Skip to main content
main-content

Tipp

Weitere Artikel dieser Ausgabe durch Wischen aufrufen

05.04.2019 | Original Research Paper

Low-altitude contour mapping of radiation fields using UAS swarm

Zeitschrift:
Intelligent Service Robotics
Autoren:
Zachary Cook, Monia Kazemeini, Alexander Barzilov, Woosoon Yim
Wichtige Hinweise

Electronic supplementary material

The online version of this article (https://​doi.​org/​10.​1007/​s11370-019-00277-8) contains supplementary material, which is available to authorized users.

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Abstract

This paper addresses the design of lightweight radiation sensors for the small-scale unmanned aerial system (UAS) and its implementation for low-altitude radiation source localization and contour mapping. The compact high-resolution gamma-ray CZT sensors were integrated into UAS platforms as plug-and-play components using robot operating system. The swarm of UAS has advantages over a single agent-based approach in detecting radiative sources and effectively mapping the area. The proposed swarm consists of three UAS platforms in a circular formation. The proposed approach can potentially be used for low-altitude clustered environments where a conventional helicopter-based platform cannot be utilized. It can provide a relatively precise boundary of the safe area for potential human exploration as well as enhancing situation awareness capabilities for first responders. The source seeking and contour mapping algorithms are developed based on a simple 1/R2 radiation field, but they are validated in more realistic radiation field having multiple sources and physical structures with scattering and attenuation effects simulated by MCNP code. Also, gradient estimation and contour mapping algorithms are validated experimentally with small-scale multicopter platforms in the indoor flight testbed.

Bitte loggen Sie sich ein, um Zugang zu diesem Inhalt zu erhalten

Sie möchten Zugang zu diesem Inhalt erhalten? Dann informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 69.000 Bücher
  • über 500 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Umwelt
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe

Testen Sie jetzt 30 Tage kostenlos.

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 50.000 Bücher
  • über 380 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Umwelt
  • Maschinenbau + Werkstoffe​​​​​​​




Testen Sie jetzt 30 Tage kostenlos.

Zusatzmaterial
Supplementary material 1 (PPTX 85712 kb)
11370_2019_277_MOESM1_ESM.pptx
Literatur
Über diesen Artikel