Date of Original Version
Abstract or Description
In this paper we describe the development of a robotic system that uses Mercuric Iodide (HgI2) sensors to create a map of radiation intensity in the environment. The sensors are mounted at the end-effector of a PUMA 560 manipulator. Data from these sensors is used to compute the radiation intensity. A control system is developed that moves the end-effector along constant intensity contours. The experiments use light sources (instead of radiation sources) and demonstrate the efficacy of such a system to create radiation maps.