1、Designation: E2592 07E2592 16Standard Practice forEvaluating Cache Packaged Weight and Volume of RobotsResponse Robot Capabilities: Logistics: Packaging forUrban Search and Rescue Task Force Equipment Caches1This standard is issued under the fixed designation E2592; the number immediately following
2、the designation indicates the year oforiginal adoption or, in the case of revision, the year of last revision. A number in parentheses indicates the year of last reapproval. Asuperscript epsilon () indicates an editorial change since the last revision or reapproval.INTRODUCTIONAnyone interested in d
3、eveloping or deploying response robots for hazardous environments needsways to quantitatively measure whether a particular robot is capable of performing and reliable enoughto perform specific missions. These missions decompose into sets of elemental robot tasks that can berepresented individually a
4、s standard test methods and repeatedly tested to gain confidence andproficiency. They provide a tangible language to communicate mission requirements and demonstraterobot capabilities.The ASTM International Standards Committee on Homeland Security Applications, OperationalEquipment Subcommittee, Rob
5、ots Task Group (E54.08.01) specifies standard test methods, practices,and guides for evaluating response robots. These standard test methods measure individual robotcapabilities to facilitate comparisons among different robot models or different configurations of aparticular robot model. The overall
6、 set of standards addresses the robotic logistics, terminology, safety,maneuvering, terrains, obstacles, dexterity, sensing, communications, energy/power, durability,proficiency, and autonomy.These standards support robot researchers, manufacturers, and user organizations in different waysby enablin
7、g testing of chosen combinations that address envisioned mission tasks. Researchers usethem to understand mission requirements, refine innovative approaches, and demonstrate break-through capabilities. Manufacturers use them to evaluate design decisions, integrate payloads andemerging technologies,
8、and harden systems. Responder organizations use them to guide purchasing,align with deployment objectives, and focus training with measures of operator proficiency.1. Scope1.1 This practice covers the requirement that urban search and rescue robots and all necessary associated components orequipment
9、 (for example, operator control station, power sources, spare parts, sensors, manipulators, tools, and so forth) shallcomplement the response organizations cache packaging and transportation systems.1.2 Shipment by ground, air, or marine should be considered.1.3 Volume, weight, shipping classificati
10、on, and deployability of the robots and associated components are considered in thispractice.1.3.1 The deployability is considered through the determination of:1.3.1.1 The length of time required to prepare the robot system for deployment, and1.3.1.2 The types of tools required for servicing the rob
11、ot system in the field.1.3.2 Associated components or equipment include not only all the onboard sensors, tethers, and operator control station, butalso any spare parts and specialized tools needed for assembly, disassembly, and field servicing.1.3.3 Associated components also include power equipmen
12、t necessary for the operation of the system, such as batteries,chargers, and power converters. Gasoline, diesel, or other types of liquid fuel are not included.1 This practice is under the jurisdiction of ASTM Committee E54 on Homeland Security Applications and is the direct responsibility of Subcom
13、mittee E54.08 onOperational Equipment.Current edition approved Oct. 1, 2007Jan. 1, 2016. Published November 2007January 2016. Originally approved in 2007. Last previous edition approved in 2007 asE2592 07. DOI: 10.1520/E2592-07.10.1520/E2592-16.This document is not an ASTM standard and is intended o
14、nly to provide the user of an ASTM standard an indication of what changes have been made to the previous version. Becauseit may not be technically possible to adequately depict all changes accurately, ASTM recommends that users consult prior editions as appropriate. In all cases only the current ver
15、sionof the standard as published by ASTM is to be considered the official document.Copyright ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States11.4 The packaged items shall support the operational availability of the robot during a deployment of u
16、p to ten days. There shallbe no resupply within the first 72 h of deployment.1.5 No such standards currently exist except for those relevant to shipping (for example, CFR Title 49 and International AirTransport Association (IATA) documents).1.6 The values stated in SI units are to be regarded as the
17、 standard. The values given in parentheses are for information only.1.7 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibilityof the user of this standard to establish appropriate safety and health practices and determine the a
