INSEA A.E.

Pithagora & Renieri 11, 73100 Chania,Crete,Greece Tel: 28210 36208, Fax: 28210 83109

Agias Lavras 19 & Odysseos, 71306 Heraklion,Crete,Greece Tel: 2810 246710-8, Fax: 2810 246719

ROBOSCAN 1M

View the Roboscan 1M in action

The nonintrusive inspection system radiographies containers, vehicles, rail cars or any other large objects, providing as well under side video image, automatic radioactive materials detection, documents integrity checking, having the capability to save complex files containing the results of all mentioned performed inspection in to a unique folder.

The system can be used to inspect the a.m. items by passing through a radioactive materials detector, then through an under side video imaging subsystem, finally being scanned with Gamma ray, to create a radiography, that can be evaluated together with the under view real image, according the content of transport documents that can be checked with Video Spectral Comparators (VSC) in order to detect the eventually forged documents.

word Roboscan cost of ownership

word Comparison of Roboscan and the competition

All mobile scanning systems, have the operator’s cabin mounted on the truck’s chassis, exposing the operating crew to professional and/or accidental irradiation risks. The present system eliminated this risk by separating the operator’s cabin on Mobile Control Center, (MCC) organized inside a caravan that during scanning process is placed outside of the exclusion area and during transport is attached to the scanner vehicle. From this cabin the operator can remote control all processes by Wireless Local Area Network (WLAN).

Another major difference between all competitor systems and the presented one is that ROBOSCAN 1M doesn’t need a driver to control the truck’s movement (drive direction, sense, steering, brakes, vehicle’s parameters, etc.) These functions are managed by a “driverless” subsystem that controls all the commands and parameters of the truck.

The operation of the known systems is complicated, needing a minimum three person crew per shift, operator, driver and external supervisor, the last one having the responsibility to manage the traffic flow of the vehicles that are to be scanned, as well as to prevent intrusion of any persons inside the exclusion area, where there is high risk of irradiation, during scanning process.

The operation of the system is fully automated, allowing to be controlled by a single person, insuring in the same time additional inspections by detecting radioactive materials in the scanned cargo and generating a underside video image, extremely useful for a better understanding of the radiography, as well to determinate if additional objects where attached on the underside of the vehicle with fraudulent intention.

RoboScan manages the access of the vehicle that is to be scanned in the exclusion zone, through an automated traffic flow management subsystem that automatically controls the entry/exit barriers and traffic light. The vehicle to be inspected passes through a radiation materials detector and over a special designed video camera subsystem to realize the underside video image, finishing by placement in a marked area in order to be scanned (radiographied).

The driver of the scanned vehicle leaves the exclusion zone and then the perimeter protection of the exclusion area is automatically activated, followed by the initiation of the scanning process by remote commands transmitted to the Mobile Scanning Unit (MSU) in order to switch on the radiation source and to initiate the slow movement along the scanned truck/container. The movement is automatically controlled by electronic and informatics modules, connected with the control centre in WLAN, used to transfer commands, real time status information and image data.

The scan process is automatically stopped in one of the following cases, when the detector boom reached the end of the scanned vehicle and consequently, the detectors receive the maximum level of radiation, at the end of the programmed scanning length, when the protection limiter of the movement is triggered, when the perimeter protection of the exclusion area has been breached, when the proximity sensor has been triggered, indicating dangerous distance between the detector boom and the scanned vehicle, when obstacles are detected by the sensors placed on front and rear of the MSU.

The emergency stop of the scanning process can be as well, manually commanded any moment by the operator or any other person accessing the emergency stop buttons, placed on the outside of the MCC and MSU. During the scanning process, the scanned image is displayed on the operator’s monitor and at the end of this step, the perimeter protection of the exclusion area is automatically deactivated and the scanned vehicle may leave the scanning area.

The MSU moves in reverse drive to the initial position and the scanning cycle may be reinitiated.

The subsystem for the automated control of speed/sense motion and steering of MSU is built with an electric motor that drives the steering column and an electronic command module. The subsystem receives information about the units’ relative positions and generates automatically the commands to drive the mobile on the desired trajectory.

