1、Designation: E2802 11Standard Test Method forEvaluating Emergency Response Robot Capabilities:Mobility: Confined Area Obstacles: Hurdles1This standard is issued under the fixed designation E2802; the number immediately following the designation indicates the year oforiginal adoption or, in the case
2、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.1. Scope1.1 Purpose:1.1.1 The purpose of this test method, as a part of a suite ofmobility test methods,
3、is to quantitatively evaluate a teleoper-ated ground robots (see Terminology E2521) capability oftraversing vertical obstacles in confined areas.1.1.2 Robots shall possess a certain set of mobility capabili-ties, including negotiating obstacles, to suit critical operationssuch as emergency responses
4、. A vertical step with an unknownedge condition is a type of obstacle that exists in emergencyresponse and other environments. These environments oftenpose constraints to robotic mobility to various degrees. Thistest method specifies apparatuses, procedures, and metrics tostandardize this obstacle f
5、or testing.1.1.3 The test apparatuses are scalable to provide a range 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 ab
6、le tohandle many types of obstacles and terrain complexities. Therequired 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.
7、 Standard testmethods are required to evaluate whether candidate robotsmeet 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 hurdle test met
8、hod is a part of the mobility test suite.The apparatuses associated with 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 ele
9、mental mobilitycapabilities necessary for ground robots intended for emer-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 t
10、est method differentlybased on their specific performance requirements. 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
11、for emergencyresponse applications.NOTE 1Additional test methods within 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 met
12、hod shall be per-formed in a testing laboratory or the field where the 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
13、. They are closeapproximate equivalents for the purpose of specifying materialdimensions 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
14、are provided for informationonly and are not considered standard.1.4 This 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 appl
15、ica-bility of regulatory limitations prior to use.2. Referenced Documents2.1 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 unde
16、r the jurisdiction of ASTM Committee E54 onHomeland Security Applications and is the direct responsibility of SubcommitteeE54.08 on Operational Equipment.Current edition approved July 1, 2011. Published October 2011. DOI: 10.1520/E2802-11.2For referenced ASTM standards, visit the ASTM website, www.a
17、stm.org, orcontact ASTM Customer Service at serviceastm.org. For Annual 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.Nationa
18、l Response Framework , U.S. Department of Home-land Security3NIST Special Publication 1011-I-2.0 Autonomy Levels forUnmanned Systems4ALFUS Framework Volume I : Terminology, Version 2.053. Terminology3.1 Terminology E2521 lists additional definitions relevantto this test method.3.2 Definitions:3.2.1
19、abstain, vprior to starting a particular test method,the robot manufacturer 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
20、 ofthe performance data while the test method was available at thetest time.3.2.1.1 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 e
21、stablishing theapplicability of the test method for the given robot.3.2.2 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
22、 thespecified or required environmental conditions are met; theadministrator 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
23、end the test andrecord the performance data and any notable observationsduring the test.3.2.3 emergency response robot, or response robot, narobot deployed to perform operational tasks in an emergencyresponse situation.3.2.3.1 DiscussionA response robot is a deployable de-vice intended to perform op
24、erational tasks at operationaltempos during emergency responses. It 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 ef
25、fectiveness and efficiency of themission. The desired features of a response robot include:rapidly deployable; remotely operable from an appropriatestandoff distance; mobility in complex environments; suffi-ciently hardened against harsh environments; reliable and fieldserviceable; durable or cost e
26、ffectively disposable, or both; andequipped with operational safeguards.3.2.4 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. Such a condition iscalled a fault condition. Fault conditions
27、result in a loss ofcredit for the partially completed repetition. The 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 t
28、he fault condition.3.2.4.1 DiscussionFault conditions include robotic sys-tem malfunction, such as de-tracking, and task executionproblems, such as excessive deviation from a specified path orfailure to recognize a target.3.2.5 flat-floor terrain elementflat surface with overalldimensions of 1.2 by
29、1.2-cm (4 by 4-ft) that is elevated byusing 10 by 10-cm (4 by 4 in.) posts to form a 10 cm (4 in.)thick pallet. The material used to build these elements shall bestrong enough to enable the participating robots to execute thetasks.3.2.5.1 DiscussionThe material that is typically used tobuild these e
