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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

Digital coded exposure formation of frames from event-based imagery

Abstract Event-driven neuromorphic imagers have a number of attractive properties including low-power consumption, high dynamic range, the ability to detect fast events, low memory consumption and low band-width requirements. One of the biggest challenges with using event-driven imagery is that the field of event data processing is still embryonic. In contrast, decades worth of effort have been invested in the analysis of frame-based imagery. Hybrid approaches for applying established frame-based analysis techniques to event-driven imagery have been studied since event-driven imagers came into existence. However, the process for forming frames from event-driven imagery has not been studied in detail. This work presents a principled digital coded exposure approach for forming frames from event-driven imagery that is inspired by the physics exploited in a conventional camera featuring a shutter. The technique described in this work provides a fundamental tool for understanding the temporal information content that contributes to the formation of a frame from event-driven imagery data. Event-driven imagery allows for the application of arbitrary virtual digital shutter functions to form the final frame on a pixel-by-pixel basis. The proposed approach allows for the careful control of the spatio-temporal information that is captured in the frame. Furthermore, unlike a conventional physical camera, event-driven imagery can be formed into any variety of possible frames in post-processing after the data is captured. Furthermore, unlike a conventional physical camera, coded-exposure virtual shutter functions can assume arbitrary values including positive, negative, real, and complex values. The coded exposure approach also enables the ability to perform applications of industrial interest such as digital stroboscopy without any additional hardware. The ability to form frames from event-driven imagery in a principled manner opens up new possibilities in the ability to use conventional frame-based image processing techniques on event-driven imagery.

47 OTHER INSTRUMENTATION↗
DOE OSTI2024

Optical image analysis for graphene layer detection: Enhanced green channel methodology

Graphene, a material of increasing research interest, requires accurate layer identification due to its sensitivity to layer count. Existing methods for graphene layer number identification are either time-consuming or of low accuracy, with high-accuracy methods often requiring expensive processes. This paper aims to address this challenge by proposing a cost-effective and efficient approach. Specifically, the current work highlights only the green channel—one of the three primary color channels (red, green, blue) that make up an optical image—from images of exfoliated graphene flakes for layer count identification. A linear regression is performed between pixel position and substrate green channel value, and this effect is subtracted from the entire optical image to mitigate background effects. By storing the range of green channel values for each type of flake (monolayer, bilayer, or tri-layer) based on a few images, we establish thresholds for identifying different types of layers in a particular setup. Additionally, our methodology allows for flexible threshold tuning using a single reference image, enabling adjustment to changes in detection setup such as illumination level, magnification, or microscope used. Finally, demonstrating high accuracy and flexibility, this methodology presents a suitable technique for graphene layer number identification without the need for large datasets or expensive instruments.

2D materials↗
DOE OSTI2023

End-to-End Pipeline for Trigger Detection on Hit and Track Graphs

There has been a surge of interest in applying deep learning in particle and nuclear physics to replace labor-intensive offline data analysis with automated online machine learning tasks. This paper details a novel AI-enabled triggering solution for physics experiments in Relativistic Heavy Ion Collider and future Electron-Ion Collider. The triggering system consists of a comprehensive end-to-end pipeline based on Graph Neural Networks that classifies trigger events versus background events, makes online decisions to retain signal data, and enables efficient data acquisition. Here, the triggering system first starts with the coordinates of pixel hits lit up by passing particles in the detector, applies three stages of event processing (hits clustering, track reconstruction, and trigger detection), and labels all processed events with the binary tag of trigger versus background events. By switching among different objective functions, we train the Graph Neural Networks in the pipeline to solve multiple tasks: the edge-level track reconstruction problem, the edge-level track adjacency matrix prediction, and the graph-level trigger detection problem. We propose a novel method to treat the events as track-graphs instead of hit-graphs. This method focuses on intertrack relations and is driven by underlying physics processing. As a result, it attains a solid performance (around 72% accuracy) for trigger detection and outperforms the baseline method using hit-graphs by 2% higher accuracy.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2024

Understanding Formation of Irradiation-Induced Defects through 4D-STEM, Electron Tomography, and WBDF-STEM

