System and method for contamination sampling

Abstract

A system for radioactive contamination sampling includes a mounting tray for coupling to a robot deployed in a radioactive environment, and one or more sampling containers releasably coupled to the tray to maintain the position of the containers. The container (one or more) includes a cup portion and a lid portion having a sampling surface configured to be disposed in the cup portion. The lid portion is releasably coupled to the cup portion through a sealing surface to seal the sampling surface internally, thereby preventing contamination of the sampling surface. A sampling surface extends from the cap and is configured to collect a sample from the surface. Each container also includes an abutment member coupled to the lid portion, the abutment member shaped to be gripped by the robot and to pivot about a coupling point with the container lid portion.

Description

[0001] Cross - reference to related applications and claim of priority This application claims priority to U.S. Provisional Patent Application No. 63 / 425,559, filed on November 15, 2022, the entire content of which is incorporated herein by reference. Technical Field

[0002] The present disclosure generally relates to sample collection, and more particularly, to systems for sampling radioactive contamination. Background Art

[0003] Contamination, especially radioactive contamination, exists in facilities where radioactive materials are used, processed, and stored. Radioactive contamination may be radioactive substances (such as dust) accumulated on the surfaces of the rooms and equipment in the facility. The contamination concentration level within the facility area should be determined to ensure that personnel are not exposed to unsafe radiation levels. The contamination level can be determined by swabbing (also known as smearing, wiping, or swiping) a sample plate, usually made of filter paper, over a fixed area. Subsequently, a radiation detector (usually a Geiger - Müller counter) can be used to detect the contamination on the sample plate to determine the contamination concentration.

[0004] The collection of contamination samples is usually performed by humans. During the process of collecting samples, the person collecting the samples may be exposed to an unknown amount of radiation and contamination, thus posing a risk that the individual may receive a radiation dose or that the contamination may accidentally spread from the area being tested. In addition, determining the contamination level in an area usually requires personnel to be scheduled at overtime rates for each shift and on weekends.

[0005] Therefore, improvements are needed. Summary of the Invention

[0006] In one aspect, the present disclosure describes a system for radioactive contamination sampling. The system includes: a mounting tray configured to be coupled to a robot for deployment in a radioactive environment; and at least one sampling container configured to be releasably coupled to the mounting tray to hold the position of the at least one sampling container during the deployment of the robot. Each of the at least one sampling containers includes: a lid portion having a sampling surface for receiving a sample, and a cup portion, the sampling surface being positioned on a first side of the container lid portion, the first side and the sampling surface being configured to be disposed within an internal volume of the cup portion, the container lid portion being releasably coupled to the container cup portion through a sealing surface to seal the sampling surface within the internal volume and prevent the sampling surface from being contaminated, the sampling surface being positioned to extend away from the first side of the container lid portion, the sampling surface being configured to collect a sample from the surface; and an engagement member coupled to a second side of the container lid portion, the engagement member having a shape configured to be gripped by an end effector of the robot, wherein the engagement member is configured to pivot about a coupling portion with the container lid portion.

[0007] In an embodiment, the system further includes a hinge configured to pivot a longitudinal axis of the engagement member at a first angle relative to a second axis, the second axis being orthogonal to a plane defined by the second side of the container lid portion. The first angle can be between 1 - 45 degrees. The hinge can be configured to rotate the engagement member about the longitudinal axis by a second angle. The second angle is between 1 - 45 degrees. The hinge can be configured to axially translate the engagement member along the longitudinal axis of the engagement member. In an embodiment, the hinge is a hook and loop fastener.

[0008] In an embodiment, the sampling surface is configured to receive a sample paper.

[0009] In an embodiment, the engagement member includes an elastic compressible surface. The elastic compressible surface can have a coefficient of friction greater than 0.4.

[0010] In an embodiment, the engagement member includes a substantially spherical surface.

[0011] In an embodiment, the engagement member includes a frustoconical shape.

[0012] In an embodiment, the engagement member includes a generally circular cross-section.

[0013] In an embodiment, the mounting tray has a mounting surface for supporting at least one sampling container, and the mounting tray is supported by at least one elastic mounting member for absorbing compressive, tensile, and shear forces.

[0014] In an embodiment, the container lid portion includes a shoulder that projects away from the sampling surface for receiving the sampling paper, the shoulder being coupled to a lip that has a concave surface for self - centering engagement with the rim of the cup portion; and wherein the rim of the cup portion includes a convex mating surface for engagement with the concave surface of the lip. The shoulder may include a ridge or a groove for mating with the other of the ridge or the groove, and the rim includes the other of the ridge or the groove. The lip having the concave surface may be configured to frictionally engage with the convex mating surface of the rim of the cup portion. In an embodiment, the rim of the cup portion includes a flange. In another embodiment, the sampling surface is configured to releasably couple the sampling paper to the first side of the container lid portion using a securing device.

[0015] In an embodiment, the system includes a robot for deployment in a radioactive environment, the robot including an end - effector coupled to an arm, wherein a mounting tray is coupled to the robot and positioned to be reachable by the arm.

[0016] Embodiments may include combinations of the above features.

[0017] In another aspect, the present disclosure describes a sampling container for radioactive contamination sampling. The sampling container includes: a container cup portion configured to be releasably coupled to a mounting tray on a robot for deployment in a radioactive environment to hold the position of at least one sampling container during the deployment of the robot; a lid portion having a sampling surface positioned on a first side of the container lid portion, the first side and the sampling surface being configured to be disposed within the internal volume of the cup portion, the container lid portion being releasably coupled to the container cup portion via a sealing surface to seal the sampling surface within the internal volume and prevent contamination of the sampling surface, the sampling surface being positioned to extend away from the first side of the container lid portion and being configured to collect a sample from a surface to be sampled; an interfacing member coupled to a second side of the container lid portion, the interfacing member having a shape configured to be gripped by the end - effector of the robot, wherein the interfacing member is configured to pivot about the coupling portion with the container lid portion.

[0018] In an embodiment, the sampling container includes a hinge portion configured to pivot the longitudinal axis of the interfacing member relative to a second axis at a first angle, the second axis being orthogonal to the plane defined by the second side of the container lid portion. The first angle may be between 1 - 45 degrees. The hinge portion may be configured to rotate the interfacing member about the longitudinal axis by a second angle. The second angle may be between 1 - 45 degrees. In an embodiment, the hinge portion is configured to axially translate the interfacing member along the longitudinal axis of the interfacing member. In an embodiment, the hinge portion is a hook - and - loop fastener.

[0019] In an embodiment, the sampling surface is configured to receive a sample paper.

