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Department of Engineering, ICT and Technologies for Energy and Transport Patent Title A system and related method for the detection of polluting substances by means of a vehicle driven remotely by a control haptic device. Ref. CNR 10419 Assignee (s): CNR, Università di Parma CNR Institute: IMEM Main Inventor: Andrea Zappettini Countries: IT, PCT Priority date: 29/09/2015 Abstract The present invention refers to a method for the detection and localization on the ground of radioactive substances. The method is based on the use of a small unmanned aircraft (UAV - Unmanned Aerial Vehicle, or air vehicle without a pilot on board, sometimes also referred to as “drone”) equipped with a suitable solid-state sensor capable of detecting radioactive sources and providing a signal whose intensity depends on the intensity of the radiation and the distance from the emitting source. The aircraft is teleoperated by an operator on the ground through a haptic interface with at least three degrees of freedom of translation, or by means of a device (joystick implemented) which allows to impart motion commands and receive sensations of strength. In the proposed system the haptic interface is used by an operator to impart motion commands to the aircraft, while the device is programmed to return to the operator a force sensations based on the detector signal. Background The use of autonomous aircraft to search for radioactive sources has been proposed in the past exclusively in indoor applications, without considering the possibility of integrating supports for teleoperation with haptic interfaces. On the other hand, the use of haptic interfaces with force feedback for the control of autonomous aircraft has been exclusively experienced to avoid obstacles or to signal the deviation of the current position of the aircraft with respect to the desired position. Technology The UAV is equipped with a gamma ray spectrometer that allows to locate and identify radioactive sources and is driven by means of a haptic interface that allows to quickly locate sources even for unskilled operator. Advantages and Applications The ability to conduct a safe and efficient environmental detection through autonomous aircraft, in areas that would otherwise be dangerous to humans for the presence of radioactive sources, possesses significant potential for application. In addition, the haptic user interface allows to locate the radioactive source quickly overcoming the inherent limit of UAVs, namely their limited energy independence. Development stage A fully operating prototype has been realized and already tested under realistic operating conditions. 49