Radiological Identification of Near-Surface Mineralogical Deposits Using Low-Altitude Unmanned Aerial Vehicle

Examining the residual radiological footprint of a former colliery: An industrial nuclear archaeology investigation

Nuclear industrial archaeology utilises radiation mapping and characterisation technologies to gain an insight into the radiological footprint of industrial heritage sites. Increased concentrations of naturally occurring radioactive materials at legacy mine sites are the result of elemental enrichment during coal mining and subsequent combustion. Public safety is of concern around these sites, and therefore, an increased understanding of their associated hazard is essential. Using coincident laser scanning and gamma detection technologies, this study sought to assess the radiological legacy of a coal mine located in Bristol, UK. From this, we can increase our understanding of the residual footprints associated with the local coal mining industry. Samples taken from inside the site were characterised using high resolution gamma spectrometry, wherein the radionuclide content and activities of samples were then quantified. An area of elevated low-level radioactivity was observed at and around buildings believed to belong to the colliery, while Th, U, and K are confirmed at the site from photopeak's of daughter radionuclides. Activities of the radionuclides K-40, U-238, and Th-232 were further quantified during subsequent laboratory analysis. Results highlight an enrichment of naturally occurring radionuclides when compared with global averages for unburned coal. Employing these techniques at further legacy sites would enable an increased understanding of the lasting traces of the coal mining industry, with a focus on NORM enrichment in residual fly ash.

Airborne gamma-ray mapping using fixed-wing vertical take-off and landing (VTOL) uncrewed aerial vehicles

Low-cost uncrewed aerial vehicles (UAVs) are replacing manned aircraft for airborne radiation mapping applications such as nuclear accident response scenarios or surveying ore deposits and mine sites because of their cost-effectiveness and ability to conduct surveys at lower altitude compared to manned counterparts. Both multi-rotor UAVs and fixed-wing UAVs are well established technologies for aerial radiation mapping applications, however, both also have drawbacks: multi-rotor UAVs are very limited in flight time and range, and fixed-wing UAVs usually require facilities for take-off and landing. A compromise solution is introduced in this work, using a fixed-wing vertical take-off and landing (VTOL) UAV that combines the flexibility of a multi-rotor UAV with the range and flight time of a fixed-wing UAV. The first implementation of a VTOL with radiation mapping capabilities is presented, based on a commercial WingtraOne UAV augmented with CsI scintillator and CZT semiconductor gamma spectrometers. The radiation mapping capabilities of the prototype are demonstrated in a case study, mapping the distribution of radionuclides around the South Terras legacy uranium mine in the south of England, United Kingdom, and the results are compared with previous studies using multi-rotor and manned aircraft to survey the same area.

Gamma Radiation Dose Measurement Using an Energy-Selective Method with the Help of a Drone

Several dose distribution maps were obtained using a gamma radiation detector mounted to a drone. Based on the results and experience of the experiments, the shortcomings of the system and the possibilities for further development were identified. The primary goal of the development was to create a more compact, easy-to-carry, and easy-to-install system with increased sensitivity, which was achieved by several different methods and their combinations. During the discrete measurement procedure, the aim was to decrease the detection threshold, +0.005 to +0.007 μS/h measured above the background radiation. The increase in sensitivity was based on the characteristic energy spectrum of radiative materials. We took advantage of the fact that the radiating samples do not evenly increase the amount of gamma radiation over the entire energy spectrum. During the processing of the measurement data, we performed a comparison with the background radiation in the vicinity of the energy peaks characteristic of the sample and its decay products. This provides a better signal-to-noise ratio, thus enabling a more sensitive detection procedure. An important feature of our method is that in the traditional intensity curve displayed as a function of flight time only noise is visible, therefore one cannot directly conclude the presence of the sample. However, our method is clearly able to identify the location of the searched source at a height of 8 m with a continuous flight speed of 2 m/s using a 500 μS/h activity sample (as measured at a distance of 0.1 m from the sample). The increase in sensitivity allows either a higher scanning height (approximately +1 to 2 m) or, in the case of the same aircraft at the same altitude, a larger area from one take-off. Of course, the scan height or scan speed can increase significantly if the activity of the source being sought is high. In our experiments, we used a natural uranium mineral (Autunite) with activity far below that of artificially produced isotopes. In the series of our experiments, we also covered the detection of several sources, which modeled the possibility of mapping scattered active sources. The main advantages of the system developed and presented by us over the survey procedures used in practice is that a large area can be mobilized easily, without the risk of a human operator in the field, and the survey of a large area can be carried out at a low cost. The purpose of the system is to detect the presence of the source and to localize it to such an extent that the localization can then be easily refined by manual or other ground procedures. As we do not aim for positioning accuracy by centimeter, standard GPS localization is sufficient for the measurements. During the measurements, the geographical coordinates are interpreted in the GWS'84 system. The coordinates of the latitude and longitude circles are also shown in this system in the figures presented.

