Röttger, Annette

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  • Röttger, Annette (4)
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Author's Bibliography

Metrology supporting the European regulation for radiation protection

Alves, João G.; Caldeira, Margarida C.; Röttger, Annette; Khanbabaee, Behnam; Adam-Guillermin, Christelle; Siiskonen, Teemu; Živanović, Miloš; Šabeta, Amra; Glavič-Cindro, Denis

(2024)

TY  - JOUR
AU  - Alves, João G.
AU  - Caldeira, Margarida C.
AU  - Röttger, Annette
AU  - Khanbabaee, Behnam
AU  - Adam-Guillermin, Christelle
AU  - Siiskonen, Teemu
AU  - Živanović, Miloš
AU  - Šabeta, Amra
AU  - Glavič-Cindro, Denis
PY  - 2024
UR  - https://vinar.vin.bg.ac.rs/handle/123456789/12911
AB  - The European Association of National Metrology Institutes (EURAMET) within its research programme European Metrology Programme for Innovation and Research (EMPIR) funded project EMPIR 19NET03 supportBSS that contributes to the establishment of a European Metrology Network (EMN) for Radiation Protection (RP). The EMN-RP was established in September 2021 with the intent to work as a meeting point for the metrology community and all stakeholders in the field of ionising radiation regulation, thus providing quality assurance for measurements in each of the exposure situations contemplated in the European Legislation. Within project EMPIR 19NET03, work package 3 aims at the preparation of a Strategic Research Agenda (SRA) by identifying the metrology needs to support the European legislation and regulation in Radiation Protection and of two Roadmaps for metrology services, one under the European Council Directive 2013/59/EURATOM and the other under the EURATOM Treaty. Following a Gaps Workshop held in September 2020 and a second internal workshop that took place in April 2022, a questionnaire was prepared for distribution to the stakeholders, e.g. RP platforms and authorities, academia, industry, among other, together with an accompanying paper. In this paper, the authors present the state of the art of European legislation in RP, address the importance of metrology, the practices and activities that need metrology to meet the requirements set in the regulations, emphasise the need for quality assured measurements in all fields, highlight the stakeholders contributions in their specific area and show their vision of the EMN-RP.
T2  - Radiation Protection Dosimetry
T1  - Metrology supporting the European regulation for radiation protection
VL  - 200
IS  - 2
SP  - 155
EP  - 163
DO  - 10.1093/rpd/ncad289
ER  - 
@article{
author = "Alves, João G. and Caldeira, Margarida C. and Röttger, Annette and Khanbabaee, Behnam and Adam-Guillermin, Christelle and Siiskonen, Teemu and Živanović, Miloš and Šabeta, Amra and Glavič-Cindro, Denis",
year = "2024",
abstract = "The European Association of National Metrology Institutes (EURAMET) within its research programme European Metrology Programme for Innovation and Research (EMPIR) funded project EMPIR 19NET03 supportBSS that contributes to the establishment of a European Metrology Network (EMN) for Radiation Protection (RP). The EMN-RP was established in September 2021 with the intent to work as a meeting point for the metrology community and all stakeholders in the field of ionising radiation regulation, thus providing quality assurance for measurements in each of the exposure situations contemplated in the European Legislation. Within project EMPIR 19NET03, work package 3 aims at the preparation of a Strategic Research Agenda (SRA) by identifying the metrology needs to support the European legislation and regulation in Radiation Protection and of two Roadmaps for metrology services, one under the European Council Directive 2013/59/EURATOM and the other under the EURATOM Treaty. Following a Gaps Workshop held in September 2020 and a second internal workshop that took place in April 2022, a questionnaire was prepared for distribution to the stakeholders, e.g. RP platforms and authorities, academia, industry, among other, together with an accompanying paper. In this paper, the authors present the state of the art of European legislation in RP, address the importance of metrology, the practices and activities that need metrology to meet the requirements set in the regulations, emphasise the need for quality assured measurements in all fields, highlight the stakeholders contributions in their specific area and show their vision of the EMN-RP.",
journal = "Radiation Protection Dosimetry",
title = "Metrology supporting the European regulation for radiation protection",
volume = "200",
number = "2",
pages = "155-163",
doi = "10.1093/rpd/ncad289"
}
Alves, J. G., Caldeira, M. C., Röttger, A., Khanbabaee, B., Adam-Guillermin, C., Siiskonen, T., Živanović, M., Šabeta, A.,& Glavič-Cindro, D.. (2024). Metrology supporting the European regulation for radiation protection. in Radiation Protection Dosimetry, 200(2), 155-163.
https://doi.org/10.1093/rpd/ncad289
Alves JG, Caldeira MC, Röttger A, Khanbabaee B, Adam-Guillermin C, Siiskonen T, Živanović M, Šabeta A, Glavič-Cindro D. Metrology supporting the European regulation for radiation protection. in Radiation Protection Dosimetry. 2024;200(2):155-163.
doi:10.1093/rpd/ncad289 .
Alves, João G., Caldeira, Margarida C., Röttger, Annette, Khanbabaee, Behnam, Adam-Guillermin, Christelle, Siiskonen, Teemu, Živanović, Miloš, Šabeta, Amra, Glavič-Cindro, Denis, "Metrology supporting the European regulation for radiation protection" in Radiation Protection Dosimetry, 200, no. 2 (2024):155-163,
https://doi.org/10.1093/rpd/ncad289 . .

