Systems and methods for contamination sampling

Abstract

A system for radioactive contamination sampling includes a mounting tray for coupling to a robot for deployment in a radioactive environment, and sampling containers removably coupled to the tray to maintain the container's position. The containers include a cup and a lid having a sampling surface configured to fit within the cup. The lid is removably coupled to the cup by a sealing surface to seal the sampling surface internally and prevent contamination of the sampling surface. The sampling surface extends from the lid and is configured to collect a sample from a surface. Each container also includes an interface member coupled to the lid, the interface member configured to be grasped by the robot and pivot about a coupling point with the container lid.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 425,559, filed November 15, 2022, the entire contents of which are incorporated herein by reference. [Technical Field]

[0002] FIELD OF THE DISCLOSURE The present disclosure relates generally to sample collection, and more particularly to a system for radioactive contamination sampling. [Background technology]

[0003] Contamination, particularly radioactive contamination, is present in facilities that use, process, and store radioactive materials. Radioactive contamination can be radioactive material (e.g., dust) that collects on surfaces in facility rooms and equipment. The concentration level of contamination in an area of ​​the facility should be determined to ensure that personnel are not exposed to unsafe levels of radiation. Contamination levels can be determined by wiping (also called smearing, swiping, or swabbing) a sample disk, typically made of filter paper, over a fixed area. The contamination on the sample disk is then tested with a radiation detector, typically a Geiger-Müller counter, to determine the concentration of the contamination.

[0004] Collection of contaminated samples is typically performed by humans. During the sample collection process, the human sampler may be exposed to unknown amounts of radiation and contamination, which creates a risk of personal radiation exposure or the unintentional spread of contamination outside the test area. Furthermore, determining the contamination level of an area typically requires personnel on every shift and on weekends, incurring premium wages.

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

[0006] In one embodiment, 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 removably coupled to the mounting tray to maintain the position of the at least one sampling container during deployment of the robot. Each of the at least one sampling container includes a lid having a sampling surface for receiving a sample and a cup, the sampling surface being disposed on a first side of the container lid, the first side and the sampling surface each configured to fit within an interior volume of the cup, the container lid being removably coupled to the container cup by a sealing surface to seal the sampling surface within the interior volume and prevent contamination of the sampling surface, the sampling surface being disposed to extend away from the first side of the container lid, and the sampling surface being configured to collect a sample from a surface. Each of the at least one sampling container further includes an interface member coupled to a second side of the container lid, the interface member having a shape configured to be grasped by an end effector of the robot and configured to pivot about a coupling with the container lid.

[0007] In one embodiment, the system also includes a hinge configured to pivot the longitudinal axis of the interface member at a first angle relative to a second axis perpendicular to a plane defined by the second side of the container lid. The first angle can be between 1 and 45 degrees. The hinge can be configured to rotate the interface member about the longitudinal axis at a second angle. The second angle can be between 1 and 45 degrees. The hinge can be configured to move the interface member axially along the longitudinal axis of the interface member. In one embodiment, the hinge is a hook-and-loop fastener.

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

[0009] In one embodiment, the interface member comprises a resilient compressible surface, which may have a coefficient of friction greater than 0.4.

[0010] In one embodiment, the interface member comprises a substantially spherical surface.

[0011] In one embodiment, the interface member has a frusto-conical shape.

[0012] In one embodiment, the interface member has a generally circular cross-section.

[0013] In one embodiment, the mounting tray has a mounting surface that supports at least one sampling vessel, and the mounting tray is supported by at least one resilient mounting member for absorbing compressive, tensile, and shear forces.

[0014] In one embodiment, the container lid includes a shoulder protruding away from the sampling surface for receiving the sampling paper, the shoulder coupled to a lip having a concave surface for self-centering engagement with the rim of the cup, the rim of the cup having a convex mating surface for engaging the concave surface of the lip. The shoulder includes a ridge or groove that mates with the other of the ridge or groove, and the rim includes the other of the ridge or groove. The concave lip may be configured for a friction fit with the convex mating surface of the rim of the cup. In one embodiment, the rim of the cup 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 by a fastening device.

[0015] In one embodiment, the system includes a robot for deployment in a radioactive environment, the robot including an end effector coupled to an arm, and a mounting tray coupled to the robot and positioned so as 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 configured to removably couple to a mounting tray on a robot for deployment in a radioactive environment and to hold at least one sampling container in place during deployment of the robot. The sampling container further includes a lid having a sampling surface, the sampling surface disposed on a first side of the container lid, the first side and the sampling surface each configured to fit within an interior volume of the cup, the container lid removably coupled to the container cup by a sealing surface to seal the sampling surface within the interior volume and prevent contamination of the sampling surface, the sampling surface disposed to extend away from the first side of the container lid, and the sampling surface configured to collect a sample from a surface to be sampled. The sampling container further includes an interface member coupled to a second side of the container lid, the interface member having a shape configured to be grasped by an end effector of the robot and configured to pivot about a coupling with the container lid.

[0018] In one embodiment, the sampling container includes a hinge configured to pivot the longitudinal axis of the interface member at a first angle relative to a second axis perpendicular to a plane defined by the second side of the container lid. The first angle can be between 1 and 45 degrees. The hinge can be configured to rotate the interface member about the longitudinal axis at a second angle. The second angle can be between 1 and 45 degrees. In one embodiment, the hinge is configured to move the interface member axially along the longitudinal axis of the interface member. In one embodiment, the hinge is a hook-and-loop fastener.

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

[0020] In one embodiment, the interface member comprises a resilient compressible surface, which may have a coefficient of friction greater than 0.4.

[0021] In one embodiment, the interface member has a generally spherical surface.

