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A Low-Cost and Semi-Autonomous Robotic Scanning System for Characterising Radiological Waste

Research output: Contribution to Journal/Magazine › Journal article › peer-review

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A Low-Cost and Semi-Autonomous Robotic Scanning System for Characterising Radiological Waste. / Monk, Stephen; West, Craig; Bandala Sanchez, Manuel et al.
In: Robotics, Vol. 10, No. 4, 119, 02.11.2021.

Research output: Contribution to Journal/Magazine › Journal article › peer-review

Harvard

Monk, S, West, C, Bandala Sanchez, M, Dixon, N, Montazeri, A, Taylor, CJ & Cheneler, D 2021, 'A Low-Cost and Semi-Autonomous Robotic Scanning System for Characterising Radiological Waste', Robotics, vol. 10, no. 4, 119. https://doi.org/10.3390/robotics10040119

APA

Monk, S., West, C., Bandala Sanchez, M., Dixon, N., Montazeri, A., Taylor, C. J., & Cheneler, D. (2021). A Low-Cost and Semi-Autonomous Robotic Scanning System for Characterising Radiological Waste. Robotics, 10(4), Article 119. https://doi.org/10.3390/robotics10040119

Vancouver

Monk S, West C, Bandala Sanchez M, Dixon N, Montazeri A, Taylor CJ et al. A Low-Cost and Semi-Autonomous Robotic Scanning System for Characterising Radiological Waste. Robotics. 2021 Nov 2;10(4):119. doi: 10.3390/robotics10040119

Author

Monk, Stephen ; West, Craig ; Bandala Sanchez, Manuel et al. / A Low-Cost and Semi-Autonomous Robotic Scanning System for Characterising Radiological Waste. In: Robotics. 2021 ; Vol. 10, No. 4.

Bibtex

@article{739c8ddb183b4586a54585b64c5a3a19,
title = "A Low-Cost and Semi-Autonomous Robotic Scanning System for Characterising Radiological Waste",
abstract = "A novel, semi-autonomous radiological scanning system for inspecting irregularly shaped and radiologically uncharacterised objects in various orientations is presented. The system utilises relatively low cost, commercial-off-the-shelf (COTS) electronic components, and is intended for use within relatively low to medium radioactive dose environments. To illustrate the generic concepts, the combination of a low-cost COTS vision system, a six DoF manipulator and a gam-ma radiation spectrometer are investigated. Three modes of vision have been developed, al-lowing a remote operator to choose the most appropriate algorithm for the task. The robot arm subsequently scans autonomously across the selected object, determines the scan positions and enables the generation of radiological spectra using the gamma spectrometer. These data inform the operator of any likely radioisotopes present, where in the object they are located and thus whether the object should be treated as LLW, ILW or HLW.",
keywords = "radiological scanning, semi-autonomic, Microsoft Kinect, Universal UR3 robot, Kromek RadAngel, MATLAB, ROS, Python",
author = "Stephen Monk and Craig West and {Bandala Sanchez}, Manuel and Nile Dixon and Allahyar Montazeri and Taylor, {C. James} and David Cheneler",
year = "2021",
month = nov,
day = "2",
doi = "10.3390/robotics10040119",
language = "English",
volume = "10",
journal = "Robotics",
issn = "2218-6581",
publisher = "MDPI - Open Access Publishing",
number = "4",

}

RIS

TY - JOUR

T1 - A Low-Cost and Semi-Autonomous Robotic Scanning System for Characterising Radiological Waste

AU - Monk, Stephen

AU - West, Craig

AU - Bandala Sanchez, Manuel

AU - Dixon, Nile

AU - Montazeri, Allahyar

AU - Taylor, C. James

AU - Cheneler, David

PY - 2021/11/2

Y1 - 2021/11/2

N2 - A novel, semi-autonomous radiological scanning system for inspecting irregularly shaped and radiologically uncharacterised objects in various orientations is presented. The system utilises relatively low cost, commercial-off-the-shelf (COTS) electronic components, and is intended for use within relatively low to medium radioactive dose environments. To illustrate the generic concepts, the combination of a low-cost COTS vision system, a six DoF manipulator and a gam-ma radiation spectrometer are investigated. Three modes of vision have been developed, al-lowing a remote operator to choose the most appropriate algorithm for the task. The robot arm subsequently scans autonomously across the selected object, determines the scan positions and enables the generation of radiological spectra using the gamma spectrometer. These data inform the operator of any likely radioisotopes present, where in the object they are located and thus whether the object should be treated as LLW, ILW or HLW.

AB - A novel, semi-autonomous radiological scanning system for inspecting irregularly shaped and radiologically uncharacterised objects in various orientations is presented. The system utilises relatively low cost, commercial-off-the-shelf (COTS) electronic components, and is intended for use within relatively low to medium radioactive dose environments. To illustrate the generic concepts, the combination of a low-cost COTS vision system, a six DoF manipulator and a gam-ma radiation spectrometer are investigated. Three modes of vision have been developed, al-lowing a remote operator to choose the most appropriate algorithm for the task. The robot arm subsequently scans autonomously across the selected object, determines the scan positions and enables the generation of radiological spectra using the gamma spectrometer. These data inform the operator of any likely radioisotopes present, where in the object they are located and thus whether the object should be treated as LLW, ILW or HLW.

KW - radiological scanning

KW - semi-autonomic

KW - Microsoft Kinect

KW - Universal UR3 robot

KW - Kromek RadAngel

KW - MATLAB

KW - ROS

KW - Python

U2 - 10.3390/robotics10040119

DO - 10.3390/robotics10040119

M3 - Journal article

VL - 10

JO - Robotics

JF - Robotics

SN - 2218-6581

IS - 4

M1 - 119

ER -