Integration of CZT and CLYC radiation detectors into robotic platforms using ROS

摘要

Remote sensing of radiological and nuclear materials is important for safety and security. Gamma-ray and neutron detectors can be deployed in the field using robotic platforms. Unmanned aerial systems (UAS) and ground vehicles (UGV) allow remote radiation sensing operations in hard to reach hazardous areas where the level of contamination is unknown while keeping users away from the risk of exposure. In order to achieve this, radiation sensors must be integrated with robotic platforms. A CZT semiconductor detector and a CLYC scintillation detector were integrated with a multicopter aerial platform and a ground vehicle. The Robot Operating System (ROS) was used for the detector’s data fusion. Functions were developed within ROS to perform automated gamma spectrum analysis and neutron/gamma discrimination. Each measurement was supplied with real-time kinematic GPS data and a timestamp enabling analysis of the radiation flux in temporal and spatial coordinates. Moreover, a plug-and-play interface was designed for both detectors to enable their user-friendly application in field conditions.