[0020] In an embodiment, the mating member includes an elastic compressible surface. The elastic compressible surface may have a coefficient of friction greater than 0.4.

[0021] In an embodiment, the mating member includes a generally spherical surface.

[0022] In an embodiment, the mating member includes a frustoconical shape.

[0023] In an embodiment, the mating member includes a generally circular cross-section.

[0024] In an embodiment, the container lid portion includes a shoulder that projects away from the sampling surface, the shoulder being coupled to a lip that has a concave surface for self-centering engagement with the rim of the cup portion; and wherein the rim of the cup portion includes a convex mating surface for engagement with the concave surface of the lip. The shoulder may include a ridge or a groove for mating with the other of the ridge or the groove, and the rim includes the other of the ridge or the groove. The lip that may have a concave surface may be configured to frictionally engage with the convex mating surface of the rim of the cup portion. The rim of the cup portion may include a flange.

[0025] Embodiments may include combinations of the above features.

[0026] In a further aspect, the present disclosure describes a method for radioactive contamination sampling. The method includes: extending an end effector of a robotic arm towards a sampling container as described in any one of claims 21 - 37, the end effector being positioned at an angle relative to the longitudinal axis of the mating member; gripping the mating member with the end effector; pivoting the mating member about its coupling point with the container lid portion; removing the container lid portion from the container cup portion; extending the container lid portion towards the surface to be sampled so that the sampling surface contacts the surface to be sampled.

[0027] In an embodiment, the angle is 1 - 45 degrees.

[0028] In an embodiment, the method includes coupling the container lid portion to the container cup portion to seal the sampling surface inside the sampling container.

[0029] In an embodiment, the method includes contacting the sampling surface with the surface to be sampled, wherein the longitudinal axis of the mating member is angled relative to the surface to be sampled. The angle relative to the surface to be sampled may be between 45 - 90 degrees.

[0030] Embodiments may include combinations of the above features.

[0031] Further details of these and other aspects of the subject matter of this application will become apparent from the detailed description and the drawings included hereinafter. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Now refer to the accompanying drawings, wherein: Figure 1 is a front view showing a system for radioactive sampling according to some embodiments; Figure 2 is a side view showing a mounting system according to some embodiments; Figure 3 is a top view showing a system for radioactive sampling according to some embodiments; Figure 4A is a fragmented view of a sample container cup according to some embodiments; Figure 4B is Figure 4A an assembled view of the sample container; Figure 5A is a fragmented view of a sample container lid and swab holder according to some embodiments; Figure 5B is Figure 5A an assembled view of the sample container lid and swab holder; Figure 6A is a fragmented view of a clamping assembly according to some embodiments; Figure 6B is Figure 6A an assembled view of the clamping assembly; Figure 7A is a top view showing a sample container lid according to some embodiments; Figure 7B is Figure 7A a bottom view of the sample container lid; Figure 7C is Figure 7A a front view of the sample container lid; Figure 8A is a top view showing a sample container cup according to some embodiments; Figure 8B is Figure 8A a bottom view of the sample container cup; Figure 8C is Figure 8A a front view of the sample container cup; Figure 9 is an assembled view showing a sample container according to some embodiments; and Figure 10A is a diagram showing an exemplary system for radioactive sampling implemented on a robot according to some embodiments; Figure 10B is a diagram showing an exemplary system for radioactive sampling implemented on a robot according to some embodiments; Figure 10C FIG. Figure 10C is a diagram showing an exemplary system for radioactive sampling implemented on a robot according to some embodiments; Figure 11 FIG. is a schematic flowchart showing a method for radioactive contamination sampling. DETAILED DESCRIPTION

[0033] The present disclosure provides a system for remotely collecting contamination samples (especially radioactive samples) and returning them to an operator. The system can determine the concentration of radioactive contamination and the radionuclide composition in the contamination.

[0034] This reduces the risk of individual exposure to contaminants (such as radioactive contamination) and the risk of contaminating samples taken from the environment. The provided system can be completely free of manual labor in the sampling procedure, thus avoiding possible overexposure to unknown radioactive sources in the sampled area. The provided system can also reduce the associated costs of sampling in an area to determine the contamination level.

[0035] [DEFINITIONS] Although terms such as "maximize", "minimize", and "optimize" may be used in the present disclosure, it should be understood that such terms can be used to refer to improvement, adjustment, and modification, not strictly limited to maximum, minimum, or optimal.

[0036] The term "connected" or "coupled to" can include direct coupling (where two elements that are coupled to each other are in contact with each other) and indirect coupling (where at least one additional element is located between the two elements).

[0037] The term "substantially" as used in this application can be used to modify any quantitative description that can vary acceptably without changing its relevant basic function.

[0038] Terms such as "up to", "at least", "greater than", "less than", "more than", or "or more" include the recited numbers, and the ranges represented by such terms can then be divided into sub-ranges. Similarly, all ratios mentioned in this application also include all sub-ratios that fall within a broader ratio.

[0039] Unless the context clearly dictates otherwise, the singular forms "a", "an", and "the" include plural meanings. The term "and / or" means any one of the items associated with this term, any combination of the items, or all of the items.

[0040] The term "about" may refer to a range of variation of ±5%, ±10%, ±20%, or ±25% of the specified value. For example, "about 50%" may represent a range of variation from 45% to 55% in some embodiments. For integer ranges, the term "about" may include one or two integers greater than and / or less than the recited integer at each end of the range. Unless otherwise specified in this application, the term "about" is intended to include values and ranges that are close to and functionally equivalent to the recited range.

[0041] The term "clamping assembly" refers to mating members coupled to a sample container by a hinge portion that can tilt and / or rotate the mating members relative to the sample container.

[0042] Aspects of various embodiments are described with reference to the accompanying drawings.

[0043] According to some embodiments, the system can provide remote contamination sampling, enabling determination of concentration as well as radionuclide composition. Using such a system can prevent people from being exposed to radiation in order to obtain samples.

[0044] According to some embodiments, for example, the sampling container can prevent cross - contamination of the collected samples without human contact. A sample tray can be used to support the sampling container in a stable and / or fixed position while allowing vertical and horizontal movement due to normal or abnormal operation. The sample tray can also prevent damage to the systems described in this disclosure.

