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A Robotic Method for Creating Radiation Maps Using Mercuric Iodide Sensor

Published online by Cambridge University Press:  21 February 2011

Masao Kume  and
Pradeep K. Khosla
Masao Kume
Affiliation:
The Robotics Institute, Carnegie Mellon University, Pittsburgh PA 15213
Pradeep K. Khosla
Affiliation:
The Robotics Institute, Carnegie Mellon University, Pittsburgh PA 15213
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Abstract

In this paper we describe the development of a robotic system that uses Mercuric Iodide (HgI2) sensors to create a map of radiation intensity in the environment. The sensors are mounted at the end-effector of a PUMA 560 manipulator. Data from these sensors is used to compute the radiation intensity. A control system is developed that moves the end-effector along constant intensity contours. The experiments use light sources (instead of radiation sources) and demonstrate the efficacy of such a system to create radiation maps.

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References

REFERENCES

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