The hydraulic motion subsystem that drives the MSU in slow motion, is made out of a mechanical gearbox equipped with a revolution sensor, a hydraulic motor, a variable flow hydraulic pump controlled by an electronic module, commanded by an automated motion control dedicated software application. The scan speed can be set by the operator before the scanning process begins and can be modified in real time during scan as needed (ex: if the inspected vehicle is empty the operator can move to maximum speed).

The automated traffic management subsystem consist in two barriers and optional two traffic lights, wireless commanded by a dedicated software application and the exclusion area protection subsystem consist in four Passive Infra Red (PIR) motion detection sensors, a control module for the sensors’ status and an emergency automated radiation source shutdown module in case that the exclusion area has been breached.

The subsystem for acquisition, processing, storage and displaying of scanned image is made out of a number of radiation detectors that are connected to the input channels of the electronic imaging subsystem, running a dedicated software application, connected through WLAN to the main processing unit that displays the scanned image on a LCD monitor.

The under view video imaging subsystem consist in a special dedicated optic unit, integrating video cameras, lens and illumination and an image acquisition hardware and software module.

The radiation material detector gate consists in a Gamma and neutrons detectors and the software module to interpret the output signals and to generate an alarm in case radioactive materials are detected in the cargo. The software application indicates the approximate position of the radioactive material detected in the cargo.

The document checking subsystem consists in a optical module integrating a video camera with high zoom lens, different wave length light Infra Red (IR), Ultra Violet (UV), direct, tangential and transparent Visible Light (VL) sources and an image acquisition hardware and software module.

The computerized management subsystem consist in a cluster of computers running several dedicated software applications to control and manage all subsystems and full operation of the inspection system, insuring in background the control of all automatic processes and recording all commands, responses to commands and system’s operation parameters in “black box” file, similar with those used in aviation.

The presented system has the following key advantages:

elimination of all professional irradiation risk of the operators as well as the risk of accidental irradiation of the possible intruders in the exclusion area;
the reduction of the personnel from minimum three crew members per shift, to one single person per shift;
increased system mobility, flexibility and maneuverability ;
increased automation;
increased productivity, higher number of scan vehicle/hour, by automating most of the processes and decreasing the idle time by computer assisted operation;
possibility to modify the scanning speed inside a wide range, during the scan process in order to offer the best ratio of penetration/throughput ;
precise control of speed and drive distance in wide range;
the preservation of all the dynamic performances (speed power and torque) of the chassis in “transport mode” without affecting its constructive performances;
significant reduction of the system’s total weight with positive effects in the reduction of the tipping moment and the torsion stress within the truck’s chassis; total weight of the system is 7.5 tons for MSU and 1.0 tons for MCC being the lightest system in the world market now;
significant reduction of specific consumptions of energy and fuel (17.5 litter of diesel/100 km , 3.3 litter of diesel/hour (during scanning mode) and only 2.2 KW electric power during normal operation);
capability of a later analysis of the functioning parameters and/or possible undesired events by implementing a “black box” facility, similar to those used in aviation, that automatically records all commands, feedback and system’s functioning parameters, as well all messages automatically generated by the system in order to assist the operator.
extended inspection capability by adding radioactive materials detection, under view video images and documents examination, in a single scanning procedure, without needing supplementary steps inspection procedures and/or additional time.
better scanned image geometry, resulting from optimized detector boom shape

Operating procedure:

the vehicle that is to be inspected is driven to the entry barrier in the exclusion scanning area;
the driver of the vehicle hands over the transport’s documents to the operator in order to be optically scanned and saved in a PC memory as images;
the entry in the scanning area is allowed, the entry barrier is opened, the entry traffic light is green and the exclusion area protection subsystem is deactivated;
the driver positions the vehicle in the scanning area, in the marked spot and leaves the exclusion area;
the entry barrier is closed and the traffic light is red
the perimeter exclusion area protection subsystem is activated;
the operator, initiates the scanning process from the control centre by wireless command to the MSU
the radiation source is activated and the slow motion is initiated. The system moves along the inspected vehicle. The speed of the unit is controlled automatically by electronic and informatics modules on board. These modules are radio connected in the WLAN with the control centre from which they receive commands and to which they send on line status data ;
the scan is automatically stopped in one of the following cases:
- if the detector boom passed the inspected vehicle’s end, so the imaging system receives a series of white lines meaning maximum level of radiation on all detectors;
- at the end of the programmed scanning length;
- if the length limit has been triggered;
- if the protection of the exclusion area has been breached;
- when the distance between the detector boom and the inspected vehicle is dangerously small and the proximity sensors that measure that distance trigger;
- on the automatic detection of obstacles in the proximity of the MSU, by the sensors placed on its front and rear sides;
all documents regarding the transport are optically scanned and stored in a database;
the radiography of the inspected vehicle is displayed on the monitor in the control centre and the operator evaluates the image according to the relevant details and the content of transport documents;
at the end of the scanning phase, the perimeter protection of the exclusion area is deactivated;
the driver of the inspected vehicle receives back the transport’s documents;
the exit barrier is opened, the exit traffic light turns green on and the vehicle leaves the area;
the exit barrier is closed, the traffic light is red on and a new cycle can be started;
a file that contains the radiography, the real front and under view images of the vehicle as well as copies of all documents related to the transport is created and stored with an unique identity, usual the license plate and date/time. Optional is possible to add License Plate Recognition software to generate a list of all inspected vehicles and to automatically generate the ID of the folder to receive al related files.

On the steel boom, a Cobalt 60 radiation source is attached, actuated by a pneumatic actuator

The inspection system, mounted on the chassis has two physical operating modes, ”transport mode” and “scanning mode”. The transition from one mode to another is done by operating hydraulic cylinders which are reconfiguring the boom position and pneumatic cylinders that switch the mechanical gearbox from direct drive to hydraulic drive.

In the “transport mode” the boom is folded along the chassis in order to assure the legal overall dimension for transport on public roads (in this case 3.75m much lower than the legal limit of 4.0 m) and optimal repartition of the load on each wheel. The MCC is towed by the MSU during the transport mode.

In the “scanning mode” the detector boom is laterally extended, to the right, perpendicularly on the axle of the chassis, and the source is placed laterally to the right, at a distance of 4.3 m from the edge of the chassis. This insures a tolerance of 0.9 m on each side of the scanned vehicle. The system allows 3 preset settings of the booms: Standard, Extended and Reduced, in order to scan in optimal conditions both large (out of clearance) and small vehicles. The barriers and traffic lights are placed in the entrance and exit points of the exclusion area and the mobile control centre is placed near the entrance in this area

The subsystem for acquisition, processing, storage and displaying of scanned image is composed from a series of hardware equipment and software applications and it’s designed to collect, process, analyze and interpret the radiation signals from the radiation detectors, in order to generate a radiography of the scanned object.

The MCC manages all the components and subsystems of the mobile inspection system, in a fully automated process. The caravan, into whom the mobile control centre is organized, is equipped with an electric generator and climate equipment that allows it to be electrically independent and to operate even in extreme bad weather conditions. In “transport mode” this caravan is towed by the MSU, both together forming the mobile nonintrusive inspection system ROBOSCAN 1M.

Technical specification

Operation perimeter (exclusion area) is delimited by an infrared curtain presence detectors, determining a perimeter of 30 meters wide and minimum 25 meters long (30 meters recommended) for single trucks sequential scanning mode, or as long as needed for a column of vehicles/containers to be scanned in continuous mode.

The entire perimeter is monitored by 2 video cameras.

The Radiation Source Subsystem Specification

Penetration:	175 mm in steel;
Image Resolution	4 mm steel object visible (for standard resolution)
Beam angle (field of view):	70 degrees;
Lifetime for radiation source:	5 years for 24 h/day;
Level of radiation for the operator:	natural level;
Dose of radiation to inspected vehicle:	less than 0.5 mR per scan;
Dose of radiation to public outside the exclusion zone:	max. 1 mSv/year;
Radiation protection:	individual and on cabins radiation level monitor;

The Imaging and Management Subsystem

Scanned image clearly shows anomalies in the cargo;
Display: 19 inches TFT for scanned image, and a second 19 inches TouchScreen TFT formanagement;

Scanned Image: black & white multiple pseudo-colour;

Reverse video: control to reverse polarity of white and black contrast;

Zoom: 1x, 2x, 4x magnification with joystick control to run continuously through full field of view by simulated lens. Possibility of magnification with a fixed factor;

