Abstract
There is generally strong radioactivity during nuclear emergency. When the nuclear emergency robots work in this case, many devices will fail because of the high radiation dose. Thus, it is very important for the robot to sense the location and intensity of radiation sources in the surrounding environment to avoid excessive radiation. The maximum likelihood expectation maximization (MLEM) iterative algorithm can be used to estimate the distribution of source intensity based on the data measured by gamma camera at multiple detection points. The system matrix (SM) needed to be calculated by geometric relation to achieve in-situ reconstruction. In this paper, a model-based SM calculation method is proposed. The model consists of two parts: the camera imaging model and the environmental attenuation model. In the camera imaging model, the detector pixels are virtually divided into smaller units to improve the calculation accuracy. Parametric effects of the division number on the calculation of SM are analyzed. The improved model is verified by two simulation experiments, whose results suggest that multiple point sources in the 3D environment with obstacles can be accurately located with their intensity estimation difference less than 5% after several iterations.
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Acknowledgement
This work is jointly supported by National Natural Science Foundation of China (U1813224) and National Key R&D program of China (2019YFB1310801).
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Zhang, Z., Guo, Z., Xiong, Z. (2021). Intensity Distribution Estimation of Radiation Source for Nuclear Emergency Robot in 3D Environment. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_19
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DOI: https://doi.org/10.1007/978-3-030-89092-6_19
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