Optimizing the Localization of Gamma Radiation Point Sources using a UGV

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26220%2F18%3APU128149" target="_blank" >RIV/00216305:26220/18:PU128149 - isvavai.cz</a>

Výsledek na webu

<a href="https://ieeexplore.ieee.org/document/8398368/" target="_blank" >https://ieeexplore.ieee.org/document/8398368/</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ELEKTRO.2018.8398368" target="_blank" >10.1109/ELEKTRO.2018.8398368</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Optimizing the Localization of Gamma Radiation Point Sources using a UGV

Popis výsledku v původním jazyce

The paper is concerned with the autonomous robotic measurement of gamma radiation and the localization of its sources. The objective is to find techniques that allow faster localization compared to mapping along parallel lines. To achieve this, an unmanned ground vehicle (UGV) is utilized; the device is equipped with a sensitive dual-probe radiation detection system and a module for precise self-localization and navigation. The suggested solution involves exploring the region of interest along circular trajectories and estimating the sources' parameters, the coordinates in particular. The estimation accuracy is then increased using the Gauss-Newton method. The approach was verified through experiments in real conditions; the achieved result consists in a threefold decrease of the time requirement while the localization accuracy remains comparable to that acquired by the radiation mapping. The benefits of the presented research comprise the qualitative expansion of the radiation protection domain and also the applicability of several utilized algorithms in other fields or activities, including, for example, the autonomous robotic inspection of industrial facilities.

Název v anglickém jazyce

Optimizing the Localization of Gamma Radiation Point Sources using a UGV

Popis výsledku anglicky

The paper is concerned with the autonomous robotic measurement of gamma radiation and the localization of its sources. The objective is to find techniques that allow faster localization compared to mapping along parallel lines. To achieve this, an unmanned ground vehicle (UGV) is utilized; the device is equipped with a sensitive dual-probe radiation detection system and a module for precise self-localization and navigation. The suggested solution involves exploring the region of interest along circular trajectories and estimating the sources' parameters, the coordinates in particular. The estimation accuracy is then increased using the Gauss-Newton method. The approach was verified through experiments in real conditions; the achieved result consists in a threefold decrease of the time requirement while the localization accuracy remains comparable to that acquired by the radiation mapping. The benefits of the presented research comprise the qualitative expansion of the radiation protection domain and also the applicability of several utilized algorithms in other fields or activities, including, for example, the autonomous robotic inspection of industrial facilities.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2018

Kód důvěrnosti údajů

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

Název statě ve sborníku

2018 ELEKTRO

ISBN

978-1-5386-4758-5

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

1-6

Název nakladatele

Neuveden

Místo vydání

Neuveden

Místo konání akce

Mikulov

Datum konání akce

21. 5. 2018

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000468327400129