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Radiation mapping has attracted widespread research attention and increased public concerns on environmental monitoring. Regarding materials and their configurations, radiation detectors have been developed to identify the position and strength of the radioactive sources. However, due to the complex mechanisms of radiation-matter interaction and data limitation, high-performance and low-cost radiation mapping is still challenging. Here, we present a radiation mapping framework using Tetris-inspired detector pixels. Applying inter-pixel padding for enhancing contrast between pixels and neural networks trained with Monte Carlo (MC) simulation data, a detector with as few as four pixels can achieve high-resolution directional prediction. A moving detector with Maximum a Posteriori (MAP) further achieved radiation position localization. Field testing with a simple detector has verified the capability of the MAP method for source localization. Our framework offers an avenue for high-quality radiation mapping with simple detector configurations and is anticipated to be deployed for real-world radiation detection.

Inter-agent relative localization is critical for many multi-robot systems operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 3D pose estimation system where each participating agent is equipped with several ultra-wideband (UWB) ranging tags. Prior work typically supplements noisy UWB range measurements with additional continuously transmitted data (e.g., odometry) leading to potential scaling issues with increased team size and/or decreased communication network capability. By equipping each agent with multiple UWB antennas, our approach addresses these concerns by using only locally collected UWB range measurements, a priori state constraints, and event-based detections of when said constraints are violated. The addition of our learned mean ranging bias correction improves our approach by an additional 19% positional error, and gives us an overall experimental mean absolute position and heading errors of 0.24 m and 9.5° respectively. When compared to other state-of-the-art approaches, our work demonstrates improved performance over similar systems, while remaining competitive with methods that have significantly higher communication costs.

A handheld system developed to digitize a contextual understanding of the scene at a chemical, biological, radiological, nuclear and/or explosives (CBRNE) events is described. The system uses LiDAR and cameras to create a colorized 3D model of the environment, which helps domain experts that are supporting responders in the field. To generate the digitized model, a responder scans any suspicious objects and the surroundings by carrying the system through the scene. The scanning system provides a real-time user interface to inform the user about scanning progress and to indicate any areas that may have been missed either by the LiDAR sensors or the cameras. Currently, the collected data are post-processed on a different device, building a colorized triangular mesh of the encountered scene, with the intention of moving this pipeline to the scanner at a later point. The mesh is sufficiently compressed to be sent over a reduced bandwidth connection to a remote analyst. Furthermore, the system tracks fiducial markers attached to diagnostic equipment that is placed around the suspicious object. The resulting tracking information can be transmitted to remote analysts to further facilitate their supporting efforts. The paper will discuss the system's design, software components, the user interface used for scanning a scene, the necessary procedures for calibration of the sensors, and the processing steps of the resulting data. The discussion will close by evaluating the system's performance on 11 scenes.

By combining radiation detection technologies with robotics sensing, the ability to continuously conduct gamma-ray imaging using freely-moving systems was demonstrated in 2015.1 This new method, which was named free-moving 3D Scene Data Fusion (SDF), was then applied to mapping radioactive contamination and to contextualizing the extent of contamination and the efficacy of radiological clean-up efforts.2,3 Since then, further studies into the types of radiation detection systems to which SDF could be applied resulted in the discovery and demonstration that neutron activity could be mapped using neutron-sensitive CLLBC scintillators, arrays of pix-elated CZT detectors could be used to create multi-modal imagers, and more rudimentary detector systems such as arrays of four CsI modules could still achieve good-quality mapping by inferring source positioning through the encoded modulation of source-to-detector distance. This paper provides an overview of the SDF technology, highlights recent measurements leveraging SDF-equipped systems, discusses the continued development of quantitative algorithms4,5 and their ramifications for developing autonomous SDF-capabilities, and summarizes future directions of research and application development for free moving radiation detection systems.

We present an experimental demonstration of additive point source localization (APSL), a sparse parametric imaging algorithm that reconstructs the 3-D positions and activities of multiple gamma-ray point sources. Using a handheld gamma-ray detector array and up to four 8 mu Ci 137Cs gamma-ray sources, we performed both source-search and source-separation experiments in an indoor laboratory environment. In the majority of the source-search measurements, APSL reconstructed the correct number of sources with position accuracies of 20 cm and activity accuracies (unsigned) of 20%, given measurement times of 2 to 3 min and distances of closest approach (to any source) of 20 cm. In source-separation measurements where the detector could be moved freely about the environment, APSL was able to resolve two sources separated by 75 cm or more given only 60 s of measurement time. In these source-separation measurements, APSL produced larger total activity errors of 40%, but obtained source-separation distances accurate to within 15 cm. We also compare our APSL results against traditional maximum likelihood-expectation maximization (ML-EM) reconstructions and demonstrate improved image accuracy and interpretability using APSL over ML-EM. These results indicate that APSL is capable of accurately reconstructing gamma-ray source positions and activities using measurements from existing detector hardware.

