This work proposes a haptic teleoperation system of an unmanned aerial vehicle (UAV) aimed at localizing radiation sources in outdoor environments. Radiation sources are localized and identified by equipping the UAV with a CdZnTe-based custom X-ray detector providing light, compact, and low power operation. The UAV is guided in direct sight by the operator. The system allows exploration of potentially dangerous areas without a close exposure of the human operator. The operator is able to provide motion commands to the UAV while receiving force feedback from a 3DOF haptic interface. Force feedback provides an attractive basin around the location of the most intense detected radiation. Preliminary experiments have been conducted to test the elements of the system.

Haptic guided UAV for detection of radiation sources in outdoor environments / Micconi, Giorgio; Aleotti, Jacopo; Caselli, Stefano; Benassi, Giacomo; Zambelli, Nicola; Zappettini, Andrea. - (2015), pp. 265-271. ((Intervento presentato al convegno 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015 tenutosi a mex nel 2015 [10.1109/RED-UAS.2015.7441016].

Haptic guided UAV for detection of radiation sources in outdoor environments

MICCONI, GIORGIO;ALEOTTI, Jacopo;CASELLI, Stefano;BENASSI, Giacomo;ZAMBELLI, Nicola;ZAPPETTINI, ANDREA
2015

Abstract

This work proposes a haptic teleoperation system of an unmanned aerial vehicle (UAV) aimed at localizing radiation sources in outdoor environments. Radiation sources are localized and identified by equipping the UAV with a CdZnTe-based custom X-ray detector providing light, compact, and low power operation. The UAV is guided in direct sight by the operator. The system allows exploration of potentially dangerous areas without a close exposure of the human operator. The operator is able to provide motion commands to the UAV while receiving force feedback from a 3DOF haptic interface. Force feedback provides an attractive basin around the location of the most intense detected radiation. Preliminary experiments have been conducted to test the elements of the system.
9781509017843
9781509017843
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11381/2813492
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 12
  • ???jsp.display-item.citation.isi??? 6
social impact