[0022] In one embodiment, the interface member has a frusto-conical shape.

[0023] In one embodiment, the interface member has a generally circular cross-section.

[0024] In one embodiment, the vessel lid includes a shoulder projecting away from the sampling surface, the shoulder coupled to a lip having a concave surface for self-centering engagement with the rim of the cup, the rim of the cup including a convex mating surface for engaging the concave surface of the lip. The shoulder includes a ridge or groove that mates with the other of the ridge or groove, and the rim includes the other of the ridge or groove. The lip may have a concave surface that may be configured for a friction fit with the convex mating surface of the rim of the cup. The rim of the cup 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 including extending an end effector of a robotic arm toward a sampling container (e.g., as described above and below), the end effector being disposed at an angle relative to a longitudinal axis of an interface member, grasping the interface member with the end effector, pivoting the interface member about a connection point with the container lid, removing the container lid from the container cup, and extending the container lid toward a surface to be sampled and contacting the sampling surface with the surface to be sampled.

[0027] In one embodiment, the angle is between 1 and 45 degrees.

[0028] In one embodiment, the method includes coupling a vessel lid to the vessel cup to seal the sampling surface within the sampling vessel.

[0029] In one embodiment, the method includes contacting the sampling surface with the surface to be sampled, wherein the longitudinal axis of the interface member is at an angle to the surface to be sampled, the angle to the surface to be sampled may be between 45 and 90 degrees.

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

[0031] Further details of these and other aspects of the present subject matter will be apparent from the detailed description and figures set forth below. [Brief explanation of the drawings]

[0032] Reference will now be made to the accompanying drawings. [Figure 1] FIG. 1 is a front view illustrating a system for radioactive sampling according to some embodiments. [Figure 2] FIG. 1 is a side view of a mounting system according to some embodiments. [Figure 3] FIG. 1 illustrates a top view of a system for radioactive sampling according to some embodiments. [Figure 4A] FIG. 1 is an exploded view of a sample container cup according to some embodiments. [Figure 4B] FIG. 4B is an assembly view of the sample vessel cup of FIG. 4A. [Figure 5A] FIG. 1 is an exploded view of a sample vessel lid and swab holder according to some embodiments. [Figure 5B] FIG. 5B is an assembly diagram of the sample vessel lid and swab holder of FIG. 5A. [Figure 6A] FIG. 1 illustrates an exploded view of a gripper assembly according to some embodiments. [Figure 6B] FIG. 6B is an assembled view of the gripper assembly of FIG. 6A. [Figure 7A] FIG. 1 is a top view of a sample vessel lid according to some embodiments. [Figure 7B] 7B is a bottom view of the sample vessel lid of FIG. 7A. FIG. [Figure 7C] FIG. 7B is a front view of the sample vessel lid of FIG. 7A. [Figure 8A] FIG. 1 is a top view of a sample container cup according to some embodiments. [Figure 8B] 8B is a bottom view of the sample vessel cup of FIG. 8A. FIG. [Figure 8C] FIG. 8B is a front view of the sample container cup of FIG. 8A. [Figure 9] FIG. 1 is an assembly diagram illustrating a sample container according to some embodiments. [Figure 10A] 1 is a photograph showing an example of a system for radioactive sampling implemented on a robot according to some embodiments. [Figure 10B] 1 is a photograph showing an example of a system for radioactive sampling implemented on a robot according to some embodiments. [Figure 10C] 1 is a photograph showing an example of a system for radioactive sampling implemented on a robot according to some embodiments. [Figure 11] 1 is a flow chart illustrating a method for radioactive contamination sampling. DETAILED DESCRIPTION OF THE INVENTION

[0033] The present disclosure provides a system for remotely collecting contaminant samples, particularly radioactive samples, and returning them to an operator, which may enable determination of the concentration of radioactive contamination and determination of the radionuclide composition of the contamination.

[0034] This reduces the risk of personal exposure to contaminants, such as radioactive contamination, and also reduces the risk of contamination of samples taken from the environment. The provided system can completely eliminate the need for human intervention during the sampling procedure, thereby eliminating the possibility of undue exposure to unknown sources of radioactive contamination within the area being sampled. The provided system can also reduce costs associated with sampling to determine contamination levels within an area.

[0035] [Definition] Although terms such as "maximize," "minimize," and "optimize" may be used in this disclosure, it should be understood that these terms are not strictly limited to maximum, minimum, or optimum, but may refer to improvement, adjustment, and refinement.

[0036] The terms "connected" or "coupled" may include both direct coupling (where the two elements coupled together are in contact with each other) and indirect coupling (where there is at least one additional element between the two elements).

[0037] As used herein, the term "substantially" may be applied to modifications of quantitative expressions that are permissible without resulting in a change in the basic function to which they relate.

[0038] Terms such as "up to," "at least," "greater than," "less than," "more than," "or more than," and the like are inclusive of the stated numerical values, and these terms refer to ranges that can be subsequently divided into subranges. Similarly, all ratios stated herein also include all subratios encompassed within the broader ratio.

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

[0040] The term "about" can refer to a variation of ±5%, ±10%, ±20%, or ±25% of the specified value. For example, "about 50" percent may include a variation of 45 to 55 percent in some embodiments. For integer ranges, the term "about" can include integers one or two greater and / or less than the recited integer at each end of the range. Unless otherwise stated herein, the term "about" is intended to include values ​​and ranges adjacent to the recited range that are equivalent in terms of the functionality of the composition or embodiment.

[0041] The term "gripping assembly" refers to an interface member that is hinged to a sample vessel, the hinge allowing the interface member to tilt and / or rotate relative to the sample vessel.

