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Field Radiation Measurement Using Orpheus Robot
Ludek Zalud,Tomas Jilek, Petra Kocmanova
Brno University of Technology
Jan Helebrant, Lubomir Gryc, Irena Cespirova
SURO v.v.i.
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Two experiments
• I. Ground Radioactive ContaminationMeasurement Experiment
• II. Lost Radiation Sources Experiment
• cooperation with SURO (Statni ustav radiacniochrany)
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Orpheus-AC2
• CBRN robot
• rugged construction
• inside armored CBRN vehicle
• remote control from cockpit
• 2 chemical, 2 radiation sensors
• MIL-STD tests – environmental, EMC, special
• since 11/2013 in armament of Czech Army
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ORPHEUS-X3
SENSORY HEAD
3DOF ARM
TANK-LIKE DRIVE
ROBUST CONSTRUCTION
ORPHEUS-AC2 DRIVE SYSTEM
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Possible Missions
RECONNAISSANCE AND MAPPING
CBRNE
FIRE FIGHTING
MULTISPECTRAL MAPPING
ENVIRONMENT MEASUREMENT
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Outdoor Navigation – RTK GNSS
• automatic waypoint generation
• automatic mission return
• GNSS with custom Base Station
• known precision
• also azimuth – RTK compass
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GNSS Scheme
GNSS
reference
(base
station)
corrections
operator
station
commu-
nication
module
control
localization
GNSS
receiver
(rover)
orientation (θ)position (ϕ, λ, H)
mobile robot
PP V
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Navigation Scheme
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Momentum Reduction Scheme
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Current Status – outdoor
• ORPHEUS-X4 prototype and URANUS quadro
• robots may be combined to extend mission capabilities
• teleoperated and autonomous operation
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Orpheus-X3, modifications
• sensory head was deactivated
• steel/aluminum frame for GNSS antennas and scintillation radiation probe was constructed
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Ground Radioactive ContaminationMeasurement Experiment
• TASK: measure La-140 isotope dust spread on grass-covered meadow
• Data Time-synchronization, position measurement only
• Operator control – no autonomous navigation
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Lost Radiation Sources Experiment
• TASK: Localize randomly located sealed radiation sources
• Two parts – greater area, and smaller area with more dense measurements
• Fully autonomous navigation and selflocalization
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Experiment 2a – selfloc with “standard” L1 GPS
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Experiment 2a – selfloc with RTK GNSS
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Experiment 2b – trajectory planning
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Radiation Intensity Map [nGy/h]
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Radiation Intensity Aligned With Orthofoto Map
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RTK GNSS and GPS L1 Map Comparison
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THANK YOU FOR YOUR ATTENTION