[0045] According to some embodiments, the movement of the robotic arm and / or the end - effector on the robotic arm can be restricted. For example, the robotic arm can have a fixed length and can include a plurality of joints about which the arm can bend and / or rotate. In an embodiment, the robotic arm and gripper can be the robotic arm (Spot Arm TM ) provided by Boston Dynamics TM ), which can have six degrees of freedom plus a gripper. According to the present disclosure, other robotic arms with different degrees of freedom can also be used. As Figure 10C shown, when the robotic arm is positioned to allow the end - effector of the robotic arm to grasp the mating member of the clamping assembly of the sampling container according to the present disclosure, the longitudinal axis of the end - effector may not be aligned with the longitudinal axis of the mating member. In other words, in use, the end - effector can be positioned at a different angle relative to the clamping assembly. As Figure 10C shown, an end - effector clamping the clamping assembly is shown, and the longitudinal axes of the clamping assembly and the end - effector are not aligned. When the sample container and the sample tray are positioned at Figure 10CThis misalignment can occur when the robot shown is used, or when collecting samples from a surface or in other situations. In other words, during use, the robotic arm may only be able to position the end effector at an angle relative to the longitudinal axis of the mating member, which may make it difficult for the end effector to grip the mating member. In one aspect, the gripping member according to the present disclosure can allow the end effector to more firmly grip the gripping member when being picked up and / or during sampling.

[0046] In some embodiments, a sample container mating member of a gripping assembly is described, which can allow the sample container mating member to be picked up by a robotic arm or an end effector at multiple angles and / or in multiple positions, thus simplifying the operation of the robotic arm and the end effector, because the robotic arm and / or the end effector do not need to be restricted to a specific position to pick up the sample container mating member. The robotic arm and the end effector of the robotic arm can each have a limited range of movement, and may not be able to move to a position to grip and / or couple to the sample container when the sample container is oriented in certain positions. Additionally, once the sample container is gripped and picked up by the end effector, the robotic arm and / or the end effector may also have a limited range of movement to bring the entire sampling surface of the sample container into contact with the surface to be sampled. According to the present disclosure, in some embodiments, by allowing the lid to rotate and / or tilt relative to the sample container mating member of the gripping assembly and the end effector of the robotic arm, the sample container mating member can allow the sample lid to be in multiple orientations / at multiple positions relative to the surface to be sampled. For the robotic arm and the end effector, this enables the end effector on the robotic arm to have a greater range of movement and simplifies the operation of the robotic arm and the end effector, because there is no need to precisely position the lid when collecting samples.

[0047] Figure 1 is a front view showing a system 100 for radioactive sampling according to some embodiments.

[0048] In one aspect, a system 100 for radioactive contamination sampling is provided, which can include a mounting tray 102 and at least one sampling container 104. The mounting tray 102 is configured to be coupled to a robot for deployment in a radioactive environment, and the at least one sampling container 104 can be releasably coupled to the mounting tray 102 to hold the position of the at least one sampling container 104 during the deployment of the robot.

[0049] For example, in some embodiments, the method of attaching and supporting the mounting tray 102 or "sample tray" can allow the tray to move vertically and laterally relative to the robot when interfacing with the robotic arm to prevent damage to the tray in the case of normal operation or robotic malfunction.

[0050] In this regard, each sampling container (e.g., sampling container 104) in at least one sampling container may include a lid portion 106, and the lid portion 106 may have a first side 112 that defines a sampling surface for sampling a contaminated surface. In an embodiment, the sampling surface may include a material for receiving a sample. In another embodiment, the first side 112 may be configured to receive a sampling paper 108 and a cup portion 110. The surface may be configured to releasably couple the sampling paper 108 to the first side 112 of the container lid portion 106, and both the first side 112 and the sampling paper 108 may be configured to be disposed within the interior volume of the cup portion 110. The container lid portion 106 may be releasably coupled to the container cup portion 110 through a sealing surface to seal the sampling paper 108 within the interior volume and prevent the sampling paper 108 from being contaminated. The sampling paper 108 may be positioned to extend away from the first side 112 of the container lid portion 106, and the sampling paper 108 may be configured to collect a sample from the surface.

[0051] In some embodiments, the sample container 104 may prevent cross-contamination with sources other than the intended sample location. The sample container lid portion 106 and the cup portion 110 may be sufficiently sealed to prevent contamination, such as contamination due to contact of the sample with external sources. This may also ensure that the sample used is isolated from the environment until it is analyzed by a human in an intended instrument. In some embodiments, the ability to remove the sample container 104 from the tray maintains the integrity of the sample in this manner.

[0052] In addition, in this regard, the system 100 for radioactive contamination sampling may include an engagement member 114 coupled to a second side 116 of the container lid portion 106. The engagement member 114 may have a shape configured to be gripped by an end effector of a robot. The engagement member may pivot about its point of coupling to the second side 116. In an example, the engagement member may be coupled to the second side 116 through an elastic material to allow the engagement member to pivot about the point of coupling to the second side 116. In an embodiment, the engagement member may be coupled to the second side 116 through a hinge portion 118 configured to pivot the longitudinal axis of the engagement member 114 at a first angle relative to a second axis that is orthogonal to the plane defined by the second side 116 of the container lid portion 106.

[0053] In some embodiments, the sample container engagement mechanism or gripping assembly may allow the end effector of a robotic arm to engage and couple to the sample container engagement mechanism or gripping assembly at multiple positions and / or at multiple approach angles. In an example, the approach angle may be the angle of the end effector relative to the longitudinal axis of the sample container engagement mechanism or gripping assembly when the end effector grips the sample container engagement mechanism or gripping assembly Angle. In some embodiments, the sample container engagement mechanism or the gripping assembly may include an engagement member 114 and a hinge portion 118. This allows the end effector to be in a series of positions, thereby simplifying robotic operations via human operation or programming. The engagement mechanism can also provide the rotational position of the sample tray during application (e.g., while collecting a sample), which can simplify robotic operations via human operation or programming by maintaining full contact of the sample tray (e.g., the sampling paper 108) with the surface without the need for fine-tuning of the robotic hand or end effector.

[0054] In some embodiments, the ability to deploy multiple sample containers 104 for each robotic deployment can enable each robotic deployment to obtain multiple samples.

[0055] On the other hand, the hinge portion 118 may include a hinge base 119 and a hinge anchor. For example, the hinge anchor 602 can be seen in FIG. 6. In some embodiments, the engagement member 114 may be coupled to the hinge portion 118, and the hinge portion 118 may have a hinge anchor, such as the hinge anchor 602, which may be rotatably coupled to the hinge base 119 to allow the engagement member 114 to tilt and / or rotate relative to the hinge base 119.

[0056] On the other hand, a system for radioactive contamination sampling is provided (e.g., Figure 1 the system shown), which may include at least one sampling container 104, and the at least one sampling container 104 may be configured to be releasably coupled to a mounting tray 102 for deployment on a robot in a radioactive environment to hold the position of the at least one sampling container 104 during the deployment of the robot.

