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JRM Vol.36 No.1 pp. 79-87
doi: 10.20965/jrm.2024.p0079
(2024)

Paper:

Development of Unmanned Remote System to Find Radiation Sources Based on 4π Gamma Imaging

Atsushi Mukai*1 ORCID Icon, Minato Kanda*1, Kenji Shimazoe*2 ORCID Icon, Fumihiko Ishida*3 ORCID Icon, Eiji Takada*3 ORCID Icon, Yusuke Tamura*4 ORCID Icon, Hanwool Woo*5 ORCID Icon, Hiroyuki Takahashi*2 ORCID Icon, Mizuki Uenomachi*6 ORCID Icon, Hajime Asama*7 ORCID Icon, Jun Kawarabayashi*8 ORCID Icon, Kosuke Tanabe*9 ORCID Icon, Ken’ichi Tsuchiya*9, Kei Kamada*10 ORCID Icon, and Hideki Tomita*1 ORCID Icon

*1Department of Energy Engineering, Graduate School of Engineering, Nagoya University
Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, Japan

*2Department of Nuclear Engineering and Management, School of Engineering, The University of Tokyo
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

*3National Institute of Technology, Toyama College
13 Hongo-machi, Toyama, Toyama 939-8630, Japan

*4Department of Robotics, Graduate School of Engineering, Tohoku University
6-6-1 Aramaki Aza-Aoba, Aoba-ku, Sendai, Miyagi 980-8579, Japan

*5Department of Mechanical Systems Engineering, School of Engineering, Kogakuin University
2665-1 Nakano-machi, Hachioji, Tokyo 192-0015, Japan

*6Unit of Synergetic Studies for Space, Kyoto University
Kitashirakawa-Oiwakecho, Sakyo-ku, Kyoto, Kyoto 606-8317, Japan

*7Department of Precision Engineering, School of Engineering, The University of Tokyo
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

*8Department of Nuclear Safety Engineering, Faculty of Science and Engineering, Tokyo City University
1-28-1 Tamazutsumi, Setagaya-ku, Tokyo 158-8557, Japan

*9National Research Institute of Police Science
6-3-1 Kashiwanoha, Kashiwa, Chiba 277-0882, Japan

*10New Industry Creation Hatchery Center, Tohoku University
6-6-10 Aramaki Aza-Aoba, Aoba-ku, Sendai, Miyagi 980-8579, Japan

Received:
July 21, 2023
Accepted:
October 27, 2023
Published:
February 20, 2024
Keywords:
radiation imaging, radioactive source, SLAM, data fusion
Abstract

A prototype system based on a combination of 4π sensitive gamma imaging and simultaneous localization and mapping (SLAM) was developed to find unknown radiation source(s) rapidly. The system consisted of a spherical visible camera, a three-dimensional light detection and ranging, a CdTe pixel array detector for 4π gamma imaging, a portable battery, and a control laptop personal computer; these were mounted on an unmanned vehicle. In a search area of 16 × 16 m2 with a height of 3 m, the prototype system successfully demonstrated the finding of a 137Cs point source with an activity of 0.67 MBq in the surrounding thin walls.

Prototype system using 4π gamma camera

Prototype system using 4π gamma camera

Cite this article as:
A. Mukai, M. Kanda, K. Shimazoe, F. Ishida, E. Takada, Y. Tamura, H. Woo, H. Takahashi, M. Uenomachi, H. Asama, J. Kawarabayashi, K. Tanabe, K. Tsuchiya, K. Kamada, and H. Tomita, “Development of Unmanned Remote System to Find Radiation Sources Based on 4π Gamma Imaging,” J. Robot. Mechatron., Vol.36 No.1, pp. 79-87, 2024.
Data files:
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Last updated on Jul. 12, 2024