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A Low-Cost and Semi-Autonomous Robotic Scanning System for Characterising Radiological Waste

Engineering Department, Lancaster University, Lancaster LA1 4YW, UK
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Author to whom correspondence should be addressed.
Academic Editor: Roberto Sabatini
Robotics 2021, 10(4), 119; https://doi.org/10.3390/robotics10040119
Received: 3 September 2021 / Revised: 14 October 2021 / Accepted: 29 October 2021 / Published: 2 November 2021
(This article belongs to the Section Industrial Robots and Automation)
A novel, semi-autonomous radiological scanning system for inspecting irregularly shaped and radiologically uncharacterised objects in various orientations is presented. The system utilises relatively low cost, commercial-off-the-shelf (COTS) electronic components, and is intended for use within relatively low to medium radioactive dose environments. To illustrate the generic concepts, the combination of a low-cost COTS vision system, a six DoF manipulator and a gamma radiation spectrometer are investigated. Three modes of vision have been developed, allowing a remote operator to choose the most appropriate algorithm for the task. The robot arm subsequently scans autonomously across the selected object, determines the scan positions and enables the generation of radiological spectra using the gamma spectrometer. These data inform the operator of any likely radioisotopes present, where in the object they are located and thus whether the object should be treated as LLW, ILW or HLW. View Full-Text
Keywords: radiological scanning; semi-autonomic; Microsoft Kinect; Universal UR3 robot; Kromek RadAngel; MATLAB; ROS; Python radiological scanning; semi-autonomic; Microsoft Kinect; Universal UR3 robot; Kromek RadAngel; MATLAB; ROS; Python
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MDPI and ACS Style

Monk, S.D.; West, C.; Bandala, M.; Dixon, N.; Montazeri, A.; Taylor, C.J.; Cheneler, D. A Low-Cost and Semi-Autonomous Robotic Scanning System for Characterising Radiological Waste. Robotics 2021, 10, 119. https://doi.org/10.3390/robotics10040119

AMA Style

Monk SD, West C, Bandala M, Dixon N, Montazeri A, Taylor CJ, Cheneler D. A Low-Cost and Semi-Autonomous Robotic Scanning System for Characterising Radiological Waste. Robotics. 2021; 10(4):119. https://doi.org/10.3390/robotics10040119

Chicago/Turabian Style

Monk, Stephen D., Craig West, Manuel Bandala, Nile Dixon, Allahyar Montazeri, C. J. Taylor, and David Cheneler. 2021. "A Low-Cost and Semi-Autonomous Robotic Scanning System for Characterising Radiological Waste" Robotics 10, no. 4: 119. https://doi.org/10.3390/robotics10040119

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