Altindal, Gokcenur (2026). Autonomous radiation mapping with a CsI(Tl)-equipped mobile robot: localisation and isotope identification. University of Birmingham. Ph.D.
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Altindal2026PhD.pdf
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Abstract
In recent years, mobile robotic technologies have assumed a critical role in detecting and controlling radiological hazards, especially for nuclear facilities and emergency response scenarios. This thesis presents a comprehensive study on the location estimation and identification of gamma radiation sources using a mobile robot integrated with a CsI(Tl) module detector. In this system, Maximum Likelihood Estimation (MLE), Bayesian inference and Triangulation methods were optimised and applied in detail. The methods were tested in single-source conditions and then in a multi-source environment. The comparative evaluation showed that the Bayesian method provides the highest accuracy with an average error of approximately 2 cm, especially in environments with a low signal-to-noise ratio. In multi-source scenarios, the margin of error was approximately 6 cm. Subsequently, spectral analysis algorithms were developed to identify the sources and estimate their activity. While the results obtained for strong sources agreed with the reference measurements, for weak sources, there were limits such as low counting efficiency and measurement limits that reduced the accuracy. Experimental evaluations of the developed system have demonstrated the ability of the mobile robot-assisted radiation source detection system to successfully locate and identify the source. The combination of Bayesian probabilistic grounded approach and spectral analysis algorithms has resulted in highly accurate radiation source detection. This work provides a solid foundation and contribution to radiation detection in nuclear safety and radiological emergency response areas.
| Type of Work: | Thesis (Doctorates > Ph.D.) | |||||||||
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| Award Type: | Doctorates > Ph.D. | |||||||||
| Supervisor(s): |
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| Licence: | All rights reserved | |||||||||
| College/Faculty: | Colleges > College of Engineering & Physical Sciences | |||||||||
| School or Department: | School of Physics and Astronomy | |||||||||
| Funders: | Other | |||||||||
| Other Funders: | Turkish Ministry of National Education | |||||||||
| Subjects: | Q Science > QC Physics | |||||||||
| URI: | http://etheses.bham.ac.uk/id/eprint/17019 |
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