[0057] In this aspect, each sampling container of the at least one sampling container 104 may have a lid portion 106 and a cup portion 110. The lid portion 106 may have a surface for receiving the sampling paper 108. The surface may be configured to releasably couple the sampling paper 108 to the first side 112 of the container lid portion 106, and both the first side 112 and the sampling paper 108 may be configured to be disposed within the internal volume of the cup portion 110. The container lid portion 106 may be releasably coupled to the container cup portion 110 through a sealing surface to seal the sampling paper 108 within the internal volume and prevent the sampling paper 108 from being contaminated. The sampling paper 108 may be positioned to extend away from the first side 112 of the container lid portion, and the sampling paper 108 may be configured to collect samples from the surface.

[0058] In addition, in the aspect described above, the system 100 for radioactive contamination sampling may include an abutting member 114 coupled to the second side 116 of the container lid portion 106. The abutting member 114 may have a shape configured to be gripped by the end effector of a robot, for example, and may have a longitudinal axis of the abutting member 114 configured such that at a first angle it pivots relative to a second axis β that is orthogonal to the plane defined by the second side 116 of the container lid portion 106.

[0059] In an embodiment, the abutting member 114 may have an elastic and compressible surface.

[0060] In an embodiment, the elastic and compressible surface may have a coefficient of friction greater than 0.4.

[0061] In an embodiment, the abutting member 114 may include a generally spherical surface. In an embodiment, the abutting member 114 may include a frustoconical shape. In an embodiment, the abutting member 114 may include a generally circular cross-section.

[0062] In an embodiment, the mounting tray 102 may have a mounting surface 120 that supports at least one sampling container 104, and the mounting tray 102 may be supported by at least one elastic mounting member 122 configured to absorb compressive, tensile, and shear forces.

[0063] In an embodiment, the first angle may be between 1 - 45 degrees.

[0064] In an embodiment, the hinge portion 118 may be configured to rotate the abutting member 114 about the longitudinal axis by a second angle α.

[0065] In an embodiment, the second angle α may be between 1 - 45 degrees.

[0066] In an embodiment, the hinge portion 118 may be configured to axially translate the abutting member 114 along the longitudinal axis of the abutting member 114 axially.

[0067] In an embodiment, the hinge portion 118 may be a hook-and-loop fastener.

[0068] In an embodiment, the container lid portion 106 may include a shoulder 124 that projects away from the surface for receiving the sampling paper 108 on the first side 112. The shoulder 124 may be coupled to a lip 126 that has a concave surface for self-centering engagement with the edge 128 of the cup portion 110, and the edge 128 of the cup portion 110 may have a convex mating surface for engagement with the concave surface of the lip.

[0069] In some embodiments, the protruding and distant shoulder 124 may protrude at an angle θ, for example, from the base portion of the lid 106 (such as the first side 112 or the second side 116), where the shoulder 124 does not intersect the plane defined by the surface for receiving the sampling paper 108. In an embodiment, the angle θ may be in the range of 90 - 180 degrees. In Figure 5A In the illustrated embodiment, the shoulder 124 may protrude at an angle θ from the outer periphery of the second side 116, and the angle θ may be about 135 degrees.

[0070] In an embodiment, the shoulder 124 may have a ridge or groove 131 for mating with a corresponding ridge or groove on the edge 128. In an example, the shoulder 124 may include a ridge for coupling with a groove in the edge 128, or vice versa.

[0071] In an embodiment, the lip 126 having a concave surface may be configured to frictionally engage with the convex mating surface of the edge 128 of the cup 110.

[0072] In an embodiment, the edge 128 of the cup 110 includes a flange 129.

[0073] In some embodiments, using a system (such as the system 100 for radioactive contamination sampling) may allow determination of the contamination level in an area where the possible radiation conditions are unknown, reducing and / or eliminating potential personnel radiation exposure associated with performing contamination sampling. For example, this may occur after an unplanned event (such as a radioactive accident), or in an area where detection has not been performed for a long time and sampling may be required.

[0074] In some embodiments, by allowing a system to be continuously operated by only a system operator 24 hours a day, 7 days a week, using a remote sampling system (such as the system 100 for radioactive contamination sampling) can reduce the number of personnel required to determine the contamination level in an area (such as a facility). Determining the contamination level typically requires personnel to be scheduled at overtime rates for each shift and on weekends. Reducing the number of personnel required can result in significant cost savings.

[0075] In some embodiments, a remote sample system (such as the radioactive contamination sampling system 100) can be used to determine the presence of any substance in an unexpected location, such as a chemical or other non - radioactive substance. For example, the explosion level of dust (such as aluminum dust) at a manufacturing facility, or a chemical leak at a manufacturing plant.

[0076] In some embodiments, the contamination sampling system 100 can be mounted on a robot using an existing robotic mounting fixture or any other mechanism suitable for the type of robot.

[0077] Figure 2 is a side view 200 of an installation system according to some embodiments. According to some embodiments, the installation system shown in 200 can be an installation tray 102.

[0078] In an embodiment, the installation tray 102 can have an installation surface 120 that supports at least one sampling container 104, and the installation tray 102 can be supported by at least one resilient mounting member 122 for absorbing compressive, tensile, and shear forces.

[0079] In some embodiments, the installation tray 102 can consist of the surface 120 on which the sample container 104 can be mounted. The container 104 can be held in place on the tray using a securing device 130, which can be a hook-and-loop fastener, double-sided tape, twist lock, adhesive, or the like. In some embodiments, the installation tray 102 can have the securing device 130, and the sample container 104 can have another securing material similar to the securing device 130. For example, in some embodiments, the sample container 104 can have a securing material on the cup portion 110, such as the hook side of a hook-and-loop fastener, while the installation tray 102 can have a matching looped corresponding securing material of the hook-and-loop fastener.

[0080] The tray 102 can be a thin plastic sheet, such as a thin plastic sheet about 3 / 16 inches thick, or a sheet of other thicknesses, such as Plexiglass TM ), or a similar suitable material. The installation tray 102 can provide, for example, the strength required to interface with a robot while reducing the weight of the sampling system. Reducing the weight of the sampling system is desirable.

[0081] In some embodiments, the installation tray 102 can be supported by a system of mounts (such as resilient mounting members 122) that support the tray and maintain its position laterally and vertically during normal operation. The mount system can prevent damage to the sampling system during unplanned robot events and return the installation tray to its normal position after any unplanned event. For example, if the robot encounters rough or uneven terrain, in some cases a mount system with at least one resilient mounting member 122 can ensure that the installation tray 122 remains in its normal position, which may involve keeping the sampling container 104 substantially upright and / or keeping the installation tray substantially horizontal (in some cases, this can be horizontal relative to a flat ground).

