Mobile robot for radiation mapping in indoor environment

Rahman, Nur Aira Abd; Sahari, Khairul Salleh Mohamed; Jalal, M. F. Abdul; Rahman, Anwar Abdul; Adziz, Mohd Izwan Abd; Hassan, Mohd Zaid

doi:10.1088/1757-899x/785/1/012021

Cited by 6 publications

(5 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Most of the issues and challenges faced for this study can be fixed temporarily or permanently which is by using a better version of robot that have better feature and access such as using robot that operate on robotic, as for this study still in the experimental evaluation phase [4], the current AMoRA proved to be sufficient.…”

Section: Resultsmentioning

confidence: 99%

Initial findings of autonomous radiation mapping robot field test

Izzuan Mohd Ghazali,

Aira Abd Rahman,

Ramli

et al. 2024

IOP Conf. Ser.: Mater. Sci. Eng.

View full text Add to dashboard Cite

Radiation mapping using mobile robotic can minimize the risk of operator exposure to radiation while providing detailed radiation maps of targeted areas. Despite its potential advantages, the use of this technology is still limited and requires further investigation. In a previous study, an autonomous radiation mapping robot was designed and developed. This paper presents the initial findings on autonomous radiation mapping field test that focuses on the operation procedures and the challenges faced during the robot deployment. Temporary solutions implemented to overcome the challenges are also discussed. The results will provide insights for future researchers and operators working on mobile robotic technology for radiation mapping.

show abstract

Section: Resultsmentioning

confidence: 99%

Initial findings of autonomous radiation mapping robot field test

Izzuan Mohd Ghazali,

Aira Abd Rahman,

Ramli

et al. 2024

IOP Conf. Ser.: Mater. Sci. Eng.

View full text Add to dashboard Cite

show abstract

“…As shown in Figure 2, the result of the experiment conclude that higher radiation activity is recorded when the robot moves near the sources and the radiation activity decreases when the robot .is far from the sources which satisfy the inverse square law theorem. Following that, Autonomous Mobile Robot for Accurate Radiation Detection and Mapping (AMoRA) were developed to map the distribution of radiation in the area [5]. AMoRA ensures measurement accuracy by indicating hotspots on the physical map [6].…”

Section: Figurementioning

confidence: 99%

“…AMoRA consists of a Turtlebot2 as a mobile robot platform together with a GM detector LND7121 as the radiation detector [5]. The GM electronic module is connected to the Turtlebot2 host computer via USB connection as shown in Figure 3.…”

Section: Radiation Mappingmentioning

confidence: 99%

Preliminary results of the autonomous radiation mapping in Malaysian Nuclear Agency

Ramli,

Aira Abd Rahman,

Izzuan Mohd Ghazali

et al. 2024

IOP Conf. Ser.: Mater. Sci. Eng.

View full text Add to dashboard Cite

Autonomous radiation mapping refers to the use of autonomous robots to perform radiation mapping to measure and analyse the levels of radiation intensity of a target area. The primary purpose of the radiation mapping is to uncover the dose distribution across the target area and identify the presence of any hotspots. In this paper, the findings of the autonomous radiation mapping experiments at selected sites in Malaysian Nuclear Agency were presented. The experiments were conducted with a radiation mapping robot namely Autonomous Mobile Robot for Accurate Radiation Detection and Mapping (AMoRA) developed in the previous research. The results consisting of radiation maps of the target areas were presented and discussed.

show abstract

“…In informative path planning, both adaptive (taking the informativeness of the sampled data into account) and non-adaptive (without considering informativeness) sampling approaches have been previously reported in the literature. Non-adaptive sampling methods focus on sampling the whole environment [11,13,14]. Non-adaptive methods are time-consuming, and with such methods, it is hard to achieve the desired threshold (upper bound) of information certainty.…”

Section: Related Workmentioning

confidence: 99%

Exploration–Exploitation Tradeoff in the Adaptive Information Sampling of Unknown Spatial Fields with Mobile Robots

Munir,

Parasuraman

2023

Sensors

View full text Add to dashboard Cite

Adaptive information-sampling approaches enable efficient selection of mobile robots’ waypoints through which the accurate sensing and mapping of a physical process, such as the radiation or field intensity, can be obtained. A key parameter in the informative sampling objective function could be optimized balance the need to explore new information where the uncertainty is very high and to exploit the data sampled so far, with which a great deal of the underlying spatial fields can be obtained, such as the source locations or modalities of the physical process. However, works in the literature have either assumed the robot’s energy is unconstrained or used a homogeneous availability of energy capacity among different robots. Therefore, this paper analyzes the impact of the adaptive information-sampling algorithm’s information function used in exploration and exploitation to achieve a tradeoff between balancing the mapping, localization, and energy efficiency objectives. We use Gaussian process regression (GPR) to predict and estimate confidence bounds, thereby determining each point’s informativeness. Through extensive experimental data, we provide a deeper and holistic perspective on the effect of information function parameters on the prediction map’s accuracy (RMSE), confidence bound (variance), energy consumption (distance), and time spent (sample count) in both single- and multi-robot scenarios. The results provide meaningful insights into choosing the appropriate energy-aware information function parameters based on sensing objectives (e.g., source localization or mapping). Based on our analysis, we can conclude that it would be detrimental to give importance only to the uncertainty of the information function (which would explode the energy needs) or to the predictive mean of the information (which would jeopardize the mapping accuracy). By assigning more importance to the information uncertainly with some non-zero importance to the information value (e.g., 75:25 ratio), it is possible to achieve an optimal tradeoff between exploration and exploitation objectives while keeping the energy requirements manageable.

show abstract

Mobile robot for radiation mapping in indoor environment

Cited by 6 publications

References 10 publications

Initial findings of autonomous radiation mapping robot field test

Initial findings of autonomous radiation mapping robot field test

Preliminary results of the autonomous radiation mapping in Malaysian Nuclear Agency

Exploration–Exploitation Tradeoff in the Adaptive Information Sampling of Unknown Spatial Fields with Mobile Robots

Contact Info

Product

Resources

About