{"id":"https://openalex.org/W3179749926","doi":"https://doi.org/10.3390/robotics10030086","title":"Simulating Ionising Radiation in Gazebo for Robotic Nuclear Inspection Challenges","display_name":"Simulating Ionising Radiation in Gazebo for Robotic Nuclear Inspection Challenges","publication_year":2021,"publication_date":"2021-07-07","ids":{"openalex":"https://openalex.org/W3179749926","doi":"https://doi.org/10.3390/robotics10030086","mag":"3179749926"},"language":"en","primary_location":{"id":"doi:10.3390/robotics10030086","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10030086","pdf_url":"https://www.mdpi.com/2218-6581/10/3/86/pdf?version=1625733135","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/10/3/86/pdf?version=1625733135","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053986773","display_name":"Thomas Wright","orcid":"https://orcid.org/0000-0002-9913-5487"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Thomas Wright","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, UK"],"raw_orcid":"https://orcid.org/0000-0002-9913-5487","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102970482","display_name":"Andrew West","orcid":"https://orcid.org/0000-0003-4553-8640"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andrew West","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, UK"],"raw_orcid":"https://orcid.org/0000-0003-4553-8640","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060900837","display_name":"M. Licata","orcid":null},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mauro Licata","raw_affiliation_strings":["Department of Engineering, Lancaster University, Lancaster LA1 4YW, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering, Lancaster University, Lancaster LA1 4YW, UK","institution_ids":["https://openalex.org/I67415387"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059686746","display_name":"Nick Hawes","orcid":"https://orcid.org/0000-0002-7556-6098"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nick Hawes","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford, Oxford OX2 6NN, UK"],"raw_orcid":"https://orcid.org/0000-0002-7556-6098","affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, Oxford OX2 6NN, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011590665","display_name":"Barry Lennox","orcid":"https://orcid.org/0000-0003-0905-8324"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Barry Lennox","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, UK"],"raw_orcid":"https://orcid.org/0000-0003-0905-8324","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, UK","institution_ids":["https://openalex.org/I28407311"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5053986773"],"corresponding_institution_ids":["https://openalex.org/I28407311"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":8.5004,"has_fulltext":true,"cited_by_count":44,"citation_normalized_percentile":{"value":0.98435351,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"10","issue":"3","first_page":"86","last_page":"86"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11216","display_name":"Radiation Detection and Scintillator Technologies","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11216","display_name":"Radiation Detection and Scintillator Technologies","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13923","display_name":"Nuclear and radioactivity studies","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10597","display_name":"Nuclear reactor physics and engineering","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.6623252630233765},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6585210561752319},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6475070118904114},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6155984401702881},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4488992691040039},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.43403536081314087},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40238845348358154},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.22509604692459106},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20146885514259338}],"concepts":[{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6623252630233765},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6585210561752319},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6475070118904114},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6155984401702881},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4488992691040039},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.43403536081314087},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40238845348358154},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.22509604692459106},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20146885514259338}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/robotics10030086","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10030086","pdf_url":"https://www.mdpi.com/2218-6581/10/3/86/pdf?version=1625733135","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:openaire/aecf0670-9061-4100-9f26-59d0bc24cea5","is_oa":true,"landing_page_url":"https://research.manchester.ac.uk/en/publications/aecf0670-9061-4100-9f26-59d0bc24cea5","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Wright, T, West, A, Lennox, B, Licata, M & Hawes, N 2021, 'Simulating Ionising Radiation in Gazebo for Robotic Nuclear Inspection Challenges', robotics, vol. 10, no. 3, 86. https://doi.org/10.3390/robotics10030086","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.atira.dk:publications/aecf0670-9061-4100-9f26-59d0bc24cea5","is_oa":true,"landing_page_url":"https://www.research.manchester.ac.uk/portal/en/publications/simulating-ionising-radiation-in-gazebo-for-robotic-nuclear-inspection-challenges(aecf0670-9061-4100-9f26-59d0bc24cea5).html","pdf_url":"https://www.mdpi.com/2218-6581/10/3/86/pdf","source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:doaj.org/article:7c5f9eef770f482fbd84c8abb10b1860","is_oa":true,"landing_page_url":"https://doaj.org/article/7c5f9eef770f482fbd84c8abb10b1860","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 10, Iss 3, p 86 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/10/3/86/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics10030086","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 10; Issue 3; Pages: 