[0082] In some embodiments, the resilient mounting member 122 can be, for example, a rubber cylinder that is horizontally mounted and attached to the sample tray and the robotic mount. In some embodiments, the resilient mounting member 122 can be substantially hollow and / or tubular in shape. In some embodiments, the resilient mounting member 122 can be filled rather than hollow. The orientation of the rubber cylinder can be positioned to ensure that the lateral position of the tray returns to a normal position in the event of a normal or abnormal event. In other embodiments, other materials and configurations can be used as the resilient mounting member 122 to ensure that the mounting tray 122 can maintain and / or return to a normal position as described above, for example. In some embodiments, the mounting member 122 can be a shock-absorbing mount, and the shock-absorbing mount is a flexible and semi-rigid tube that can be compressed, twisted, or rotated as needed to support the mounting tray 102.

[0083] In some embodiments, the mounting member 122 can have, for example, lower mounting hardware 202 that can couple the mounting member 122 to the robot. In some embodiments, the lower mounting hardware 202 can be a screw, a nail, a hook-and-loop fastener, etc. The lower mounting hardware 202 can have, in some embodiments, different coupling methods corresponding to different robots.

[0084] In some embodiments, the sample container 104 can be composed of a lid portion 106 and a cup portion 110. The sample material can be attached to the container lid portion 106.

[0085] Figure 3 FIG. 300 is a top view showing a system for radioactive sampling according to some embodiments. The system shown in 300 can be a radioactive sampling system 100 according to some embodiments.

[0086] As shown in 300, it can be seen that the mounting member 122 supports the base plate 302. The base plate 302 can be part of the mounting tray 102 and can be below the alignment plate 304. In some embodiments, the mounting surface 120 can be on the side of the base plate 302. In some embodiments, the mounting surface can be on the side of the alignment plate 304. In some embodiments, the alignment plate 304 can align the sample container 104, for example, at a level that is substantially flush with the mounting surface 120.

[0087] Top view 300 shows the fixing device 130 at the upper left corner position of the mounting tray 102, the container cup portion 110 at the upper right corner position, and the sample containers 104 at the two bottom corners. As shown, the mounting tray 102 can have four positions for mounting the sample containers 104. In other embodiments, the mounting tray 102 can have one or more than one position for mounting the sample containers 104.

[0088] In some embodiments, as described above, the mounting member 122 can be a shock mount and can be rotated as needed to support the mounting tray 102. The mounting member 122 can be coupled to the mounting tray 102 by upper mounting hardware 306. In some embodiments, the upper mounting hardware 306 can be a screw, a nail, a hook-and-loop fastener, etc.

[0089] Figure 4A is a sectional view 400A of a sample container cup portion according to some embodiments, Figure 4B is an assembled view 400B of a sample container cup portion according to some embodiments. The sample cup portion shown in 400A and 400B can be similar to the container cup portion 110.

[0090] In some embodiments, the container cup portion 110 can be in the form of a shallow container or other suitable shape. The cup portion 110 can be made of a low-cost lightweight material, such as plastic, but any suitable material can also be used. The cup portion 110 can provide an interface portion 404 that interfaces with the tray 102 and the container lid portion 106. The interface portion 404 that interfaces with the tray 102 can hold the position of the sample container 104 during normal and abnormal operations while allowing for simple and quick removal and installation of the sample container 104. The interface portion 404 can be similar to the fixing device 130 and can be coupled to the fixing device 130. In some embodiments, the coupling can be achieved through a connecting material, such as a hook-and-loop fastener, but any other suitable coupling material or device can also be used. The cup portion 110 can also provide a sealing surface that can support the lid portion 106 and form a seal to prevent cross-contamination of samples.

[0091] In an embodiment, the edge 128 of the cup portion 110 can have a flange, such as flange 406. In some embodiments, the edge 128 can include ridges or grooves. For example, Figure 4A the groove 402 can be seen. In some embodiments, the lid portion 106 can have a groove similar to the groove 402 shown on the cup portion edge 128. In some embodiments, the cup portion edge 128 can have a similar ridge 504, and the shoulder 124 of the lid portion can have a groove similar to the groove 402.

[0092] Figure 5A is a sectional view 500A of a sample container lid portion and a swab holding portion according to some embodiments, Figure 5B is an assembled view 500B of a sample container lid portion and a swab holding portion according to some embodiments. The container lid portion shown in 500A and 500B can be similar to the container lid portion 106.

[0093] In some embodiments, the container lid portion 106 can be in the form of a flat plate having a sealed cup portion 110, a support for the sampling paper 108, and features for interfacing with a lifting feature (such as a lifting lid portion 106 of a robotic arm). The lid portion 106 can take any other suitable shape to cover and seal the cup portion, support the sampling paper 108, and interface with the lifting feature.

[0094] In some embodiments, the lid portion 106 can be made of plastic, but any other suitable material can be used to provide the required shape, strength, and weight. The lid portion 106 can seal the cup portion 110 by, for example, an applied force from the robotic arm, and the lid portion 106 can be held in place by a sealing mechanism. This can prevent the lid portion 106 and the sample from being lost during normal and abnormal operations. In some embodiments, the sampling paper 108 can be attached to the underside of the lid portion 106, for example, attached to the first side 112 and protruding sufficiently from the first side 112 to allow the sampling paper 108 to contact the surface to be sampled while the lid portion 106 does not touch the surface, as touching the surface could, for example, affect the measured contamination level. Affecting the measured contamination level is undesirable.

[0095] In an embodiment, the container lid portion 106 can include a shoulder 124 that protrudes away from the surface for receiving the sampling paper 108. The shoulder 124 can be coupled to a lip 126 that has a concave surface for self - centering engagement with the rim 128 of the cup portion 110, and the rim 128 of the cup portion 110 can have a convex mating surface for engagement with the concave surface of the lip.

[0096] The protruding shoulder 124 can, in some embodiments, protrude at an angle, for example, from the base portion of the lid portion 106 (such as the first side 112 or the second side 116), where the shoulder 124 does not intersect the plane defined by the surface for receiving the sampling paper 108. In Figure 5B the angle 502 is marked as visible.

[0097] In some embodiments, the shoulder 124 can have a ridge or a groove for mating with the other of a ridge or a groove, and the rim 128 can include the other of the ridge or the groove. For example, Figure 5B the ridge 504 is visible. In other embodiments, the lid portion 106 can have a groove similar to the groove 402 shown on the cup rim 128. In some embodiments, the cup rim 128 can have a ridge similar to the ridge 504, and the shoulder 124 of the lid portion can have a groove similar to the groove 402.

