COTS vision system, radiation sensor and 6 DoF robot for use in identifying radiologically uncharacterised objects
COTS vision system, radiation sensor and 6 DoF robot for use in identifying radiologically uncharacterised objects
复制标题
COTS 视觉系统、辐射传感器和 6 DoF 机器人，用于识别未放射特征的物体
DOI：
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
C. J. Taylor
中科院分区：
文献类型：
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作者：
S. Monk;D. Cheneler;C. West;M. Bandala;Nile Dixon;A. Montazeri;C. J. Taylor
提出了一种用于检测未表征物体的新型半自主放射扫描系统。该研究使用了市售的现成（COTS）电子元件，旨在用于相对低放射性剂量的环境。为了说明这一概念，使用了Microsoft Kinect、Universal Robots UR3（6自由度）操纵器和Kromek RadAngel伽马辐射光谱仪。新的控制软件允许远程操作员在机器人臂自动扫描之前选择所需的对象，从而能够生成各种放射性光谱形状。这些数据告知操作员任何可能存在的放射性同位素以及它们在物体中的位置。
A novel, semi-autonomous radiological scanning system for inspecting uncharacterised objects is presented. The research utilises commercially available off-the-shelf (COTS) electronic components, intended for use in relatively low radioactive dose environments. To illustrate the concept, a Microsoft Kinect, a Universal Robots UR3 (6 degree of freedom) manipulator and a Kromek RadAngel gamma radiation spectrometer are utilised. The new control software allows the remote operator to select the required object, before the robot arm autonomously scans it, enabling the generation of various radiological spectra shapes. These data inform the operator of any likely radioisotopes present and where they are located in the object.