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

[0043] According to some embodiments, the system allows for remote contamination sampling and determination of concentration and radionuclide content, which may avoid human exposure to radiation when obtaining samples.

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

[0045] According to some embodiments, the robot arm and / or the end effector thereon may have a limited range of motion. For example, the robot arm may have a fixed length and multiple joints that allow the arm to bend and / or rotate. In one example, the robot arm and gripper may be a Boston Dynamics® Spot Arm®, having six degrees of freedom and a gripper. Other robot arms with different degrees of freedom may also be used according to the present disclosure. As shown in FIG. 10C , when the robot arm is positioned so that its end effector can grip an interface member of a gripper assembly of a sampling container according to the present disclosure, the longitudinal axis of the end effector may not coincide with the longitudinal axis of the interface member. In other words, during use, the end effector may be positioned at a variety of different angles relative to the gripper assembly. As shown in FIG. 10C , the end effector is illustrated gripping the gripper assembly, and the longitudinal axes of the gripper assembly and the end effector do not coincide. This mismatch may occur when the sample container and sample tray are positioned on the robot as shown in FIG. 10C, when samples are being collected from a surface, or in other situations. In other words, during use, the robot arm may only be able to position the end effector at an angle relative to the longitudinal axis of the interface member, which may make it difficult for the end effector to grasp the interface member. In one aspect, a gripping member according to the present disclosure may enable the end effector to more securely grip the gripping member during lifting and / or sampling.

[0046] In some embodiments, a sample vessel interface member of a gripping assembly is described that allows a robotic arm or end effector to lift the sample vessel interface member at multiple angles and / or positions, simplifying operation of the robotic arm and end effector. That is, the robotic arm and / or end effector need not be restricted to a specific position to lift the sample vessel interface member. The robotic arm and the end effector of the robotic arm each have a limited range of motion, and if a sample vessel is in a specific position, they may not be able to move into a position to grip and / or couple the sample vessel. Additionally, once a sample vessel is gripped and lifted by the end effector, the robotic arm and / or end effector may also have a limited range of motion to contact the entire sampling surface of the sample vessel with the surface to be sampled. According to the present disclosure, in some embodiments, the sample vessel interface member can enable multiple orientations / positions of the sample lid relative to the surface to be sampled by rotating and / or tilting the lid relative to the sample vessel interface member of the gripping assembly and the end effector of the robotic arm. This allows the end effector on the robotic arm to increase the range of motion of the robotic arm and end effector and simplifies operation of the robotic arm and end effector by not requiring precise positioning of the lid during sample collection.

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

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

[0049] For example, in some embodiments, the mounting and support method for the mounting tray 102 or "sample tray" can allow the tray to move vertically and horizontally relative to the robot when interfacing with the robot arm to prevent damage to the tray under normal operation or robot malfunction.

[0050] In this aspect, each of the at least one sampling container, e.g., the sampling container 104, may include a lid 106 having a first side 112 defining a sampling surface for sampling a contaminated surface. In one embodiment, the sampling surface may include a material for receiving a sample. In another embodiment, the first side 112 may be configured to receive the sampling paper 108 and cup 110. This surface may be configured to removably couple the sampling paper 108 to the first side 112 of the container lid 106, and the first side 112 and the sampling paper 108 may each be configured to fit within the interior volume of the cup 110. The container lid 106 may be removably coupled to the container cup 110 by a sealing surface, sealing the sampling paper 108 within the interior volume and preventing contamination of the sampling paper 108. The sampling paper 108 may be positioned to extend away from the first side 112 of the container lid 106, and the sampling paper 108 may be configured to collect a sample from a surface.

[0051] In some embodiments, the sample container 104 may prevent cross-contamination from sources other than the intended sample location. The sample container lid 106 and cup 110 may have a seal sufficient to prevent contamination, such as contamination from contact of the sample with an external source. They may also ensure that used samples are isolated from the environment until analyzed by a human in the intended instrument. In some embodiments, the sample container 104 can be removed from the tray, thus maintaining sample integrity.

[0052] Further, in this aspect, the system 100 for radioactive contamination sampling may include an interface member 114 coupled to the second side 116 of the container lid 106. The interface member 114 may have a shape configured to be grasped by an end effector of a robot. The interface member may pivot about its point of attachment to the second side 116. In one example, the interface member may be coupled to the second side 116 by a resilient material, allowing the interface member to pivot about its point of attachment to the second side 116. In one embodiment, the interface member may be coupled to the second side 116 by a hinge 118 configured to pivot a longitudinal axis of the interface member 114 at a first angle relative to a second axis perpendicular to a plane defined by the second side 116 of the container lid 106.

[0053] In some embodiments, the sample vessel interface mechanism or gripping assembly may allow an end effector of a robotic arm to interface with and couple to the sample vessel interface mechanism or gripping assembly at multiple positions and / or multiple approach angles. In one example, the approach angle may be the angle of the end effector relative to the longitudinal axis φ of the sample vessel interface mechanism or gripping assembly when the end effector grips the sample vessel interface mechanism or gripping assembly. In some embodiments, the sample vessel interface mechanism or gripping assembly may include an interface member 114 and a hinge 118. This allows for a range of end effector positions, simplifying robot operation, whether by human operation or programming. The interface mechanism may also simplify robot operation, whether by human operation or programming, by providing rotational positioning of the sample disc during smearing while allowing a sample disc, such as sampling paper 108, to fully contact a surface without requiring fine adjustment of the robot hand or end effector.

[0054] In some embodiments, the ability to deploy multiple sample containers 104 per robot deployment may provide the ability to obtain multiple samples per robot deployment.