A New European Radiation Protection Network Developed by the SupportBSS Joint Network Project

Živanović, Miloš Z.; Röttger, Annette; Veres, Attila; Sochor, Vladimir; Pinto, Massimo; Derlacinski, Michal; Ioan, Mihail-Razvan; Šabeta, Amra; Bernat, Robert; Adam-Guillermin, Christelle; Alves, João; Glavič-Cindro, Denis; Bell, Steven; Wens, Britt; Persson, Linda; Nylund, Reetta; Kržanović, Nikola; Stanković, Srboljub; Dimović, Slavko

(Institut za nuklearne nauke "Vinča", 2021)

TY  - CONF
AU  - Živanović, Miloš Z.
AU  - Röttger, Annette
AU  - Veres, Attila
AU  - Sochor, Vladimir
AU  - Pinto, Massimo
AU  - Derlacinski, Michal
AU  - Ioan, Mihail-Razvan
AU  - Šabeta, Amra
AU  - Bernat, Robert
AU  - Adam-Guillermin, Christelle
AU  - Alves, João
AU  - Glavič-Cindro, Denis
AU  - Bell, Steven
AU  - Wens, Britt
AU  - Persson, Linda
AU  - Nylund, Reetta
AU  - Kržanović, Nikola
AU  - Stanković, Srboljub
AU  - Dimović, Slavko
PY  - 2021
UR  - https://vinar.vin.bg.ac.rs/handle/123456789/10125
AB  - European Metrology Networks are organized under the umbrella of EURAMET in order to improve Europe’s metrology capabilities based on the high-quality research and metrology service. One of the proposed European Metrology Networks is currently prepared by the EMPIR 19NET03 supportBSS Joint Network Project to address the needs in metrology for radiation protection and radiation protection regulation. The new network EMN for Radiation Protection (short name: RadiationProtect) that was approved by EURAMET in the General Assembly 2021 aims to improve communication between regulatory bodies, metrology institutes, and their stakeholders, promote smart specialization of calibration laboratories, establish a knowledge sharing program, and create roadmaps for future research priorities in the field of radiation protection metrology.
AB  - Evropske metrološke mreže su organizovane pod okriljem EURAMET u cilju poboljšanja evropskih metroloških kapaciteta na osnovu visoko kvalitetnih istraživanja i metroloških servisa. Jedna od predloženih mreža je trenutno u pripremi u okviru međunarodnog projekta EMPIR 19NET03 supportBSS, sa ciljem da se zadovolje potrebe u okviru metrološke zajednice vezane za zaštitu od zračenja i regulativu u oblasti zaštite od zračenja. Nova mreža IRProtect je odobrena na generalnoj skupštini EURAMET u 2021. godini, i po uspostavljanju će težiti da poboljša komunikaciju između regulatornih tela, metroloških instituta i njihovih stejkholdera, zatim da promoviše “pametnu” specijalizaciju laboratorija za etaloniranje, uspostavi program razmene znanja i napravi mape puta sa budućim naučnim i razvojnim prioritetima u oblasti metrologije u zaštiti od zračenja.
PB  - Institut za nuklearne nauke "Vinča"
PB  - Društvo za zaštitu od zračenja Srbije i Crne Gore
C3  - 31. симпозијум ДЗЗСЦГ : зборник радова
T1  - A New European Radiation Protection Network Developed by the SupportBSS Joint Network Project
T1  - Nova evropska mreža iz oblasti zaštite od zračenja razvijena u okviru supportBSS joint network project
SP  - 309
EP  - 314
UR  - https://hdl.handle.net/21.15107/rcub_vinar_10125
ER  - 
@conference{
author = "Živanović, Miloš Z. and Röttger, Annette and Veres, Attila and Sochor, Vladimir and Pinto, Massimo and Derlacinski, Michal and Ioan, Mihail-Razvan and Šabeta, Amra and Bernat, Robert and Adam-Guillermin, Christelle and Alves, João and Glavič-Cindro, Denis and Bell, Steven and Wens, Britt and Persson, Linda and Nylund, Reetta and Kržanović, Nikola and Stanković, Srboljub and Dimović, Slavko",
year = "2021",