[0098] In some embodiments, the lip 126 having the concave surface can be configured to frictionally engage with the convex mating surface of the rim 128 of the cup portion 110.

[0099] In some embodiments, the fixing device 506 may be coupled to the second side 116 of the cover portion 106. In some embodiments, the fixing device 506 may be part of the hinge portion 118. In other embodiments, the fixing device 506 may be coupled to or releasably coupled to the hinge portion 118. The fixing device 506 may be a hook-and-loop fastener, double-sided tape, a twist-lock mechanism, a latch assembly, or the like.

[0100] Figure 6A is a sectional view 600A of a clamping assembly according to some embodiments, Figure 6B is an assembled view 600B of a clamping assembly according to some embodiments. The clamping assembly shown in 600A and 600B may be similar to the described clamping assembly, such as a mechanism with mating members 114 and hinge portion 118.

[0101] The sample container 104 may have a mating mechanism in some embodiments, and the mating mechanism may include a mating member coupled to the hinge base 119. In some embodiments, the mating member 114 may be coupled to the hinge portion 600, and the hinge portion 600 may include a hinge anchor 602 that may be rotatably coupled to the hinge base 119 to allow the mating member 114 to tilt and / or rotate relative to the hinge base 119. In some embodiments, the hinge anchor 602 may be threaded to couple with the mating member 114. In some embodiments, the hinge anchor 602 may have, for example, a course thread to prevent the anchor 602 from being pulled out of the mating member 114. In some embodiments, the hinge anchor 602 may be a flexible material, such as rubber or plastic, to allow the rotation as described above. The mating mechanism may consist of, for example, mating features of a robotic hand and rotational movement features. For example, such a clamping assembly may utilize a robotic hand of any design variant to clamp the sample container 104. This can achieve a certain level of compressive force and friction so that the robotic hand can, for example, compress the mating member 114 when bearing the applied force. The friction can also provide the necessary force by holding the position of the cover portion 106 to prevent the sample container 104 and the cover portion 106 from sliding and possibly falling during the smear operation of collecting the sample.

[0102] In some embodiments, the hinge portion 118 can provide a rotational feature for the clamping assembly. In some embodiments, the rotational feature of the mating member can allow the container lid portion 106 to perform a series of rotational movements during removal and return of the lid portion 106 by, for example, a robotic arm portion and, for example, during a smearing operation for collecting a sample. For example, this can ensure that the desired rotational position of the lid portion is achieved during the smearing operation, thereby ensuring that the entire sampler 104 can remain in contact with the surface to be sampled at various robotic arm positions and movements.

[0103] In some embodiments, by allowing rotation to match the orientation of the sample container cup portion 110, the rotational feature can also reach the desired rotational position during removal and return of the lid portion 106. For example, this can allow proper positioning of the sample container lid portion 106 without the need for precise positioning of the robotic arm portion.

[0104] The rotational feature can be removed from the sample container 104, which enables it to be reused when replacing the container. For example, in some embodiments, the hinge portion 118 and the mating member 114 can be removed from the lid portion 106.

[0105] In some embodiments, the mating member can have an elastic compressible surface. For example, in some embodiments, the elastic compressible surface can have a coefficient of friction greater than 0.4. In other embodiments, the elastic compressible surface of the mating member (e.g., mating member 114) can have a different coefficient of friction.

[0106] In some embodiments, the mating member can have a generally spherical surface. In some embodiments, the mating member can be in the shape of a frustum of a cone. In some embodiments, the mating member can include a generally circular cross-section. According to other embodiments, the mating member can, for example, have different shapes corresponding to different end effectors of a robot.

[0107] The mating member 114 can be inclined such that the longitudinal axis of the mating member 114 is at a first angle with respect to axis β , and the mating member 114 can rotate about the longitudinal axis of the mating member 114 at a second angle α. In some embodiments, the first angle provided by the clamping assembly can be between 1 - 45 degrees. In some embodiments, the hinge portion 118 can be configured to rotate the mating member 114 about the longitudinal axis by the second angle. In some embodiments, the second angle can be between 1 - 45 degrees. In some embodiments, the hinge portion 118 can be configured to move the mating member 114 along the longitudinal axis of the mating member 114 Axial translation. In some embodiments, the first and second movement angles provided by the clamping assembly may be greater than or less than 1 - 45 degrees.

[0108] In some embodiments, hinge portion 118 and / or hinge portion 600 may be, for example, a hook - and - loop fastener, or other fastening member. In some embodiments, for example, hinge base 119 may include a hook - and - loop fastener for hinge portion 118. In some embodiments, hinge anchor 602 may be coupled to hinge base 119 by an adhesive.

[0109] Figure 7A is a top view 700A showing a sample container lid portion according to some embodiments, Figure 7B is a bottom view 700B showing a sample container lid portion according to some embodiments, Figure 7C is a front view 700C showing a sample container lid portion according to some embodiments. Figure 7A - 7C The sample container lid portion shown may be similar to container lid portion 106.

[0110] As can be seen in 700A and 700B, in some embodiments, the container lid portion may be substantially circular in shape. In other embodiments not shown, the container lid portion may be of a different shape. In some embodiments, the shape of the container lid portion is substantially similar to the outer shape of the container cup portion, in which case the container lid portion may be sealed to the container cup portion.

[0111] Figure 8A is a top view showing a sample container cup portion according to some embodiments, Figure 8B is a bottom view showing a sample container cup portion according to some embodiments, Figure 8C is a front view showing a sample container cup portion according to some embodiments. Figure 8A - 8C The sample container cup portion shown may be similar to container cup portion 108.

[0112] As can be seen in 800A and 800B, in some embodiments, the container cup portion may be substantially circular in shape. In other embodiments not shown, the container cup portion may be of a different shape. In some embodiments, the shape of the container lid portion is substantially similar to the outer shape of the container cup portion, in which case the container lid portion may be sealed to the container cup portion.

[0113] Figure 9 is an assembled view showing a sample container 900. The sample container 900 may be similar to Figure 1 the sample container 104 shown, and may have similar components in some embodiments.

[0114] In the illustrated embodiment, a sampling container 900 is provided which can be configured to be releasably coupled to a mounting tray, such as mounting tray 102, for deployment on a robot in a radioactive environment to hold the position of the sampling container 900 during deployment of the robot.

