Embedded System for Mobile Laser-based Stand-off Spectroscopy

Abstract

Fast and reliable detection of potentially hazardous chemical, biological and explosive substances from intended or accidental output is crucial to reduce the amount of injuries, as well as to support first responders. Recent terrorist attacks and pandemics emphasize the need for robust solutions and justify the increased research on detection systems for these substances. Spectroscopy systems may prove to be a useful addition to already established systems due to their capability to detect these substances from a distance. Adding mobility, for instance, by mounting such systems on a moving robot, makes them more flexible and utilizable for a larger number of versatile environments and scenarios. This thesis presents the development of the required support electronics and software for a compact laser-induced fluorescence spectroscopy detection unit optimized for the use on mobile platforms. This includes an autofocus module, a pan-tilt platform for spatial orientation, and a georeference system for localization and attitude determination, together with temperature control and other additional features. All subsystems have been individually validated to ensure proper functionality.