abstract = "European Metrology Networks are organized under the umbrella of EURAMET in order to improve Europe’s metrology capabilities based on the high-quality research and metrology service. One of the proposed European Metrology Networks is currently prepared by the EMPIR 19NET03 supportBSS Joint Network Project to address the needs in metrology for radiation protection and radiation protection regulation. The new network EMN for Radiation Protection (short name: RadiationProtect) that was approved by EURAMET in the General Assembly 2021 aims to improve communication between regulatory bodies, metrology institutes, and their stakeholders, promote smart specialization of calibration laboratories, establish a knowledge sharing program, and create roadmaps for future research priorities in the field of radiation protection metrology., Evropske metrološke mreže su organizovane pod okriljem EURAMET u cilju poboljšanja evropskih metroloških kapaciteta na osnovu visoko kvalitetnih istraživanja i metroloških servisa. Jedna od predloženih mreža je trenutno u pripremi u okviru međunarodnog projekta EMPIR 19NET03 supportBSS, sa ciljem da se zadovolje potrebe u okviru metrološke zajednice vezane za zaštitu od zračenja i regulativu u oblasti zaštite od zračenja. Nova mreža IRProtect je odobrena na generalnoj skupštini EURAMET u 2021. godini, i po uspostavljanju će težiti da poboljša komunikaciju između regulatornih tela, metroloških instituta i njihovih stejkholdera, zatim da promoviše “pametnu” specijalizaciju laboratorija za etaloniranje, uspostavi program razmene znanja i napravi mape puta sa budućim naučnim i razvojnim prioritetima u oblasti metrologije u zaštiti od zračenja.",
publisher = "Institut za nuklearne nauke "Vinča", Društvo za zaštitu od zračenja Srbije i Crne Gore",
journal = "31. симпозијум ДЗЗСЦГ : зборник радова",
title = "A New European Radiation Protection Network Developed by the SupportBSS Joint Network Project, Nova evropska mreža iz oblasti zaštite od zračenja razvijena u okviru supportBSS joint network project",
pages = "309-314",
url = "https://hdl.handle.net/21.15107/rcub_vinar_10125"
}
Živanović, M. Z., Röttger, A., Veres, A., Sochor, V., Pinto, M., Derlacinski, M., Ioan, M., Šabeta, A., Bernat, R., Adam-Guillermin, C., Alves, J., Glavič-Cindro, D., Bell, S., Wens, B., Persson, L., Nylund, R., Kržanović, N., Stanković, S.,& Dimović, S.. (2021). A New European Radiation Protection Network Developed by the SupportBSS Joint Network Project. in 31. симпозијум ДЗЗСЦГ : зборник радова
Institut za nuklearne nauke "Vinča"., 309-314.
https://hdl.handle.net/21.15107/rcub_vinar_10125
Živanović MZ, Röttger A, Veres A, Sochor V, Pinto M, Derlacinski M, Ioan M, Šabeta A, Bernat R, Adam-Guillermin C, Alves J, Glavič-Cindro D, Bell S, Wens B, Persson L, Nylund R, Kržanović N, Stanković S, Dimović S. A New European Radiation Protection Network Developed by the SupportBSS Joint Network Project. in 31. симпозијум ДЗЗСЦГ : зборник радова. 2021;:309-314.
https://hdl.handle.net/21.15107/rcub_vinar_10125 .
Živanović, Miloš Z., Röttger, Annette, Veres, Attila, Sochor, Vladimir, Pinto, Massimo, Derlacinski, Michal, Ioan, Mihail-Razvan, Šabeta, Amra, Bernat, Robert, Adam-Guillermin, Christelle, Alves, João, Glavič-Cindro, Denis, Bell, Steven, Wens, Britt, Persson, Linda, Nylund, Reetta, Kržanović, Nikola, Stanković, Srboljub, Dimović, Slavko, "A New European Radiation Protection Network Developed by the SupportBSS Joint Network Project" in 31. симпозијум ДЗЗСЦГ : зборник радова (2021):309-314,
https://hdl.handle.net/21.15107/rcub_vinar_10125 .