30、lements, oriented strand board (OSB) is a com-monly available construction material. The frictional charac-teristics of OSB resemble that of dust covered concrete andother human-improved flooring surfaces often encountered inemergency responses.3.2.6 human-scale, adjused to indicate that the objects
31、,terrains, or tasks specified in this test method are in a scaleconsistent with the environments and structures typicallynegotiated by humans, although possibly compromised or3Available from http:/www.fema.gov/emergency/nrf/4Available from National Institute of Standards and Technology (NIST), 100Bu
32、reau Dr., Stop 1070, Gaithersburg, MD 20899-1070, http:/www.nist.gov.5Available from http:/www.nist.gov/customcf/get_pdf.cfm?pub_id=824705FIG. 1 Mobility: Confined Area Obstacles: Hurdles ApparatusesE2802 112collapsed enough to limit human access.Also, that the responserobots considered in this cont
33、ext are in a volumetric and weightscale appropriate for operation within these environments.3.2.6.1 DiscussionNo precise size and weight ranges arespecified for this term. The test apparatus specifies the confinedareas in which to perform the tasks. Such constraints limit theoverall sizes of robots
34、to those considered applicable toemergency response operations.3.2.7 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 fo
35、r the use ofa safety belay; and she/he shall also determine whether toabstain from the test.3.2.7.1 DiscussionAn operator is typically an emergencyresponder in emergency response situations.3.2.8 operator station, napparatus for hosting the opera-tor and her/his operator control unit (OCU, see ALFUS
36、Framework Volume I: Terminology) to teleoperate (see Termi-nology E2521) the robot; the operator station shall be posi-tioned in such a manner so as to insulate the operator from thesights and sounds generated at the test apparatuses.3.2.9 repetition, nrobots completion of the task as speci-fied in
37、the test method and readiness for repeating the sametask when required.3.2.9.1 DiscussionIn a traversing task, the entire mobilitymechanism shall be behind the START point before thetraverse and shall pass the END point to complete a repetition.A test method can specify returning to the START point
38、tocomplete the task. Multiple repetitions, performed in the sametest condition, may be used to establish the test performance toa certain degree of statistical significance as specified by thetesting sponsor.3.2.10 test event or event, na set of testing activities thatare planned and organized by th
39、e test sponsor and to be held atthe designated test site(s).3.2.11 test form, nthe form corresponding to a test methodthat contains fields for recording the testing results and theassociated information.3.2.12 test sponsor, nan organization or individual thatcommissions a particular test event and r
40、eceives the corre-sponding test results.3.2.13 test suite, ndesigned collection of test methods thatare used, collectively, to evaluate the performance of a robotsparticular subsystem or functionality, including mobility, ma-nipulation, sensors, energy/power, communications, human-robot interaction
41、(HRI), logistics, safety, and aerial or aquaticmaneuvering.3.2.14 testing task or task, na set of activities specified ina test method for testing robots and the operators to perform inorder for the performance to be evaluated according to thecorresponding metric(s). A test method may specify multip
42、letasks.4. Summary of Test Method4.1 The task for this test method, vertical obstacle travers-ing, is defined as the entire robot traversing from the startingflat-floor terrain element to the ending flat-floor terrain elementand back. See Fig. 1. The test starts at the 10 cm (4 in.) height,the lowes
43、t height. As the evaluation proceeds, the task shall beperformed on the increased obstacle heights as specified inSection 6.4.2 The robots vertical obstacle traversing capability isdefined as the highest elevation that the robot is able totraverse. Further, the test sponsor can specify the statistic
44、alreliability and confidence levels of such a capability and, thus,dictate the number of successful task performance repetitionsthat are required.4.3 Teleoperation shall be used from the operator stationspecified by the administrator to test the robots using an OCUprovided by the operator. The opera
45、tor station shall be posi-tioned and implemented in such a manner as to insulate theoperator from the sights and sounds generated at the testapparatuses.4.4 The operator is allowed to practice before the test.She/he is also allowed to abstain from the test before it isstarted. Once the test begins,
46、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 any safety relatedconditions. The operator shall have the full responsibility todetermine whether a
47、nd 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 test apparatus could help establish theapplicability of the robot for the given test method. It allows
48、 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.4.5 The test sponsor has the authority to select the size ofthe lateral clearance for the specified
49、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, to 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 effectiv
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