[0055] In another aspect, the hinge 118 may comprise a hinge base 119 and a hinge anchor. For example, hinge anchor 602 is shown in FIGS. 6A and 6B. In some embodiments, the interface member 114 is coupled to the hinge 118 with a hinge anchor, such as hinge anchor 602, which may be rotatably coupled to the hinge base 119, allowing the interface member 114 to tilt and / or rotate relative to the hinge base 119.

[0056] In another embodiment, a system for radioactive contamination sampling as shown in FIG. 1 is provided, which may include at least one sampling vessel 104, which may be removably coupled to a mounting tray 102 on a robot for deployment in a radioactive environment and configured to maintain the position of the at least one sampling vessel 104 during deployment of the robot.

[0057] In this embodiment, each of the at least one sampling container 104 may have a lid 106 having a surface for receiving the sampling paper 108, and a cup 110. The surface is configured to removably couple the sampling paper 108 to a first side 112 of the container lid 106, and the first side 112 and the sampling paper 108 may each be configured to fit within the interior volume of the cup 110. The container lid 106 may be removably coupled to the container cup 110 by a sealing surface to seal the sampling paper 108 within the interior volume and prevent contamination of the sampling paper 108. The sampling paper 108 is positioned to extend away from the first side 112 of the container lid, and the sampling paper 108 may be configured to collect a sample from a surface.

[0058] Further, in this embodiment, the system 100 for radioactive contamination sampling may include an interface member 114 coupled to the second side 116 of the vessel lid 106. The interface member 114 may have a shape configured to be grasped by, for example, a robotic end effector, and may include a hinge 118 configured to pivot a longitudinal axis φ of the interface member 114 at a first angle γ relative to a second axis β that is perpendicular to a plane defined by the second side 116 of the vessel lid 106.

[0059] In one embodiment, the interface member 114 may have a resilient compressible surface.

[0060] In one embodiment, the resilient compressible surface may have a coefficient of friction greater than 0.4.

[0061] In one embodiment, the interface member 114 may have a generally spherical surface. In another embodiment, the interface member 114 may have a frusto-conical shape. In another embodiment, the interface member 114 may have a generally circular cross-section.

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

[0063] In one embodiment, the first angle γ may be between 1 and 45 degrees.

[0064] In one embodiment, the hinge 118 may be configured to rotate the interface member 114 about the longitudinal axis at a second angle α.

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

[0066] In one embodiment, the hinge 118 may be configured to allow the interface member 114 to move axially along a longitudinal axis φ of the interface member 114 .

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

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

[0069] In some embodiments, the protruding shoulder 124 may protrude from the base of the lid 106, e.g., the first side 112 or the second side 116, at an angle θ, where the shoulder 124 does not intersect with a plane defined by the surface that receives the sampling paper 108. In one embodiment, the angle θ may be in the range of 90 to 180 degrees. In the example of FIG. 5A, the shoulder 124 may protrude from the periphery of the second side 116 at an angle θ of approximately 135 degrees.

[0070] In one embodiment, shoulder 124 may have a ridge or groove 131 for mating with a corresponding ridge or groove on rim 128. As an example, shoulder 124 may include a ridge that mates with a groove in rim 128, or vice versa.

[0071] In one embodiment, the concave lip 126 may be configured to frictionally fit with a convex mating surface of the rim 128 of the cup 110 .

[0072] In one embodiment, the rim 128 of the cup 110 may have a flange 129 .

[0073] In some embodiments, the use of a system such as system 100 for radioactive contamination sampling allows for the determination of contamination levels in areas with unknown radiological conditions, reducing and / or eliminating the potential for human radiation exposure associated with performing contamination sampling, such as after an unexpected event such as a radiological accident, or when sampling is required in areas that have not been inspected for an extended period of time.

[0074] In some embodiments, the use of a remote sampling system, such as system 100 for radioactive contamination sampling, can reduce the number of personnel required to determine contamination levels in an area, such as a facility, because a single system can be operated continuously 24 hours a day, 7 days a week with only one system operator. Determining contamination levels typically requires personnel at extra pay on each shift and on weekends. Reducing personnel requirements can result in significant cost savings.

[0075] In some embodiments, a remote sample system such as system 100 for radioactive contamination sampling may be used to determine the presence of any substance, such as a chemical or other non-radioactive material, that is present in an unintended location, such as an explosive level of dust, such as aluminum powder, in a manufacturing facility, or a chemical leak in a manufacturing plant.

[0076] The contamination sampling system 100, in some embodiments, may be attached to a robot using existing robot mounting fixtures or any other mechanism appropriate for the type of robot.

[0077] 2 is a side view 200 of a mounting system according to some embodiments. The mounting system shown in 200 may be a mounting tray 102 according to some embodiments.

[0078] In one embodiment, the mounting tray 102 may have a mounting surface 120 that supports at least one sampling vessel 104, and the mounting tray 102 may be supported by at least one resilient mounting member 122 to absorb compressive, tensile, and shear forces.

[0079] In some embodiments, the mounting tray 102 may comprise a surface 120 to which the sample vessels 104 are attached. The vessels 104 may be held in position on the tray using a fastening device 130, such as hook-and-loop fasteners, double-sided tape, twist locks, adhesive, or the like. In some embodiments, the mounting tray 102 may include the fastening device 130, and the sample vessels 104 may include a separate fastening material similar to the fastening device 130. For example, in some embodiments, the sample vessels 104 may include a fastening material, such as the hook side of a hook-and-loop fastener, on the cups 110, and the mounting tray 102 may include a suitable loop side fastening material.

[0080] The tray 102 may be a thin sheet of plastic, for example, about 3 / 16 inch thick, or a sheet of other thickness such as Plexiglass®, or a similarly suitable material. The mounting tray 102 can reduce the weight of the sampling system while providing the strength needed to interface with, for example, a robot. A lightweight sampling system is desirable.

