Experimental implementation of robotic sequential nuclear search

Cortez, RA; Papageorgiou, X; Tanner, HG; Klimenko, AV; Borozdin, KN; Priedhorsky, WC

dc.contributor.author	Cortez, RA	en
dc.contributor.author	Papageorgiou, X	en
dc.contributor.author	Tanner, HG	en
dc.contributor.author	Klimenko, AV	en
dc.contributor.author	Borozdin, KN	en
dc.contributor.author	Priedhorsky, WC	en
dc.date.accessioned	2014-03-01T02:44:37Z
dc.date.available	2014-03-01T02:44:37Z
dc.date.issued	2007	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31908
dc.subject	Experimental Data	en
dc.subject	Sensor Management	en
dc.subject	Confidence Level	en
dc.subject.other	Industrial engineering	en
dc.subject.other	Quantum optics	en
dc.subject.other	Robotics	en
dc.subject.other	Robots	en
dc.subject.other	Two dimensional	en
dc.subject.other	Bi-directional interaction	en
dc.subject.other	Computational results	en
dc.subject.other	Control and automation	en
dc.subject.other	Experimental data	en
dc.subject.other	Measuring devices	en
dc.subject.other	Model-driven	en
dc.subject.other	Physical processes	en
dc.subject.other	Radiation sources	en
dc.subject.other	Robotic hardware	en
dc.subject.other	Sensor management	en
dc.subject.other	Statistical confidence	en
dc.subject.other	Automation	en
dc.title	Experimental implementation of robotic sequential nuclear search	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/MED.2007.4433797	en
heal.identifier.secondary	http://dx.doi.org/10.1109/MED.2007.4433797	en
heal.identifier.secondary	4433797	en
heal.publicationDate	2007	en
heal.abstract	In this paper we build on, and extend our previous work on automated nuclear search, by taking the principle of a bidirectional interaction between perception and the sensor management to the implementation level. In the algorithm that we implement in hardware, a model of the underlying physical process is used to guide measurement, which then closes the loop by updating the model. Realization of our ""model-driven-measurement"" concept leads to a working robotic prototype, capable of confirming the presence of weak radiation sources at the specified statistical confidence level, within a bounded, two-dimensional area. The contribution of this paper is in demonstrating that automated nuclear search is feasible, can be performed with commercially available robotic hardware and measuring devices, and that experimental data are consistent with existing theoretical and computational results. ©2007 IEEE.	en
heal.journalName	2007 Mediterranean Conference on Control and Automation, MED	en
dc.identifier.doi	10.1109/MED.2007.4433797	en