Date of Award

5-4-2026

Degree Type

Capstone Project

First Advisor

Professor Bahram Nassersharif

Abstract

The goal of this project was to create an autonomous robot capable of searching an enclosed space for radiation and marking it both physically and on a graphical user interface. The main objectives for the robot were to map a 12 ft by 12 ft area in 15 minutes or less, move at a minimum speed of 0.75 ft/s, have a 60 minute battery life, measure radiation intensity and provide potential identification of radiation type, mark the radiation both physically and on a heat map, and operate using autonomous navigation along a predefined path. The robot is controlled by an Arduino and a Raspberry Pi 3 B+ communicating over a serial connection. The rover moves using a two-wheel front drive with one caster in the rear for improved odometry. The rover follows a programmed serpentine pattern and was able to map a 6 ft × 6 ft room in approximately 3 minutes, demonstrating performance consistent with the minimum speed requirement and supporting the feasibility of meeting the full 12 ft × 12 ft coverage objective. The rover includes both a physical marking system and the ability to mark radiation sources on a heat map. Radiation intensity data was collected using a RadiaCode 103 scintillation (CsI (Tl)) detector. The heat map resolution exceeded the original 1 ft × 1 ft requirement with a 0.5 in by 0.5 in resolution grid. The battery life exceeded 1 hour and 30 minutes under heavy usage. The structural integrity of the main rover body exceeded a 5 pound capacity, which was validated both physically and through FEA software analysis. The project was successful overall, with the design meeting the primary proof-of-concept objectives while using approximately 76% of the allotted $500 budget, despite challenges encountered during development.

Comments

Team Name: Team 21H

Sponsor: Professor Bahram Nassersharif

Document Reference: URI-MCE-2026-FDR-021H

Download

Share

COinS