A major challenge in advancing nuclear materials for next-generation fission and proposed fusion reactors is to comprehensively understand the formation of irradiation-induced defects. Here it is essential to correlate the evolution of irradiation-induced defects and the degradation of mechanical properties, as they collectively dictate the material's lifespan and ensure nuclear safety. Scanning transmission electron microscopy (STEM) based techniques have emerged as indispensable tools for irradiation-induced defect characterization, offering high spatial resolution imaging and chemical analysis, such as electron energy loss spectroscopy (EELS) and energy dispersive X-ray spectroscopy (EDXS). These techniques have been effectively used to obtain an atomic-scale view of the defect structure. Recent advances in electron microscopy, particularly in 4D-STEM, offer detailed insight into microstructural evolution by capturing full 2D diffraction patterns at every pixel position. Using high-speed direct electron detectors, this technology generates a four-dimensional dataset, overcoming the limitations of traditional STEM imaging.

36 MATERIALS SCIENCE↗
DOE OSTI2023

A comparison of past and present computational methods for shape analysis of double-shell x-ray radiographs

Implosion symmetry is a key requirement in achieving a robust burning plasma in inertial confinement fusion experiments. In double-shell capsule implosions, we are interested in the shape of the inner shell as it pushes on the fuel. Shape analysis is a popular technique for studying said symmetry during implosion. Combinations of filtering and contour-finding algorithms are studied for their promise in reliably recovering Legendre shape coefficients from synthetic radiographs of double-shell capsules with applied levels of noise. A radial lineout max(slope) method when used on an image pre-filtered with non-local means and a variant of the marching squares algorithm are able to recover p 0 , p 2 , and p 4 maxslope Legendre shape coefficients with mean pixel discrepancy errors of 2.81 and 3.06, respectively, for the noisy synthetic radiographs we consider. Here, this improves upon prior radial lineout methods paired with Gaussian filtering, which we show to be unreliable and whose performance is dependent on input parameters that are difficult to estimate.

47 OTHER INSTRUMENTATION↗
DOE OSTI2021

Individual Wave Detection and Tracking within a Rotating Detonation Engine through Computer Vision Object Detection applied to High-Speed Images

Known for their simplistic design and continuous detonation, rotating detonation engines (RDEs) constitute a majority of current pressure gain combustion (PGC) research efforts. Experimental RDE operation times have been continuously extended through the use of rig cooling techniques. As the window of observable behavior is expanded, and as the technology matures toward eventual integration within gas turbines, monitoring techniques must evolve to better match industrial diagnostics. High-speed image analysis techniques prove useful to capture and evaluate the unsteady detonation behavior within the RDE. Traditional image analysis techniques, however, require extensive processing times which prohibit simultaneous monitoring. To better address this problem, a computer vision object detection methodology is proposed to quickly detect individual detonation waves within a single down-axis image. Detonation waves are detected in individual images by the implemented computer vision method You Only Look Once (YOLO) object detection network. In order to detect detonation waves, the network must first be trained using RDE images of interest, for which each required phase of network development is outlined. Detection of waves is improved through proper treatment of the collected image set, variation of Intersection over Union (IoU) and confidence thresholding, and through a parametric study of annotation dimensions. Each detected wave is described by its location and rotational direction, and locations are tracked to calculate wave velocity across each frame, leading to a timestep resolution of 20 µs. Wave velocities are also calculated through a series of frames, leading to a suitable average velocity estimation using as few as 10 frames. Uncertainty analysis accounting for variation in camera framerate, pixel width and annotation centroid locations estimates a total uncertainty of ±4.3% for velocity calculations, using the smallest annotation boxes. This method offers great reductions in processing times, as a step toward real-time monitoring of detonation waves within an RDE. Improving on previous studies, this technique is impartial to wave modes not included in the original training set and calculates wave velocities independent of high-speed pressure data. The ability to isolate waves within predicted bounding boxes will likely facilitate analysis of pixel intensity variation as an estimation of wave strength in future work.

