Low-cost Multi-UAV Technologies for Contour Mapping of Nuclear Radiation Field

Han, Jinlu; Xu, Yong; Di, Long; Chen, YangQuan

doi:10.1007/s10846-012-9722-5

Cited by 148 publications

(73 citation statements)

References 15 publications

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“…This vehicle would not be suitable for low altitude surveys (<122 m) due to the topographical and anthropogenic obstacles that exist at these heights. Helicopter-style UAVs (Furutani et al, n.d.;Jiang et al 2015;Sanada and Torii 2015;Towler, Krawiec, and Kochersberger 2012) have been shown to successfully operate at reduced altitudes of around 60-80 m, still well above that used by the multirotor systems (Boudergui et al 2011;Han and Chen 2014;Han et al 2013;MacFarlane et al 2014;Martin et al 2015). Pöllänen et al (2009) demonstrated that low altitude surveying (50 m) can be achieved by small fixed-wing UAVs, but this study focused on a scenario in which radioactive point sources were located within an airfield.…”

Section: Aircraft Systemmentioning

confidence: 99%

“…For example, the UAV system presented in Martin et al (2015) was powered by batteries that allow for between 30 and 40 min of flight time per charge. Other battery run systems (Boudergui et al 2011;Han and Chen 2014;Han et al 2013;MacFarlane et al 2014) display similarly small individual flight time (12-30 min). Conversely, systems that run on petroleum fuels (Kurvinen et al 2005;Sanada and Torii 2015;Towler, Krawiec, and Kochersberger 2012) tend to have longer individual flight times (90-240 min).…”

Section: Aircraft Systemmentioning

confidence: 99%

“…Research into radiation surveying or mapping using UAVs has occurred for a range of scenarios, these include; ground-level radiation following post-disaster environments (Furutani et al, n.d.;Jiang et al 2015;Sanada and Torii 2015;Towler, Krawiec, and Kochersberger 2012), airborne plumes (Kurvinen et al 2005), low-level radiation anomalies (MacFarlane et al 2014;Martin et al 2015), indoor applications (Boudergui et al 2011) and theoretical tests (Boudergui et al 2011;Han and Chen 2014;Han et al 2013;Jiang et al 2015;MacFarlane et al 2014;Pöllänen et al 2009;Towler, Krawiec, and Kochersberger 2012) Previous studies have explored a variety of UAV designs (Table 1). These range from fixed-wing (Kurvinen et al 2005;Pöllänen et al 2009) to single rotor helicopter-style aircraft (Furutani et al, n.d.;Sanada and Torii 2015;Towler, Krawiec, and Kochersberger 2012) and multi-rotor systems (Boudergui et al 2011;Han and Chen 2014;Han et al 2013;MacFarlane et al 2014;Martin et al 2015).…”

Section: Aircraft Systemmentioning

confidence: 99%

“…These range from fixed-wing (Kurvinen et al 2005;Pöllänen et al 2009) to single rotor helicopter-style aircraft (Furutani et al, n.d.;Sanada and Torii 2015;Towler, Krawiec, and Kochersberger 2012) and multi-rotor systems (Boudergui et al 2011;Han and Chen 2014;Han et al 2013;MacFarlane et al 2014;Martin et al 2015). In comparing these works, a number of similarities and differences can be highlighted in the attributes of each of the systems.…”

Section: Aircraft Systemmentioning

confidence: 99%

“…However, major technological acceleration within the field has been evident since the incident at the Fukushima Daiichi Nuclear Power Plant (FDNPP) in March 2011 (Boudergui et al 2011;Cao et al 2015;Furutani et al, n.d.;Han and Chen 2014;Han et al 2013;MacFarlane et al 2014;Martin et al 2015;Sanada and Torii 2015;Towler, Krawiec, and Kochersberger 2012). Located off the eastern Japanese coast, the magnitude 9.0 earthquake and resulting 15 m high tsunami (Simons et al 2011) destroyed the plants connection to the external power network and flooded the on-site back-up generators, leaving the reactor pressure vessels (RPVs) without adequate active cooling (Kurokawa, Ishibashi, and Oshima 2012;Povinec, Hirose, and Aoyama 2013).…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Airborne radiation mapping: overview and application of current and future aerial systems

