The MOBISIC project, funded by the System@tic Paris-Region cluster, is being developed in the context of local crisis (attack bombing in urban environment, in confined space such as an underground train tunnel etc.) or specific event securing (soccer world cup, political meeting etc.). It consists in conceiving, developing and experimenting a mobile, modular ('plug and play') and multi-sensors securing system. In this project, CEA LIST has suggested different solutions for nuclear risks detection and identification. It results in embedding a CZT sensor and a gamma camera in an indoor drone. This article first presents the different modifications carried out on the UAV and different sensors, and focuses then on the experimental performances.

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A known disadvantage of the coded aperture imaging approach is its limited field-of-view (FOV), which often results insufficient when analysing complex dismantling scenes such as post-accidental scenarios, where multiple measurements are needed to fully characterize the scene. In order to overcome this limitation, a panoramic coded aperture γ-camera prototype has been developed. The system is based on a 1 mm thick CdTe detector directly bump-bonded to a Timepix readout chip, developed by the Medipix2 collaboration (256 × 256 pixels, 55 μm pitch, 14.08 × 14.08 mm2 sensitive area). A MURA pattern coded aperture is used, allowing for background subtraction without the use of heavy shielding. Such system is then combined with a USB color camera. The output of each measurement is a semi-spherical image covering a FOV of 360 degrees horizontally and 80 degrees vertically, rendered in spherical coordinates (θ,ϕ). The geometrical shapes of the radiation-emitting objects are preserved by first registering and stitching the optical images captured by the prototype, and applying, subsequently, the same transformations to their corresponding radiation images. Panoramic gamma images generated by using the technique proposed in this paper are described and discussed, along with the main experimental results obtained in laboratories campaigns.

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