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Carnegie Mellon Robotics Institute

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Abstract

In this paper we describe the development of a robotic system that uses Mercuric Iodide (HgI2) sensors to create a map of radiation intensity in the environment. The sensors are mounted at the end-effector of a PUMA 560 manipulator. Data from these sensors is used to compute the radiation intensity. A control system is developed that moves the end-effector along constant intensity contours. The experiments use light sources (instead of radiation sources) and demonstrate the efficacy of such a system to create radiation maps.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference

M. Kume and Pradeep Khosla, "A Manipulator Control System for Creating Radiation Maps Using Mercuric Iodide (HgI2) Detectors," American Neclear Society Fifth Topical meeting on Robotics and Remote Systems, April, 1993, pp. 137-143.

BibTeX Reference

@inproceedings{Khosla_1993_1334,
   author = "M. Kume and Pradeep Khosla",
   title = "A Manipulator Control System for Creating Radiation Maps Using Mercuric Iodide (HgI2) Detectors",
   booktitle = "American Neclear Society Fifth Topical meeting on Robotics and Remote Systems",
   pages = "137-143",
   month = "April",
   year = "1993",
   volume = "1 of 2",
}

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