1、Designation: E2801 11Standard Test Method forEvaluating Emergency Response Robot Capabilities:Mobility: Confined Area Obstacles: Gaps1This standard is issued under the fixed designation E2801; the number immediately following the designation indicates the year oforiginal adoption or, in the case of
2、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.1. Scope1.1 Purpose:1.1.1 The purpose of this test method is to quantitativelyevaluate a teleoperated ground
3、 robots (see TerminologyE2521) capability of crossing horizontal gaps in confinedareas.1.1.2 Robots shall possess a certain set of mobility capabili-ties, including negotiating obstacles, to suit critical operationssuch as emergency responses. A horizontal gap with anunknown edge condition is a type
4、 of obstacle that exists inemergency response and other environments. These environ-ments often pose constraints to robotic mobility to variousdegrees. This test method specifies apparatuses, procedures,and metrics to standardize this testing.1.1.3 The test apparatuses are scalable to provide a rang
5、e oflateral dimensions to constrain the robotic mobility during taskperformance. Fig. 1 shows three apparatus sizes to test robotsintended for different emergency response scenarios.1.1.4 Emergency response ground robots shall be able tohandle many types of obstacles and terrain complexities. Thereq
6、uired mobility capabilities include traversing gaps, hurdles,stairs, slopes, various types of floor surfaces or terrains, andconfined passageways. Yet additional mobility requirementsinclude sustained speeds and towing capabilities. Standard testmethods are required to evaluate whether candidate rob
7、otsmeet these requirements.1.1.5 ASTM Task Group E54.08.01 on Robotics specifies amobility test suite, which consists of a set of test methods forevaluating these mobility capability requirements. This con-fined area gap test method is a part of the mobility test suite.The apparatuses associated wit
8、h the test methods challengespecific robot capabilities in repeatable ways to facilitatecomparison of different robot models as well as particularconfigurations of similar robot models.1.1.6 The mobility test suite quantifies elemental mobilitycapabilities necessary for ground robots intended for em
9、er-gency response applications. As such, users can use either theentire suite or a subset based on their particular performancerequirements. Users are also allowed to weight particular testmethods or particular metrics within a test method differentlybased on their specific performance requirements.
10、 The testingresults should collectively represent an emergency responseground robots overall mobility performance. These perfor-mance data can be used to guide procurement specificationsand acceptance testing for robots intended for emergencyresponse applications.NOTE 1Additional test methods within
11、 the suite are anticipated to bedeveloped to address additional or advanced robotic mobility capabilityrequirements, including newly identified requirements and even for newapplication domains.1.2 Performing LocationThis test method shall be per-formed in a testing laboratory or the field where the
12、specifiedapparatus and environmental conditions are implemented.1.3 UnitsThe values stated in SI units are to be regardedas the standard. The values given in parentheses are not precisemathematical conversions to inch-pound units. They are closeapproximate equivalents for the purpose of specifying m
13、aterialdimensions or quantities that are readily available to avoidexcessive fabrication costs of test apparatuses while maintain-ing repeatability and reproducibility of the test method results.These values given in parentheses are provided for informationonly but are not considered standard.1.4 Th
14、is standard does not purport to address all of thesafety concerns, if any, associated with its use. It is theresponsibility of the user of this standard to establish appro-priate safety and health practices and determine the applica-bility of regulatory limitations prior to use.2. Referenced Documen
15、ts2.1 ASTM Standards:2E2521 Terminology for Urban Search and Rescue RoboticOperationsE2592 Practice for Evaluating Cache Packaged Weight andVolume of Robots for Urban Search and Rescue2.2 Other Standards:1This test method is under the jurisdiction of ASTM Committee E54 onHomeland Security Applicatio
16、ns and is the direct responsibility of SubcommitteeE54.08 on Operational Equipment.Current edition approved July 1, 2011. Published October 2011. DOI: 10.1520/E2801-11.2For referenced ASTM standards, visit the ASTM website, www.astm.org, orcontact ASTM Customer Service at serviceastm.org. For Annual
17、 Book of ASTMStandards volume information, refer to the standards Document Summary page onthe ASTM website.1Copyright ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959, United States.National Response Framework U.S. Department of Home-land Security3NIST Special
