Robotic Exploration of an Unknown Nuclear Environment Using Radiation Informed Autonomous Navigation

This paper describes a novel autonomous ground vehicle that is designed for exploring unknown environments which contain sources of ionising radiation, such as might be found in a nuclear disaster site or a legacy nuclear facility. While exploring the environment, it is important that the robot avoids radiation hot spots to minimise breakdowns. Broken down robots present a real problem: they not only cause the mission to fail but they can block access routes for future missions. Until now, such robots have had no autonomous gamma radiation avoidance capabilities. New software algorithms are presented that allow radiation measurements to be converted into a format in which they can be integrated into the robot’s navigation system so that it can actively avoid receiving a high radiation dose during a mission. An unmanned ground vehicle was fitted with a gamma radiation detector and an autonomous navigation package that included the new radiation avoidance software. The full system was evaluated experimentally in a complex semi-structured environment that contained two radiation sources. In the experiment, the robot successfully identified both sources and avoided areas that were found to have high levels of radiation while navigating between user defined waypoints. This advancement in the stateoftheart has the potential to deliver real benefit to the nuclear industry, in terms of both increased chance of mission success and reduction of the reliance on human operatives to perform tasks in dangerous radiation environments.

The Physiological Basis for Yield Differences between Four Genotypes of Groundnut (Arachis hypogaea) in Response to Drought. II. Solar Radiation Interception and Leaf Movement

SUMMARYFour genotypes of groundnut grown with limited irrigation during the post-rainy season in Central India produced similar amounts of dry matter per unit of intercepted solar radiation (e) before pod-filling, although different e values were observed during pod-filling. The relation between cumulative transpiration and intercepted radiation was similar for all genotypes. When drought became severe, fractional radiation interception (f) was reduced by folding of leaves, with little decrease in leaf area (L). The ratio f/√L was used as an index of the degree of leaf folding and was correlated with leaf water potential. The degree of folding varied with genotype and may have contributed to the observed differences in e and the dry matter:water ratio (q). The genotype EC76446(292) had the smallest q and largest f/√L ratio (the poorest radiation avoidance), while Kadiri 3 had the largest q and smallest value of f/√L.