Autonomous Localization of Multiple Ionizing Radiation Sources Using Miniature Single-Layer Compton Cameras Onboard a Group of Micro Aerial Vehicles

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00177016%3A_____%2F24%3AN0000135" target="_blank" >RIV/00177016:_____/24:N0000135 - isvavai.cz</a>

Výsledek na webu

<a href="https://ieeexplore.ieee.org/document/10802808" target="_blank" >https://ieeexplore.ieee.org/document/10802808</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/IROS58592.2024.10802808" target="_blank" >10.1109/IROS58592.2024.10802808</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Autonomous Localization of Multiple Ionizing Radiation Sources Using Miniature Single-Layer Compton Cameras Onboard a Group of Micro Aerial Vehicles

Popis výsledku v původním jazyce

A novel method for autonomous localization of multiple sources of gamma radiation using a group of Micro Aerial Vehicles (MAVs) is presented in this paper. The method utilizes an extremely lightweight (44 g) Compton camera MiniPIX TPX3. The compact size of the detector allows for deployment onboard safe and agile small-scale Unmanned Aerial Vehicles (UAVs). The proposed radiation mapping approach fuses measurements from multiple distributed Compton camera sensors to accurately estimate the positions of multiple radioactive sources in real time. Unlike commonly used intensity-based detectors, the Compton camera reconstructs the set of possible directions towards a radiation source from just a single ionizing particle. Therefore, the proposed approach can localize radiation sources without having to estimate the gradient of a radiation field or contour lines, which require longer measurements. The instant estimation is able to fully exploit the potential of highly mobile MAVs. The radiation mapping method is combined with an active search strategy, which coordinates the future actions of the MAVs in order to improve the quality of the estimate of the sources’ positions, as well as to explore the area of interest faster. The proposed solution is evaluated in simulation and real-world experiments with multiple Cesium-137 radiation sources.

Název v anglickém jazyce

Autonomous Localization of Multiple Ionizing Radiation Sources Using Miniature Single-Layer Compton Cameras Onboard a Group of Micro Aerial Vehicles

Popis výsledku anglicky

A novel method for autonomous localization of multiple sources of gamma radiation using a group of Micro Aerial Vehicles (MAVs) is presented in this paper. The method utilizes an extremely lightweight (44 g) Compton camera MiniPIX TPX3. The compact size of the detector allows for deployment onboard safe and agile small-scale Unmanned Aerial Vehicles (UAVs). The proposed radiation mapping approach fuses measurements from multiple distributed Compton camera sensors to accurately estimate the positions of multiple radioactive sources in real time. Unlike commonly used intensity-based detectors, the Compton camera reconstructs the set of possible directions towards a radiation source from just a single ionizing particle. Therefore, the proposed approach can localize radiation sources without having to estimate the gradient of a radiation field or contour lines, which require longer measurements. The instant estimation is able to fully exploit the potential of highly mobile MAVs. The radiation mapping method is combined with an active search strategy, which coordinates the future actions of the MAVs in order to improve the quality of the estimate of the sources’ positions, as well as to explore the area of interest faster. The proposed solution is evaluated in simulation and real-world experiments with multiple Cesium-137 radiation sources.

Druh

J_ost - Ostatní články v recenzovaných periodicích

CEP obor

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OECD FORD obor

10301 - Atomic, molecular and chemical physics (physics of atoms and molecules including collision, interaction with radiation, magnetic resonances, Mössbauer effect)

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

2024

Kód důvěrnosti údajů

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

Název periodika

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ISSN

2153-0858

e-ISSN

2153-0866

Svazek periodika

1

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

AE - Spojené arabské emiráty

Počet stran výsledku

6

Strana od-do

6

Kód UT WoS článku

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EID výsledku v databázi Scopus

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