[0115] The sampling container 900 can have a lid portion 906 and a cup portion 910. The lid portion 906 can have a surface for receiving a sampling paper 908. The surface can be configured to releasably couple the sampling paper 908 to a first side 912 of the container lid portion 906. The first side 912 and the sampling paper 908 can both be configured to be disposed within the internal volume of the cup portion 910. The container lid portion 906 can be releasably coupled to the container cup portion 910 via a sealing surface to seal the sampling paper 908 within the internal volume and prevent contamination of the sampling paper 908. The sampling paper 908 can be positioned to extend away from the first side 912 of the container lid portion, and the sampling paper 908 can be configured to collect a sample from the surface.

[0116] In some embodiments, the sampling container 900 can include an engagement member 914 coupled to a second side 916 of the container lid portion 906. The engagement member 914 can have a shape configured to be grasped by an end effector of the robot, and can have a hinge portion 918 configured to pivot the longitudinal axis of the engagement member 914 at a first angle relative to a second axis orthogonal to the plane defined by the second side 916 of the container lid portion 906. In some embodiments, the sample container 900 can include a hinge anchor 920. In some embodiments, the hinge portion 918 can be coupled to or releasably coupled to the hinge anchor 920.

[0117] In some embodiments, a securing material 922 can be coupled to the second side 916 of the lid portion 906. In some embodiments, the securing material 922 can be part of the hinge portion 918. In other embodiments, the securing material 922 can be coupled to or releasably coupled to the hinge portion 918. The securing material 922 can be a hook-and-loop fastener, double-sided tape, or the like.

[0118] In some embodiments, the container lid portion 906 can include a shoulder 924 projecting away from the surface for receiving the sampling paper 908. The shoulder 124 can be coupled to a lip 926 having a concave surface for self-centering engagement with an edge 928 of the cup portion 910, and the edge 928 of the cup portion 910 can have a convex mating surface for engagement with the concave surface of the lip.

[0119] The protruding and remote shoulder 924 can, in some embodiments, protrude at an angle, for example, from a base portion of the lid 906 (such as the first side 912 or the second side 916), where the shoulder 924 does not intersect the plane defined by the surface for receiving the sampling paper 108. In some embodiments, the shoulder 924 can have a ridge or a groove for mating with the other of the ridge or the groove, and the edge 928 can include the other of the ridge or the groove. This is visible in Figure 9 where, for example, the groove 930 of the cup 910 mates with the ridge 932 of the lid 906.

[0120] In other embodiments not shown, the lid 906 can have a groove similar to the groove 930 shown on the cup edge 928. In some embodiments, the cup edge 928 can have a ridge similar to the ridge 932, and the shoulder 924 of the lid can have a groove similar to the groove 930. In some embodiments, the lip 926 having a concave surface can be configured to frictionally mate with the convex mating surface of the edge 928 of the cup 910.

[0121] Figure 10A FIG. is a diagram showing an exemplary system 1000A for radioactive sampling implemented on a robot according to some embodiments. Figure 10B FIG. is a diagram showing an exemplary system 1000B for radioactive sampling implemented on a robot according to some embodiments. Figure 10C FIG. is a diagram showing an exemplary system 1000C for radioactive sampling implemented on a robot according to some embodiments. The robot has a robotic arm 1001, and the robotic arm 1001 has an end effector 1002 with a longitudinal axis 1003.

[0122] As shown, in some embodiments, a mounting tray can be coupled to a robot for deployment in a radioactive environment or a hazardous environment to perform swabbing to collect samples without exposing a person to the hazardous environment. In some embodiments, the robot can be remotely controlled, for example, by a user at a control center. In some embodiments, the robot can operate autonomously and can perform sample collection operations without manual input.

[0123] Figure 10A - 10C The system for radioactive sampling according to some embodiments shown in Figure 1 can be similar to the system 100 shown above and in

[0124] Referring to Figure 11 the method flow chart of, some embodiments can provide a method for radioactive contamination sampling. In one aspect, the method can be performed using a sample container according to the present disclosure.

[0125] At 1102, the end effector of the robotic arm can extend towards the sampling container according to the present disclosure. The end effector can be positioned at an angle with respect to the longitudinal axis of the mating member of the sampling container as described above with reference to Figure 1 the foregoing. In an embodiment, the angle is 1 - 45 degrees. The angle can be referred to as the "approach angle" of the end effector towards the mating member. In this case, the approach angle is the angle between the longitudinal axis of the mating member and the longitudinal axis 1003 of the end effector.

[0126] At 1104, the mating member is gripped by the end effector.

[0127] At 1106, the mating member pivots about its coupling point with the container lid portion.

[0128] At 1108, the container lid portion is removed from the container cup portion.

[0129] At 1110, the container lid portion extends towards the surface to be sampled so that the sampling surface contacts the surface to be sampled.

[0130] In an embodiment, the method includes coupling the container lid portion with the container cup portion to seal the sampling surface inside the sampling container.

[0131] In an embodiment, the method may include bringing the sampling surface into contact with the surface to be sampled. The longitudinal axis of the mating member can be angled with respect to the surface to be sampled. In an embodiment, the angle with respect to the surface to be sampled is between 45 - 90 degrees.

[0132] The above description is merely exemplary, and those skilled in the relevant art will recognize that changes can be made to the described embodiments without departing from the scope of the disclosed invention. Without departing from the subject matter of the claims, the present disclosure can be embodied in other specific forms. The present disclosure is intended to cover and contain all suitable changes in the technical aspects. Modifications that fall within the scope of the present invention will be apparent to those skilled in the art upon review of the present disclosure, and such modifications should be considered to fall within the scope of the appended claims. Additionally, the scope of the claims should not be limited by the preferred embodiments set forth in the examples, but should be given the broadest interpretation consistent with the entire specification.

[0133] It is understood that the specific embodiments described above and shown are intended to be merely examples. The present invention is defined by the appended claims.

[0134] A claim does not include and should not be construed to include a means-plus-function or step-plus-function limitation, unless such a limitation is expressly recited in a given claim using the recitation “means for” or “step for”.

Claims

1. A system for radioactive contamination sampling, comprising: a mounting tray configured to be coupled to a robot for deployment in a radioactive environment; at least one sampling container configured to be releasably coupled to the mounting tray to hold the position of the at least one sampling container during deployment of the robot; each sampling container of the at least one sampling container includes: a lid portion having a sampling surface for receiving a sample, and a cup portion, the sampling surface being located on a first side of the container lid portion, the first side and the sampling surface being configured to be disposed within the internal volume of the cup portion, the container lid portion being releasably coupled to the container cup portion through a sealing surface to seal the sampling surface within the internal volume and prevent the sampling surface from being contaminated, the sampling surface being positioned to extend away from the first side of the container lid portion, the sampling surface being configured to collect a sample from a surface; an engaging member coupled to a second side of the container lid portion, the engaging member having a shape configured to be gripped by an end effector of the robot, wherein the engaging member is configured to pivot about a coupling portion with the container lid portion.

