An unmanned aircraft system to detect a radiological point source using RIMA software architecture

Unmanned Aircraft Systems (UASs), together with the miniaturisation of computers, sensors, and electronics, offer new remote sensing applications. However, there is a lack of hardware and software support to effectively develop the potential of UASs in different remote sensing applications, such as the detection of radioactive sources. This paper presents the design, development and validation of a UAS for the detection of an uncontrolled and point radioactive source. The article describes a flexible and reusable software architecture for detecting the radioactive source (NaTcO 4 , containing 99m Tc) with a gamma-ray Cadmium Zinc Telluride (CZT) spectrometer as a proof of concept. The UAS is equipped with multichannel air-ground communications to perform missions beyond line of sight and onboard computation to process samples in real time and thus react to any anomaly detected during the mission. An ad hoc ground control station (GCS) has also been developed for the correct interpretation of the radioactive samples taken by the UAS. Radiological spectra plots, contour mapping and waterfall plots are some of the elements used in the ad hoc GCS. The article shows the results obtained in a flight campaign performing different flights at different altitudes and speeds over the radiological source, demonstrating the viability of the system.Peer ReviewedPostprint (published version

Multiple UAV systems: a survey

Nowadays, Unmanned Aerial Vehicles (UAVs) are used in many different applications. Using systems of multiple UAVs is the next obvious step in the process of applying this technology for variety of tasks. There are few research works that cover the applications of these systems and they are all highly specialized. The goal of this survey is to fill this gap by providing a generic review on different applications of multiple UAV systems that have been developed in recent years. We also present a nomenclature and architecture taxonomy for these systems. In the end, a discussion on current trends and challenges is provided.This work was funded by the Ministry of Economy, Industryand Competitiveness of Spain under Grant Nos. TRA2016-77012-R and BES-2017-079798Peer ReviewedPostprint (published version

Drone Fleet Survivability Evaluation Based on Lanchester’s Modified Deterministic Model

An algorithmic approach for the assessment of the survivability is proposed that is based on Lanchester’s modified deterministic model. Methods are suggested for increasing the available time capability for nuclear power plant monitoring and coverage, using the required or a limited number of the operable drones,. Dependencies of the variance between the residual fleet damage and permissible drone fleet damage on monitoring time as well as dependencies of the monitoring time on the recovery group productivity are analysed

Radiological Identification of Near‐Surface Mineralogical Deposits Using Low‐Altitude Unmanned Aerial Vehicle

An ever‐increasing global population and unabating technological growth have resulted in a relentless appetite for mineral resources, namely rare earth elements, fuel minerals and those utilised in electronics applications, with the price of such species continuing to climb. In contrast to more established large‐scale and high‐cost exploration methodologies, this work details the application of novel multi‐rotor unmanned aerial vehicles equipped with miniaturised radiation detectors for the objective of undertaking resource exploration at lower costs, with greater autonomy and at considerably enhanced higher spatial resolutions; utilizing the ore material’s inherent low levels of characteristic radioactivity. As we demonstrate at the former Wooley Mine site in Arizona, USA, a legacy Cu/Fe prospect where the 600 by 275 m ore body (with a maximum deposit depth of 150 m), it is shown that such a fusion of commercially available low‐altitude multi-rotor aerial technology combined with cutting‐edge micro‐electronics and detector materials is capable of accurately assessing the spatial distribution and associated radiogenic signatures of commercially valuable surface/near‐surface ore bodies. This integrated system, deployed at an autonomously controlled consistent survey altitude and using constant grid transects/separations, is shown to be able to delineate the mineral‐containing ore deposits on the site, the location(s) of former mine workings and other surface manifestations. Owing to its advantageous costs alongside its ease of operation and subsequent data‐processing, through the adoption of this system, it is envisaged that less economically developed countries would now possess the means through which to evaluate and appropriately quantify their mineral wealth without the significant initial expenditure needed to equip themselves with otherwise prohibitively expensive technologies

Haptic Teleoperation of UAV Equipped with Gamma-Ray Spectrometer for Detection and Identification of Radio-Active Materials in Industrial Plants

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