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使用机器人操纵器进行辐射映射和激光轮廓分析。

Radiation Mapping and Laser Profiling Using a Robotic Manipulator.

作者信息

White Samuel R, Megson-Smith David A, Zhang Kaiqiang, Connor Dean T, Martin Peter G, Hutson Chris, Herrmann Guido, Dilworth John, Scott Thomas B

机构信息

Department of Physics, Interface Analysis Centre, University of Bristol, Bristol, United Kingdom.

Department of Mechanical Engineering, University of Bristol, Bristol, United Kingdom.

出版信息

Front Robot AI. 2020 Nov 26;7:499056. doi: 10.3389/frobt.2020.499056. eCollection 2020.

DOI:10.3389/frobt.2020.499056
PMID:33501295
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7806018/
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 600 × 260 mm 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 centimeter accurate 3D model complete with an overlaid radiation map detailing the emitted radiation intensity and the corrected surface dose rate.

摘要

本研究探讨了使用机械臂操纵器作为平台，在平面上对放射性源进行重合辐射映射和激光轮廓分析。一个集成了微型伽马能谱仪和飞行时间（ToF）传感器的组合扫描头，以光栅扫描模式在表面移动，由机器人手臂在600×260毫米的测量区域内自主完成。对一系列不同发射强度的放射性源进行了不同配置的扫描，以测试系统的准确性和灵敏度。我们证明，在每种测试配置下，该系统都能够生成厘米级精确的3D模型，并叠加辐射图，详细显示发射的辐射强度和校正后的表面剂量率。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/55a32b467dea/frobt-07-499056-g0010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/4cbb9b53b194/frobt-07-499056-g0001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/ac5f89ed1a14/frobt-07-499056-g0002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/7d052c42447f/frobt-07-499056-g0003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/069e2c208d41/frobt-07-499056-g0004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/1102528df966/frobt-07-499056-g0005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/bd4a7b7b1bfb/frobt-07-499056-g0006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/bac5b7a1e7eb/frobt-07-499056-g0007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/1ac5d0037eda/frobt-07-499056-g0008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/2b80b9d2cdb2/frobt-07-499056-g0009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/55a32b467dea/frobt-07-499056-g0010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/4cbb9b53b194/frobt-07-499056-g0001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/ac5f89ed1a14/frobt-07-499056-g0002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/7d052c42447f/frobt-07-499056-g0003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/069e2c208d41/frobt-07-499056-g0004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/1102528df966/frobt-07-499056-g0005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/bd4a7b7b1bfb/frobt-07-499056-g0006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/bac5b7a1e7eb/frobt-07-499056-g0007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/1ac5d0037eda/frobt-07-499056-g0008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/2b80b9d2cdb2/frobt-07-499056-g0009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2c64/7806018/55a32b467dea/frobt-07-499056-g0010.jpg

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Application of airborne photogrammetry for the visualisation and assessment of contamination migration arising from a Fukushima waste storage facility.利用航空摄影测量技术对福岛废物储存设施产生的污染迁移进行可视化和评估。
Environ Pollut. 2018 Mar;234:610-619. doi: 10.1016/j.envpol.2017.10.098. Epub 2017 Dec 21.