18、pplicability of regulatorylimitations prior to use.2. Referenced Documents2.1 Federal Standard:2CFR Title 49 Transportation2.2 ISO Standard:3ISO 6780:2003 Flat pallets for intercontinental materials handlingPrincipal dimensions and tolerances3. Terminology3.1 Definitions of Terms Specific to This St
19、andard:3.1.1 cache, napproved complement of tools, equipment, and supplies stored in a designated location available for use duringresponses to emergencies.3.1.2 operator control unit (OCU), ncomputer(s), accessories, and data link equipment that an operator uses to control,communicate with, receive
20、 data and information from, and plan missions for one or more robots.3.1.2.1 DiscussionAlso referred to as operator control interface (OCI), operator control station, or human interaction control unit.3.1.3 robot system, nrobot platform and all necessary associated components required for field oper
21、ation and maintenance ofthe robot, which includes, but is not limited to, the operator control station, power sources, spare parts, sensors, manipulators, andmaintenance tools.4. Summary of Practice4.1 The number and types of cases required for packing the robot and all associated components are ide
22、ntified, along with theweight of each. This information will prepare the logistics manager of a response team to allocate space in the warehouse as wellas in the transportation vehicle to convey the robot to and from the response site. Weight is taken into consideration in terms oftransporting the e
23、quipment to and from the response site.4.2 The length of time required to unpack and ready the robot for operation is measured. This provides the responderorganization an estimate of how long to allocate to the preparation of the robot for deployment.4.3 The tools that are required for servicing the
24、 robot in the field are identified. This will help the logistics manager determinewhether additional, special tools will need to be packed along with the robot. It is preferable to avoid using specialized tools thatare not typically available in toolboxes that are part of the existing cache. If a sp
25、ecialized tool is missing, there may be no recoursein resolving the problem with the robot in the field, and the robot may be rendered inoperable.4.4 The weights of the robot and OCU are measured. The responders already have to carry an array of tools and equipment fromthe base of operation to the o
26、perational work site. Part of their new logistical planning when robots are deployed will be theadditional burden of carrying the robot and any associated equipment, such as the OCU. It is important that the weight of the robotand the OCU be factored into the response planning process on site.5. Sig
27、nificance and Use5.1 Introduction of robots to the responders cache for use in urban search and rescue missions may have an impact on thelogistical planning for the response teams. Additional volume and weight shall be stored and transported to the response site.Additional preparation time shall be
28、allotted to ready the robot for deployment. The tools that are taken to the field may need tobe augmented to service the robots. Once the robot is ready for deployment, it shall be transported from the base of operations tothe mission zone. Responders may have to carry the robot and its controller o
29、r may have to provide some other transportationmechanism if it is too heavy.2 Available from the U.S. Government Printing Office, Superintendent of Documents, Stop SSOP, Washington, DC 20402-0001.3 Available from American National Standards Institute (ANSI), 25 W. 43rd St., 4th Floor, New York, NY 1
30、0036, http:/www.ansi.org.E2592 1625.2 This practice is designed to appraise the impact in terms of logistical considerations for a response organization.6. Data Collection Form6.1 A sample data collection form is shown in Fig. 1. This form is referenced throughout Sections 7 11.Logistics7. Volume of
31、 Cache Packaging7.1 The robot system shall be compatible with the responders cache packaging and transportation system.7.2 Three standard packing cases are used by the Federal Emergency Management Agency (FEMA) Urban Search and Rescue(USAR) task forces. Self-contained robot systems may also be loade
32、d onto a pallet.7.3 ApparatusPacking cases or pallets.7.3.1 Packing CasesThese packing cases are required for transport by FEMA task forces. Their equivalent dimensions aregiven in Table 1. Other organizations may not be constrained to use these specific brands or sizes. However, the process describ
33、edin this practice can still be applied so as to provide consistent volumetric measures for robot systems.7.3.1.1 Hardigg Cases4Packed cases should weigh no more than 68 kg (150 lb). For two people to carry, 90 kg (200 lb) isthe absolute maximum. The empty cases should each weigh no more than 13.6 k
