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Title: Mobile autonomous robotic apparatus for radiologic characterization

Abstract

A mobile robotic system is described that conducts radiological surveys to map alpha, beta, and gamma radiation on surfaces in relatively level open areas or areas containing obstacles such as stored containers or hallways, equipment, walls and support columns. The invention incorporates improved radiation monitoring methods using multiple scintillation detectors, the use of laser scanners for maneuvering in open areas, ultrasound pulse generators and receptors for collision avoidance in limited space areas or hallways, methods to trigger visible alarms when radiation is detected, and methods to transmit location data for real-time reporting and mapping of radiation locations on computer monitors at a host station. A multitude of high performance scintillation detectors detect radiation while the on-board system controls the direction and speed of the robot due to pre-programmed paths. The operators may revise the preselected movements of the robotic system by ethernet communications to remonitor areas of radiation or to avoid walls, columns, equipment, or containers. The robotic system is capable of floor survey speeds of from 1/2-inch per second up to about 30 inches per second, while the on-board processor collects, stores, and transmits information for real-time mapping of radiation intensity and the locations of the radiation for real-timemore » display on computer monitors at a central command console. 4 figs.« less

Inventors:
; ; ; ; ; ;
Issue Date:
Research Org.:
Savannah River Site (SRS), Aiken, SC (United States)
Sponsoring Org.:
USDOE, Washington, DC (United States)
OSTI Identifier:
678564
Patent Number(s):
5936240
Application Number:
PAN: 8-790,923; TRN: 99:009172
Assignee:
Dept. of Energy, Washington, DC (United States)
DOE Contract Number:  
AC09-89SR18035
Resource Type:
Patent
Resource Relation:
Other Information: PBD: 10 Aug 1999
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; 44 INSTRUMENTATION, INCLUDING NUCLEAR AND PARTICLE DETECTORS; ROBOTS; DESIGN; ALPHA DETECTION; BETA DETECTION; GAMMA DETECTION; RADIATION MONITORING; SURFACE CONTAMINATION; DATA ACQUISITION SYSTEMS; ELECTRONIC GUIDANCE

Citation Formats

Dudar, A M, Ward, C R, Jones, J D, Mallet, W R, Harpring, L J, Collins, M X, and Anderson, E K. Mobile autonomous robotic apparatus for radiologic characterization. United States: N. p., 1999. Web.
Dudar, A M, Ward, C R, Jones, J D, Mallet, W R, Harpring, L J, Collins, M X, & Anderson, E K. Mobile autonomous robotic apparatus for radiologic characterization. United States.
Dudar, A M, Ward, C R, Jones, J D, Mallet, W R, Harpring, L J, Collins, M X, and Anderson, E K. Tue . "Mobile autonomous robotic apparatus for radiologic characterization". United States.
@article{osti_678564,
title = {Mobile autonomous robotic apparatus for radiologic characterization},
author = {Dudar, A M and Ward, C R and Jones, J D and Mallet, W R and Harpring, L J and Collins, M X and Anderson, E K},
abstractNote = {A mobile robotic system is described that conducts radiological surveys to map alpha, beta, and gamma radiation on surfaces in relatively level open areas or areas containing obstacles such as stored containers or hallways, equipment, walls and support columns. The invention incorporates improved radiation monitoring methods using multiple scintillation detectors, the use of laser scanners for maneuvering in open areas, ultrasound pulse generators and receptors for collision avoidance in limited space areas or hallways, methods to trigger visible alarms when radiation is detected, and methods to transmit location data for real-time reporting and mapping of radiation locations on computer monitors at a host station. A multitude of high performance scintillation detectors detect radiation while the on-board system controls the direction and speed of the robot due to pre-programmed paths. The operators may revise the preselected movements of the robotic system by ethernet communications to remonitor areas of radiation or to avoid walls, columns, equipment, or containers. The robotic system is capable of floor survey speeds of from 1/2-inch per second up to about 30 inches per second, while the on-board processor collects, stores, and transmits information for real-time mapping of radiation intensity and the locations of the radiation for real-time display on computer monitors at a central command console. 4 figs.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1999},
month = {8}
}