[0081] In some embodiments, the mounting tray 102 may be supported by a mounting system, such as resilient mounting members 122, that supports the tray and maintains its position horizontally and vertically under normal operation. The mounting system prevents damage to the sampling system during an unexpected robotic event and returns the mounting tray to its normal position after the unexpected event. For example, if the robot encounters rough or uneven terrain, the mounting system, possibly having at least one resilient mounting member 122, may ensure that the mounting tray 122 remains in its normal position, which may involve keeping the sampling vessels 104 substantially upright and / or keeping the mounting tray 122 substantially horizontal (possibly horizontal relative to flat ground).

[0082] In some embodiments, the resilient mounting member 122 may be, for example, a rubber cylinder mounted horizontally and connected to the sample tray and robot mount. In some embodiments, the resilient mounting member 122 may be substantially hollow and / or tubular. In some embodiments, the resilient mounting member 122 may be filled rather than hollow. The orientation of the rubber cylinder may be positioned to return the horizontal position of the tray to its normal position under normal or abnormal conditions. In other embodiments, other materials and configurations may be used for the resilient mounting member 122 to allow the mounting tray 122 to maintain and / or return to its normal position as described above. In some embodiments, the mounting member 122 may be a shock mount, such as a semi-rigid hose that is flexible and can compress, twist, or rotate as needed to support the mounting tray 102.

[0083] In some embodiments, the mounting member 122 may have lower mounting hardware 202 that couples the mounting member 122 to, for example, a robot. In some embodiments, the lower mounting hardware 202 may be screws, nails, hook-and-loop fasteners, etc. The lower mounting hardware 202 may have different attachment methods in some embodiments, for example, to accommodate different robots.

[0084] In some embodiments, the sample vessel 104 may be comprised of a lid 106 and a cup 110. The sample material may be attached to the vessel lid 106.

[0085] 3 is a top view 300 of a system for radioactive sampling according to some embodiments. The system shown in 300 may be the system 100 for radioactive sampling according to some embodiments.

[0086] As shown at 300, the mounting member 122 can be seen to support a base plate 302. The base plate 302 is part of the mounting tray 102 and can be located below an alignment plate 304. In some embodiments, the mounting surface 120 can be on one side of the base plate 302. In some embodiments, the mounting surface can be on one side of the alignment plate 304. In some embodiments, the alignment plate 304 can align, for example, the sample vessels 104 at substantially the same level as the mounting surface 120.

[0087] The top view 300 shows the retaining device 130 in the upper left corner of the mounting tray 102, the vessel cup 110 in the upper right corner, and the sample vessels 104 in the lower corners. As shown, the mounting tray 102 may have four mounting locations for the sample vessels 104. In other embodiments, the mounting tray 102 may have one or more mounting locations for the sample vessels 104.

[0088] In some embodiments, the mounting members 122 may be shock mounts and may rotate as needed to support the mounting tray 102 as described above. The mounting members 122 may be coupled to the mounting tray 102 by upper mounting hardware 306. In some embodiments, the upper mounting hardware 306 may be screws, nails, hook-and-loop fasteners, or the like.

[0089] 4A is an exploded view 400A illustrating a sample container cup according to some embodiments, and FIG. 4B is an assembled view 400B illustrating a sample container cup according to some embodiments. The sample cups shown in 400A and 400B can be similar to container cup 110.

[0090] In some embodiments, the vessel cup 110 may be in the form of a shallow vessel or other suitable shape. The cup 110 may be manufactured from a low-cost, lightweight material such as plastic, although any suitable material may be used. The cup 110 may provide an interface 404 with the tray 102 and vessel lid 106. The interface 404 with the tray 102 may allow for easy and quick removal and installation of the sample vessel 104 while maintaining the position of the sample vessel 104 during normal and abnormal operation. The interface 404 may be similar to the fixturing device 130 and may be coupled to the fixturing device 130. In some embodiments, the coupling may be achieved using a coupling material such as a hook-and-loop fastener, although any other suitable coupling material or device may be used. The cup 110 may provide a sealing surface against which the lid 106 rests and seals to prevent cross-contamination of samples.

[0091] In one embodiment, the rim 128 of the cup 110 may have a flange, such as flange 406. In some embodiments, the rim 128 may include a ridge or groove. For example, groove 402 is shown in FIG. 4A . In some embodiments, the lid 106 may have a groove similar to groove 402 shown in the cup rim 128. In some embodiments, the cup rim 128 may have a similar ridge 504, and the lid shoulder 124 may have a groove similar to groove 402.

[0092] 5A is an exploded view 500A showing a sample vessel lid and swab holder according to some embodiments, and FIG. 5B is an assembled view 500B showing a sample vessel lid and swab holder according to some embodiments. The vessel lid shown in 500A and 500B can be similar to vessel lid 106.

[0093] The container lid 106, in some embodiments, may be in the form of a flat plate having features for sealing the cup 110, supporting the sampling paper 108, and interfacing with a lifting feature (e.g., lifting the lid 106 by a robotic arm). The lid 106 may take any other suitable shape for covering and sealing the cup, supporting the sampling paper 108, and interfacing with a lifting feature.

[0094] In some embodiments, the lid 106 may be made of plastic, although any other suitable material that provides the required shape, strength, and weight may be used. The lid 106 may seal to the cup 110 using pressure, for example, from a robotic arm, and the lid 106 may be held in place by a sealing mechanism. This prevents loss of the lid 106 and sample during normal and abnormal operation. In some embodiments, the sampling paper 108 is attached to the underside of the lid 106, e.g., the first side 112, and protrudes sufficiently from the first side 112 to allow the sampling paper 108 to contact the surface to be sampled without the lid 106 contacting the surface, which could interfere with, for example, the contamination level being measured. Interference with the contamination level measurement is undesirable.

