AUTHOR=White Samuel R. , Megson-Smith David A. , Zhang Kaiqiang , Connor Dean T. , Martin Peter G. , Hutson Chris , Herrmann Guido , Dilworth John , Scott Thomas B. TITLE=Radiation Mapping and Laser Profiling Using a Robotic Manipulator JOURNAL=Frontiers in Robotics and AI VOLUME=7 YEAR=2020 URL=https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2020.499056 DOI=10.3389/frobt.2020.499056 ISSN=2296-9144 ABSTRACT=

The use of a robotic arm manipulator as a platform for coincident radiation mapping and laser profiling of radioactive sources on a flat surface is investigated in this work. A combined scanning head, integrating a micro-gamma spectrometer and Time of Flight (ToF) sensor were moved in a raster scan pattern across the surface, autonomously undertaken by the robot arm over a 600 × 260 mm survey area. A series of radioactive sources of different emission intensities were scanned in different configurations to test the accuracy and sensitivity of the system. We demonstrate that in each test configuration the system was able to generate a centimeter accurate 3D model complete with an overlaid radiation map detailing the emitted radiation intensity and the corrected surface dose rate.