• Login / Register
    View Item 
    •   Home
    • Support Departments
    • Harvested data
    • View Item
    •   Home
    • Support Departments
    • Harvested data
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Browse

    All of ChesterRepCommunitiesTitleAuthorsPublication DateSubmit DateSubjectsPublisherJournalThis CollectionTitleAuthorsPublication DateSubmit DateSubjectsPublisherJournalProfilesView

    My Account

    LoginRegister

    About

    AboutUniversity of Chester

    Statistics

    Display statistics

    Robotic Exploration of an Unknown Nuclear Environment Using Radiation Informed Autonomous Navigation

    • CSV
    • RefMan
    • EndNote
    • BibTex
    • RefWorks
    Thumbnail
    Name:
    robotics-10-00078-v2.pdf
    Size:
    10.69Mb
    Format:
    PDF
    Download
    Thumbnail
    Name:
    additional-files.zip
    Size:
    811.9Kb
    Format:
    Unknown
    Download
    Thumbnail
    Name:
    robotics-10-00078.xml
    Size:
    7.877Kb
    Format:
    XML
    Download
    Authors
    Groves, Keir; orcid: 0000-0002-0763-7069; email: keir.groves@manchester.ac.uk
    Hernandez, Emili; orcid: 0000-0002-6143-6161; email: emili.hernandez@emesent.io
    West, Andrew; orcid: 0000-0003-4553-8640; email: andrew.west@manchester.ac.uk
    Wright, Thomas; email: thomas.wright@manchester.ac.uk
    Lennox, Barry; orcid: 0000-0003-0905-8324; email: barry.lennox@manchester.ac.uk
    Publication Date
    2021-05-24
    
    Metadata
    Show full item record
    Abstract
    This paper describes a novel autonomous ground vehicle that is designed for exploring unknown environments which contain sources of ionising radiation, such as might be found in a nuclear disaster site or a legacy nuclear facility. While exploring the environment, it is important that the robot avoids radiation hot spots to minimise breakdowns. Broken down robots present a real problem: they not only cause the mission to fail but they can block access routes for future missions. Until now, such robots have had no autonomous gamma radiation avoidance capabilities. New software algorithms are presented that allow radiation measurements to be converted into a format in which they can be integrated into the robot’s navigation system so that it can actively avoid receiving a high radiation dose during a mission. An unmanned ground vehicle was fitted with a gamma radiation detector and an autonomous navigation package that included the new radiation avoidance software. The full system was evaluated experimentally in a complex semi-structured environment that contained two radiation sources. In the experiment, the robot successfully identified both sources and avoided areas that were found to have high levels of radiation while navigating between user defined waypoints. This advancement in the state-of-the-art has the potential to deliver real benefit to the nuclear industry, in terms of both increased chance of mission success and reduction of the reliance on human operatives to perform tasks in dangerous radiation environments.
    Citation
    Robotics, volume 10, issue 2, page e78
    Publisher
    MDPI
    URI
    http://hdl.handle.net/10034/624708
    Type
    article
    Description
    From MDPI via Jisc Publications Router
    History: accepted 2021-05-15, pub-electronic 2021-05-24
    Publication status: Published
    Collections
    Harvested data

    entitlement

     

    Related items

    Showing items related by title, author, creator and subject.

    • Thumbnail

      Bayesian Reference Analysis for the Generalized Normal Linear Regression Model

      Tomazella, Vera Lucia Damasceno; orcid: 0000-0002-6780-2089; email: vera@ufscar.br; Jesus, Sandra Rêgo; email: sandrarj@ufba.br; Gazon, Amanda Buosi; orcid: 0000-0001-8140-5496; email: amandagazon@alumni.usp.br; Louzada, Francisco; orcid: 0000-0001-7815-9554; email: louzada@icmc.usp.br; Nadarajah, Saralees; email: saralees.nadarajah@manchester.ac.uk; Nascimento, Diego Carvalho; orcid: 0000-0002-3406-4518; email: diego.nascimento@uda.cl; Rodrigues, Francisco Aparecido; email: francisco@icmc.usp.br; Ramos, Pedro Luiz; orcid: 0000-0002-5387-2457; email: pedrolramos@usp.br (MDPI, 2021-05-12)
      This article proposes the use of the Bayesian reference analysis to estimate the parameters of the generalized normal linear regression model. It is shown that the reference prior led to a proper posterior distribution, while the Jeffreys prior returned an improper one. The inferential purposes were obtained via Markov Chain Monte Carlo (MCMC). Furthermore, diagnostic techniques based on the Kullback–Leibler divergence were used. The proposed method was illustrated using artificial data and real data on the height and diameter of Eucalyptus clones from Brazil.
    • Thumbnail