Mining Exploration with UAV, Low-Cost Thermal Cameras and GIS Tools—Application to the Specific Case of the Complex Sulfides Hosted in Carbonates of Udías (Cantabria, Spain)

The depletion of natural resources implies the need for a constant search for new reserves to satisfy demand. In the mining sector, Unmanned Aerial Vehicles (UAVs) have revolutionised geo-information capture and modelling to allow the use of low-cost sensors for prospecting and exploration for potentially exploitable resources. A very powerful alternative for managing the huge volume of data is the Geographic Information System (GIS), which allows storage, visualisation, analysis, processing and map creation. The research in this paper validates a new quasi-automatic identification of mining resources using GIS thermal-image analysis obtained from UAVs and low-cost sensors. It was tested in a case that differentiated limestone from dolostone with varying iron content, and different thermal behaviour from solar radiation, thereby ensuring that the thermal image recorded these differences. The objective is to discriminate differences in an image in a quasi-automatic way using GIS tools and ultimately to determine outcrops that could contain mineralisation. The comparison between the proposed method with traditional precision alternatives offered differences of only 4.57%, a very small deviation at this early stage of exploration. Hence, it can be considered very suitable.

Investigation of Magneto-/Radio-Metric Behavior in Order to Identify an Estimator Model Using K-Means Clustering and Artificial Neural Network (ANN) (Iron Ore Deposit, Yazd, IRAN)

The study area is located near Toot village in the Yazd province of Iran, which is considered in terms of its iron mineralization potential. In this area, due to radioactivity, radiometric surveys were performed in a part of the area where magnetometric studies have also been performed. According to geological studies, the presence of magnetic anomalies can have a complex relationship with the intensity of radioactivity of radioactive elements. Using the K-means clustering method, the centers of the clusters were calculated with and without considering the coordinates of radiometric points. Finally, the behavior of the two variables of magnetic field strength and radioactivity of radioactive elements relative to each other was studied, and a mathematical relationship was presented to analyze the behavior of these two variables relative to each other. On the other hand, the increasing and then decreasing behavior of the intensity of the Earth’s magnetic field relative to the intensity of radioactivity of radioactive elements shows that it is possible to generalize the results of magnetometric surveys to radiometry without radiometric re-sampling in this region and neighboring areas. For this purpose, using the general regression neural network and backpropagation neural network (BPNN) methods, radiometric data were estimated with very good accuracy. The general regression neural network (GRNN) method, with more precision in estimation, was used as a model for estimating the radiation intensity of radioactive elements in other neighboring areas.

Drone-Based Gamma Radiation Dose Distribution Survey with a Discrete Measurement Point Procedure

A dose distribution map can be created using geographic information system (GIS) methods from sensor data that do not provide image information in a classical way. The results of discrete radiation measurements can be properly represented in a uniform raster above the surface. If the radiation measured at each site does not show a jump-like change, a dose distribution map can be prepared by interpolating the measured values. The coordinates of the measuring points can be used to calibrate the map. The calibrated and georeferenced map is suitable for locating hidden or lost radiation sources or for mapping active debris scattered during a possible reactor accident. The advantage of the developed method is the measurement can be performed with a small multicopter, cost-effectively, even without human intervention. The flight time of small multicopters is very limited, so it is especially important to increase the efficiency of the measurement. During the experiments, a practical comparison of several methods was made with regard to the measurement procedure. Similarly, based on the measurement experience, the detector system was further developed and tested in three main steps. A system was developed with a detector system with a total weight of 500 g, including a battery capable of operating the detector for at least 120 min. The device is capable of detecting an average of 30 events/min at of 0.01 μSv/h background radiation. Experiments have shown that the system is able to significantly detect a source with an activity of 300 μSv/h by scanning above 10 m ground level.

