Evaluation of force pain thresholds to ensure collision safety in worker-robot collaborative operations.

With the growing demand for robots in the industrial field, robot-related technologies with various functions have been introduced. One notable development is the implementation of robots that operate in collaboration with human workers to share tasks, without the need of any physical barriers such as safety fences. The realization of such collaborative operations in practice necessitates the assurance of safety if humans and robots collide. Thus, it is important to establish criteria for such collision scenarios to ensure robot safety and prevent injuries. Collision safety must be ensured in both pinching (quasi-static contact) and impact (transient contact) situations. To this end, we measured the force pain thresholds associated with impacts and evaluated the biomechanical limitations. This measurements were obtained through clinical trials involving physical collisions between human subjects and a device designed for generating impacts, and the force pain thresholds associated with transient collisions between humans and robots were analyzed. Specifically, the force pain threshold was measured at two different locations on the bodies of 37 adults aged 19-32 years, using two impactors with different shapes. The force pain threshold was compared with the results of other relevant studies. The results can help identify biomechanical limitations in a precise and reliable manner to ensure the safety of robots in collaborative applications.

A statistical model to predict the occurrence of blunt impact injuries on the human hand-arm system.

Biomechanical limits based on pain thresholds ensure safety in workplaces where humans and cobots (collaborative robots) work together. Standardization bodies' decision to rely on pain thresholds stems from the assumption that such limits inherently protect humans from injury. This assumption has never been verified, though. This article reports on a study with 22 human subjects in which we studied injury onset in four locations of the hand-arm system using an impact pendulum. During the tests, the impact intensity was slowly increased over several weeks until a blunt injury, i.e., bruising or swelling, appeared in the body locations under load. A statistical model, which calculates injury limits for a given percentile, was developed based on the data. A comparison of our injury limits for the 25th percentile with existing pain limits confirms that pain limits provide suitable protection against impact injuries, albeit not for all body locations.

Impact of new operational dosimetric quantities on individual monitoring services.

The new operational dosimetric quantities framework, proposed in the ICRU95 report, has stimulated the scientific community to start investigations that aim to assess its impact on radiation protection practices. As part of this effort, the present study describes an inter-comparison exercise among individual monitoring services (IMSs) on passive whole-body dosimetry. The inter-comparison is performed in terms of both the existing operational dose quantityHp(10)and its proposed replacementHp, to allow an evaluation of the actions that may be necessary to adapt dosimetry systems to the proposed quantity. For two of the tested IMSs, simple modifications to the detector response function, or the dose calculation algorithm, were sufficient to obtain results within acceptable limits. However, these approaches are not sufficient to give a level of performance comparable to that achieved in terms ofHp(10). This may require a modification to dosemeter design.

A Statistical Model to Determine Biomechanical Limits for Physically Safe Interactions With Collaborative Robots.

Collaborative robots (cobots) provide a wide range of opportunities to improve the ergonomics and efficiency of manual work stations. ISO/TS 15066 defines power and force limiting (PFL) as one of four safeguarding modes for these robots. PFL specifies biomechanical limits for hazardous impacts and pinching contacts that a cobot must not exceed to protect humans from serious injuries. Most of the limits in ISO/TS 15066 are preliminary, since they are based on unverified data from a literature survey. This article presents a human-subject study that provides new and experimentally verified limits for biomechanically safe interactions between humans and cobots. The new limits are specifically tailored to impact and pinching transferred through blunt and semi-sharp surfaces as they can occur in the event of human error or technical failures. Altogether 112 subjects participated in the study and were subjected to tests with emulated impact and pinching loads at 28 different body locations. During the experiments, the contact force was gradually increased until the load evoked a slightly painful feeling on the subject's body location under test. The results confirm that the pain thresholds of males and females are different in specific body regions. Therefore, when defining biomechanical limits, the gender difference must be taken into account. A regression model was utilized to incorporate the gender effect as a covariate into a conventional statistical distribution model that can be used to calculate individual limits, precisely fitted to a specific percentile of a mixed group of male and female workers which interacting with cobots.

