Detection of Nuclear Sources by UAV Teleoperation Using a Visuo-Haptic Augmented Reality Interface.

Jacopo Aleotti,Manuele Bettelli,Giorgio Micconi,Giacomo Benassi,Andrea Zappettini,Nicola Zambelli,Stefano Caselli

doi:10.3390/s17102234

Jacopo Aleotti, Manuele Bettelli + Show 5 more

Open Access

https://doi.org/10.3390/s17102234

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Abstract

A visuo-haptic augmented reality (VHAR) interface is presented enabling an operator to teleoperate an unmanned aerial vehicle (UAV) equipped with a custom CdZnTe-based spectroscopic gamma-ray detector in outdoor environments. The task is to localize nuclear radiation sources, whose location is unknown to the user, without the close exposure of the operator. The developed detector also enables identification of the localized nuclear sources. The aim of the VHAR interface is to increase the situation awareness of the operator. The user teleoperates the UAV using a 3DOF haptic device that provides an attractive force feedback around the location of the most intense detected radiation source. Moreover, a fixed camera on the ground observes the environment where the UAV is flying. A 3D augmented reality scene is displayed on a computer screen accessible to the operator. Multiple types of graphical overlays are shown, including sensor data acquired by the nuclear radiation detector, a virtual cursor that tracks the UAV and geographical information, such as buildings. Experiments performed in a real environment are reported using an intense nuclear source.

Highlights

unmanned aerial vehicle (UAV) in nuclear inspection tasks can be either teleoperated by a human operator, usually with standard remote controllers [1,2], or fly autonomously [3,4,5,6,7,8,9], following a predefined route or using an exploration behavior
The visuo-haptic teleoperation system has been validated in an outdoor environment with a real nuclear source under the supervision of the public environmental protection agency
Visuo-haptic interfaces for UAV teleoperation in hazardous environments have not been considered in previous works

Summary

Introduction

UAVs in nuclear inspection tasks can be either teleoperated by a human operator, usually with standard remote controllers [1,2], or fly autonomously [3,4,5,6,7,8,9], following a predefined route or using an exploration behavior. In both cases, an expert human operator is required to oversee the entire operation, being aware of the state of the UAV, verifying sensor data acquisition and checking for potential obstacles or dangerous conditions related to the mission. Potential applications are the localization and identification of radioactive materials in industrial plants (such as steel mills), construction, recycling factories and landfills

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