18、 Publication 1011-I-2.0 Autonomy Levels forUnmanned Systems (ALFUS) Framework Volume I: Ter-minology, Version 2.043. Terminology3.1 Definitions:3.1.1 Terminology E2521 lists additional definitions rel-evant to this test method.3.1.2 abstain, vprior to starting a particular test method,the robot manu
19、facturer or designated operator shall choose toenter the test or abstain. Any abstention shall be granted beforethe test begins. The test form shall be clearly marked as such,indicating that the manufacturer acknowledges the omission ofthe performance data while the test method was available at thet
20、est time.3.1.2.1 DiscussionAbstentions may occur when the robotconfiguration is neither designed nor equipped to perform thetasks as specified in the test method. Practices within the testapparatus prior to testing should allow for establishing theapplicability of the test method for the given robot
21、.3.1.3 administrator, nperson who conducts the testTheadministrator shall ensure the readiness of the apparatus, thetest form, and any required measuring devices such as stop-watch and light meter; the administrator shall ensure that thespecified or required environmental conditions are met; theadmi
22、nistrator shall notify the operator when the safety belay isavailable and ensure that the operator has either decided not touse it or assigned a person to handle it properly; and theadministrator shall call the operator to start and end the test andrecord the performance data and any notable observa
23、tionsduring the test.3.1.4 emergency response robot, or response robot, narobot deployed to perform operational tasks in an emergencyresponse situation.3.1.4.1 DiscussionA response robot is a deployable de-vice intended to perform operational tasks at operationaltempos during emergency responses. It
24、 is designed to serve asan extension of the operator for gaining improved remotesituational awareness and for projecting her/his intent throughthe equipped capabilities. It is designed to reduce risk to theoperator while improving effectiveness and efficiency of themission. The desired features of a
25、 response robot include: rapiddeployment; remote operation from an appropriate standoffdistance; mobility in complex environments; sufficiently hard-ened against harsh environments; reliable and field serviceable;durable or cost effectively disposable, or both; and equippedwith operational safeguard
26、s.3.1.5 fault conditionduring the performance of the task(s)as specified by the test method, a certain condition may occurthat renders the task execution to be failed and such a conditionis called a fault condition. Fault conditions result in a loss ofcredit for the partially completed repetition. T
27、he test timecontinues until the operator determines that she/he can notcontinue and notifies the administrator. The administrator shall,then, pause the test time and add a time-stamped note on thetest form indicating the reason for the fault condition.3.1.5.1 DiscussionFault conditions include robot
28、ic sys-tem malfunction, such as de-tracking, and task executionproblems, such as excessive deviation from a specified path orfailure to recognize a target.3.1.6 flat-floor terrain elementflat surface with overalldimensions of 1.2 by 1.2 m (4 by 4 ft) which is elevated byusing 10 by 10-cm (4 by 4-in.
29、) posts to form a 10 cm (4 in.)thick pallet. The material used to build these elements shall bestrong enough to allow the participating robots to execute thetesting tasks.3.1.6.1 DiscussionThe material that is typically used tobuild these elements, oriented strand board (OSB) is a com-monly availabl
30、e construction material. The frictional charac-teristics of OSB resemble that of dust-covered concrete andother human-improved flooring surfaces often encountered inemergency responses.3.1.7 human-scale, adjused to indicate that the objects,terrains, or tasks specified in this test method are in a s
31、caleconsistent with the environments and structures typically3Available from Federal Emergency Management Agency (FEMA), P.O. Box10055, Hyattsville, MD 20782-8055, http:/www.fema.gov.4Available from National Institute of Standards and Technology (NIST), 100Bureau Dr., Stop 1070, Gaithersburg, MD 208
32、99-1070, http:/www.nist.gov.FIG. 1 Mobility: Confined Area Obstacles: Gaps ApparatusesE2801 112negotiated by humans, although possibly compromised orcollapsed enough to limit human access.Also, that the responserobots considered in this context are in a volumetric and weightscale appropriate for ope
33、ration within these environments.3.1.7.1 DiscussionNo precise size and weight ranges arespecified for this term. The test apparatus constrains theenvironment in which the tasks are performed. Such con-straints, in turn, limit the types of robots to be consideredapplicable to emergency response opera
34、tions.3.1.8 operator, nperson who controls the robot to performthe tasks as specified in the test method; she/he shall ensure thereadiness of all the applicable subsystems of the robot; she/hethrough a designated second shall be responsible for the use ofa safety belay; and she/he shall also determi
