ROS上でのAIによる放射線分類

原文アブストラクト

This study presents the development of two Robot Operating System (ROS) nodes with a primary focus on differentiating seven radioactive isotopes. The first node, referred to as the model training node, uses a Gradient Boosting classifier to identify and classify these isotopes. The classifier achieved a reported overall accuracy of 95\% on the held-out test dataset. The second node, known as the prediction node, provides classification results when users input data in CSV format. For the practical demonstration, the C12137 radiation detector module was mounted on the Jackal UGV, and an operator approached different radiation sources to collect data. To support future dataset expansion, we also developed a method for converting gamma-spectrum graph images into CSV files. In a separate robotic evaluation across three source locations, 30 of 42 trials were correctly classified (71.43\%). Am-241, Co-60, Cs-137, Na-22, and Ti-44 were correctly classified in all six trials each, whereas Ba-133 and Eu-152 were incorrectly classified in all six trials each. These results show lower accuracy in robotic trials than in the held-out test set.