CARMA II: A ground vehicle for autonomous surveying of alpha, beta and gamma radiation.
CARMA II: A ground vehicle for autonomous surveying of alpha, beta and gamma radiation.
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CARMA II：用于自主测量 α、β 和 γ 辐射的地面车辆。
DOI：
10.3389/frobt.2023.1137750
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发表时间：
2023
影响因子：
3.4
通讯作者：
Groves, Keir
中科院分区：
文献类型：
--
作者：
Nouri Rahmat Abadi, Bahman;West, Andrew;Nancekievill, Matthew;Ballard, Christopher;Lennox, Barry;Marjanovic, Ognjen;Groves, Keir
目前，对运行中的核设施进行阿尔法和贝塔污染扩散调查的工作是由人类操作员完成的。然而，由于招聘不足、退休和需求增加，合格工人的技能缺口正在显现，并将在不久的将来恶化。本文介绍了一种自主地面飞行器，它可以测量核设施的α、β和伽马辐射，并生成辐射热图。介绍了使用状态机和辐射成本图防止机器人传播放射性污染的新方法。这是第一个可以检测阿尔法和贝塔污染并自动重新规划污染周围的机器人，而不需要车轮经过污染区域。实验证明，辐射避免功能可以减少阿尔法和贝塔污染的扩散，以及对机器人的伽马辐射剂量。机器人的勘测区域是使用定制设计的图形控制区域覆盖规划器来定义的。结论是，机器人非常适合某些单调的房间尺度辐射测量任务，因此提供了节省资金的机会，以缓解未来的技能差距，并提供比目前由人类操作员执行的辐射测量更细粒度、更准确和更可重复的辐射测量。
Surveying active nuclear facilities for spread of alpha and beta contamination is currently performed by human operators. However, a skills gap of qualified workers is emerging and is set to worsen in the near future due to under recruitment, retirement and increased demand. This paper presents an autonomous ground vehicle that can survey nuclear facilities for alpha, beta and gamma radiation and generate radiation heatmaps. New methods for preventing the robot from spreading radioactive contamination using a state-machine and radiation costmaps are introduced. This is the first robot that can detect alpha and beta contamination and autonomously re-plan around the contamination without the wheels passing over the contaminated area. Radiation avoidance functionality is proven experimentally to reduce alpha and beta contamination spread as well as gamma radiation dose to the robot. The robot’s survey area is defined using a custom designed, graphically controlled area coverage planner. It was concluded that the robot is highly suited to certain monotonous room scale radiation surveying tasks and therefore provides the opportunity for financial savings, to mitigate a future skills gap, and provision of radiation surveys that are more granular, accurate and repeatable than those currently performed by human operators.
影响因子：
3.4
作者：
White SR;Megson-Smith DA;Zhang K;Connor DT;Martin PG;Hutson C;Herrmann G;Dilworth J;Scott TB
通讯作者：
Scott TB