Abstract
Conventionally, data from radiation detectors is integrated over time, delivering a simple dose rate or energy spectrum. The time integration over several seconds makes it hard to locate a radioactive source when either the detector or the source is moving. A novel approach is to use the detector’s much higher internal data rate and combine it with precise time and position information. In principle, this so-called list-mode data acquisition allows innovative algorithms that can locate and identify a radioactive source much faster than in the conventional approach. IEC 63047 is a recently introduced binary standard for list-mode data collection, which is applicable to data files and streams. The standard is specified using Abstract Syntax Notation One (ASN.1). The format supports various types of time-stamped data and can be used in a wide range of applications involving radiation detection and measurement. It may also be used to represent data from other sensors than radiation detectors and supports positioning data from Global Navigation Satellite Systems (GNSS). The standard has a wide potential for CBRNE detection equipment, including robotics. To facilitate the use of the standard, an open-source solution for encoding and decoding IEC 63047 messages has been implemented and tested. In addition, a simple demonstration device was developed from off-the-shelf components. Extensive laboratory and field tests were conducted to show that the standard itself as well as the demonstration device are suitable for typical radiological and nuclear (RN) inspection and monitoring tasks. For a better use with unmanned robot systems, a software interface between IEC 63047 and the Robot Operating System (ROS) was implemented. Finally, using this ROS interface, the demonstration device was integrated into an experimental robot system and successfully tested under RN field conditions at the European Robotics Hackathon (EnRicH).
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
IEC 63047, Edition 1.0, 2018-10: Nuclear instrumentation–data format for list mode digital data acquisition used in radiation detection and measurement.
Robot Operating System (ROS), official web page, https://www.ros.org
Giesbrecht, J., Fairbrother, B., Collier, J., Beckman, B.: Integration of a high degree of freedom robotic manipulator on a large unmanned ground vehicle. In: Gerhart, G.R., et al. (eds.) Unmanned Systems Technology XII—Proceedings of SPIE, vol. 7692 (2010)
Schneider, F.E., Welle, J., Wildermuth, D., Ducke, M.: Unmanned multi-robot CBRNE reconnaissance with mobile manipulation. In: Proceedings of the 13th IEEE International Carpathian Control Conference (ICCC), pp. 637–642 (2012)
Christie, G., Shoemaker, A., Kochersberger, K., Tokekar, P., McLean, L., Leonessa, A.: Radiation search operations using scene understanding with autonomous UAV and UGV. J. Field Rob. 34(3), 1450–1468 (2017)
Lazna, T., Gabrlik, P., Jilek, T., Zalud, L.: Cooperation between an unmanned aerial vehicle and an unmanned ground vehicle in highly accurate localization of gamma radiation hotspots. Int. J. Adv. Rob. Syst. 1–16 (2018)
Nagatani, K., Kiribayashi, S., Okada, Y., Otake, K., Yoshida, K., Tadokoro, S., Nishimura, T., Yoshida, T., Koyanagi, E., Fukushima, M., Kawatsuma, S.: Emergency response to the nuclear accident at the Fukushima Daiichi nuclear power plants using mobile rescue robots. J. Field Rob. 30(1), 44–63 (2013)
Yoshida, T., Nagatani, K., Tadokoro, S., Nishimura, T., Koyanagi, E.: Improvements to the rescue robot quince toward future indoor surveillance missions in the Fukushima Daiichi nuclear power plant. In: Yoshida, K., Tadokoro, S. (eds.) Field and service robotics, Springer tracts in advanced robotics 92, pp. 19–32. Springer, Berlin/Heidelberg (2014)