34、g (30 lb). Two models are used by FEMA USARtask forces. Their model numbers and outer dimensions are shown in Table 1.7.3.1.2 Pelican Cases5These cases are molded plastic containers that may have an airtight and watertight gasket. Any modelPelican that will fit into a Hardigg case in 7.3.1.1 is allo
35、wed. Packed Pelican cases shall, therefore, fit into, and not exceed, theweight limit of a Hardigg case as noted in Table 1.7.3.1.3 Orbis BulkPak Cases6These cases are plastic collapsible bulk containers. One model (#4048) is approved for use byFEMA USAR task forces. Its dimensions (or for an equiva
36、lent) are 101.6 by 121.9 cm (40 by 48 in.). Maximum height is 114.3cm (45 in.). Lids, doors, and other options are permissible. The weight limit is up to the rating of the container.7.3.2 PalletsPallets are flat structures used to transport items via forklifts or other mobile devices. If a pallet is
37、 used totransport the robot system, its dimensions should conform to ISO standards like ISO 6780:2003. These ISO dimensions are listedin Table 2.7.4 Determine whether the robot system can fit within the packing cases available to the FEMA task forces. It is not requiredthat all of the equipment asso
38、ciated with the robot fit within a single packing case. Other organizations may not have the samerestrictions as FEMA task forces; however, the volume and weight required to transport the robot system shall be determined.7.4.1 Enumerate the number of packing cases (by type) required for transport of
39、 the entire robot system.8. Weight of Cache Packaging8.1 Responders shall be able to move and store all equipment using existing methods and tools.8.2 ApparatusA scale shall be available to weigh each package.8.3 Place the robotic system within the required packing case(s) (see Section 7). For each
40、case that is required for transportingthe robotic system, determine the weight in kilograms. Enter the value in the data collection form (Fig. 1).8.4 For Hardigg cases, the packed cases should weigh no more than 68 kg (150 lb). For two people to carry, 90 kg (200 lb) isthe absolute maximum. The empt
41、y cases should each weigh no more than 13.6 kg (30 lb).8.5 The weight of the entire robotic system is to be computed by summing the weights of the individual cases for the roboticsystem.8.6 The weight(s) should be also reported in inch-pound units (pounds) in addition to SI units.8.7 Determine weigh
42、ts to within 0.25 kg (0.55 lb).9. Setup Time9.1 Measure the amount of time (on average) that it takes for the robot system to be set up and ready to operate at thedeployment site.9.2 ApparatusA timing device shall be available. A watch or timer may be used.9.3 Protocol for Measuring Setup Time:9.3.1
43、 The robot system shall be inside its packing crate(s) or on pallets at the beginning.9.3.2 Note the start time.4 Trademark of Hardigg Industries, Inc., 147 N. Main St., South Deerfield, MA 01373-0201.5 Trademark of Pelican Products, Inc., 23215 Early Ave., Torrance, CA 90505.6 Trademark of Orbis Co
44、rporation, http:/ (formerly Ropak 4048 containers).E2592 163FIG. 1 Sample Data Collection FormE2592 1649.3.3 Remove the robot and all of its necessary components from the packing crates.9.3.4 Assemble the robot and all of its necessary components as required to attain readiness for deployment.9.3.5
45、Conduct any necessary initialization, powering on, testing, or other preliminary procedures required to ensure a state ofreadiness for deployment.9.3.6 Note the end time. At this time, the robot shall be fully functional.9.3.7 Note the elapsed time (in minutes).9.3.8 It is expected that there will b
46、e variability in the length of time required depending on circumstances in the field and theexperience level of the person preparing the robot. This measure should reflect the time required by a user with moderateexperience. If desired, the testing organization may choose to average the times of mul
47、tiple users performing the setup.9.4 Measurement of time to a resolution of 1 min is adequate.10. Tools Requirement10.1 Responders are required to know what types of tools are required for servicing a robot in the field.10.2 The following three choices of tools are possible:10.2.1 No special tools a
48、re needed. In this case, the robot parts snap together or can otherwise be disassembled and assembledwithout any external tools.10.2.2 Tools that typically reside in a cache toolbox are needed. It is assumed that responder caches already include basic toolssuch as screwdrivers, allen wrenches, socke
49、t wrenches, and circuit testers. Whether the robot system requires SI or inch-poundtools shall be noted. This practice does not require either SI or inch-pound tools in recognition of the reality that both types willexist in the marketplace for the foreseeable future.10.2.3 Specialized tools that may not reside in a cache toolbox are needed. If this is the case, each special tool shall bedescribed. Note that all specialized tools that are needed shall be included in the cache packaging co
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