86","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics10030086","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10030086","pdf_url":"https://www.mdpi.com/2218-6581/10/3/86/pdf?version=1625733135","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5600000023841858,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G2513151266","display_name":null,"funder_award_id":"EP/R026084","funder_id":"https://openalex.org/F4320314731","funder_display_name":"UK Research and Innovation"},{"id":"https://openalex.org/G2876731228","display_name":null,"funder_award_id":"EP/P018505/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4158755085","display_name":null,"funder_award_id":"CiET1819\\13","funder_id":"https://openalex.org/F4320320005","funder_display_name":"Royal Academy of Engineering"},{"id":"https://openalex.org/G6732448074","display_name":null,"funder_award_id":"EP/R026084/1","funder_id":"https://openalex.org/F4320314731","funder_display_name":"UK Research and Innovation"},{"id":"https://openalex.org/G7069732124","display_name":null,"funder_award_id":"CiET1819","funder_id":"https://openalex.org/F4320320005","funder_display_name":"Royal Academy of Engineering"},{"id":"https://openalex.org/G911994809","display_name":null,"funder_award_id":"EP/P018505/1","funder_id":"https://openalex.org/F4320314731","funder_display_name":"UK Research and Innovation"}],"funders":[{"id":"https://openalex.org/F4320314731","display_name":"UK Research and Innovation","ror":"https://ror.org/001aqnf71"},{"id":"https://openalex.org/F4320320005","display_name":"Royal Academy of Engineering","ror":"https://ror.org/0526snb40"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3179749926.pdf","grobid_xml":"https://content.openalex.org/works/W3179749926.grobid-xml"},"referenced_works_count":57,"referenced_works":["https://openalex.org/W148802851","https://openalex.org/W200058615","https://openalex.org/W1511205160","https://openalex.org/W1527464117","https://openalex.org/W1754558715","https://openalex.org/W2008308362","https://openalex.org/W2010202166","https://openalex.org/W2017173351","https://openalex.org/W2034706158","https://openalex.org/W2039293748","https://openalex.org/W2040631823","https://openalex.org/W2082511574","https://openalex.org/W2101078397","https://openalex.org/W2128158076","https://openalex.org/W2129899349","https://openalex.org/W2141104994","https://openalex.org/W2167340365","https://openalex.org/W2270301211","https://openalex.org/W2289765616","https://openalex.org/W2312203943","https://openalex.org/W2426747136","https://openalex.org/W2481627655","https://openalex.org/W2549123559","https://openalex.org/W2604952276","https://openalex.org/W2744139650","https://openalex.org/W2752692724","https://openalex.org/W2765990129","https://openalex.org/W2773981562","https://openalex.org/W2786937962","https://openalex.org/W2786942458","https://openalex.org/W2791460844","https://openalex.org/W2883740705","https://openalex.org/W2884484164","https://openalex.org/W2898358825","https://openalex.org/W2900742918","https://openalex.org/W2908961511","https://openalex.org/W2911682147","https://openalex.org/W2916213670","https://openalex.org/W2946934882","https://openalex.org/W2948574104","https://openalex.org/W2950457763","https://openalex.org/W2954556860","https://openalex.org/W2965265162","https://openalex.org/W2977575624","https://openalex.org/W3000208911","https://openalex.org/W3003781268","https://openalex.org/W3005214890","https://openalex.org/W3010330612","https://openalex.org/W3091017652","https://openalex.org/W3101412263","https://openalex.org/W3102278320","https://openalex.org/W3102513903","https://openalex.org/W3127882834","https://openalex.org/W3165545485","https://openalex.org/W3180642145","https://openalex.org/W4229832032","https://openalex.org/W4235377041"],"related_works":["https://openalex.org/W96612179","https://openalex.org/W2770234245","https://openalex.org/W2566006169","https://openalex.org/W2987774938","https://openalex.org/W632915154","https://openalex.org/W4229499248","https://openalex.org/W4378874356","https://openalex.org/W2055733372","https://openalex.org/W2369811061","https://openalex.org/W3089997100"],"abstract_inverted_index":{"The":[0,170],"utilisation":[1],"of":[2,33,72,130,137,141,153,179,195],"robots":[3],"in":[4,35],"hazardous":[5],"nuclear":[6,182],"environments":[7,98,117],"has":[8,18],"potential":[9],"to":[10,13,22,40,49,59,90,104,126,134,157,191],"reduce":[11],"risk":[12],"humans.":[14],"However,":[15],"historical":[16],"use":[17],"been":[19],"largely":[20],"limited":[21,47],"specific":[23],"missions":[24],"rather":[25],"than":[26],"broader":[27],"industry-wide":[28],"adoption.":[29],"Testing":[30],"and":[31,75,87,97,198],"verification":[32],"robotics":[34,187],"realistic":[36,94],"scenarios":[37,96],"is":[38,160],"key":[39],"gaining":[41],"stakeholder":[42],"confidence":[43],"but":[44,93],"hindered":[45],"by":[46,177],"access":[48],"facilities":[50],"that":[51],"contain":[52],"radioactive":[53,63],"materials.":[54],"Simulations":[55],"offer":[56],"an":[57],"alternative":[58],"testing":[60],"with":[61,189],"actual":[62],"sources,":[64],"provided":[65],"they":[66],"can":[67,118],"readily":[68],"describe":[69],"the":[70,79,107,128,146,151,163,186,193],"behaviour":[71],"robotic":[73,196],"systems":[74,197],"ionising":[76,101],"radiation":[77,143,167],"within":[78,106,145],"same":[80],"environment.":[81],"This":[82],"work":[83,105],"presents":[84],"a":[85],"quick":[86],"easy":[88],"way":[89],"generate":[91],"simulated":[92,154],"deployment":[95],"which":[99],"include":[100],"radiation,":[102],"developed":[103],"popular":[108],"robot":[109],"operating":[110],"system":[111],"compatible":[112],"Gazebo":[113],"physics":[114],"simulator.":[115],"Generated":[116],"be":[119],"evolved":[120],"over":[121],"time,":[122],"randomly":[123],"or":[124,133],"user-defined,":[125],"simulate":[127],"effects":[129],"degradation,":[131],"corrosion":[132],"alter":[135],"features":[136],"certain":[138],"objects.":[139],"Interaction":[140],"gamma":[142],"sources":[144],"environment,":[147],"as":[148,150],"well":[149],"response":[152],"detectors":[155],"attached":[156],"mobile":[158],"robots,":[159],"verified":[161],"against":[162],"MCNP6":[164],"Monte":[165],"Carlo":[166],"transport":[168],"code.":[169],"benefits":[171],"these":[172],"tools":[173],"provide":[174],"are":[175],"highlighted":[176],"inclusion":[178],"three":[180],"real-world":[181],"sector":[183],"environments,":[184],"providing":[185],"community":[188],"opportunities":[190],"assess":[192],"capabilities":[194],"autonomous":[199],"functionalities.":[200]},"counts_by_year":[{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2021-07-19T00:00:00"}
