Real-Time Avoidance of Ionising Radiation Using Layered Costmaps for Mobile Robots.

Humans in hazardous environments take actions to reduce unnecessary risk, including limiting exposure to radioactive materials where ionising radiation can be a threat to human health. Robots can adopt the same approach of risk avoidance to minimise exposure to radiation, therefore limiting damage to electronics and materials. Reducing a robot's exposure to radiation results in longer operational lifetime and better return on investment for nuclear sector stakeholders. This work achieves radiation avoidance through the use of layered costmaps, to inform path planning algorithms of this additional risk. Interpolation of radiation observations into the configuration space of the robot is accomplished using an inverse distance weighting approach. This technique was successfully demonstrated using an unmanned ground vehicle running the Robot Operating System equipped with compatible gamma radiation sensors, both in simulation and in real-world mock inspection missions, where the vehicle was exposed to radioactive materials in Lancaster University's Neutron Laboratory. The addition of radiation avoidance functionality was shown to reduce total accumulated dose to background levels in real-world deployment and up to a factor of 10 in simulation.

Use of Gaussian process regression for radiation mapping of a nuclear reactor with a mobile robot.

Collection and interpolation of radiation observations is of vital importance to support routine operations in the nuclear sector globally, as well as for completing surveys during crisis response. To reduce exposure to ionizing radiation that human workers can be subjected to during such surveys, there is a strong desire to utilise robotic systems. Previous approaches to interpolate measurements taken from nuclear facilities to reconstruct radiological maps of an environment cannot be applied accurately to data collected from a robotic survey as they are unable to cope well with irregularly spaced, noisy, low count data. In this work, a novel approach to interpolating radiation measurements collected from a robot is proposed that overcomes the problems associated with sparse and noisy measurements. The proposed method integrates an appropriate kernel, benchmarked against the radiation transport code MCNP6, into the Gaussian Process Regression technique. The suitability of the proposed technique is demonstrated through its application to data collected from a bespoke robotic system used to conduct a survey of the Joz̆ef Stefan Institute TRIGA Mark II nuclear reactor during steady state operation, where it is shown to successfully reconstruct gamma dosimetry estimates in the reactor hall and aid in identifying sources of ionizing radiation.

Local and global trace plutonium contributions in fast breeder legacy soils.

Trace-level plutonium in the environment often comprises local and global contributions, and is usually anthropogenic in origin. Here, we report estimates of local and global contributions to trace-level plutonium in soil from a former, fast-breeder reactor site. The measured 240Pu/239Pu ratio is anomalously low, as per the reduced 240Pu yield expected in plutonium bred with fast neutrons. Anomalies in plutonium concentration and isotopic ratio suggest forensic insight into specific activities on site, such as clean-up or structural change. Local and global 239Pu contributions on-site are estimated at (34 ± 1)% and (66 ± 3)%, respectively, with mass concentrations of (183 ± 6) fg g-1 and (362 ± 13) fg g-1. The latter is consistent with levels at undisturbed and distant sites, (384 ± 44) fg g-1, where no local contribution is expected. The 240Pu/239Pu ratio for site-derived material is estimated at 0.05 ± 0.04. Our study demonstrates the multi-faceted potential of trace plutonium assay to inform clean-up strategies of fast breeder legacies.

High-intensity power-resolved radiation imaging of an operational nuclear reactor.

Knowledge of the neutron distribution in a nuclear reactor is necessary to ensure the safe and efficient burnup of reactor fuel. Currently these measurements are performed by in-core systems in what are extremely hostile environments and in most reactor accident scenarios it is likely that these systems would be damaged. Here we present a compact and portable radiation imaging system with the ability to image high-intensity fast-neutron and gamma-ray fields simultaneously. This system has been deployed to image radiation fields emitted during the operation of a TRIGA test reactor allowing a spatial visualization of the internal reactor conditions to be obtained. The imaged flux in each case is found to scale linearly with reactor power indicating that this method may be used for power-resolved reactor monitoring and for the assay of ongoing nuclear criticalities in damaged nuclear reactors.

The analysis of complex mixed-radiation fields using near real-time imaging.

A new mixed-field imaging system has been constructed at Lancaster University using the principles of collimation and back projection to passively locate and assess sources of neutron and gamma-ray radiation. The system was set up at the University of Manchester where three radiation sources: (252)Cf, a lead-shielded (241)Am/Be and a (22)Na source were imaged. Real-time discrimination was used to find the respective components of the neutron and gamma-ray fields detected by a single EJ-301 liquid scintillator, allowing separate images of neutron and gamma-ray emitters to be formed. (252)Cf and (22)Na were successfully observed and located in the gamma-ray image; however, the (241)Am/Be was not seen owing to surrounding lead shielding. The (252)Cf and (241)Am/Be neutron sources were seen clearly in the neutron image, demonstrating the advantage of this mixed-field technique over a gamma-ray-only image where the (241)Am/Be source would have gone undetected.

Radiation-induced statistical uncertainty in the threshold voltage measurement of MOSFET dosimeters.

The results of a recent study on the limiting uncertainties in the measurement of photon radiation dose with MOSFET dosimeters are reported. The statistical uncertainty in dose measurement from a single device has been measured before and after irradiation. The resulting increase in 1/f noise with radiation dose has been investigated via various analytical models. The limit of uncertainty in the ubiquitous linear trend of threshold voltage with dose has been measured and compared to two nonlinear models. Inter-device uncertainty has been investigated in a group of 40 devices, and preliminary evidence for kurtosis and skewness in the distributions for devices without external bias has been observed.

Novel developments in the MOSFET dosemeter for neutron dosimetry applications.

The feasibility of large-geometry Metal Oxide Semiconductor Field Effect Transistor (MOSFET) devices has been assessed for both active and passive neutron dosimetry and use in radiotherapy environments. Neutron sensitivity has been enhanced with the use of polymeric cement surrounding the gate region. Neutron activation via nuclear interaction processes is a potential problem with conventionally packaged and fabricated devices. To overcome this problem, a unique low-activation device design is described. Standard Dual in-Line devices, modified with polymeric cement and boron loaded cement have been exposed to gamma rays (60Co) and neutrons (gamma-ray shielded 252Cf) to provide neutron sensitivity estimates. The results show that the neutron sensitivity can be increased by a factor of approximately three by the use of a thin layer of polymeric cement over the gate region. Essentially zero activation is observed in the activation-reduced design compared with 1000 cps in the conventional design MOSFET when both are exposed under identical conditions to a neutron field from a gamma-ray shielded 252Cf isotopic source.