Johnson, Kristyn↗
DOE OSTI2021

Individual Wave Detection and Tracking within a Rotating Detonation Engine through Computer Vision Object Detection applied to High-Speed Images

Known for their simplistic design and continuous detonation, rotating detonation engines (RDEs) constitute a majority of current pressure gain combustion (PGC) research efforts. Experimental RDE operation times have been continuously extended through the use of rig cooling techniques. As the window of observable behavior is expanded, and as the technology matures toward eventual integration within gas turbines, monitoring techniques must evolve to better match industrial diagnostics. High-speed image analysis techniques prove useful to capture and evaluate the unsteady detonation behavior within the RDE. Traditional image analysis techniques, however, require extensive processing times which prohibit simultaneous monitoring. To better address this problem, a computer vision object detection methodology is proposed to quickly detect individual detonation waves within a single down-axis image. Detonation waves are detected in individual images by the implemented computer vision method You Only Look Once (YOLO) object detection network. In order to detect detonation waves, the network must first be trained using RDE images of interest, for which each required phase of network development is outlined. Detection of waves is improved through proper treatment of the collected image set, variation of Intersection over Union (IoU) and confidence thresholding, and through a parametric study of annotation dimensions. Each detected wave is described by its location and rotational direction, and locations are tracked to calculate wave velocity across each frame, leading to a timestep resolution of 20 µs. Wave velocities are also calculated through a series of frames, leading to a suitable average velocity estimation using as few as 10 frames. Uncertainty analysis accounting for variation in camera framerate, pixel width and annotation centroid locations estimates a total uncertainty of ±4.3% for velocity calculations, using the smallest annotation boxes. This method offers great reductions in processing times, as a step toward real-time monitoring of detonation waves within an RDE. Improving on previous studies, this technique is impartial to wave modes not included in the original training set and calculates wave velocities independent of high-speed pressure data. The ability to isolate waves within predicted bounding boxes will likely facilitate analysis of pixel intensity variation as an estimation of wave strength in future work.

Johnson, Kristyn↗
DOE OSTI2025

A comparative analysis of YOLOv8 and U-Net image segmentation approaches for transmission electron micrographs of polycrystalline thin films

Metallic thin films offer a platform to experimentally study the dynamics of microstructural evolution, but the required transmission electron microscopy (TEM)-based imaging generates complex images that are challenging to segment and quantify. This work provides a comparative analysis of a new YOLOv8 model and an established U-Net model for bright-field TEM images of polycrystals, employing a framework leveraging physical observables to evaluate performance against two hand-traced benchmark datasets. This methodology obviates the comparison of large, diversely structured, and manually labeled datasets that are required to assess performance on a per-image/per-pixel basis. It is found that the YOLOv8 model, adapted for real-time instance segmentation, has up to 43× faster inferencing (NVIDIA GeForce RTX 4090) compared to U-Net and reconstructs hand-traced grain size distributions (GSDs) with excellent fidelity, finding mean diameter within 3% for grains near an optimal magnification; for grains that deviate from the optimal pixel-diameter, the size of small- (large)-diameter grains is systematically over- (under)-estimated. This is partially mitigated by including scale-aware augmentations during training. Moreover, when the bias is corrected post-inference by a rigid shift in distribution, the YOLOv8 model reproduces ground truth GSDs with exceptional fidelity, with statistical tests indicating <5% probability that the distributions are distinct. Based on ground truth data, calibration curves pertaining to this shift can be constructed for a given model. This issue is not present in the U-Net model’s results, indicating that for quantitative measurements where the true size of objects is of interest, special procedures must be implemented for YOLO-based models.

36 MATERIALS SCIENCE↗
DOE OSTI2024

Automated Assembly Progress Monitoring in Modular Construction Factories Using Computer Vision-Based Instance Segmentation

Modular construction has recently gained interest as a transformative construction method. In this method, a large portion of the construction is performed inside factories, where processes are fast-paced and interdependent; therefore, any deviation from the schedule can delay the production. Such deviations are frequent in modular factories due to the labor-intensive nature of the tasks. This propagation of delays can be mitigated by continuously monitoring each process; however, current manual monitoring methods are laborious, and recently proposed contact sensor-based methods are intrusive to the work. In addition, recent computer vision-based monitoring methods inside factories are limited to detection algorithms that fail to provide the pixel-level accuracy required for assembly progress monitoring in highly occluded factory scenes, and they require a large number of manual annotations. Therefore, this paper proposes a method to monitor the installation of subassemblies in modular construction factories using mask R-CNN instance segmentation and improves the data efficiency of the model using a copy-paste augmentation method. This method was validated on the CCTV videos captured from a modular construction factory in the US, resulting in a 9% mAP improvement in segmentation.