Dynamic range: 65,536;
Proprietary software algorithm to facilitate a virtual extension of human eye capability to visualization the full dynamic range

Operating system: Windows XP professional;
Software application for equipment operation and control uses 2 monitors
- The first monitor displays the command and control software application that has 5 different sections:
  - Control section contains elements of control and command to operate the deployment. In case of fail command an error message is displayed with instructions for correction.
  - The System section contains information and controls for the boom position and sub-systems status.
  - The Documents section is used for management of the images of scanned documents, relevant for the transport (invoice, packing list, etc). All documents related to the transport are scanned and saved, using the document scanner from the operator cabin. The type of document can be easily selected, just select from a combo box above of each document window, (where the images of the respective document will be displayed.) The 7th window has no list attached, but an edit box creates the possibility to nominate atypical documents. In the bottom of the screen can be typed the field with driver name, origin country and license plate of the vehicle (in case it was not automatically recognized by the LPR application). Also, there is a box with buttons (only one is allowed to be selected), for fast decision in one of the 3 following categories: “O.K.”, “Suspect” and “Confirmed”. All these information are stored in data base and will be accessible to a later search.
  - The Search section allows query the database from pre set or user defined filters. In this section the operator may search in the database, by multiple search criteria, a person (driver) or a vehicle that was scanned. Search can be conducted by vehicle license plate, by origin country, by scanning date, by fast decision (“OK”, “Suspect”, “Confirmed”) or simultaneously by all criteria. If as a result of searching there are more results, by selection with mouse (from list) data may be viewed in the boxes bellow:
  - The Black Box section contains the all commands and messages from all sub-systems and from the operator, the error messages stored during function and their cause and all intervention on the system.
  - The Service section contains information relevant to the service team only
- The second monitor displays the imaging software application and video camera interface:
- Level 1 of operating allows access to section 1-4.
- Level 2 - System administrator - allows access to layers 1-5.
- Level 3 – Service - allows access to layers 1-6.
- Software application is made multilingual and can be supplied in all international language and customized language option
All computers are connected in LAN and the server displays permanently the status of the connection, signaling any connection error.

Capability to mark and type comments related to images.
Images and documents archiving for at least 10.000 complex folders.
Dynamic split of the management screen in independent windows, for video images.
Density expand: controls for enhanced contrast of thin, medium or thick regions of interest;
Penetration and contrast improving filters;

The Vehicle

Dedicated 2 axle chassis with a specially designed superstructure.
Provided with a computer “driverless” that controls the sense, speed, steering and brakes during the scanning process,
Pneumatic suspension front and rear axles;
Stabilizing system to lock the pneumatic suspension during scanning process;
Left or right hand drive;
Diesel engine, EURO 4 compliant;
Remote control burglar alarm system on all access doors.

Operating Features

Scanning frame dimension:	3 preset positions and continuously settable up to 4.9 m width x 5.9 m height;
Time to deploy:	10 minutes from arrival on site;
Automated control process;
Crew requirements:	1 person/Shift, optional+1 supervisor.
Vehicles inspection:	continuous and sequential;
Throughput	30 to 100 vehicles/containers/hour according to the length of each scanned object and scanning mode sequential/continuous
Scanning speed:	settable 0,2; 0,4; 0,6; 0,8 m/sec and variable controlled by computer with 1% accuracy;

Special lights and safety features:

Warning lights and audible alarm indicating the radiation “ON” status;
Exterior lighting for night time operation;
Digital video surveillance subsystem, allowing the operator to monitor activity

Environment

Ambient:

operation: between - 20oC to+ 50oC; Storage: between -25oC and+ 60oC; Relative humidity: 10-95% (non - condensing);

Software Applications

Transaction Server – software application that manages all critical sections used by all software and firmware components. This application is transparent to the user and manages all subsystems in Roboscan.
Image application – receives the image in proprietary format and displays it on the screen. All image processing algorithms and different penetration filters are accessible in imaging software interface (colour and sharpness masks, zoom, etc).

Sub-systems – Specialized software and firmware applications that control and monitor all sub-systems like hydraulic system, auxiliary external equipment (barriers, perimeter sensors, proximity sensors).These applications are transparent to the user.
Operator application - The main function of this application is to manage, to assist all commands and controls.

Insea