Hexapod robotic system for indoor neutron and gamma radiation mapping and inspection

The development and demonstration use of a hexapod robotic system for indoor gamma and neutron radiation mapping in confined spaces is presented. The prototype software is ROS-based and uses laser-based 2D SLAM techniques to navigate an unknown environment, while recording continuous measurements of...

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Bibliographic Details
Main Authors: Banos, Antonis, Verbelen, Yannick, Kaluvan, Suresh, Hutson, Chris, Tucker, Matthew Ryan, Scott, Tom B.
Format: Conference Proceeding
Language:English
Subjects:
extreme environments
Industries
Inspection
Legged locomotion
Prototypes
radiation mapping
Service robots
SLAM
Surface contamination
Tracking
Online Access:Request full text
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Summary:The development and demonstration use of a hexapod robotic system for indoor gamma and neutron radiation mapping in confined spaces is presented. The prototype software is ROS-based and uses laser-based 2D SLAM techniques to navigate an unknown environment, while recording continuous measurements of gamma and neutron radiation at a 1Hz sampling rate. Experiments demonstrated that the robot could successfully map controlled environments, producing 2D radiation maps clearly identifying 'hotspots' that coincided with the location of radiation sources hidden in the test range. The tests confirmed that the hexapod platform exhibits superior performance regarding contamination pick-up when compared to other motion systems such as tracked rovers, wheeled rovers, etc. This was attributed to its minimal contact surface with the ground, which is considered particularly important in facilities where loose radioactive particulates are present. By using feet caps and a protective suit, the system can be decontaminated and fully recovered for subsequent redeployments.
ISSN:2473-2117
DOI:10.1109/DDECS54261.2022.9770114