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

Cherenkov counting of 90Sr and 90Y in bark and leaf samples collected around Fukushima Daiichi Nuclear Power Plant

The radioactivity of 90Sr and 137Cs in environmental samples, bark and leaf, collected around the Fukushima Daiichi Nuclear Power Plant in May 2013 was determined with the aim of investigating the migration of both nuclides using their radioactivity ratio. The radioactivity of 90Sr was determined by using Cherenkov counting of 90Y after purification using Sr resin and that of 137Cs was determined by -spectrometry. Quench correction in Cherenkov counting was investigated by measurements of samples spiked with purified 90Y revealed that the radioactivity could be evaluated without quench correction. The radioactivity ratio of 90Sr to 137Cs in bark samples of 4.2×10-3 and 1.2×10-2 was compared with the results from soil samples collected in July 2011 to show that the migration of 90Sr was slower than 137Cs in bark and tree