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


A prototype system based on a combination of 4π sensitive gamma imaging and Simultaneous Localization and Mapping (SLAM) was developed to rapidly find unknown radiation source(s). The system consisted of a spherical visible camera, a 3D Light Detection And Ranging (LiDAR), a CdTe pixel array detector for 4π gamma imaging, a portable battery, and a control laptop PC and these were mounted on an unmanned vehicle. In a search area of 16×16 m2 with 3 m height, the finding of a 137Cs point source with its activity of 0.67 MBq surrounding thin walls was successfully demonstrated using the prototype system.

Journal of Robotics and Mechatronics, 36 (1), pp.79-87