Towards Autonomous Robotic Systems - 24th Annual Conference, TAROS 2023, Cambridge, UK, September 13-15, 2023, Proceedings
Towards Autonomous Robotic Systems - 24th Annual Conference, TAROS 2023, Cambridge, UK, September 13-15, 2023, Proceedings
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迈向自主机器人系统 - 第 24 届年会，TAROS 2023，英国剑桥，2023 年 9 月 13-15 日，会议记录
DOI：
10.1007/978-3-031-43360-3_12
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发表时间：
2023
期刊：
影响因子：
--
通讯作者：
West A
中科院分区：
文献类型：
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作者：
West A
在极端环境中部署机器人会带来许多危险，操作员在遥操作过程中必须避免这些危险。在核环境中，电离辐射（α、β、γ、中子）的强度不仅对于从安全角度进行监测很重要，而且对于保护易受辐射引起的损害的机器人系统也很重要。因此，机器人操作员必须避免电离辐射，同时管理许多其他威胁和信息流。这项工作提供了一种非视觉的方法来传达辐射剂量率，通过模仿的盖革计数器的操作员的点击声，使用负担得起的和无处不在的硬件。然后，操作员可以自由地使用视觉提示来监控其他重要方面。该系统准确地模拟由于随机放射性衰变而产生的真实点击，而不是使用稳定的重复克里思，其中音频事件的平均速率由远程机器人上测量的辐射剂量率控制。该系统很容易帮助操作员识别和避开背景辐射强度升高的区域，并且可以被任何ROS兼容的机器人平台采用。
Deploying robots in extreme environments brings many hazards which an operator must avoid during teleoperation. In a nuclear setting, intensity of ionising radiation (alpha, beta, gamma, neutron) is not only important to monitor from a safety perspective, but also to protect robot systems which are susceptible to radiation induced damage. Therefore, robot operators must avoid ionising radiation whilst managing many other threats and information streams simultaneously. This work provides a non-visual method to communicate radiation dose rate, by imitating the clicking sound of a Geiger counter for the operator, using affordable and ubiquitous hardware. The operator is then free to use visual cues to monitor other important aspects. The system accurately emulates realistic clicks due to stochastic radioactive decay rather than use a steady repetitive tempo, with average rate of audio events governed by measured radiation dose rate on a remote robot. This system readily aids an operator to identify and avoid regions of elevated radiation intensity against background, and can be adopted by any ROS compatible robot platform.