35、ne whether toabstain the test.3.1.9 operator station, napparatus for hosting the opera-tor and her/his operator control unit (OCU, see NIST SpecialPublication 1011-I-2.0) to teleoperate (see TerminologyE2521) the robot. The operator station shall be positioned insuch a manner as to insulate the oper
36、ator from the sights andsounds generated at the test apparatuses.3.1.10 repetition, nrobots completion of the task asspecified in the test method and readiness for repeating thesame task when required.3.1.10.1 DiscussionIn a traversing task, the entire mobil-ity mechanism shall be behind the START p
37、oint before thetraverse and shall pass the END point to complete a repetition.A test method can specify returning to the START point tocomplete the task. Multiple repetitions, performed in the sametest condition, may be used to establish the test performance toa certain degree of statistical signifi
38、cance as specified by thetesting sponsor.3.1.11 test event or event, na set of testing activities thatare planned and organized by the test sponsor and to be held atthe designated test site(s).3.1.12 test form, nform corresponding to a test methodthat contains fields for recording the testing result
39、s and theassociated information.3.1.13 test sponsor, nan organization or individual thatcommissions a particular test event and receives the corre-sponding test results.3.1.14 test suite, ndesigned collection of test methods thatare used, collectively, to evaluate the performance of a robotsparticul
40、ar subsystem or functionality, including mobility, ma-nipulation, sensors, energy/power, communications, human-robot interaction (HRI), logistics, safety, and aerial or aquaticmaneuvering.3.1.15 testing task, or task, na set of activities specified ina test method for testing robots and the operator
41、s to perform inorder for the performance to be evaluated according to thecorresponding metric(s). A test method may specify multipletasks.4. Summary of Test Method4.1 The task for this test method, horizontal gap traversing,is defined as the entire robot traversing from the startingflat-floor terrai
42、n element to the ending flat-floor terrain elementand back. See Fig. 1 for an illustration. The test starts at thenarrowest gap, which is 10 cm (4-in.) wide. As the evaluationproceeds, the task shall be performed on the wider gaps asspecified in Section 6.4.2 The robots gap-crossing capability is de
43、fined as thewidest gap that the robot is able to traverse. Further, the testsponsor can specify the statistical reliability and confidencelevels of such a capability and, thus, dictate the number ofsuccessful task performance repetitions that is required.4.3 Teleoperation shall be used from an admin
44、istrator-specified operator station to test the robots using an OCUprovided by the operator. The operator station shall be posi-tioned and implemented in such a manner as to insulate theoperator from the sights and sounds generated at the testapparatus.4.4 The operator is allowed to practice before
45、the test.She/he is also allowed to abstain from the test before it isstarted. Once the test begins, there shall be no verbal commu-nication between the operator and the administrator regardingthe performance of a test repetition other than instructions onwhen to start and notifications of faults and
46、 any safety relatedconditions. The operator shall have the full responsibility todetermine whether and when the robot has completed arepetition and notify the administrator accordingly. However, itis the administrators authority to judge the completeness of therepetition.NOTE 2Practice within the te
47、st apparatus could help establish theapplicability of the robot for the given test method. It allows the operatorto gain familiarity with the standard apparatus and environmental condi-tions. It also helps the test administrator to establish the initial apparatussetting for the test when applicable.
48、4.5 The test sponsor has the authority to select the size ofthe lateral clearance for the specified confined area apparatus.The test sponsor also has the authority to select the testmethods that constitute the test event, to select one or more testsite(s) at which the test methods are implemented, t
49、o determinethe corresponding statistical reliability and confidence levels ofthe results for each of the test methods, and to establish theparticipation rules including the testing schedules and the testenvironmental conditions.5. Significance and Use5.1 A main purpose of using robots in emergency responseoperations is to enhance the safety and effectiveness ofemergency responders operating in hazardous or inaccessibleenvironments. The testing results of the candidate robot shalldescribe, in a statistically significant way, how reliably therobot is abl
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