Remmersmann, T., Tiderko, A., Schade, U., Schneider, F.E.: Standardised command and control of multi-robot systems using BML. In: Proceedings of the 11th International Conference Interactive Systems: Problems of Human-Computer Interactions, Ulyanovsk, pp. 49–56 (2015)
Pradhan, M., Tiderko, A., Ota, D.: Approach towards achieving interoperability between military land vehicle and robotic systems. In: Proceedings of the 2017 International Conference on Military Communications and Information Systems (ICMCIS), Oulu (2017)
Rowe, S., Wagner, C.R.: An Introduction to the Joint Architecture for Unmanned Systems (JAUS), vol. 1001, pp. 48108. Ann Arbor (2008)
Ihantola, S., Tengblad, O., Toivonen, H., Peräjärvi, K., Csome, C., Borg, J., Paepen, J., Tagziria, H., Gattinesi, P.: Novel Detection Technologies for Nuclear Security. EUR 29270, Publications Office of the European Union, Luxembourg (2018). https://doi.org/10.2760/703301
Turecek, D., Jakubek, J., Trojanova, E., Sefc, L.: Single layer Compton camera based on Timepix3 technology. J. Instrum. 15 (2020)
Wang, G., Schultz, L.J., Qi, J.: Bayesian image reconstruction for improving detection performance of Muon tomography. IEEE Trans. Image Process. 18(5), 1080–1089 (2009)
IEC 62755, Edition 1.0, 2012-10: Radiation Protection Instrumentation—Data Format for Radiation Instruments used in the Detection of Illicit Trafficking of Radioactive Materials
International Atomic Energy Agency: International Radiological Information Exchange (IRIX) Format, IAEA, Vienna (2020). https://www.iaea.org/publications/12257
Official EURDEP Platform: https://remon.jrc.ec.europa.eu/About/Rad-Data-Exchange
ISO/IEC 8824-1:2015: ITU-T X.680, Information technology—Abstract Syntax Notation One (ASN.1): Specification of basic notation.
Walkin, L.: The ASN.1 Compiler asnlc. Available from GitHub, https://github.com/vlm/asn1c
Paepen, J., Lutter, G.: An open-source solution for encoding and decoding IEC 63047:2018 data. EUR 30409 EN, Publications Office of the European Union, Luxembourg (2020). ISBN 978-92-76-23523-1 (online), doi:https://doi.org/10.2760/644570 (online), JRC121882
ISO/IEC 8825-7:ITU-T X.696, Information Technology—ASN.1 encoding rules: Specification of Octet Encoding Rules (OER)
Nucleonica Dosimetry and Shieding++ web application. https://www.nucleonica.com/Application/ShieldingPlus.aspx
ASN1 Studio®: OSS Nokalva. https://www.oss.com
rtkexplorer: Exploring High Precision GPS/GNSS with Low-Cost Hardware and Software Solutions. http://rtkexplorer.com
RTKLib: An Open Source Program Package for GNSS Positioning. http://www.rtklib.com
Google Earth: https://earth.google.com
The European Robotics Hackathon (EnRicH): official web site, https://enrich.european-robotics.eu
Schneider, F.E., Wildermuth, D.: Real-world robotic competitions for radiological and nuclear inspection tasks. In: Proceedings of the 20th International Carpathian Control Conference (ICCC), Wieliczka (2019)
Azzini, I., Dido, M., Giannopoulos, G.: GRRASP: Geospatial Risk and Resilience Analysis Platform—Version 2.0. Report JRC90531, European Commission, UR Scientific and Technical Research Series, Ispra (2014)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this chapter
Cite this chapter
Schneider, F.E., Wildermuth, D., Rosas, F.G., Paepen, J. (2022). Implementation and Experimental Validation of the IEC 63047 Standard for Data Transfer in Radiological and Nuclear Robotic Applications. In: Sgurev, V., Jotsov, V., Kacprzyk, J. (eds) Advances in Intelligent Systems Research and Innovation. Studies in Systems, Decision and Control, vol 379. Springer, Cham. https://doi.org/10.1007/978-3-030-78124-8_10
Download citation
DOI: https://doi.org/10.1007/978-3-030-78124-8_10
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-78123-1
Online ISBN: 978-3-030-78124-8
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)