Development of a pinhole gamma camera for environmental monitoring

Baek, Cheol-Ha; An, Seokyung; Kim, Hyun-il; Kwak, Seong Woo; Chung, Yong Hyun

doi:10.1016/j.radmeas.2013.06.004

Cited by 15 publications

(7 citation statements)

References 8 publications

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“…The dominating radiation direction can be, but normally is not, retrieved from the shadows created by additional shielding pins on the film. Another example is the pinhole (Baek et al, 2013) and Compton camera (Sakai et al, 2019;Kormoll, 2013;Turecek et al, 2020). These, for example, are used during the demolition of nuclear power plants, for nuclear waste monitoring or in medical applications to trace back sources of gamma radiation.…”

Section: Related Workmentioning

confidence: 99%

Method for fast determination of the angle of ionizing radiation incidence from data measured by a Timepix3 detector

Lehner

Röth

Hupe

et al. 2021

J. Sens. Sens. Syst.

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Abstract. This paper presents a method of how to determine spatial angles of ionizing radiation incidence quickly, using a Timepix3 detector. This work focuses on the dosimetric applications where detectors and measured quantities show significant angle dependencies. A determined angle of incidence can be used to correct for the angle dependence of a planar Timepix3 detector. Up until now, only passive dosemeters have been able to provide a correct dose and preserve the corresponding incidence angle of the radiation. Unfortunately, passive dosemeters cannot provide this information in “real” time. In our special setup we were able to retrieve the spatial angles with a runtime of less than 600 ms. Employing the new Timepix3 detector enables the use of effective data analysis where the direction of incident radiation is computed from a simple photon event map. In order to obtain this angle, we combine the information extracted from the map with known 3D geometry surrounding the detector. Moreover, we analyze the computation time behavior, conditions and optimizations of the developed spatial angle calculation algorithm.

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Section: Related Workmentioning

confidence: 99%

Method for fast determination of the angle of ionizing radiation incidence from data measured by a Timepix3 detector

Lehner

Röth

Hupe

et al. 2021

J. Sens. Sens. Syst.

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“…In the case of nuclear applications, previous studies have used vision information to classify nuclear waste [3] and to estimate radiation levels [12]. However, it is not known that any visual servoing techniques (using the tracked image information) been applied in the (highly conservative) nuclear domain.…”

Section: Introductionmentioning

confidence: 99%

Towards Advanced Robotic Manipulations for Nuclear Decommissioning

Marturi¹,

Rastegarpanah²,

Rajasekaran³

et al. 2017

Robots Operating in Hazardous Environments

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Despite enormous remote handling requirements, remarkably very few robots are being used by the nuclear industry. Most of the remote handling tasks are still performed manually, using conventional mechanical master-slave devices. The few robotic manipulators deployed are directly tele-operated in rudimentary ways, with almost no autonomy or even a pre-programmed motion. In addition, majority of these robots are under-sensored (i.e. with no proprioception), which prevents them to use for automatic tasks. In this context, primarily this chapter discusses the human operator performance in accomplishing heavy-duty remote handling tasks in hazardous environments such as nuclear decommissioning. Multiple factors are evaluated to analyse the human operators' performance and workload. Also, direct human tele-operation is compared against human-supervised semi-autonomous control exploiting computer vision. Secondarily, a vision-guided solution towards enabling advanced control and automating the undersensored robots is presented. Maintaining the coherence with real nuclear scenario, the experiments are conducted in the lab environment and results are discussed.

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“…[13] proposed a vision-based method for controlling the trajectory of inspection robots for nuclear reactors. Techniques for estimating radiation levels and nondestructive testing of piping systems can be found in [14] and [15], respectively.…”

Section: Introductionmentioning

confidence: 99%

Towards advanced robotic manipulation for nuclear decommissioning: A pilot study on tele-operation and autonomy

Marturi

Rastegarpanah

Takahashi

et al. 2016

2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA)

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We present early pilot-studies of a new international project, developing advanced robotics to handle nuclear waste. Despite enormous remote handling requirements, there has been remarkably little use of robots by the nuclear industry. The few robots deployed have been directly teleoperated in rudimentary ways, with no advanced control methods or autonomy. Most remote handling is still done by an aging workforce of highly skilled experts, using 1960s style mechanical Master-Slave devices. In contrast, this paper explores how novice human operators can rapidly learn to control modern robots to perform basic manipulation tasks; also how autonomous robotics techniques can be used for operator assistance, to increase throughput rates, decrease errors, and enhance safety. We compare humans directly teleoperating a robot arm, against humansupervised semi-autonomous control exploiting computer vision, visual servoing and autonomous grasping algorithms. We show how novice operators rapidly improve their performance with training; suggest how training needs might scale with task complexity; and demonstrate how advanced autonomous robotics techniques can help human operators improve their overall task performance. An additional contribution of this paper is to show how rigorous experimental and analytical methods from human factors research, can be applied to perform principled scientific evaluations of human test-subjects controlling robots to perform practical manipulative tasks. Gripper CameraSample test rig 7 DOF Robot Test objects for stacking task

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Development of a pinhole gamma camera for environmental monitoring

Cited by 15 publications

References 8 publications

Method for fast determination of the angle of ionizing radiation incidence from data measured by a Timepix3 detector

Method for fast determination of the angle of ionizing radiation incidence from data measured by a Timepix3 detector

Towards Advanced Robotic Manipulations for Nuclear Decommissioning

Towards advanced robotic manipulation for nuclear decommissioning: A pilot study on tele-operation and autonomy

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