computer vision↗
DOE OSTI2024

Discovering invariant spatial features in electron energy loss spectroscopy images on the mesoscopic and atomic levels

Over the last two decades, Electron Energy Loss Spectroscopy (EELS) imaging with a scanning transmission electron microscope has emerged as a technique of choice for visualizing complex chemical, electronic, plasmonic, and phononic phenomena in complex materials and structures. The availability of the EELS data necessitates the development of methods to analyze multidimensional data sets with complex spatial and energy structures. Traditionally, the analysis of these data sets has been based on analysis of individual spectra, one at a time, whereas the spatial structure and correlations between individual spatial pixels containing the relevant information of the physics of underpinning processes have generally been ignored and analyzed only via the visualization as 2D maps. Here, we develop a machine learning-based approach and workflows for the analysis of spatial structures in 3D EELS data sets using a combination of dimensionality reduction and multichannel rotationally invariant variational autoencoders. This approach is illustrated for the analysis of both the plasmonic phenomena in a system of nanowires and in the core excitations in functional oxides using low loss and core-loss EELS, respectively. The code developed in this manuscript is open sourced and freely available and provided as a Jupyter notebook for the interested reader.

36 MATERIALS SCIENCE↗
DOE OSTI2020

Housedon-Hill - A ChemCam/RMI mega mosaic to investigate distant features

The ChemCam Remote Microscopic Imager (RMI) onboard Curiosity was originally designed to document the tiny areas analyzed by ChemCam’s laser-induced breakdown spectroscopy (LIBS) technique on rocks at few meters distance around the rover. The RMI produces 1024 x 1024 pixel black and white images directly from ChemCam’s telescope focal plane. Early in the mission, it was recognized that, thanks to its powerful optics, RMI could also play a role as a long-distance reconnaissance tool, complementing other cameras on the remote sensing mast, and taking advantage of its very long 700 mm focal length. Imaging areas several kilometers from the rover provides pictures that are very complementary to orbital observations and gives a more human-like, ground-based perspective. Between sols 2878 and 2921, Curiosity stayed parked at the same place to perform various rock sampling analyses. This opportunity was used to target very distant areas of interest, daily building an RMI mosaic of 216 overlapping images covering an area ranging from the bottom layers of Mount Sharp to the edge of Vera Rubin Ridge. This product is so far the largest RMI mosaic acquired during the entire mission.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2021

Surface albedo spatial variability in North America: Gridded data vs. local measurements

Considering the current booming interest for the large-scale deployment of bifacial photovoltaic modules, the solar industry now requires accurate estimates of broadband surface albedo at high spatial resolution. In this context, the present study evaluates the adequacy and performance over North America of two Moderate Resolution Imaging Spectroradiometer (MODIS) white-sky albedo products (at 500-m and 1-km resolution) and the National Solar Radiation Database (NSRDB) product at 4-km resolution. Two variations of the 500-m MODIS product are also considered: black-sky albedo and all-sky albedo. Albedo observations from 36 radiometric stations during 2011–2015 are analyzed while considering the apparent homogeneity of the surface characteristics over the 4x4 km NSRDB pixel in which they are located. Even at sites where the albedo around the station has been found “homogeneous” in the literature, marked differences are found between the daily observations and the gridded estimates at any spatial resolution. Furthermore, differences in seasonal behavior and between the three different albedo types also impact the accuracy of the albedo estimates, with overtones caused by local specificities and inhomogeneities. All this precludes the desirable evaluation of the local albedo at a specific site of relatively small size compared to its corresponding 4x4-km pixel if only the mean albedo over that pixel is known. Significant discrepancies are also found at snow-impacted sites, most importantly in the case of the NSRDB albedo estimates, which are typically much too high.