MEASUREMENT OF OPERATIONAL QUANTITIES Hp(0.07) AND Hp(3) FOR INDIGENOUSLY DEVELOPED 106Ru/106Rh SOURCE USING AN EXTRAPOLATION CHAMBER.

In the present study, a prototype 106Ru/106Rh source was fabricated using high level liquid waste from reactor fuel, fixed in a stainless steel housing with a window and backing made of silver. The study involves measurement of the operational quantities Hp(0.07), Hp(3) and the percentage depth dose (PDD) using an extrapolation chamber. It also involves determination of necessary correction factors to arrive at Hp(0.07) and Hp(3) following International Organisation for Standardisation (ISO) and methods suggested in literature. The study facilitates incorporation of the 106Ru/106Rh source as a beta reference source for quality assurance programme in TLD personnel monitoring as per the guidelines of ISO.

BAYESIAN SPECTRUM DECONVOLUTION INCLUDING UNCERTAINTIES AND MODEL SELECTION: APPLICATION TO X-RAY EMISSION DATA USING WINBUGS.

Spectrum deconvolution is an important task in ionizing radiation measurements, as the pulse height spectra, or, in general, the measured data from spectrometers or other measuring instruments are usually determined by the convolution of the response function with the fluence spectra. The method presented here for obtaining fluence spectra from the measurements is an application of Bayesian parameter estimation to the deconvolution of X-ray emission data. The problem of choosing the optimal model among several possible models is also considered, as well as an approach to include contributions from various sources of uncertainty, both correlated and uncorrelated. The application is carried out using the Bayesian software WinBUGS.

X-RAY EMISSION FROM MATERIALS PROCESSING LASERS.

The emission of laser induced X-rays from materials processing ultra-short pulsed laser systems was measured. The absolute spectral photon fluence was determined using a thermoluminescence detector based few-channel spectrometer. The spectra at 10 cm from the laser focus were in the energy region between 2 and 25 keV with mean energies of ~4-6 keV (when weighted by fluence or directional dose equivalent) and up to 13 keV (when weighted by ambient dose equivalent). The operational quantities, H·'(0.07), H·'(3) and H·*(10), were determined to be in the order of 1600-7300, 16-71 and 1-4 mSv per hour processing time, respectively, depending on the material and condition of the workpiece. The dose contribution due to photons above 30 keV was for all quantities negligible, i.e. below 10-3.

EURADOS 2016 INTERCOMPARISON EXERCISE OF EYE LENS DOSEMETERS.

In the context of a new annual eye lens dose limit for occupational exposure equal to 20 mSv, European Radiation Dosimetry Group (EURADOS) organized an intercomparison dedicated to eye lens dosemeters, including photon and beta radiations. The objective was to complete the first intercomparison recently organized by EURADOS for photons and to update the overview of eye lens dosemeters available in Europe. The dosemeters provided by the 22 participants coming from 12 countries were all composed of thermoluminescent detectors. The dosemeters were irradiated with photon and beta fields defined in relevant standards. The results, provided by participants in terms of Hp(3), were compared to the reference delivered doses. Results are globally satisfactory for photons since 90% of the data are in accordance to the ISO 14146 standard requirements. The respective values for betas stress the fact that dosemeters designed for Hp(0.07) are not suitable to monitor the eye lens dose in case of betas.

The ICRU Proposal for New Operational Quantities for External Radiation.

Report Committee 26 of the ICRU proposes a set of operational quantities for radiation protection for external radiation, directly based on effective dose and for an extended range of particles and energies. It is accompanied by quantities for estimating deterministic effects to the eye lens and the local skin. The operational quantities are designed to overcome the conceptual and technical shortcomings of those presently in use. This paper describes the proposed operational quantities, and highlights the improvements with respect to the present, legal monitoring quantities.

INTERCOMPARISON OF EYE LENS DOSEMETERS.