[0095] In some embodiments, the container lid 106 may include a shoulder 124 that projects away from the surface that receives the sampling paper 108. The shoulder 124 may be coupled to a lip 126 having a concave surface for self-centering engagement with a rim 128 of the cup 110, which may have a convex mating surface for engaging the concave surface of the lip.

[0096] The protruding shoulder 124, in some embodiments, may protrude from the base of the lid 106, e.g., the first side 112 or the second side 116, at an angle such that the shoulder 124 does not intersect with the plane defined by the surface that receives the sampling paper 108. The angle 502 is shown in FIG. 5B.

[0097] In some embodiments, shoulder 124 may have a ridge or groove that mates with the other of the ridge or groove, and rim 128 may include the other of the ridge or groove. For example, ridge 504 is shown in FIG. 5B. In other embodiments, lid 106 may have a groove similar to groove 402 shown in cup rim 128. In some embodiments, cup rim 128 may have a ridge similar to ridge 504, and lid shoulder 124 may have a groove similar to groove 402.

[0098] In one embodiment, the concave lip 126 may be configured to frictionally fit with a convex mating surface of the rim 128 of the cup 110 .

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

[0100] 6A is an exploded view 600A illustrating a gripper assembly according to some embodiments, and FIG. 6B is an assembled view 600B illustrating a gripper assembly according to some embodiments. The gripper assemblies shown in 600A and 600B can be similar to the mechanisms described above, such as mechanisms having interface members 114 and hinges 118.

[0101] In some embodiments, the sample container 104 may have an interface mechanism, which may include an interface member 114 coupled to a hinge base 119. In some embodiments, the interface member 114 may be coupled to a hinge 600, which may include a hinge anchor 602, which may be rotatably coupled to the hinge base 119, allowing the interface member 114 to tilt and / or rotate relative to the hinge base 119. In some embodiments, the hinge anchor 602 may be threaded and coupled to the interface member 114. In some embodiments, the hinge anchor 602 may have a coarse thread, for example, to prevent pullout of the anchor 602 from the interface member 114. In some embodiments, the hinge anchor 602 may be made of a flexible material, such as rubber or plastic, to enable such rotation. The interface mechanism may comprise, for example, an interface function with a robotic hand and a rotational movement function. Such a gripping assembly may allow, for example, a robotic hand of any design variation to grip the sample container 104. Such a gripping assembly may allow for a level of compression and friction force, for example, allowing the robotic hand to accommodate applied forces while compressing the interface member 114. Friction may also maintain the position of the lid 106, preventing slippage and potential dropping of the sample container 104 and lid 106, allowing for a smearing operation to be performed to collect sample.

[0102] In some embodiments, the hinge 118 may provide a rotation mechanism for the gripping assembly. In some embodiments, the rotation mechanism of the interface member may allow a range of rotational movement of the container lid 106, for example, during retrieval and return of the lid 106 by a robotic arm, and during smearing operations, for example, during sample collection. This ensures that the required rotational position of the lid is achieved during smearing operations, and allows the entire sampler 104 to be maintained in contact with the surface to be sampled, for example, under various robotic arm positions and movements.

[0103] The rotation mechanism may also, in some embodiments, permit rotation to match the orientation of the sample vessel cup 110, allowing for the rotational position required during retrieval and return of the lid 106. This allows for proper placement of the sample vessel lid 106 without requiring precise positioning of, for example, a robotic arm.

[0104] The rotation mechanism may be detachable from the sample vessel 104 and reused when changing vessels. For example, in some embodiments, the hinge 118 and interface member 114 may be detachable from the lid 106.

[0105] In some embodiments, the interface members may have a resilient compressible surface. For example, in some embodiments, the resilient compressible surface may have a coefficient of friction greater than 0.4. In other embodiments, the resilient compressible surface of an interface member, such as interface member 114, may have a different coefficient of friction.

[0106] In some embodiments, the interface member may have a generally spherical surface. In some embodiments, the interface member may have a frusto-conical shape. In some embodiments, the interface member may have a generally circular cross section. According to other embodiments, the interface member may have different shapes, for example, corresponding to different end effectors of the robot.

[0107] The interface member 114 may be tilted such that the longitudinal axis φ of the interface member 114 forms a first angle γ with respect to the axis β and may rotate about the longitudinal axis φ of the interface member 114 through a second angle α. In some embodiments, the first angle imparted by the gripping assembly may be between 1 and 45 degrees. In some embodiments, the hinge 118 may be configured to rotate the interface member 114 about the longitudinal axis φ through a second angle. In some embodiments, the second angle may be between 1 and 45 degrees. In some embodiments, the hinge 118 may be configured to move the interface member 114 axially along the longitudinal axis φ of the interface member 114. In some embodiments, the first and second angles of movement by the gripping assembly may be greater than or less than 1 to 45 degrees.

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

[0109] Figure 7A shows a top view 700A of a sample vessel lid according to some embodiments, Figure 7B shows a bottom view 700B of a sample vessel lid according to some embodiments, and Figure 7C shows a front view 700C of a sample vessel lid according to some embodiments. The sample vessel lid shown in Figures 7A-7C can be similar to vessel lid 106.

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

[0111] Figure 8A is a top view of a sample vessel cup according to some embodiments, Figure 8B is a bottom view of a sample vessel cup according to some embodiments, and Figure 8C is a front view of a sample vessel cup according to some embodiments. The sample vessel cups shown in Figures 8A-8C may be similar to vessel cup 110.

