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Simulating ionising radiation in gazebo for robotic nuclear inspection challenges

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Simulating ionising radiation in gazebo for robotic nuclear inspection challenges. / Wright, T.; West, A.; Licata, M.; Hawes, N.; Lennox, B.

In: Robotics, Vol. 10, No. 3, 07.07.2021.

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Wright, T. ; West, A. ; Licata, M. ; Hawes, N. ; Lennox, B. / Simulating ionising radiation in gazebo for robotic nuclear inspection challenges. In: Robotics. 2021 ; Vol. 10, No. 3.

Bibtex

@article{41c413e7c1224719a6c941bb0483a50e,
title = "Simulating ionising radiation in gazebo for robotic nuclear inspection challenges",
abstract = "The utilisation of robots in hazardous nuclear environments has potential to reduce risk to humans. However, historical use has been largely limited to specific missions rather than broader industry-wide adoption. Testing and verification of robotics in realistic scenarios is key to gaining stakeholder confidence but hindered by limited access to facilities that contain radioactive materials. Simulations offer an alternative to testing with actual radioactive sources, provided they can readily describe the behaviour of robotic systems and ionising radiation within the same environment. This work presents a quick and easy way to generate simulated but realistic deployment scenarios and environments which include ionising radiation, developed to work within the popular robot operating system compatible Gazebo physics simulator. Generated environments can be evolved over time, randomly or user-defined, to simulate the effects of degradation, corrosion or to alter features of certain objects. Interaction of gamma radiation sources within the environment, as well as the response of simulated detectors attached to mobile robots, is verified against the MCNP6 Monte Carlo radiation transport code. The benefits these tools provide are highlighted by inclusion of three real-world nuclear sector environments, providing the robotics community with opportunities to assess the capabilities of robotic systems and autonomous functionalities. {\textcopyright} 2021 by the authors. Licensee MDPI, Basel, Switzerland.",
keywords = "Gazebo, Nuclear, Radiation, ROS, Simulation",
author = "T. Wright and A. West and M. Licata and N. Hawes and B. Lennox",
year = "2021",
month = jul,
day = "7",
doi = "10.3390/robotics10030086",
language = "English",
volume = "10",
journal = "Robotics",
issn = "2218-6581",
publisher = "MDPI AG",
number = "3",

}

RIS

TY - JOUR

T1 - Simulating ionising radiation in gazebo for robotic nuclear inspection challenges

AU - Wright, T.

AU - West, A.

AU - Licata, M.

AU - Hawes, N.

AU - Lennox, B.

PY - 2021/7/7

Y1 - 2021/7/7

N2 - The utilisation of robots in hazardous nuclear environments has potential to reduce risk to humans. However, historical use has been largely limited to specific missions rather than broader industry-wide adoption. Testing and verification of robotics in realistic scenarios is key to gaining stakeholder confidence but hindered by limited access to facilities that contain radioactive materials. Simulations offer an alternative to testing with actual radioactive sources, provided they can readily describe the behaviour of robotic systems and ionising radiation within the same environment. This work presents a quick and easy way to generate simulated but realistic deployment scenarios and environments which include ionising radiation, developed to work within the popular robot operating system compatible Gazebo physics simulator. Generated environments can be evolved over time, randomly or user-defined, to simulate the effects of degradation, corrosion or to alter features of certain objects. Interaction of gamma radiation sources within the environment, as well as the response of simulated detectors attached to mobile robots, is verified against the MCNP6 Monte Carlo radiation transport code. The benefits these tools provide are highlighted by inclusion of three real-world nuclear sector environments, providing the robotics community with opportunities to assess the capabilities of robotic systems and autonomous functionalities. © 2021 by the authors. Licensee MDPI, Basel, Switzerland.

AB - The utilisation of robots in hazardous nuclear environments has potential to reduce risk to humans. However, historical use has been largely limited to specific missions rather than broader industry-wide adoption. Testing and verification of robotics in realistic scenarios is key to gaining stakeholder confidence but hindered by limited access to facilities that contain radioactive materials. Simulations offer an alternative to testing with actual radioactive sources, provided they can readily describe the behaviour of robotic systems and ionising radiation within the same environment. This work presents a quick and easy way to generate simulated but realistic deployment scenarios and environments which include ionising radiation, developed to work within the popular robot operating system compatible Gazebo physics simulator. Generated environments can be evolved over time, randomly or user-defined, to simulate the effects of degradation, corrosion or to alter features of certain objects. Interaction of gamma radiation sources within the environment, as well as the response of simulated detectors attached to mobile robots, is verified against the MCNP6 Monte Carlo radiation transport code. The benefits these tools provide are highlighted by inclusion of three real-world nuclear sector environments, providing the robotics community with opportunities to assess the capabilities of robotic systems and autonomous functionalities. © 2021 by the authors. Licensee MDPI, Basel, Switzerland.

KW - Gazebo

KW - Nuclear

KW - Radiation

KW - ROS

KW - Simulation

U2 - 10.3390/robotics10030086

DO - 10.3390/robotics10030086

M3 - Journal article

VL - 10

JO - Robotics

JF - Robotics

SN - 2218-6581

IS - 3

ER -