Testing of the measuring instruments in non-governmental networks for the purpose of environmental monitoring of ionising radiation

Kržanović, Nikola; Živanović, Miloš; Morosh, Viacheslav; Neumaier, Stefan; Röttger, Annette; Iurlaro, Giorgia; Bell, Stevan; Sangiorgi, Marco; Ciraj-Bjelac, Olivera; Pantelić, Gordana; Đaletić, Miloš; Sperandio, Luciano; Ioannidis, Sotiris

(Niš : Sievert Association, 2020)

TY  - CONF
AU  - Kržanović, Nikola
AU  - Živanović, Miloš
AU  - Morosh, Viacheslav
AU  - Neumaier, Stefan
AU  - Röttger, Annette
AU  - Iurlaro, Giorgia
AU  - Bell, Stevan
AU  - Sangiorgi, Marco
AU  - Ciraj-Bjelac, Olivera
AU  - Pantelić, Gordana
AU  - Đaletić, Miloš
AU  - Sperandio, Luciano
AU  - Ioannidis, Sotiris
PY  - 2020
UR  - https://vinar.vin.bg.ac.rs/handle/123456789/11905
AB  - Non-governmental networks for environmental monitoring employ a wide range of radiation protection instruments from different manufacturers, which provide the public with often unreliable dosimetric data. These Measuring Instruments in Non-governmental Networks (MINN) are mostly based on Geiger-Muller tube gas detectors, which represent low-cost easily operated instruments. An extensive testing of these devices was performed in order to validate the data acquired with MINN within the 16ENV04 Preparedness EMPIR project. In total, 16 different dosemter types were selected, with a sample size of four dosemeters per dosemeter type. Performance testing included the energy dependence and the linearity tests of the dosemeter response. Additionally, during the Researcher Mobility Grant associated with the 16ENV04 project, two Geiger-Muller based dosemeter types, with a sample size of two dosemeters per type were included in the testing. These instruments were subjected to the angular dependence testing in both horizontal and vertical planes, besides the energy dependence and linearity tests in the reference Cs-137 field at Physikalisch-Technische Bundesanstalt (PTB). For all the dosemeter types, inherent background, response to secondary cosmic radiation and the response to small changes of dose rate were determined at the metrological facilities of PTB. The sensitivity of the measuring instruments used in non-governmental networks to small variations of the ambient dose equivalent rate was examined by exposing the dosemeters to low dose rate Cs-137, Co-60 and Ra-226 radiation sources, in order to estimate the effect of environmental radioactive contamination with artificially produced radionuclides. For the comparison purposes, besides the measuring instruments used in non-governmental networks, a previously characterized CdZnTe-based spectrodosemeter was irradiated with the aforementioned radiation fields. The measured values were compared with a reference Reuter-Stokes ionisation chamber used for low-dose rate level measurements.
PB  - Niš : Sievert Association
C3  - RAP 2020 : International conference on radiation applications; Book of abstracts
T1  - Testing of the measuring instruments in non-governmental networks for the purpose of environmental monitoring of ionising radiation
SP  - 11
EP  - 11
UR  - https://hdl.handle.net/21.15107/rcub_vinar_11905
ER  - 
@conference{
author = "Kržanović, Nikola and Živanović, Miloš and Morosh, Viacheslav and Neumaier, Stefan and Röttger, Annette and Iurlaro, Giorgia and Bell, Stevan and Sangiorgi, Marco and Ciraj-Bjelac, Olivera and Pantelić, Gordana and Đaletić, Miloš and Sperandio, Luciano and Ioannidis, Sotiris",
year = "2020",
