Haptic Teleoperation of UAV Equipped with Gamma-Ray Spectrometer for Detection and Identification of Radio-Active Materials in Industrial Plants
| Autor: | Nicola Zambelli, Giorgio Micconi, Manuele Bettelli, Davide Calestani, Jacopo Aleotti, Andrea Zappettini, Stefano Caselli, G. Benassi |
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| Rok vydání: | 2019 |
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| Zdroj: | Factories of the Future ISBN: 9783319943572 Factories of the Future-The Italian Flagship Initiative, edited by Tullio Tolio, Giacomo Copani, Walter Terkaj, pp. 197–214. Cham, Heidelberg, New York, Dordrecht, London: Springer, 2019 info:cnr-pdr/source/autori:Jacopo Aleotti, Giorgio Micconi, Stefano Caselli, Giacomo Benassi, Nicola Zambelli, Manuele Bettelli, Davide Calestani and Andrea Zappettini/titolo:Haptic Teleoperation of UAV Equipped with Gamma-Ray Spectrometer for Detection and Identification of Radio-Active Materials in Industrial Plants/titolo_volume:Factories of the Future-The Italian Flagship Initiative/curatori_volume:Tullio Tolio, Giacomo Copani, Walter Terkaj/editore: /anno:2019 |
| Popis: | Large scale factories such as steel, wood, construction, recycling plants and landfills involve the procurement of raw material which may include radiating parts, that must be monitored, because potentially dangerous for workers. Manufacturing operations are carried out in unstructured environments, where fully autonomous unmanned aerial vehicle (UAV) inspection is hardly applicable. In this work we report on the development of a haptic teleoperated UAV for localization of radiation sources in industrial plants. Radiation sources can be localized and identified thanks to a novel CZT-based custom gamma-ray detector integrated on the UAV, providing light, compact, spectroscopic, and low power operation. UAV operation with a human in the loop allows an expert operator to focus on selected candidate areas, thereby optimizing short flight mission in face of the constrained acquisition times required by nuclear inspection. To cope with the reduced situational awareness of the remote operator, force feedback is exploited as an additional sensory channel. The developed prototype has been demonstrated both in relevant and operational environments. |
| Databáze: | OpenAIRE |
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