2. The system according to claim 1, comprising a hinge portion configured to pivot the longitudinal axis of the engaging member at a first angle relative to a second axis, the second axis being orthogonal to a plane defined by the second side of the container lid portion.

3. The system according to claim 2, wherein The first angle is between 1 - 45 degrees.

4. The system according to claim 2 or claim 3, wherein, The hinge portion is configured to rotate the engaging member about the longitudinal axis by a second angle.

5. The system according to claim 4, wherein, The second angle is between 1 - 45 degrees.

6. The system according to any one of claims 2-5, wherein, The hinge portion is configured to axially translate the engaging member along the longitudinal axis of the engaging member.

7. The system according to any one of claims 2-6, wherein, The hinge portion is a hook - and - loop fastener.

8. The system according to any one of claims 1-7, wherein, The sampling surface is configured to receive a sample paper.

9. The system according to any one of claims 1-8, wherein, The engaging member includes an elastic compressible surface.

10. The system according to claim 9, wherein The elastic compressible surface has a coefficient of friction greater than 0.

4.

11. The system according to any one of claims 1-10, wherein, The engaging member includes a substantially spherical surface.

12. The system according to any one of claims 1-11, wherein, The engaging member includes a frustoconical shape.

13. The system according to any one of claims 1-12, wherein, The engaging member includes a generally circular cross - section.

14. The system according to any one of claims 1-13, wherein, The mounting tray has a mounting surface for supporting the at least one sampling container, and the mounting tray is supported by at least one elastic mounting member for absorbing compressive, tensile, and shear forces.

15. The system according to any one of claims 1-14, wherein, The container lid portion includes a shoulder projecting away from the sampling surface for receiving the sampling paper, the shoulder being coupled to a lip having a concave surface for self - centering engagement with an edge of the cup portion; and wherein the edge of the cup portion includes a convex mating surface for engagement with the concave surface of the lip.

16. The system according to claim 15, wherein, The shoulder includes a ridge or a groove for mating with the other of the ridge or the groove, and the edge includes the other of the ridge or the groove.

17. The system according to claim 15, wherein, The lip having the concave surface is configured to frictionally engage the convex mating surface of the edge of the cup portion.

18. The system according to claim 15, wherein, The edge of the cup portion includes a flange.

19. The system according to claim 15, wherein, The sampling surface is configured to releasably couple the sampling paper to the first side of the container lid portion using a fixing device.

20. The system according to any one of claims 1-19, comprising the robot for deployment in a radioactive environment, the robot including the end effector coupled to the arm, wherein, The mounting tray is coupled to the robot and positioned to be reachable by the arm portion.

21. A sampling container for radioactive contamination sampling, the sampling container comprising: A container cup portion configured to be releasably coupled to a mounting tray on a robot for deployment in a radioactive environment to hold the position of the at least one sampling container during deployment of the robot; A lid portion having a sampling surface positioned on a first side of the container lid portion, the first side and the sampling surface both being configured to be disposed within the internal volume of the cup portion, the container lid portion being releasably coupled to the container cup portion through a sealing surface to seal the sampling surface within the internal volume and prevent contamination of the sampling surface, the sampling surface being positioned to extend away from the first side of the container lid portion, the sampling surface being configured to collect a sample from a surface to be sampled; An engagement member coupled to a second side of the container lid portion, the engagement member having a shape configured to be gripped by an end effector of the robot, wherein the engagement member is configured to pivot about a coupling portion with the container lid portion.

22. The sampling container according to claim 21, comprising a hinge portion configured to pivot the longitudinal axis of the engagement member at a first angle relative to a second axis orthogonal to a plane defined by the second side of the container lid portion.

23. The sampling container according to claim 22, wherein, The first angle is between 1 - 45 degrees.

24. The sampling container according to claim 22 or claim 23, wherein, The hinge portion is configured to rotate the engagement member about the longitudinal axis by a second angle.

25. The sampling container according to claim 24, wherein, The second angle is between 1 - 45 degrees.

26. The sampling container according to any one of claims 22-25, wherein, The hinge portion is configured to axially translate the engagement member along the longitudinal axis of the engagement member.

27. The sampling container according to any one of claims 22-26, wherein, The hinge portion is a hook-and-loop fastener.

28. The sampling container according to any one of claims 21-27, wherein, The sampling surface is configured to receive a sample paper.

29. The sampling container according to any one of claims 21-28, wherein, The engagement member includes an elastic compressible surface.

30. The sampling container according to claim 29, wherein, The elastic compressible surface has a coefficient of friction greater than 0.

4.

31. The sampling container according to any one of claims 21-30, wherein, The engagement member includes a generally spherical surface.

32. The sampling container according to any one of claims 21-31, wherein, The engagement member includes a frustoconical shape.

33. The sampling container according to any one of claims 21-32, wherein, The engagement member includes a generally circular cross-section.

34. The sampling container according to any one of claims 21-33, wherein, The container lid portion includes a shoulder that projects away from the sampling surface, the shoulder being coupled to a lip having a concave surface for self-centering engagement with the edge of the cup portion; and wherein the edge of the cup portion includes a convex mating surface for engagement with the concave surface of the lip.

35. The sampling container according to claim 34, wherein, The shoulder includes a ridge or a groove for mating with the other of the ridge or the groove, and the edge includes the other of the ridge or the groove.

36. The sampling container according to claim 34, wherein, The lip having the concave surface is configured to frictionally engage the convex mating surface of the edge of the cup portion.

37. The sampling container according to claim 34, wherein, The edge of the cup portion includes a flange.

38. A method for radioactive contamination sampling, the method comprising: Extend the end effector of the robotic arm towards the sampling container as described in any one of claims 21-37, the end effector being positioned at an angle relative to the longitudinal axis of the mating member; Grip the mating member using the end effector; Pivot the mating member about its point of coupling with the container lid; Remove the container lid from the container cup; Extend the container lid towards the surface to be sampled so that the sampling surface contacts the surface to be sampled.

39. The method according to claim 38, wherein, The angle is between 1 and 45 degrees.

40. The method as described in any one of claims 38-39, including coupling the container lid to the container cup to seal the sampling surface inside the sampling container.

41. The method according to any one of claims 38 - 40, including bringing the sampling surface into contact with the surface to be sampled, wherein, The longitudinal axis of the mating member is angled relative to the surface to be sampled.

42. The method according to claim 41, wherein, The angle relative to the surface to be sampled is between 45 and 90 degrees.

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