UAS and Robots for Detecting Hazardous Substances Quickly and Precisely Localising Radioactive Material

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Radioactive, chemical or biological substances are undetectable to humans in threatening situations and difficult to detect with remote sensing. Researchers at the Fraunhofer Institute for Communication, Information Processing and Ergonomics FKIE use specially equipped drones and robots to quickly and precisely localise radioactive sources.

Chemical, biological, radiological, nuclear, and explosive substances (CBRNE) can pose significant risks to both the public and emergency services. A prime example is the 2023 incident in Australia, where a small cesium capsule lost from a truck prompted an extensive search. The rise in hybrid attacks and destabilisation efforts has intensified these threats. In response, two Fraunhofer FKIE research departments are exploring how drones (UAS) and robots (UGV) could aid in such situations. Systems' performances have been evaluated over the years at events like the European Robotics Hackathon (EnRicH) and the European Land Robot Trial (ELROB), organised by the Cognitive Mobile Systems department, to ensure practical effectiveness and continual enhancement.

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Highly automated UAS for detecting radioactive sources

Under contract to the Bundeswehr Research Institute for Protective Technologies and CBRN Protection (WIS), researchers in the Sensor Data and Information Fusion department are developing an UAS that can quickly and precisely identify and localise radioactive sources. An technology demonstrator has already been tested in field trials at the WIS site in Munster. This system can precisely track down a radioactive source to within a few meters in only a few minutes. "The cesium capsule in Australia could only be found after days of searching with handheld detectors. We could have found the radioactive capsule much more quickly using our UAS," says Claudia Bender, a research scientist at Fraunhofer FKIE, who designed the technology demonstrator together with her colleague Torsten Fiolka.

Detection involves exploration and targeted searching

The researchers are particularly specialised in complex data processing, sensor data fusion and automation. The detection process is highly automated and consists of an exploration phase and a search phase. During the exploration phase, the UAS flies over the target area and continuously collects data from the surroundings. As soon as a deviation from the background radiation is detected, the system switches to search mode.

In this mode, the drone's flight path is dynamically adjusted based on pre-gathered environmental data and real-time sensor readings. Stochastic methods are employed to evaluate probable positions of the source. "After the drone is launched, it initially adheres to a predefined flight pattern. However, once it collects enough sensor information, the system transitions to an adaptive search mode, autonomously determining potential source locations," the researcher elaborates. It continues to devise waypoints until the hazardous material is pinpointed and its exact location is reported. Radiation levels in scanned zones are visualised through a spatial heat map, while a probability map highlights the cell most likely to contain the radioactive matter.

The drone is equipped with a gamma detector that measures radiation levels as well as additional sensors for the detection process. These are supported by electro-optical and infrared cameras, an Intel NUC computer for data processing, an inertial measurement unit (IMU) and a LTE comms module for monitoring the data from the ground. The cameras show the live image viewed by the drone. They can detect objects such as people, buildings and vehicles and can display these on a map with georeferencing. The IMU records the position and movement of the drone in 3D.

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The technology demonstrator is the product of research under the HUGIYN project (Highly Automated UAS for Detecting and Identifying y-Emitting Nuclides). In the SLEIPNIR follow-up project (Automated Airborne Detection and Identification Platform for Nuclides and Isotopes from Radioactive Sources), the researchers' goals include increasing the airspeed of the UAS and simultaneously localising multiple as well as moving nuclides.

CBRNE Robots Aid in Radioactive Detection and Recovery

In situations that are too hazardous for humans, uncrewed ground vehicles provide support along with drones. Robots equipped with CBRNE sensors and autonomous assistance functions then take over the detection process. The intelligent combination of CBRNE detection sensors, navigation strategies and geodata processing with uncrewed ground vehicles is a key research area for Frank E. Schneider, Deputy Head of the Cognitive Mobile Systems department at Fraunhofer FKIE.

“An official radioactivity monitoring system (1) was installed in Germany in preparation for events like Chernobyl involving radioactive material. A grid of sensors at intervals of several kilometers are distributed throughout Germany. These continuously report current radioactive emissions levels to the German Federal Office for Radiation Protection (BfS). We compare the radiation intensity detected by the robot in preliminary reconnaissance in a potentially hazardous area with the normal level reported by the radioactivity monitoring system for this area. We use data fusion to combine the results in a radiation map, the heat map, in order to confirm or rule out a potential threat," Schneider explains the deployment scenario.

The Cognitive Mobile Systems department also emphasises creating intelligent navigation and assistive features to enhance CBRNE robot control. These features ensure comprehensive coverage of the hazard area, allowing accurate localisation of radiation sources. Further measurements taken by the robot provide the control center with detailed information about the hazardous area's size, the type of radioactive material present, and the coordinates for establishing a safe pathway. This data enables experts and emergency services to plan subsequent actions effectively.

Gripper Arm Enables Complex Movements

Triggered by a mouse click on a live video image, a smart click and grasp system enables the robot's gripper arm to automatically pick up objects and place them in a different location that is also designated by a mouse click. In practical tests, the system was able to autonomously grasp spilled material, check it for radiation, transport it away and place it in a special container. The innovative assistive function even enables complex movements such as opening car doors, meaning that it can even access radioactive material in closed spaces.

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Schneider's team is also developing new operating concepts that use special sensors to generate a photorealistic 3D model and a virtual reality environment. This enables the operator to view objects from different angles without having to move the robot. “This essentially gives the operator enhanced situational awareness,” the researcher says. Furthermore, sensors attached to the human hand and arm can transfer the operator's arm movements to the robot. The manipulator can thus be controlled intuitively. "We call this new support function “jacket control.” This also enables emergency personnel who are not trained specialists to control the robot intuitively.”

(1) The BfS ambient gamma dose rate monitoring network includes roughly 1,700 measuring points distributed throughout German