14 SOLAR ENERGY↗
DOE OSTI2023

Remote Sensing Low Signal-to-Noise-Ratio Target Detection Enhancement

In real-time remote sensing application, frames of data are continuously flowing into the processing system. The capability of detecting objects of interest and tracking them as they move is crucial to many critical surveillance and monitoring missions. Detecting small objects using remote sensors is an ongoing, challenging problem. Since object(s) are located far away from the sensor, the target’s Signal-to-Noise-Ratio (SNR) is low. The Limit of Detection (LOD) for remote sensors is bounded by what is observable on each image frame. In this paper, we present a new method, a “Multi-frame Moving Object Detection System (MMODS)”, to detect small, low SNR objects that are beyond what a human can observe in a single video frame. This is demonstrated by using simulated data where our technology-detected objects are as small as one pixel with a targeted SNR, close to 1:1. We also demonstrate a similar improvement using live data collected with a remote camera. The MMODS technology fills a major technology gap in remote sensing surveillance applications for small target detection. Our method does not require prior knowledge about the environment, pre-labeled targets, or training data to effectively detect and track slow- and fast-moving targets, regardless of the size or the distance.

47 OTHER INSTRUMENTATION↗
DOE OSTI2021

NACHOS, a CubeSat-based high-resolution UV-Visible hyperspectral imager for remote sensing of trace gases: system overview and science objectives

Here, the Nano-satellite Atmospheric Chemistry Hyperspectral Observation System (NACHOS) is a high-throughput (f/2.9), high spectral resolution (~1.3 nm optical resolution, 0.6 nm sampling) Offner-design hyperspectral imager operating in the 300-500 nm spectral region. The 1.5U instrument payload (1U optical system, 0.5U electronics module) is hosted by a 1.5U LANL-designed CubeSat bus to comprise a 3U complete satellite. Spectroscopically similar to NASA’s Ozone Monitoring Instrument (OMI), which provides wide-field global mapping of ozone and other gases at coarse spatial resolution, NACHOS fills the complementary niche of targeted measurements at much higher spatial resolution. With 350 across-track spatial pixels and a 15-degree across-track field of view, NACHOS will provide spectral imaging at roughly 0.4 km per pixel from 500 km altitude. NACHOS incorporates highly streamlined gas-retrieval algorithms for rapid onboard processing, alleviating the need to routinely downlink massive hyperspectral data cubes. We will discuss the instrument design, challenges in achieving mechanical robustness to launch vibration in such a compact instrument, the onboard calibration system, and gas-retrieval data downlink strategy. We will also discuss potential science missions, including monitoring of NO 2 as an easily detected proxy for anthropogenic fossil-fuel greenhouse gases, monitoring lowlevel SO 2 degassing at pre-eruptive volcanoes, H 2 CO from wildfires, and characterization of aerosols. The long-term vision is for a many-satellite constellation that could provide both high spatial resolution and frequent revisits for selected targets of interest. As an initial technology demonstration of this vision, the NACHOS project is currently slated to launch two CubeSats in early 2022.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2023

Laser-Induced Fluorescence for Monitoring Environmental Contamination and Stress in the Moss Thuidium plicatile

The ability to detect, measure, and locate the source of contaminants, especially heavy metals and radionuclides, is of ongoing interest. A common tool for contaminant identification and bioremediation is vegetation that can accumulate and indicate recent and historic pollution. However, large-scale sampling can be costly and labor-intensive. Hence, non-invasive in-situ techniques such as laser-induced fluorescence (LIF) are becoming useful and effective ways to observe the health of plants through the excitation of organic molecules, e.g., chlorophyll. The technique presented utilizes images collected of LIF in moss to identify different metals and environmental stressors. Analysis through image processing of LIF response was key to identifying Cu, Zn, Pb, and a mixture of the metals at nmol/cm 2 levels. Specifically, the RGB values from each image were used to create density histograms of each color channel’s relative pixel abundance at each decimal code value. These histograms were then used to compare color shifts linked to the successful identification of contaminated moss samples. Photoperiod and extraneous environmental stressors had minimal impact on the histogram color shift compared to metals and presented with a response that differentiated them from metal contamination.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2025

Effect of threshold parameters on infrared segmentation methods for porosity detection in electron beam powder bed fusion

In-situ process monitoring has seen significant interest in additive manufacturing to address qualification and certification goals. This is especially prevalent in metal powder bed fusion processes such as electron beam powder bed fusion (PBF-EB), with layer-wise infrared imaging being commonly used to detect defects. Here, this work compares two different segmentation methods (static thresholding and statistical thresholding) used for detecting porosity from in-situ infrared imaging data for PBF-EB. Samples were manufactured at a variety of focus offset values to induce porosity. Then, the segmented infrared images were compared to ex-situ X-ray computed tomography scans, which served as a ground-truth reference for objective evaluation. Through this analysis framework, the influential parameters, static threshold and N-value (number of standard deviations above the mean pixel value), respectively, for both image segmentation methods were analyzed and compared for their effects on porosity detection. With optimal parameter settings, the two methods had similar porosity detection performance, but the statistical method performed better under a larger variety of parameter settings.