The detection, identification, and localization of illicit nuclear materials in urban environments is of utmost importance for national security. Most often, the process of performing these operations consists of a team of trained individuals equipped with radiation detection devices that have built-in algorithms to alert the user to the presence nuclear material and, if possible, to identify the type of nuclear material present. To encourage the development of new detection, radioisotope identification, and source localization algorithms, a dataset consisting of realistic Monte Carlo-simulated radiation detection data from a 2 in. × 4 in. × 16 in. NaI(Tl) scintillation detector moving through a simulated urban environment based on Knoxville, Tennessee, was developed and made public in the form of a Topcoder competition. The methodology used to create this dataset has been verified using experimental data collected at the Fort Indiantown Gap National Guard facility. Realistic signals from special nuclear material and industrial and medical sources are included in the data for developing and testing algorithms in a dynamic real-world background.

Integration of contextual sensors into vehicle-borne mobile radiation detector systems delivers a rich description of the environment that could be used to estimate the complex and variable environmental gamma-ray backgrounds in urban areas. The predictions could potentially increase the sensitivity to illicit radiological and nuclear materials and could provide realistic inputs to urban radiological search simulations and algorithms. Recent work in this field has focused mainly on the predictive power of segmenting and classifying imagery from cameras and elected in its approach to aggregate the locations of gamma-ray interactions within the fielded detector array to a single point. This work builds upon the previous effort by leveraging LiDARs to create a 3D representation of the detector system and the surrounding scenery and demonstrates further improvement in the capability of attributing observed gamma-ray backgrounds to classes of surrounding materials.

Gamma-ray imaging attempts to reconstruct the spatial and intensity distribution of gamma-emitting radionuclides from a set of measurements. Generally, this problem is solved by discretizing the spatial dimensions and employing the maximum likelihood expectation maximization (ML-EM) algorithm, with or without some form of regularization. While the generality of this formulation enables use in a wide variety of scenarios, it is susceptible to overfitting, limited by the discretization of spatial coordinates, and can be computationally expensive. We present a novel approach to 3D gamma-ray image reconstruction for scenarios where sparsity may be assumed, for example, radiological source search. In this paper, we first formulate a point-source localization (PSL) approach as an optimization problem, where both position and source intensity are continuous variables. We then extend and generalize this formulation to an iterative algorithm, called additive PSL (APSL), for sparse parametric image reconstruction. A set of simulated source search scenarios using a single non-directional detector are considered, finding improved image accuracy and computational efficiency with APSL over traditional grid-based approaches.

The enormous advances in sensing and data processing technologies in combination with recent developments in nuclear radiation detection and imaging enable unprecedented and "smarter" ways to detect, map, and visualize nuclear radiation. The recently developed concept of three-dimensional (3-D) Scene-data fusion allows us now to "see" nuclear radiation in three dimensions, in real time, and specific to radionuclides. It is based on a multi-sensor instrument that is able to map a local scene and to fuse the scene data with nuclear radiation data in 3-D while the instrument is freely moving through the scene. This new concept is agnostic of the deployment platform and the specific radiation detection or imaging modality. We have demonstrated this 3-D Scene-data fusion concept in a range of configurations in locations, such as the Fukushima Prefecture in Japan or Chernobyl in Ukraine on unmanned and manned aerial and ground-based platforms. It provides new means in the detection, mapping, and visualization of radiological and nuclear materials relevant for the safe and secure operation of nuclear and radiological facilities or in the response to accidental or intentional releases of radioactive materials where a timely, accurate, and effective assessment is critical. In addition, the ability to visualize nuclear radiation in 3-D and in real time provides new means in the communication with public and facilitates to overcome one of the major public concerns of not being able to "see" nuclear radiation.

The development of portable gamma-ray imaging instruments in combination with the recent advances in sensor and related computer vision technologies enable unprecedented capabilities in the detection, localization, and mapping of radiological and nuclear materials in complex environments relevant for nuclear security and safety. Though multi-modal imaging has been established in medicine and biomedical imaging for some time, the potential of multi-modal data fusion for radiological localization and mapping problems in complex indoor and outdoor environments remains to be explored in detail. In contrast to the well-defined settings in medical or biological imaging associated with small field-of-view and well-constrained extension of the radiation field, in many radiological search and mapping scenarios, the radiation fields are not constrained and objects and sources are not necessarily known prior to the measurement. The ability to fuse radiological with contextual or scene data in three dimensions, in analog to radiological and functional imaging with anatomical fusion in medicine, provides new capabilities enhancing image clarity, context, quantitative estimates, and visualization of the data products. We have developed new means to register and fuse gamma-ray imaging with contextual data from portable or moving platforms. These developments enhance detection and mapping capabilities as well as provide unprecedented visualization of complex radiation fields, moving us one step closer to the realization of gamma-ray vision in three dimensions.