Connor

Martin

Scott

2016

International Journal of Remote Sensing

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Nuclear power and associated activities are never far from scrutiny, the apparent advantages of the technology are juxtaposed by the risk of incidents perceived as being catastrophic. If a major nuclear incident was to occur, an important aspect of the response management to any radionuclide release would be the need to rapidly establish the spatial distributions and quantities of these released radionuclides, their type in addition to their corresponding activity. The data received from surveys would directly inform evacuation plans, on-site incident management strategies as well as protecting both workforce and public from harm. The disaster at the Fukushima Daiichi Nuclear Power Plant in 2011 is perhaps the best example of the requirement for real time data collection to inform crucial decisions. Previous reviews of the event have observed that because the static on-site radiation detector network was destroyed by the 15 m high tsunami (following the magnitude 9.0 Great Tōhoku earthquake), it was not possible to immediately determine the radionuclide activity in the area and the danger presented to the responding workforce. Such preceding works have retrospectively highlighted the usefulness of unmanned aerial systems in providing real-time data within nuclear and non-nuclear settings. The establishment of an arbitrary 20 km exclusion zone surrounding the Fukushima Daiichi plant, with the displacement of over 150,000 people, has been viewed by many as an over-reaction -with many not having been required to be evacuated. This review examines and evaluates the previous as well as current work on aerial radiation monitoring and the future improvement that might be delivered by a combined three-dimensional (3D) radiation mapping platform. Combining detailed 3D topographical mapping with radiation surveying has powerful implications for the way that radiological contamination across a site might be measured and displayed in the future, both following radiological release events and in routine site monitoring. • Comprehensive review of airborne radiation mapping.• Exploration of potential future systems.• Comparison of the multiple flight, mapping, and detection systems.• Application of devices to a range of scenarios.

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Section: Aircraft Systemmentioning

confidence: 99%

Section: Aircraft Systemmentioning

confidence: 99%

Section: Aircraft Systemmentioning

confidence: 99%

Section: Aircraft Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Airborne radiation mapping: overview and application of current and future aerial systems

Connor

Martin

Scott

2016

International Journal of Remote Sensing

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Convergence analysis of state estimation for UAV formation under GPS‐denied environments

Ding,

Wang,

Cong

et al. 2024

Optim Control Appl Methods

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In this article, we focus on the state estimation and formation control problem for a multi‐UAV system, where only parts of UAVs have GPS measurements, that is, the anchors, and the other UAVs measure their relative positions with anchors. With a second‐order discrete‐time model of each UAV in the formation, we analyze the convergence of state estimation (including its expectation and covariance) for commonly used consensus‐based formation control protocols, under the effect of control and measurement noise. More specifically, based on the discrete‐time stability analysis, we obtain the sufficient and necessary conditions for the expectation stability of the formation control. Using the fixed point theorem in positive symmetric matrix subspace and observability analysis, we rigorously prove that the covariance of estimation is bounded if and only if the anchor node set is globally reachable. Based on our analysis, the formation control parameters and system topology can be designed to satisfy sufficient conditions, such that the desired formation pattern can be achieved for the multi‐UAV dynamic system under GPS‐denied environments. Simulation results corroborate the effectiveness of our theoretical results.

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Time-varying output formation control for linear multi-agent systems with switching topologies

Dong

Sun

2016

Int. J. Robust. Nonlinear Control

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Summary Time‐varying output formation control problems for linear multi‐agent systems with switching topologies are studied, where two types of switching topologies are considered: (1) the topology is undirected and jointly connected, and 2) each topology is directed and has a spanning tree. An output formation protocol under switching topologies is constructed using the outputs of neighboring agents via dynamic output feedback. Two algorithms are proposed to design the dynamic protocols under both jointly connected topologies and switching directed topologies. Time‐varying output formation feasibility conditions are given to describe the compatible relationship among the desired time‐varying output formation, the dynamics of each agent, and the switching topologies. The stability of the closed‐loop multi‐agent systems under the proposed two algorithms is investigated based on the common Lyapunov functional theory and the piecewise Lyapunov functional theory, respectively. In the case where the topologies are jointly connected, time‐varying output formation can be achieved for multi‐agent systems using the designed protocol if the given time‐varying output formation satisfies the feasible constraint. For the case where the switching topologies are directed and have a spanning tree, the time‐varying output formation can be realized if the output formation feasibility constraint is satisfied and the dwell time is larger than a positive threshold. Moreover, approaches to determine the output formation references are provided to describe the macroscopic movement of the time‐varying output formation. Finally, numerical simulation results are presented to demonstrate the effectiveness of the theoretical results. Copyright © 2016 John Wiley & Sons, Ltd.

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Low-cost Multi-UAV Technologies for Contour Mapping of Nuclear Radiation Field

Cited by 148 publications

References 15 publications

Airborne radiation mapping: overview and application of current and future aerial systems

Airborne radiation mapping: overview and application of current and future aerial systems

Convergence analysis of state estimation for UAV formation under GPS‐denied environments

Time-varying output formation control for linear multi-agent systems with switching topologies

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