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

[0113] 9 is an assembly diagram illustrating a sample vessel 900 according to some embodiments. The sample vessel 900 may be similar to the sample vessel 104 shown in FIG. 1 and may have similar components in some embodiments.

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

[0115] The sampling container 900 may have a lid 906 having a surface for receiving a sampling paper 908, and a cup 910. The surface may be configured to removably couple the sampling paper 908 to a first side 912 of the container lid 906. The first side 912 and the sampling paper 908 may each be configured to fit within the interior volume of the cup 910. The container lid 906 may be removably coupled to the container cup 910 by a sealing surface to seal the sampling paper 908 within the interior volume and prevent contamination of the sampling paper 908. The sampling paper 908 may be positioned to extend away from the first side 912 of the container lid, and the sampling paper 908 may be configured to collect a sample from a surface.

[0116] In some embodiments, the sampling vessel 900 may include an interface member 914 coupled to a second side 916 of the vessel lid 906. The interface member 914 may have a shape configured to be grasped, for example, by an end effector of a robot, and may include a hinge 918 configured to pivot a longitudinal axis of the interface member 914 at a first angle relative to a second axis perpendicular to a plane defined by the second side 916 of the vessel lid 906. In some embodiments, the sample vessel 900 may include a hinge anchor 920. In some embodiments, the hinge 918 may be coupled or detachably coupled to the hinge anchor 920.

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

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

[0119] The protruding shoulder 924, in some embodiments, may protrude at an angle from the base of the lid 906, e.g., the first side 912 or the second side 916, and the shoulder 924 does not intersect the plane defined by the surface for receiving the sampling paper 108. In some embodiments, the shoulder 924 may comprise a ridge or groove that mates with the other of the ridge or groove, and the rim 928 may comprise the other of the ridge or groove. This is shown in FIG. 9, for example, where 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 may have a groove similar to the groove 930 shown in the cup rim 928. In some embodiments, the lid shoulder 924 may have a groove similar to the groove 930, while the cup rim 928 has a ridge similar to the ridge 932. In some embodiments, the lip 926 having a concave surface may be configured to frictionally fit with a convex mating surface of the rim 928 of the cup 910.

[0121] 10A is an image showing an example of a system 1000A for radioactive sampling implemented on a robot, according to some embodiments. FIG. 10B is an image showing an example of a system 1000B for radioactive sampling implemented on a robot, according to some embodiments. FIG. 10C is an image showing an example of a system 1000C for radioactive sampling implemented on a robot, according to some embodiments. The robot includes a robotic arm 1001 having an end effector 1002, the end effector 1002 having a longitudinal axis 1003.

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

[0123] The system for radioactive sampling shown in Figures 10A-10C, in some embodiments, may be similar to system 100 described above and shown in Figure 1. The sample vessel may also be similar to sample vessel 900 in some embodiments.

[0124] 11, in some embodiments, a method for radioactive contamination sampling may be provided. In one aspect, the method may be performed using a sample vessel according to the present disclosure.

[0125] At 1102, an end effector of a robotic arm may be extended toward a sampling vessel according to the present disclosure. The end effector may be positioned at an angle relative to the longitudinal axis φ (described above with respect to FIG. 1) of the sampling vessel's interface member. In one embodiment, the angle is between 1 and 45 degrees. The angle may be referred to as the "approach angle" at which the end effector approaches the interface member, and the approach angle is the angle between the longitudinal axis φ of the interface member and the longitudinal axis 1003 of the end effector.

[0126] At 1104, the interface member is grasped with an end effector.

[0127] At 1106, the interface member is pivoted about its connection point with the container lid.

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

[0129] At 1110, the vessel lid is extended towards the surface to be sampled so that the sampling surface contacts the surface to be sampled.

[0130] In one embodiment, the method may include coupling a vessel lid to the vessel cup to seal the sampling surface within the sampling vessel.

[0131] In one embodiment, the method may include contacting the sampling surface with the surface to be sampled. The longitudinal axis of the interface member may be at an angle to the surface to be sampled. In one embodiment, the angle to the surface to be sampled is between 45 and 90 degrees.

[0132] The above description is intended to be illustrative only, and those skilled in the art will understand that modifications can be made to the described embodiments without departing from the scope of the disclosed invention. The present disclosure may be embodied in other specific forms without departing from the subject matter recited in the claims. The present disclosure is intended to encompass and embrace all appropriate modifications of technology. Modifications that fall within the scope of the present invention will become apparent to those skilled in the art upon review of this disclosure, and such modifications are intended to be encompassed by the appended claims. Furthermore, the interpretation of the claims should not be limited to the preferred embodiments exemplified, but should be accorded the broadest interpretation consistent with the description as a whole.

[0133] It will be understood that the above-detailed and illustrated embodiments are intended to be exemplary only. The present invention is defined by the appended claims.

[0134] The claims do not include, and should not be construed as including, means-plus-function or step-plus-function limitations unless expressly limited in a particular claim using the phrase "means for" or "step for."

Claims

1. 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 vessel configured to be removably coupled to the mounting tray to maintain the position of the at least one sampling vessel during deployment of the robot; and Equipped with Each of the at least one sampling vessels comprises: a lid and a cup having a sampling surface for receiving a sample, the sampling surface being disposed on a first side of the vessel lid, the first side and the sampling surface each configured to fit within an interior volume of the cup, the vessel lid being removably coupled to the vessel cup by a sealing surface that seals the sampling surface within the interior volume and prevents contamination of the sampling surface, the sampling surface being disposed to extend away from the first side of the vessel lid, the sampling surface being configured to collect a sample from a surface; an interface member coupled to a second side of the container lid, the interface member having a shape configured to be grasped by an end effector of the robot and configured to pivot about a coupling with the container lid; A system comprising:

2. 10. The system of claim 1, comprising a hinge configured to pivot a longitudinal axis of the interface member at a first angle relative to a second axis perpendicular to a plane defined by the second side of the container lid.