      Arts-Aided Recognition of Citizens’ Perceptions for Urban Open Space Management

      Suomalainen, Sari; orcid: 0000-0003-4839-841X; email: sari.suomalainen@student.lut.fi; Kahiluoto, Helena; email: helena.kahiluoto@lut.fi; Pässilä, Anne; email: anne.passila@lut.fi; Owens, Allan; email: a.owens@chester.ac.uk; Holtham, Clive; email: c.w.holtham@city.ac.uk (MDPI, 2021-12-23)
      Urban open spaces of local natural environments can promote the health and well-being of both ecosystems and humans, and the management of the urban spaces can benefit from knowledge of individuals’/citizens’ perceptions of such environments. However, such knowledge is scarce and contemporary inquiries are often limited to cognitive observations and focused on built environmental elements rather than encouraged to recognize and communicate comprehensive perceptions. This paper investigates whether arts-based methods can facilitate recognition and understanding perceptions of urban open spaces. Two arts-based methods were used to capture perceptions: drifting, which is a walking method, and theatrical images, which is a still image method and three reflective methods to recognize and communicate the perceptions. The results show related sensations and perceptions enabled by arts-based methods comparing them to a sticker map method. The main findings were perceptions, which included information about human−environment interaction, about relations to other people and about ‘sense of place’ in urban open spaces. The hitherto unidentified perceptions about urban open space were associations, metaphors and memories. The methods used offer initial practical implications for future use.
    • Thumbnail

      Bedtime Oral Hygiene Behaviours, Dietary Habits and Children’s Dental Health

      Kitsaras, George; orcid: 0000-0002-1631-1730; email: georgios.kitsaras@manchester.ac.uk; Goodwin, Michaela; orcid: 0000-0002-0375-3118; email: michaela.goodwin@manchester.ac.uk; Kelly, Michael P.; orcid: 0000-0002-2029-5841; email: mk744@medschl.cam.ac.uk; Pretty, Iain A.; email: iain.a.pretty@manchester.ac.uk (MDPI, 2021-05-19)
      Background: Oral hygiene behaviours as well as dietary habits before bed can affect children’s dental health resulting in higher prevalence of dental disease. Dental disease can affect children’s health, development and even school performance. If left untreated, dental disease can progress and it can lead to extractions under general anaesthetic causing further distress for children and families. Consistent and appropriate oral hygiene behaviours and dietary habits can prevent dental diseases from occurring in the first place. Objective: This cross-sectional study examines the relationship between oral hygiene behaviours, dietary habits around bedtime and children’s dental health. Methods: A total of 185 parents with children between the ages of 3 and 7 years from deprived areas participated in the study. Data on bedtime routine activities were collected using an automated text-survey system. Children’s dental health status was established through examination of dental charts and dmft (decayed, missed, filled teeth) scores. Results: In total, 52.4% of parents reported that their children’s teeth were brushed every night. The majority of children (58.9%) had dmft scores over zero. In total, 51 (46.7% of children with dmft score over 0 and 27.5% of all children) children had active decay. The mean dmft score for those experiencing decay was 2.96 (SD = 2.22) with an overall mean dmft score of 1.75 (SD = 2.24). There were significant correlations between frequency of tooth brushing, frequency of snacks/drinks before bed and dmft scores (r = −0.584, p 0.001 and r = 0.547, p = 0.001 respectively). Finally, higher brushing frequency was associated with a lower likelihood of a dmft score greater than 0 (Exp(B) = 0.9). Conclusions: Despite families implementing oral hygiene behaviours as part of their bedtime routines those behaviours varied in their consistency. Results of this study highlight the need for additional studies that consider bedtime routine-related activities and especially the combined effects of oral hygiene practices and dietary habits due to their potentially important relationship with children’s dental health.
    DSpace software (copyright © 2002 - 2023)  DuraSpace
    Quick Guide | Contact Us
    Open Repository is a service operated by 
    Atmire NV
     

    Export search results

    The export option will allow you to export the current search results of the entered query to a file. Different formats are available for download. To export the items, click on the button corresponding with the preferred download format.

    By default, clicking on the export buttons will result in a download of the allowed maximum amount of items.

    To select a subset of the search results, click "Selective Export" button and make a selection of the items you want to export. The amount of items that can be exported at once is similarly restricted as the full export.

    After making a selection, click one of the export format buttons. The amount of items that will be exported is indicated in the bubble next to export format.