An intercomparison of eye lens dosemeters has been conducted in terms of the quantity Hp(3). For the first time, besides photon radiation also beta radiation qualities were included. Three dosemeter types designed for the quantity Hp(3) and ten for Hp(0.07) took part in the intercomparison. As shown in a previous intercomparison for photon radiation only, the dosemeters designed for Hp(0.07) and calibrated in terms of Hp(3) performed well in photon radiation fields. But for beta radiation, it turned out that Hp(0.07) dosemeters over-responded up to a factor of 5 000 (with respect to the true Hp(3) dose) in the medium beta energy range (85Kr with a beta endpoint energy of 0.69 MeV), while some Hp(3) dosemeters performed quite well. For medium (57 keV) and high (662 keV) energy photon radiation, all dosemeter types showed response values well within the trumpet curve according to the current draft of ISO 14146.

COMPILATION OF CONVERSION COEFFICIENTS FOR THE DOSE TO THE LENS OF THE EYE.

A compilation of fluence-to-absorbed dose conversion coefficients for the dose to the lens of the eye is presented. The compilation consists of both previously published data and newly calculated values: photon data (5 keV-50 MeV for both kerma approximation and full electron transport), electron data (10 keV-50 MeV), and positron data (1 keV-50 MeV) - neutron data will be published separately. Values are given for angles of incidence from 0° up to 90° in steps of 15° and for rotational irradiation. The data presented can be downloaded from this article's website and they are ready for use by Report Committee (RC) 26. This committee has been set up by the International Commission on Radiation Units and Measurements (ICRU) and is working on a 'proposal for a redefinition of the operational quantities for external radiation exposure'.

Effect of X-ray High-voltage Variations on the Conversion Coefficients.

Conversion coefficients (CCs) are an essential vehicle in radiation protection for the determination of the dose (rate) of a given radiation field. According to the current draft of the revision of international standard ISO 4037, an X-ray field is a reference field if the CCs of the field match the tabulated ISO values within 2%. Deviations of the high-voltage (HV) tube-potential from its nominal value influence the resulting spectra and change the corresponding CCs. This work investigates the maximum allowable deviation of the HV from its nominal value such that the requirements of ISO 4037 remain fulfilled. This is achieved using both synthetic spectra created by a software simulation program and spectra measured at one of the X-ray facilities of the Physikalisch-Technische Bundesanstalt. The results are summarised in form of a new proposal for upper limit values which are suggested to be used in the next version of ISO 4037.

MULTI-PARAMETER INTERPOLATION OF BETA RADIATION DOSE RATES USING RADIAL BASIS FUNCTIONS.

In this study, the interpolation problem for a set of Monte Carlo simulations of dose rate per activity of beta-emitting radionuclides is considered. The simulations were carried out for various conditions: for circular areal sources of different diameters and radionuclides, and for various distances from the source. Calculations were done for both operational quantities as well as organ doses: Hp(0.07), Hp(3), Hp(10), Hskin and Hlens Interpolation is needed for practical applications because it is often necessary to evaluate the dose quantities at parameter values that do not correspond exactly to the ones that were used for the simulation. To solve this problem, the method of radial basis function thin-plate spline interpolation is used. The method used for the interpolation and a software application called BetaDosim, which allows users to get the interpolated values, are described. BetaDosim is freely available.

EVOLUTION OF THE IEC AND EN STANDARDS FOR INDIVIDUAL MONITORING OF IONISING RADIATION.

This article presents the evolution of the International Electrotechnical Commission (IEC) and the European standards for individual monitoring of ionising radiation issued, respectively, from the committees IEC/Sub Committee 45B and European Committee for Electro-technical Standardization/Technical Committee 45B 'Radiation protection instrumentation'. Standards for passive individual photon and beta dosimetry systems as well as those for active individual monitors are discussed. A neutron ambient dose equivalent (rate) meter standard and a technical report concerning the determination of uncertainty in measurement are also covered.

Influence of the phantom shape (slab, cylinder or Alderson) on the performance of an Hp(3) eye dosemeter.

In the past, the operational quantity Hp(3) was defined for calibration purposes in a slab phantom. Recently, an additional phantom in the form of a cylinder has been suggested for eye lens dosimetry, as a cylinder much better approximates the shape of a human head. Therefore, this work investigates which of the two phantoms, slab or cylinder, is more suitable for calibrations and type tests of eye dosemeters. For that purpose, a typical Hp(3) eye dosemeter was irradiated on a slab, a cylinder and on a human-like Alderson phantom. It turned out that the response on the three phantoms is nearly equal for angles of radiation incidence up to 45° and deviates only at larger angles of incidence. Thus, calibrations (usually performed at 0° radiation incidence) are practically equivalent on both the slab and the cylinder phantoms. However, type tests (up to 75° or even 90° radiation incidence) should be carried out on a cylinder phantom, as also for large angles of incidence the response on the cylinder and the Alderson phantoms is rather similar, whereas the response on the slab significantly deviates from the one on the Alderson phantom.