3. The system of claim 2 , wherein the first angle is between 1 and 45 degrees.

4. The system of claim 2 or claim 3, wherein the hinge is configured to rotate the interface member through a second angle about the longitudinal axis.

5. The system of claim 4 , wherein the second angle is between 1 and 45 degrees.

6. The system of any one of claims 2 to 5, wherein the hinge is configured to allow the interface member to move axially along a longitudinal axis of the interface member.

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

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

9. The system of any preceding claim, wherein the interface member comprises a resilient compressible surface.

10. The system of claim 9 , wherein the resilient compressible surface has a coefficient of friction greater than 0.

4.

11. The system of any preceding claim, wherein the interface member comprises a substantially spherical surface.

12. The system of any one of claims 1 to 11, wherein the interface member has a frusto-conical shape.

13. The system of any preceding claim, wherein the interface member has a substantially circular cross section.

14. 14. The system of claim 1, wherein the mounting tray has a mounting surface that supports the at least one sampling vessel, and the mounting tray is supported by at least one resilient mounting member for absorbing compressive, tensile, and shear forces.

15. 15. The system of claim 1, wherein the container lid comprises 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 a rim of the cup, the rim of the cup comprising a convex mating surface for engaging the concave surface of the lip.

16. The system of claim 15 , wherein the shoulder comprises a ridge or a groove that mates with the other of the ridge or the groove, and the rim comprises the other of the ridge or the groove.

17. 16. The system of claim 15, wherein the lip having the concave surface is configured to frictionally fit with the convex mating surface of the rim of the cup.

18. The system of claim 15 , wherein the rim of the cup comprises a flange.

19. 16. The system of claim 15, wherein the sampling surface is configured to removably couple the sampling paper to the first side of the container lid with a fastening device.

20. 20. The system of any one of claims 1 to 19, comprising the robot for deployment in a radioactive environment, the robot comprising an end effector coupled to an arm, the mounting tray coupled to the robot and positioned so as to be reachable by the arm.

21. A sampling vessel for radioactive contamination sampling, comprising: a vessel cup removably coupled to a mounting tray on a robot for deployment in a radioactive environment and configured to maintain the position of the at least one sampling vessel during deployment of the robot; a lid having a sampling surface, the sampling surface disposed on a first side of the vessel lid, the first side and the sampling surface each configured to fit within an interior volume of the cup, the vessel lid removably coupled to the vessel cup by a sealing surface that seals the sampling surface within the interior volume and prevents contamination of the sampling surface, the sampling surface disposed to extend away from the first side of the vessel lid, the sampling surface configured to collect a sample from a surface to be sampled; an interface member coupled to a second side of the container lid, the interface member having a shape configured to be grasped by an end effector of the robot and configured to pivot about a coupling with the container lid; A sampling vessel comprising:

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

23. 23. The sampling container of claim 22, wherein the first angle is between 1 and 45 degrees.

24. 24. A sampling container according to claim 22 or claim 23, wherein the hinge is configured to rotate the interface member through a second angle about the longitudinal axis.

25. 25. The sampling container of claim 24, wherein the second angle is between 1 and 45 degrees.

26. A sampling container according to any one of claims 22 to 25, wherein the hinge is configured to allow the interface member to move axially along a longitudinal axis of the interface member.

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

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

29. A sampling vessel according to any one of claims 21 to 28, wherein the interface member comprises a resilient compressible surface.

30. 30. The sampling vessel of claim 29, wherein the resilient compressible surface has a coefficient of friction greater than 0.

4.

31. A sampling container according to any one of claims 21 to 30, wherein the interface member has a substantially spherical surface.

32. A sampling vessel according to any one of claims 21 to 31, wherein the interface member has a frusto-conical shape.

33. A sampling vessel according to any one of claims 21 to 32, wherein the interface member has a substantially circular cross section.

34. A sampling container according to any one of claims 21 to 33, wherein the container lid has a shoulder protruding away from the sampling surface, the shoulder being coupled to a lip having a concave surface for self-centering engagement with a rim of the cup, the rim of the cup having a convex mating surface for engaging with the concave surface of the lip.

35. 35. A sampling container as described in claim 34, wherein the shoulder comprises a ridge or a groove that mates with the other of the ridge or groove, and the rim comprises the other of the ridge or groove.

36. 35. The sampling vessel of claim 34, wherein the lip having the concave surface is configured to frictionally fit with the convex mating surface of the rim of the cup.

37. 35. The system of claim 34, wherein the rim of the cup comprises a flange.

38. 1. A method for radioactive contamination sampling, comprising: extending an end effector of a robot arm towards the sampling vessel of any one of claims 21 to 37, the end effector being disposed at an angle relative to a longitudinal axis of the interface member; grasping the interface member with the end effector; pivoting the interface member about its point of attachment with the container lid; removing the container lid from the container cup; extending the container lid toward the surface to be sampled and bringing the sampling surface into contact with the surface to be sampled; A method comprising:

39. 39. The method of claim 38, wherein the angle is between 1 and 45 degrees.

40. 40. The method of claim 38 or 39, comprising coupling the vessel lid to the vessel cup and sealing the sampling surface within the sampling vessel.

41. A method according to any one of claims 38 to 40, comprising contacting the sampling surface with the surface to be sampled, the longitudinal axis of the interface member being at an angle to the surface to be sampled.

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

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