Infrared imaging↗
DOE OSTI2024

Coupling Microdroplet-Based Sample Preparation, Multiplexed Isobaric Labeling, and Nanoflow Peptide Fractionation for Deep Proteome Profiling of the Tissue Microenvironment

There is increasing interest in developing in-depth proteomic approaches for mapping tissue heterogeneity in a cell-type-specific manner to better understand and predict the function of complex biological systems such as human organs. Existing spatially resolved proteomics technologies cannot provide deep proteome coverage due to limited sensitivity and poor sample recovery. Herein, we seamlessly combined laser capture microdissection with a low-volume sample processing technology that includes a microfluidic device named microPOTS (microdroplet processing in one pot for trace samples), multiplexed isobaric labeling, and a nanoflow peptide fractionation approach. The integrated workflow allowed us to maximize proteome coverage of laser-isolated tissue samples containing nanogram levels of proteins. We demonstrated that the deep spatial proteomics platform can quantify more than 5000 unique proteins from a small-sized human pancreatic tissue pixel (∼60,000 μm2) and differentiate unique protein abundance patterns in pancreas. Furthermore, the use of the microPOTS chip eliminated the requirement for advanced microfabrication capabilities and specialized nanoliter liquid handling equipment, making it more accessible to proteomic laboratories.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2020

Radioactive Source Localization via Bayesian Particle Filter

In the event of a misplaced radioactive source or other emergency situation, measuring a radiation field, mapping its distribution, and determining a source location are essential tasks to ameliorating the situation. However, radiation fields may be extremely hazardous to human surveyors and minimizing received radiation doses is just as essential. Robots appear to be a potential solution to these problems. Beyond simply measuring radiation, the robot's computer processing capabilities offer a way to apply complex data analysis methods to radiation measurements in real-time. Methods which predict likely source locations can then feed this information into other processes, potentially improving path planning and enabling more efficient measurements. Given a robot mounted with a gamma-ray detector, can we: develop a methodology to account for detector performance across a wide range of source angles, distances, and photon energies? operate an autonomously navigating robot to effectively survey and characterize an area of interest? implement a data analysis method, conventionally used in measurements of motion, for source localization purposes? An open-source TurtleBot 3 robot, running Robot Operating System (ROS) on Ubuntu 16.04 LTS, was fitted with a Kromek GR1{sup R} Cadmium Zinc Telluride (CZT) solid-state gamma-ray detector. As a part of ROS, the packages OpenSlam, gmapping, and amcl were used to perform Simultaneous Localization and Mapping (SLAM), determining the robot's position and mapping the surrounding area. Data was acquired via Lidar mounted on top the TurtleBot 3. Detector Calibration Fit: The equation was fit to 365 counts of various energies, distances, and angles. A MATLAB{sup R} program was written to simulate measurements taken a robot on a random walk, with count data and positions discretized into finite element pixels. Using this program, a sample of 100 runs was performed on a map with a simulated source at the center, with a total of 200 of 2 pixels each. Similarly, multiple runs of the filter were performed on recorded robot measurement data. In both simulation and real tests, when corrected for errors (particles placed outside of bounds or on the robot, and simulation-specific errors), corresponding t-tests of predicted x and y-coordinates were within a 95% confidence interval of the actual position. For the real trial, these positions are slightly skewed right in the x-axis as the robot remained mainly to the left side of the source within the sample area. These simulations demonstrate potential validity for the usage of a particle filter as method of radioactive source localization. In the future, true real-time implementation and data fusion may further augment the performance of the robot to localize lost sources. Additionally, identification of multiple sources, determination of source types, and usage of a collimator are areas to potentially be explored.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