abstract = "Non-governmental networks for environmental monitoring employ a wide range of radiation protection instruments from different manufacturers, which provide the public with often unreliable dosimetric data. These Measuring Instruments in Non-governmental Networks (MINN) are mostly based on Geiger-Muller tube gas detectors, which represent low-cost easily operated instruments. An extensive testing of these devices was performed in order to validate the data acquired with MINN within the 16ENV04 Preparedness EMPIR project. In total, 16 different dosemter types were selected, with a sample size of four dosemeters per dosemeter type. Performance testing included the energy dependence and the linearity tests of the dosemeter response. Additionally, during the Researcher Mobility Grant associated with the 16ENV04 project, two Geiger-Muller based dosemeter types, with a sample size of two dosemeters per type were included in the testing. These instruments were subjected to the angular dependence testing in both horizontal and vertical planes, besides the energy dependence and linearity tests in the reference Cs-137 field at Physikalisch-Technische Bundesanstalt (PTB). For all the dosemeter types, inherent background, response to secondary cosmic radiation and the response to small changes of dose rate were determined at the metrological facilities of PTB. The sensitivity of the measuring instruments used in non-governmental networks to small variations of the ambient dose equivalent rate was examined by exposing the dosemeters to low dose rate Cs-137, Co-60 and Ra-226 radiation sources, in order to estimate the effect of environmental radioactive contamination with artificially produced radionuclides. For the comparison purposes, besides the measuring instruments used in non-governmental networks, a previously characterized CdZnTe-based spectrodosemeter was irradiated with the aforementioned radiation fields. The measured values were compared with a reference Reuter-Stokes ionisation chamber used for low-dose rate level measurements.",
publisher = "Niš : Sievert Association",
journal = "RAP 2020 : International conference on radiation applications; Book of abstracts",
title = "Testing of the measuring instruments in non-governmental networks for the purpose of environmental monitoring of ionising radiation",
pages = "11-11",
url = "https://hdl.handle.net/21.15107/rcub_vinar_11905"
}
Kržanović, N., Živanović, M., Morosh, V., Neumaier, S., Röttger, A., Iurlaro, G., Bell, S., Sangiorgi, M., Ciraj-Bjelac, O., Pantelić, G., Đaletić, M., Sperandio, L.,& Ioannidis, S.. (2020). Testing of the measuring instruments in non-governmental networks for the purpose of environmental monitoring of ionising radiation. in RAP 2020 : International conference on radiation applications; Book of abstracts
Niš : Sievert Association., 11-11.
https://hdl.handle.net/21.15107/rcub_vinar_11905
Kržanović N, Živanović M, Morosh V, Neumaier S, Röttger A, Iurlaro G, Bell S, Sangiorgi M, Ciraj-Bjelac O, Pantelić G, Đaletić M, Sperandio L, Ioannidis S. Testing of the measuring instruments in non-governmental networks for the purpose of environmental monitoring of ionising radiation. in RAP 2020 : International conference on radiation applications; Book of abstracts. 2020;:11-11.
https://hdl.handle.net/21.15107/rcub_vinar_11905 .
Kržanović, Nikola, Živanović, Miloš, Morosh, Viacheslav, Neumaier, Stefan, Röttger, Annette, Iurlaro, Giorgia, Bell, Stevan, Sangiorgi, Marco, Ciraj-Bjelac, Olivera, Pantelić, Gordana, Đaletić, Miloš, Sperandio, Luciano, Ioannidis, Sotiris, "Testing of the measuring instruments in non-governmental networks for the purpose of environmental monitoring of ionising radiation" in RAP 2020 : International conference on radiation applications; Book of abstracts (2020):11-11,
https://hdl.handle.net/21.15107/rcub_vinar_11905 .

