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Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review
Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review
}
TY - GEN
T1 - COTS vision system, radiation sensor and 6 DoF robot for use in identifying radiologically uncharacterised objects
AU - Monk, Stephen
AU - Cheneler, David
AU - West, Craig
AU - Bandala Sanchez, Manuel
AU - Montazeri, Allahyar
AU - Dixon, Nile
AU - Taylor, C. James
N1 - ©2021 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
PY - 2021/1/21
Y1 - 2021/1/21
N2 - 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.
AB - 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.
KW - UR3 manipulator
KW - RadAngel radiation detector
KW - Microsoft Kinect
KW - radiological scanning
KW - vision system
KW - nuclear decommissioning
U2 - 10.1109/ANZCC50923.2020.9318349
DO - 10.1109/ANZCC50923.2020.9318349
M3 - Conference contribution/Paper
SN - 9781728199931
BT - 2020 Australian and New Zealand Control Conference (ANZCC)
PB - IEEE
T2 - 4th Australian and New Zealand Control Conference
Y2 - 26 November 2020 through 27 November 2020
ER -