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RAIN PROGRESS // I have been working primarily with two different radiation detector setups. The first is a combination of a compact CeBr3 scintillation gamma-ray detector with a Red Pitaya STEMlab 125-14 acting as a signal analyser. I have adapted the Red Pitaya to communicate seamlessly with a Husky robot, providing a cheap and competent Multi-Channel Analyser for use. The second detector setup is an NaI:Tl gamma-ray scintillation detector paired with a Brightspec bMCA USB analyser, with nine near identical pairs. These NaI:Tl detectors offer more efficiency than the CeBr3, but for a worse resolution. I calibrated the different detectors and wrote the code which has made them trivial to use with a robot. Both of these setups have seen two deployments at UKAEA in collaboration with ORI and their Husky robot. During these deployments the CeBr3 detector was placed inside a lead collimator to provide directionality, the ability to point it at objects and measure their activity. Currently underway is work to attempt to use a mathematical transform on the collimated CeBr3 data to reduce its Field-of-View, which would increase its accuracy. REMOTE INSPECTION UNIQUENESS // The multi-disciplinary nature of robotic radiation detection is a challenge, this is coupled with the restrictions of the robot platforms. The work underway at Lancaster in designing and modifying radiation detectors is important as it provides these instruments for the robots. Commercial detectors and associated software are rarely suitable for a robot, which is where our research exists. There are many complexities and difficulties in nuclear tasks, such as when decommissioning. These can be contamination, intense radiation or radiation characterisation and localisation. Innovations in detector hardware and software produce better data, which is key in addressing those complexities and difficulties. The robots being designed to enter these environments will require innovative sensors and novel data analysis. FUTURE ASPIRATIONS // My aims for future work are to continue developing the radiation detection hardware and software. Work completed on the TORONE project with a neutron & gamma detector can be adapted to join the RAIN detector inventory. There are opportunities for more detectors and their associated hardware to be developed, expanding the detector inventory further still. There remains plenty of scope for advancements in the software and data analysis. Currently radiation localisation is a major focus, there is space here for novelty. The detectors used at Lancaster are capable of spectroscopy, this provides another source of information for analysis, which is often left unused in robotic applications. Another aspect of my future aspirations is more robot deployments. This would include more nuclear sites, and a range of applications and tasks. As well as the use of the detectors on a wider range of robot platforms, to highlight their versatility. 31

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