Radiation Source Localization Realized by 3D Directional 2 × 2 Single-End Readout Array Detector Collaborated With Quadruped Robot Platform

Le résumé fourni par la source

Conventional radioactive source localization methods employ radiation detectors carried by personnel or mobile robots. These methods reconstruct radiation hotspots by measuring radiation intensity at multiple sampling points. However, their efficiency and operational safety face critical challenges. In this work, we present the feasibility of using a novel spatial directional detector as an alternative to conventional dosimeters for the efficient search of sparse radioactive sources. A directional detector was designed by coupling a$2 \times 2 \text{CsI}(\text{Tl})$scintillator array (single-ended coupling) to a silicon photomultiplier (SiPM) array and integrated onto a quadruped robotic platform. Through the angular distribution of gamma-ray counts acquired from four directional detectors, the three-dimensional spatial orientation of the radiation source is reconstructed. By combining the 3D spatial direction of the source provided by the detector with the robot's positional data, the three-dimensional coordinates of the source can be reconstructed from only two positional measurements. Results achieves around 5° accuracy on both polar angle and azimuthal angle, resulting into less than 0.5 meter error for 3D source localization. This strategy provides an approach to reconstructing the spatial hotspots of radioactive sources without traversing measurements in three-dimensional space.

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