Final published version
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Research output: Contribution to Journal/Magazine › Journal article › peer-review
Research output: Contribution to Journal/Magazine › Journal article › peer-review
}
TY - JOUR
T1 - Simultaneous, robot-compatible γ-ray spectroscopy and imaging of an operating nuclear reactor
AU - Tsitsimpelis, Ioannis
AU - West, Andrew
AU - Licata, Mauro
AU - Aspinall, Michael
AU - Jazbec, Anze
AU - Snoj, Luka
AU - Martin, Phillip
AU - Lennox, Barry
AU - Joyce, Malcolm
PY - 2021/2/15
Y1 - 2021/2/15
N2 - The design and test of a robot-compatible, radiation detection instrument providing simultaneous γ-ray imaging and γ-ray spectroscopy is described. The sensing system comprises a cerium bromide inorganic scintillation detector and a cylindrical, lead slot collimator that is configured with a robot-compatible, on-board data acquisition system. The mount for the sensor is a lightweight, bespoke 3-axis gimbal actuated by servos for pan, tilt and rotation of the collimator for imaging capability. This paper discusses the integration of this relatively low-cost radiation detection apparatus with a commercially available, Robot-Operating-System-controlled robotic platform (a Clearpath Robotics™ Jackal). The detection system is compliant with the power and mass payload constraints of the robot. Its performance has been evaluated by means of two practical examples: a) measurements in a laboratory environment to assess the ability of the system to resolve two caesium-137 point sources, and b) deployment at the Jožef Stefan Institute TRIGA Mark II research reactor to assess the ability of the system to characterise the γ-ray emission at 1 kW from a horizontal tangential beam port in the reactor hall and from the reactor sample pool above the core.
AB - The design and test of a robot-compatible, radiation detection instrument providing simultaneous γ-ray imaging and γ-ray spectroscopy is described. The sensing system comprises a cerium bromide inorganic scintillation detector and a cylindrical, lead slot collimator that is configured with a robot-compatible, on-board data acquisition system. The mount for the sensor is a lightweight, bespoke 3-axis gimbal actuated by servos for pan, tilt and rotation of the collimator for imaging capability. This paper discusses the integration of this relatively low-cost radiation detection apparatus with a commercially available, Robot-Operating-System-controlled robotic platform (a Clearpath Robotics™ Jackal). The detection system is compliant with the power and mass payload constraints of the robot. Its performance has been evaluated by means of two practical examples: a) measurements in a laboratory environment to assess the ability of the system to resolve two caesium-137 point sources, and b) deployment at the Jožef Stefan Institute TRIGA Mark II research reactor to assess the ability of the system to characterise the γ-ray emission at 1 kW from a horizontal tangential beam port in the reactor hall and from the reactor sample pool above the core.
U2 - 10.1109/JSEN.2020.3035147
DO - 10.1109/JSEN.2020.3035147
M3 - Journal article
VL - 21
SP - 5434
EP - 5443
JO - IEEE Sensors Journal
JF - IEEE Sensors Journal
SN - 1530-437X
IS - 4
ER -