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A robotic spectrometer for 3D, non-invasive MA-XRF analysis of Cultural Heritage artifacts: case study applications

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Falcone Francesca (¹), Andolina Rosario (¹), Botticelli Michela (¹), Caliri Claudia (¹), Miliani Costanza (¹), Preilser Zdenek (¹), Rosi Francesca (²), Romano Francesco Paolo (¹)

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(1) Istituto di Scienze del Patrimonio Culturale (ISPC-CNR), Via Biblioteca 4, 95125, Catania
(2) Istituto di scienze chimiche (SCITEC- CNR), Via dell'Elce di Sotto, 8, 06123, Perugia

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The integration of advanced analytical techniques with robotic systems and artificial intelligence represents a cutting-edge development in the diagnosis and investigation of cultural heritage. These innovative systems facilitate non-invasive, in situ analyses of artifacts with complex shapes, greatly enhancing the accuracy, efficiency, and depth of information collected. In this context, a highly versatile collaborative robotic platform has been developed, capable of operating on large three-dimensional surfaces up to 3 meters in size with irregular geometries. The system is centered on X-ray fluorescence (XRF) spectroscopy, which provides detailed elemental information across surfaces characterized by variations in curvature, texture, and orientation. The robotic arm is controlled by sophisticated AI algorithms that ensure precise, adaptable, and dynamic movements, optimizing data collection conditions. Scan trajectories are intelligently planned through adaptive sampling techniques and 3D XRF digital mapping, enabling the system to modify its path according to the specific features of each surface. Automated navigation, real-time surface profiling, and parameter optimization ensure high-quality, reliable results even on complex and expansive surfaces within a 3 m range. Series of case studies, involving objects of diverse shapes and materials, has demonstrated the system’s capability to generate detailed elemental maps and reliable compositional analyses. These findings underscore the potential of this platform as a revolutionary tool for the preservation and scientific study of cultural heritage, offering a flexible, efficient, and non-invasive approach to artifact analysis.

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