Gamma Radiation Source Localization for Micro Aerial Vehicles with a Miniature Single-Detector Compton Event Camera

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00177016%3A_____%2F21%3AN0000038" target="_blank" >RIV/00177016:_____/21:N0000038 - isvavai.cz</a>

Výsledek na webu

<a href="https://ieeexplore.ieee.org/document/9476766" target="_blank" >https://ieeexplore.ieee.org/document/9476766</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICUAS51884.2021.9476766" target="_blank" >10.1109/ICUAS51884.2021.9476766</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Gamma Radiation Source Localization for Micro Aerial Vehicles with a Miniature Single-Detector Compton Event Camera

Popis výsledku v původním jazyce

A novel miniature system for localization and estimation of compact sources of gamma radiation for Micro Aerial Vehicles is presented in this paper. The system utilizes a single-sensor Compton camera. The sensor is extremely small and weighs only 40 g, which opens the possibility for use on the widely accepted sub-250 g class of drones. The Compton camera uses the MiniPIX TPX3 CdTe event camera to measure Compton scattering products of incoming high-energy gamma photons. The 3D position and the sub-nanosecond time delay of the measured scattering products are used to reconstruct sets of possible directions to the source. An onboard filter fuses the measurements and estimates the position of the radiation source during the flight. The computations are executed in real-time onboard and allow integration of the sensor info into a fully-autonomous system. Moreover, the real-time nature of the estimator potentially allows estimating states of a moving radiation source. The proposed method was validated in a real-world experiment with a Cs137 radiation source. The approach is able to localize a gamma source without the need to estimate the gradient or contours of radiation intensity, which opens possibilities for localizing sources in a cluttered and urban environment.

Název v anglickém jazyce

Gamma Radiation Source Localization for Micro Aerial Vehicles with a Miniature Single-Detector Compton Event Camera

Popis výsledku anglicky

A novel miniature system for localization and estimation of compact sources of gamma radiation for Micro Aerial Vehicles is presented in this paper. The system utilizes a single-sensor Compton camera. The sensor is extremely small and weighs only 40 g, which opens the possibility for use on the widely accepted sub-250 g class of drones. The Compton camera uses the MiniPIX TPX3 CdTe event camera to measure Compton scattering products of incoming high-energy gamma photons. The 3D position and the sub-nanosecond time delay of the measured scattering products are used to reconstruct sets of possible directions to the source. An onboard filter fuses the measurements and estimates the position of the radiation source during the flight. The computations are executed in real-time onboard and allow integration of the sensor info into a fully-autonomous system. Moreover, the real-time nature of the estimator potentially allows estimating states of a moving radiation source. The proposed method was validated in a real-world experiment with a Cs137 radiation source. The approach is able to localize a gamma source without the need to estimate the gradient or contours of radiation intensity, which opens possibilities for localizing sources in a cluttered and urban environment.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/FW01010317" target="_blank" >FW01010317: Lokalizace zdrojů ionizující radiace pomocí malých bezpilotních helikoptér s detektorem na principu Comptonovy kamery</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

2021 International Conference on Unmanned Aircraft Systems (ICUAS)

ISBN

978-1-6654-1535-4

ISSN

2373-6720

e-ISSN

2575-7296

Počet stran výsledku

8

Strana od-do

338–346

Název nakladatele

IEEE

Místo vydání

Athens, Greece

Místo konání akce

Athens, Greece

Datum konání akce

15. 6. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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