Autonomous Sampling Platform Development: Radiological Contamination Mapping at SRS

doi:10.2172/1281774

GSTDTAP > 地球科学

DOI	10.2172/1281774
报告编号	SRNL-STI--2016-00422
来源ID	OSTI ID: 1281774
	Autonomous Sampling Platform Development: Radiological Contamination Mapping at SRS
	Moya, Nicholas; Whiteside, Tad
	2016-07-01
出版年	2016
页数	47
语种	英语
国家	美国
领域	地球科学
英文摘要	From 1961 to 1964, radioactive elements were released from the Savannah River Site into local bodies of water via cooling water charges from the reactors on site. In 1983, the extent of the radioactive contamination was first studied, and elements such as ¹³⁷Cs, ⁹⁰Sr, ²³⁸Pu, ²⁴¹Am, ²⁴⁴Cm, and tritium were found to have seeped from local bodies of water into sediment and the surrounding flora and fauna. The current method of tracking and monitoring radioactive contamination at the SRS is to gather samples and conduct measurements in a laboratory. A cheaper, and safer, method to conduct such measurements would be to automate the process by using an autonomous boat that can travel to locations, conduct measurements, and return home all without human intervention. To introduce this idea, the construction of an autonomous boat prototype was completed to demonstrate the practicality and feasibility of such an idea. The prototype travels to a set of waypoints, stops at each waypoint, and returns when all waypoints have been reached. It does this by employing a simple battery-powered boat with an Arduino controller that steers the boat using a steering algorithm incorporated into a Proportional Integral Derivative (PID) function. A total of three tests were conducted at two different bodies of water; and after working out some hardware problems, the boat drone was able to successfully steer and reach all programmed waypoints. With the prototype complete, the next steps to realizing the final product of the boat drone will include adopting a processing unit with higher-bit architecture, using a bigger boat with a more powerful trolling motor, and incorporating a solar panel for continuous power and round-the-clock performance.
英文关键词	boat drone PID plant controller stability
URL	查看原文
来源平台	US Department of Energy (DOE)
引用统计
文献类型	科技报告
条目标识符	http://119.78.100.173/C666/handle/2XK7JSWQ/7157
专题	地球科学
推荐引用方式 GB/T 7714	Moya, Nicholas,Whiteside, Tad. Autonomous Sampling Platform Development: Radiological Contamination Mapping at SRS,2016.