The design and test of a robot-compatible, radiation detection instrument providing simultaneous gamma-ray imaging and gamma-ray spectroscopy is described. The sensing system comprises a cerium bromide inorganic scint...
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The design and test of a robot-compatible, radiation detection instrument providing simultaneous gamma-ray imaging and gamma-ray spectroscopy is described. The sensing system comprises a cerium bromide inorganic scintillation detector and a cylindrical, lead slot collimator that is configured with a robot-compatible, on-board data acquisition system. The mount for the sensor is a lightweight, bespoke 3-axis gimbal actuated by servos for pan, tilt and rotation of the collimator for imaging capability. This paper discusses the integration of this relatively low-cost radiation detection apparatus with a commercially available, Robot-Operating-System-controlled robotic platform (a Clearpath RoboticsTM Jackal). The detection system is compliant with the power and mass payload constraints of the robot. Its performance has been evaluated by means of two practical examples: a) measurements in a laboratory environment to assess the ability of the system to resolve two caesium-137 point sources, and b) deployment at the Jozef Stefan Institute TRIGA Mark II research reactor to assess the ability of the system to characterise the gamma-ray emission at 1 kWfroma horizontal tangential beam port in the reactor hall and from the reactor sample pool above the core.
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