Cadmium Zinc Telluride solid-state detector characterisation for its use as a spectro-dosemeter

Kržanović, Nikola; Röttger, Annette; Morosh, Viacheslav; Luchkov, Maksym; Neumaier, Stefan

(Niš : Sievert Association, 2019)

TY  - CONF
AU  - Kržanović, Nikola
AU  - Röttger, Annette
AU  - Morosh, Viacheslav
AU  - Luchkov, Maksym
AU  - Neumaier, Stefan
PY  - 2019
UR  - https://vinar.vin.bg.ac.rs/handle/123456789/11919
AB  - Concerning ionising radiation monitoring in the environment in areas which, by normal means, are inaccessible, e.g. in contaminated areas after a nuclear or radiological incident, the use of highly mobile systems, comprising of unmanned airborne vehicles equipped with ionising radiation detector, is advised in order to protect the health and the life of first responders. As a promising candidate, the compact solid-state spectrometer based on CdZnTe is characterised by performing irradiations in the reference radionuclide radiation fields of PTB. The energydependent conversion coefficients are derived from recorded pulse-height spectra, and they enable calculation of the operational radiation protection quantity, ambient dose equivalent rate, directly from the spectrum without deconvolution. The validity of the conversion coefficients was evaluated by determining the deviation of the calculated dose rate from the reference ambient dose equivalent rate for the 226Ra radionuclide, available at the Underground Dosimetry Laboratory (UDO II) of PTB. By employing the derived conversion coefficients, the detector “linearity” (dose rate dependence of the response) was checked in the 137Cs reference fields of different ambient dose equivalent rates ranging from 25 nSv/h up to 1 μSv/h. The deviation of the calculated 226Ra dose rate from the achieved reference value was +2%.
PB  - Niš : Sievert Association
C3  - RAP 2019 : International conference on radiation applications; Proceedings book
T1  - Cadmium Zinc Telluride solid-state detector characterisation for its use as a spectro-dosemeter
SP  - 148
EP  - 151
UR  - https://hdl.handle.net/21.15107/rcub_vinar_11919
ER  - 
@conference{
author = "Kržanović, Nikola and Röttger, Annette and Morosh, Viacheslav and Luchkov, Maksym and Neumaier, Stefan",
year = "2019",
abstract = "Concerning ionising radiation monitoring in the environment in areas which, by normal means, are inaccessible, e.g. in contaminated areas after a nuclear or radiological incident, the use of highly mobile systems, comprising of unmanned airborne vehicles equipped with ionising radiation detector, is advised in order to protect the health and the life of first responders. As a promising candidate, the compact solid-state spectrometer based on CdZnTe is characterised by performing irradiations in the reference radionuclide radiation fields of PTB. The energydependent conversion coefficients are derived from recorded pulse-height spectra, and they enable calculation of the operational radiation protection quantity, ambient dose equivalent rate, directly from the spectrum without deconvolution. The validity of the conversion coefficients was evaluated by determining the deviation of the calculated dose rate from the reference ambient dose equivalent rate for the 226Ra radionuclide, available at the Underground Dosimetry Laboratory (UDO II) of PTB. By employing the derived conversion coefficients, the detector “linearity” (dose rate dependence of the response) was checked in the 137Cs reference fields of different ambient dose equivalent rates ranging from 25 nSv/h up to 1 μSv/h. The deviation of the calculated 226Ra dose rate from the achieved reference value was +2%.",
publisher = "Niš : Sievert Association",
journal = "RAP 2019 : International conference on radiation applications; Proceedings book",
title = "Cadmium Zinc Telluride solid-state detector characterisation for its use as a spectro-dosemeter",
pages = "148-151",
url = "https://hdl.handle.net/21.15107/rcub_vinar_11919"
}
Kržanović, N., Röttger, A., Morosh, V., Luchkov, M.,& Neumaier, S.. (2019). Cadmium Zinc Telluride solid-state detector characterisation for its use as a spectro-dosemeter. in RAP 2019 : International conference on radiation applications; Proceedings book
Niš : Sievert Association., 148-151.
https://hdl.handle.net/21.15107/rcub_vinar_11919
Kržanović N, Röttger A, Morosh V, Luchkov M, Neumaier S. Cadmium Zinc Telluride solid-state detector characterisation for its use as a spectro-dosemeter. in RAP 2019 : International conference on radiation applications; Proceedings book. 2019;:148-151.
https://hdl.handle.net/21.15107/rcub_vinar_11919 .
Kržanović, Nikola, Röttger, Annette, Morosh, Viacheslav, Luchkov, Maksym, Neumaier, Stefan, "Cadmium Zinc Telluride solid-state detector characterisation for its use as a spectro-dosemeter" in RAP 2019 : International conference on radiation applications; Proceedings book (2019):148-151,
https://hdl.handle.net/21.15107/rcub_vinar_11919 .