Objective:The aim of this study was to measure the leakage by two methods with ion chamber and ready packs film,and to investigate the feasibility and the advantages of using two dosimetry methods for assessing leakag...Objective:The aim of this study was to measure the leakage by two methods with ion chamber and ready packs film,and to investigate the feasibility and the advantages of using two dosimetry methods for assessing leakage radiation around the head of the linear accelerators.Methods:Measurements were performed using a 30 cm3ion chamber;the gantry at 0°,the X-ray head at 0°,the field size at between the central axis and a plane surface at a FSD of 100 as a reference,a series of concentric circles having radii of 50,75,and 100 cm with their common centre at the reference point.The absorbed dose was measured at the reference point,and this would be used as the reference dose.With the diaphragm closed,the measurements were taken along the circumference of the three circles and at 45°intervals.Results:Leakage radiations while the treatment head was in the vertical position varied between 0.016%–0.04%.With the head lying horizontally,leakage radiation was the same order magnitude and varied between 0.02%–0.07%.In the second method,the verification was accomplished by closing the collimator jaws and covering the head of the treatment unit with the ready pack films.The films were marked to permit the determination of their positions on the machine after exposed and processed.With the diaphragm closed,and the ready packs films around the linear accelerator the beam turned on for 2500 cGy(2500 MU).The optical density of these films was measured and compared with this of the reference dose.Leakage radiation varied according to the film positions and the magnitude of leakage was between 0.005%–0.075%.Conclusion:The differences between the values of the leakage radiation levels observed at different measurement points do not only reflect differences in the effective shielding thickness of the head wall,but are also related to differences in the distances between the target and the measurement points.The experimental errors involved in dosimetric measurement also contribute to such differences.展开更多
This paper proposes a self-position estimate algorithm for the multiple mobile robots; each robot uses two omnidirectional cameras and an accelerometer. In recent years, the Great East Japan Earthquake and large-scale...This paper proposes a self-position estimate algorithm for the multiple mobile robots; each robot uses two omnidirectional cameras and an accelerometer. In recent years, the Great East Japan Earthquake and large-scale disasters have occurred frequently in Japan. From this, development of the searching robot which supports the rescue team to perform a relief activity at a large-scale disaster is indispensable. Then, this research has developed the searching robot group system with two or more mobile robots. In this research, the searching robot equips with two omnidirectional cameras and an accelerometer. In order to perform distance measurement using two omnidirectional cameras, each parameter of an omnidirectional camera and the position and posture between two omnidirectional cameras have to be calibrated in advance. If there are few mobile robots, the calibration time of each omnidirectional camera does not pose a problem. However, if the calibration is separately performed when using two or more robots in a disaster site, etc., it will take huge calibration time. Then, this paper proposed the algorithm which estimates a mobile robot＇s position and the parameter of the position and posture between two omnidirectional cameras simultaneously. The algorithm proposed in this paper extended Nonlinear Transformation （NLT） Method. This paper conducted the simulation experiment to check the validity of the proposed algorithm. In some simulation experiments, one mobile robot moves and observes the circumference of another mobile robot which has stopped at a certain place. This paper verified whether the mobile robot can estimate position using the measurement value when the number of observation times becomes 10 times in n/18 of observation intervals. The result of the simulation shows the effectiveness of the algorithm.展开更多
文摘Objective:The aim of this study was to measure the leakage by two methods with ion chamber and ready packs film,and to investigate the feasibility and the advantages of using two dosimetry methods for assessing leakage radiation around the head of the linear accelerators.Methods:Measurements were performed using a 30 cm3ion chamber;the gantry at 0°,the X-ray head at 0°,the field size at between the central axis and a plane surface at a FSD of 100 as a reference,a series of concentric circles having radii of 50,75,and 100 cm with their common centre at the reference point.The absorbed dose was measured at the reference point,and this would be used as the reference dose.With the diaphragm closed,the measurements were taken along the circumference of the three circles and at 45°intervals.Results:Leakage radiations while the treatment head was in the vertical position varied between 0.016%–0.04%.With the head lying horizontally,leakage radiation was the same order magnitude and varied between 0.02%–0.07%.In the second method,the verification was accomplished by closing the collimator jaws and covering the head of the treatment unit with the ready pack films.The films were marked to permit the determination of their positions on the machine after exposed and processed.With the diaphragm closed,and the ready packs films around the linear accelerator the beam turned on for 2500 cGy(2500 MU).The optical density of these films was measured and compared with this of the reference dose.Leakage radiation varied according to the film positions and the magnitude of leakage was between 0.005%–0.075%.Conclusion:The differences between the values of the leakage radiation levels observed at different measurement points do not only reflect differences in the effective shielding thickness of the head wall,but are also related to differences in the distances between the target and the measurement points.The experimental errors involved in dosimetric measurement also contribute to such differences.
文摘This paper proposes a self-position estimate algorithm for the multiple mobile robots; each robot uses two omnidirectional cameras and an accelerometer. In recent years, the Great East Japan Earthquake and large-scale disasters have occurred frequently in Japan. From this, development of the searching robot which supports the rescue team to perform a relief activity at a large-scale disaster is indispensable. Then, this research has developed the searching robot group system with two or more mobile robots. In this research, the searching robot equips with two omnidirectional cameras and an accelerometer. In order to perform distance measurement using two omnidirectional cameras, each parameter of an omnidirectional camera and the position and posture between two omnidirectional cameras have to be calibrated in advance. If there are few mobile robots, the calibration time of each omnidirectional camera does not pose a problem. However, if the calibration is separately performed when using two or more robots in a disaster site, etc., it will take huge calibration time. Then, this paper proposed the algorithm which estimates a mobile robot＇s position and the parameter of the position and posture between two omnidirectional cameras simultaneously. The algorithm proposed in this paper extended Nonlinear Transformation （NLT） Method. This paper conducted the simulation experiment to check the validity of the proposed algorithm. In some simulation experiments, one mobile robot moves and observes the circumference of another mobile robot which has stopped at a certain place. This paper verified whether the mobile robot can estimate position using the measurement value when the number of observation times becomes 10 times in n/18 of observation intervals. The result of the simulation shows the effectiveness of the algorithm.
