. Assoc. Equip., Vol.813, pp. 132-138, 2016. https://doi.org/10.1016/j.nima.2016.01.001

4. M. J. Cieślak, K. A. A. Gamage, and R. Glover, “Coded-aperture imaging systems: Past, present and future development – A review,” Radiat. Meas., Vol.92, pp. 59-71, 2016. https://doi.org/10.1016/J.RADMEAS.2016.08.002

5. G. W. Phillips, “Gamma-ray imaging with Compton cameras,” Nucl. Instrum. Methods Phys. Res. B: Beam Interact. Mater. At., Vol.99, Nos.1-4, pp. 674-677, 1995. https://doi.org/10.1016/0168-583X(95)80085-9