Mr. Noah Doney Profile

Noah Doney

at Nevada National Security Site

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Proceedings Article | 9 October 2024 Presentation + Paper

Autonomous ground-based robotic system for preparatory consequence management radiation mapping and forensic studies

Sanjoy Mukhopadhyay, Richard Maurer, Noah Doney, Johnny Grimes, Ronald Guise

Proceedings Volume 13151, 131510A (2024) https://doi.org/10.1117/12.3026929

KEYWORDS: Sensors, Robots, Robotic systems, Forensic science, Contamination, Prototyping, Microcontrollers, Control systems, Standards development, Software development

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The Remote Sensing Laboratory–Andrews (RSLA) initiated an advanced robotic systems feasibility study project under the Site Directed Research and Development (SDRD) in 2023. Two prototype systems with radiation detection sensors were developed and tested for use in the forensics investigation of debris produced from explosively dispersed radioactive materials. To automate the robots, an Arduino microcontroller was added, and instead of reading signals directly from the radio control receiver, the system takes signals from the motor controller. The robots can be programmed to drive various search and survey patterns. Mapping results obtained by deploying this robotic system will be presented. The Arduino microcontroller system was chosen for this project for its value as a prototyping tool. Specifically, the Mega 2560 R3 model was chosen for its multiple data inputs and low power draw, allowing it to be integrated into the originally designed robotic system without requiring additional power capacity. The Arduino system is designed to be easily modified and can serve as a proof of concept for further development with proprietary systems in the future. The system was programmed in C++ using the Arduino IDE (Integrated Development Environment). Issues arose during development when attempting to use the software library developed by the manufacturer of the Sabertooth controller, but when that was replaced in favor of a standard motor control library, the robot functioned as intended. The prototypes used to measure a baseline ground truth of a radiation field; these will be compared to low flying Unmanned Aerial Systems (UAS) for optimizing flight profiles.

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