Simulation of the dose rate per activity of beta-emitting radionuclides.

The dose rate per activity was simulated for 10 beta-emitting radionuclides and for different activity distributions (point source, areal sources and a semi-infinite volume source). The results are given for 7 different distances from the source (from 0.01 to 2 m) for both contributions: the beta- and electron-emission, and the X- and gamma-emission. Data are provided for both operational quantities and organ doses: Hp(0.07), Hp(3), Hp(10), Hskin and Hlens. Finally, a software applicaton to interpolate the dose rate per activity due to the beta-emission of arbitrary radionuclides is presented and a simple superposition of these data and of gamma-ray dose constants to calculate the total dose rate is described.

Monitoring the eye lens: how do the international organisations react?

The International Commission on Radiological Protection (ICRP) has recommended to lower the limit of the dose to the eye lens for occupationally exposed persons to a mean value of 20 mSv y(-1) (averaged over 5 y, with a maximum of 50 mSv y(-1)); already in the autumn of 2011, both the European Commission and the International Atomic Energy Agency : IAEA) took over this reduction in their respective draft basic safety standards. Even prior to this (and since then, increasingly so), several international activities were started (among other things, the following ones): (1) the ICRP adopted a stylised model of the eye to calculate dose conversion coefficients for its report ICRP 116; (2) the European Commission has funded the ORAMED project dealing with radiation protection in medicine; (3) in its standard IEC 62387 on passive dosimetry systems, the International Electrotechnical Commission (IEC) has laid down requirements for Hp(3) eye dosemeters; (4) the International Organization for Standardization (ISO) and the IAEA provide a range of practical advice in the standard ISO 15382 (still a draft) and in a technical document IAEA TecDoc on both radiation protection and on dosimetry; (5) for most cases, the International Commission on Radiation Units and Measurements (ICRU) recommends both phantoms (the slab and the cylinder). In short: most national procedures can orientate themselves on international ones; some questions, however, remain open.

[True and virtual risks of travellers]. / Mort des voyageurs: risques réels, risques virtuels.

Evidence-based information on travel associated mortality is scarce. Perception, intuition and the availability of interventions such as vaccinations and chemoprophylaxis often guide pre-travel advice. Important risks including accidents and cardiovascular events are not routinely included in pre-travel consultations although they cause more fatalities and costs than infectious diseases. The increased risk of sustaining a road accident in poor economy countries should always be mentioned. The general practitioner is further best placed to discuss possible problems of travellers with chronic diseases before travel.

Dose conversion coefficients for electron exposure of the human eye lens: calculations including a whole body phantom.

In this work, conversion coefficients from electron fluence to absorbed dose to the eye lens were calculated using Monte Carlo simulations based on a detailed stylised eye model and a very simple but whole body phantom. These data supersede and complement data published earlier based on the simulation of only a single stylised eye. The new data differ from the old ones by not more than 3, 4, 7 and 16 % for angles of radiation incidence of α=0°, 15°, 30° and 45°, respectively, due to the inclusion of the whole body phantom. The data presented in the present work also complement those of a recent report of the International Commission on Radiological Protection (ICRP) (ICRP Publication 116), where conversion coefficients from electron fluence to absorbed dose to the lens of the eye are shown for solely 0°, 180° and isotropic radiation incidence (but for a much broader range of energies). In this article, values are provided for angles of incidence of 0° up to 180° in steps of 15° and for rotational geometry; no systematic deviation was observed from the values given in ICRP Publication 116 for 0° (based on the application of a bare eye) and 180° (based on the application of a voxel whole body phantom). Data are given for monoenergetic electrons from 0.1 up to 10 MeV and for a broad parallel beam geometry in vacuum.