A Monocular Visual Odometry Method Based on Virtual-Real Hybrid Map in Low-Texture Outdoor Environment

With the extensive application of robots, such as unmanned aerial vehicle (UAV) in exploring unknown environments, visual odometry (VO) algorithms have played an increasingly important role. The environments are diverse, not always textured, or low-textured with insufficient features, making them challenging for mainstream VO. However, for low-texture environment, due to the structural characteristics of man-made scene, the lines are usually abundant. In this paper, we propose a virtual-real hybrid map based monocular visual odometry algorithm. The core idea is that we reprocess line segment features to generate the virtual intersection matching points, which can be used to build the virtual map. Introducing virtual map can improve the stability of the visual odometry algorithm in low-texture environment. Specifically, we first combine unparallel matched line segments to generate virtual intersection matching points, then, based on the virtual intersection matching points, we triangulate to get a virtual map, combined with the real map built upon the ordinary point features to form a virtual-real hybrid 3D map. Finally, using the hybrid map, the continuous camera pose estimation can be solved. Extensive experimental results have demonstrated the robustness and effectiveness of the proposed method in various low-texture scenes.

Advantages of Gamma-Radiometric and Spectrometric Low-Altitude Geophysical Surveys by Unmanned Aerial Systems with Small Scintillation Detectors

Unmanned aerial systems (UAS) for airborne gamma-ray surveys in radioecological and geological research are being increasingly used, since they provide radiation safety for personnel and high survey performance. Improvement of detection modules is one of the main directions in which UAS-gamma is developing. Semiconductor detectors are used increasingly as they have a small mass and are convenient for light unmanned aerial vehicles (UAVs). Simultaneously, in our opinion, the potential of traditional scintillation detectors is not exhausted because they are cheaper and more affordable. Radiometric and spectrometric detection modules based on scintillation detectors can even be created at home. The main disadvantage of scintillation detectors is the need for large crystals with significant mass to obtain high data quality. Traditional aerial gamma surveys with operated aircraft systems use scintillation detectors with a volume of tens or hundreds of litres. In this paper, we present the comparison result of radiometric and spectrometric surveys with small volume detectors made at different altitudes and ground surveys. We prove that with properly designed and applied ultralight UAS for aerial gamma spectrometry it is possible to obtain high-quality and informative data.

Lightweight Unmanned Aerial System for Time-Domain Electromagnetic Prospecting—The Next Stage in Applied UAV-Geophysics

Nowadays in solving geological problems, the technologies of UAV-geophysics, primarily magnetic and gamma surveys, are being increasingly used. However, for the formation of the classical triad of airborne geophysics methods in the UAV version, there was not enough technology for UAV-electromagnetic sounding, which would allow studying the geological environment at depths of tens and hundreds of meters with high detail. This article describes apparently the first technology of UAV-electromagnetic sounding in the time domain (TDEM, TEM), implemented as an unmanned system based on a light multi-rotor UAV. A measuring system with an inductive sensor—an analogue of a 20 × 20 or 50 × 50 m receiving loop is towed by a UAV, and a galvanically grounded power transmitter is on the ground and connected to a pulse generator. The survey is carried out along a network of parallel lines at low altitude with a terrain draping at a speed of 7–8 m/s, the maximum distance of the UAV’s departure from the transmitter line can reach several kilometers, thus the created technology is optimal for performing detailed areal electromagnetic soundings in areas of several square kilometers. The results of the use of the unmanned system (UAS) in real conditions of the mountainous regions of Eastern Siberia are presented. Based on the obtained data, the sensitivity of the system was simulated and it was shown that the developed technology allows one to collect informative data and create geophysical sections and maps of electrical resistivity in various geological situations. According to the authors, the emergence of UAV-TEM systems in the near future will significantly affect the practice of geophysical work, as it was earlier with UAV-magnetic prospecting and gamma-ray survey.