Staff View: An Autonomous Clutter Inspection Approach for Radiological Survey Using Mobile Robot

An Autonomous Clutter Inspection Approach for Radiological Survey Using Mobile Robot

In the event of a radiological emergency, scattered clutters around the accident sites should be thoroughly inspected as they are potentially contaminated and require proper safety handling. The goal of this work was to localise the position of the hotspot within the clutters and estimate their resp...

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Main Authors:	Abd Rahman N.A., Sahari K.S.M., Hamid N.A.
Other Authors:	56342466200
Format:	Article
Published:	Institute of Electrical and Electronics Engineers Inc. 2024
Subjects:	clutter emergency response mobile robot Radiation mapping Clutter (information theory) Cost effectiveness Inspection Mapping Mobile robots Radar clutter Surveys Clutter Emergency response Hotspots Performance Radiation intensity Radiological emergency Real- time Robot kinematics Radiation
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spelling	my.uniten.dspace-342882024-10-14T11:18:51Z An Autonomous Clutter Inspection Approach for Radiological Survey Using Mobile Robot Abd Rahman N.A. Sahari K.S.M. Hamid N.A. 56342466200 57218170038 6604077116 clutter emergency response mobile robot Radiation mapping Clutter (information theory) Cost effectiveness Inspection Mapping Mobile robots Radar clutter Surveys Clutter Emergency response Hotspots Performance Radiation intensity Radiation mapping Radiological emergency Real- time Robot kinematics Radiation In the event of a radiological emergency, scattered clutters around the accident sites should be thoroughly inspected as they are potentially contaminated and require proper safety handling. The goal of this work was to localise the position of the hotspot within the clutters and estimate their respective radiation intensity using a mobile robot. Given the information from a 2D occupancy map, we proposed a strategy to identify the position of clutters and formulate waypoints that simultaneously serve as sampling positions to acquire radiation measurement. Particle filter was adapted to fuse the measured data and provide the results in real-Time. We also introduced clutter contamination analysis that takes into account the limitations of the detector to derive the worst-case scenario thus, preventing misclassifications of hotspots with low radiation intensity as clean areas. The approach was implemented in ROS and a commercial mobile robot with a Geiger Muller detector. Finally, we evaluated the overall performance in simulation and real-world experiments. Note to Practitioners-This work was motivated by the goal of realising automation of clutter inspection using a mobile robot to complement the current achievement in robotics radiation mapping. Currently, we still rely on human workers to conduct a thorough radiation survey, including detailed inspections on all clutters, before clearing any radiological accident or incident site. The theoretical framework in this paper proposed a practical solution to localise and estimate the intensity of the hotspot within the clutter in real-Time. We demonstrated the versatility and performance of our proposed approach using a small commercial robot and Geiger Muller tube (typically available in any radiation facilities). This method reduces radiation exposure to human workers and provides a cost-effective solution for preliminary screening in radiological emergency situations. � 2004-2012 IEEE. Final 2024-10-14T03:18:51Z 2024-10-14T03:18:51Z 2023 Article 10.1109/TASE.2022.3180345 2-s2.0-85132727351 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85132727351&doi=10.1109%2fTASE.2022.3180345&partnerID=40&md5=790c43861489ce9ea33a3abbe6a38f3d https://irepository.uniten.edu.my/handle/123456789/34288 20 2 1212 1225 Institute of Electrical and Electronics Engineers Inc. Scopus
institution	Universiti Tenaga Nasional
building	UNITEN Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Tenaga Nasional
content_source	UNITEN Institutional Repository
url_provider	http://dspace.uniten.edu.my/
topic	clutter emergency response mobile robot Radiation mapping Clutter (information theory) Cost effectiveness Inspection Mapping Mobile robots Radar clutter Surveys Clutter Emergency response Hotspots Performance Radiation intensity Radiation mapping Radiological emergency Real- time Robot kinematics Radiation
spellingShingle	clutter emergency response mobile robot Radiation mapping Clutter (information theory) Cost effectiveness Inspection Mapping Mobile robots Radar clutter Surveys Clutter Emergency response Hotspots Performance Radiation intensity Radiation mapping Radiological emergency Real- time Robot kinematics Radiation Abd Rahman N.A. Sahari K.S.M. Hamid N.A. An Autonomous Clutter Inspection Approach for Radiological Survey Using Mobile Robot
description	In the event of a radiological emergency, scattered clutters around the accident sites should be thoroughly inspected as they are potentially contaminated and require proper safety handling. The goal of this work was to localise the position of the hotspot within the clutters and estimate their respective radiation intensity using a mobile robot. Given the information from a 2D occupancy map, we proposed a strategy to identify the position of clutters and formulate waypoints that simultaneously serve as sampling positions to acquire radiation measurement. Particle filter was adapted to fuse the measured data and provide the results in real-Time. We also introduced clutter contamination analysis that takes into account the limitations of the detector to derive the worst-case scenario
author2	56342466200
author_facet	56342466200 Abd Rahman N.A. Sahari K.S.M. Hamid N.A.
format	Article
author	Abd Rahman N.A. Sahari K.S.M. Hamid N.A.
author_sort	Abd Rahman N.A.
title	An Autonomous Clutter Inspection Approach for Radiological Survey Using Mobile Robot
title_short	An Autonomous Clutter Inspection Approach for Radiological Survey Using Mobile Robot
title_full	An Autonomous Clutter Inspection Approach for Radiological Survey Using Mobile Robot
title_fullStr	An Autonomous Clutter Inspection Approach for Radiological Survey Using Mobile Robot
title_full_unstemmed	An Autonomous Clutter Inspection Approach for Radiological Survey Using Mobile Robot
title_sort	autonomous clutter inspection approach for radiological survey using mobile robot
publisher	Institute of Electrical and Electronics Engineers Inc.
publishDate	2024
_version_	1814060086532767744
score	13.222552

An Autonomous Clutter Inspection Approach for Radiological Survey Using Mobile Robot

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