Radiation detection can provide a reliable means of detecting radiological material. Such capabilities can help to prevent nuclear and/or radiological attacks, but reliable detection in uncontrolled surroundings requires algorithms that account for environmental background radiation. The Berkeley Data Cloud (BDC) facilitates the development of such methods by providing a framework to capture, store, analyze, and share data sets. In the era of big data, both the size and variety of data make it difficult to explore and find data sets of interest and manage the data. Thus, in the context of big data, visualization is critical for checking data consistency and validity, identifying gaps in data coverage, searching for data relevant to an analyst's use cases, and choosing input parameters for analysis. Downloading the data and exploring it on an analyst's desktop using traditional tools are no longer feasible due to the size of the data. This paper describes the design and implementation of a visualization system that addresses the problems associated with data exploration within the context of the BDC. The visualization system is based on a JavaScript front end communicating via REST with a back end web server.

Researchers at Lawrence Berkeley National Laboratory have been supporting the Transformational and Applied Research Directorate in the Domestic Nuclear Detection Office of the Department of Homeland Security to define needs for, to develop, and to test a scintillator-based radiation detection and localization system to be fielded on a helicopter platform - the so-called Airborne Radiological Enhanced-sensor System. The system comprises an array of 92 CsI(Na) detectors that are arranged to function as an active mask to encode the directionality in the roll-dimension of measured gamma rays and is additionally capable of Compton imaging. Additional contextual sensors and specially-developed algorithms are also being fielded for characterization with the goal of detecting, localizing, and helping to interdict radiological and nuclear threats via airborne search. The algorithms that are being developed leverage contextual information including topography, geography, hyperspectral imagery, video tracking, and platform positioning. This paper describes recent characterization efforts of the CsI(Na) detector system including energy, position, and timing resolution and synchronization between the 184 individual photomultiplier tubes.

The Radiation Mobile Analysis Platform (RadMAP) is unique in its capability to collect both high quality radiological data from both gamma-ray detectors and fast neutron detectors and a broad array of contextual data that includes positioning and stance data, high-resolution 3D radiological data from weather sensors, LiDAR, and visual and hyperspectral cameras. The datasets obtained from RadMAP are both voluminous and complex and require analyses from highly diverse communities within both the national laboratory and academic communities. Maintaining a high level of transparency will enable analysis products to further enrich the RadMAP dataset. It is in this spirit of open and collaborative data that the RadMAP team proposed to collect, calibrate, and make available online data from the RadMAP system. The Berkeley Data Cloud (BDC) is a cloud-based data management framework that enables web-based data browsing visualization, and connects curated datasets to custom workflows such that analysis products can be managed and disseminated while maintaining user access rights. BDC enables cloud-based analyses of large datasets in a manner that simulates real-time data collection, such that BDC can be used to test algorithm performance on real and source-injected datasets. Using the BDC framework, a subset of the RadMAP datasets have been disseminated via the Gamma Ray Data Cloud (GRDC) that is hosted through the National Energy Research Science Computing (NERSC) Center, enabling data access to over 40 users at 10 institutions.

Transmission nuclear resonance fluorescence measurements were made on targets consisting of Pb and depleted U with total areal densities near 86 g/cm2. The 238U content n the targets varied from 0 to 8.5percent (atom fraction). The experiment demonstrates the capability of using transmission measurements as a non-destructive technique to identify and quantify the presence of an isotope in samples with thicknesses comparable to he average thickness of a nuclear fuel assembly. The experimental data also appear to demonstrate the process of notch refilling with a predictable intensity. Comparison of measured spectra to previous backscatter 238U measurements indicates general agreement in observed excited states. Two new 238U excited states and possibly a third state have also been observed.

This paper discusses the use of nuclear resonance fluorescence (NRF) techniques for the isotopic and quantitative assaying of radioactive material. Potential applications include age-dating of an unknown radioactive source, pre- and post-detonation nuclear forensics, and safeguards for nuclear fuel cycles Examples of age-dating a strong radioactive source and assaying a spent fuel pin are discussed. The modeling work has ben performed with the Monte Carlo radiation transport computer code MCNPX, and the capability to simulate NRF has bee added to the code. Discussed are the limitations in MCNPX?s photon transport physics for accurately describing photon scattering processes that are important contributions to the background and impact the applicability of the NRF assay technique.

We have measured cross sections for the 63Cu(alpha,gamma)67Ga reaction in the 5.9-8.7 MeV energy range using an activation technique. Natural Cu foils were bombarded with alpha beams from the 88 Cyclotron at Lawrence Berkeley National Laboratory (LBNL). Activated foils were counted using gamma spectrometry system at LBNL's Low Background Facility. The 63Cu(alpha,gamma)67Ga cross-sections were determined and compared with the latest NON-SMOKER theoretical values. Experimental cross sections were found to be in agreement with theoretical values.