1、Designation: E2828 11Standard Test Method forEvaluating Emergency Response Robot Capabilities:Mobility: Confined Area Terrains: Symmetric Stepfields1This standard is issued under the fixed designation E2828; the number immediately following the designation indicates the year oforiginal adoption or,
2、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.1. Scope1.1 Purpose:1.1.1 The purpose of this test method, as a part of a suite ofmobility te
3、st methods, is to quantitatively evaluate a teleoper-ated ground robots (see Terminology E2521) capability oftraversing complex terrain composed of symmetric stepfieldsin confined areas.1.1.2 Robots shall possess a certain set of mobility capabili-ties, including negotiating complex terrains, to sui
4、t criticaloperations such as emergency responses. A part of the com-plexity is that the environments often pose constraints torobotic mobility to various degrees. This test method specifiesapparatuses to standardize a confined areas terrain that iscomposed of symmetric stepfields and that notionally
5、 repre-sents types of terrains containing extensive discontinuities,existent in emergency response and other environments. Thistest method also specifies procedures and metrics to standard-ize testing using the apparatus.1.1.3 The test apparatuses are scalable to provide a range oflateral dimensions
6、 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 terrains. The requiredmobility capabilities includ
7、e traversing gaps, hurdles, stairs,slopes, various types of floor surfaces or terrains, and confinedpassageways. Yet additional mobility requirements includesustained speeds and towing capabilities. Standard test meth-ods are required to evaluate whether candidate robots meetthese requirements.1.1.5
8、 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 terrain with symmetric stepfields is a part of themobility test suite. Fig. 2 shows examples of other confinedarea
9、terrains, along with the traversing paths. The apparatusesassociated with the test methods challenge specific robotcapabilities in repeatable ways to facilitate comparison ofdifferent robot models as well as particular configurations ofsimilar robot models.1.1.6 The test methods quantify elemental m
10、obility capa-bilities necessary for ground robot intended for emergencyresponse applications. As such, users of this standard can useeither the entire suite or a subset based on their particularperformance requirements. Users are also allowed to weightparticular test methods or particular metrics wi
11、thin a testmethod differently based on their specific performance require-ments. The testing results should collectively represent anemergency response ground robots overall mobility perfor-mance as required. This performance data can be used to guideprocurement specifications and acceptance testing
12、 for robotsintended for emergency response 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
13、LocationThis test method 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 conversion
14、s to inch-pound units. 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.1This test me
15、thod is under 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 December 2011. DOI:10.1520/E2828-11.1Copyright ASTM International, 100 Barr Harbor Dr
16、ive, PO Box C700, West Conshohocken, PA 19428-2959, United States.These values given in parentheses 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 th
17、e 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 Documents2.1 ASTM Standards:2E2521 Terminology for Urban Search and Rescue RoboticOperationsE2592 Practice for Evaluating Cache Packaged
18、 Weight andVolume of Robots for Urban Search and Rescue2.2 Additional Documents:National Response Framework U.S. Department of Home-land Security3NIST Special Publication 1011-I-2.0 Autonomy Levels forUnmanned Systems (ALFUS) Framework Volume I: Ter-minology, Version 2.0443. Terminology3.1 Definitio
19、nsTerminology E2521 lists additional defini-tions relevant to this test method.3.2 Definitions of Terms Specific to This Standard:3.2.1 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
20、 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 thetest time.3.2.1.1 DiscussionAbstentions may occur when the robotconfiguration is neither designed
21、nor equipped to perform thetasks as specified in the test method. Practice within the testapparatus prior to testing should allow for establishing theapplicability of the test method for the given robot.3.2.2 administrator, nperson who conducts the testTheadministrator shall ensure the readiness of
22、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; theadministrator shall notify the operator when the safety belay isavailable and ensure that the operator
23、 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 observationsduring the test.3.2.3 emergency response robot, or response robot, narobot deployed to perfor
24、m operational tasks in an emergencyresponse situation.3.2.3.1 DiscussionA response robot is a deployable de-vice intended to perform operational tasks at operationaltempos during emergency responses. It is designed to serve asan extension of the operator forgaining improved remotesituational awarene
25、ss 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 response robot include: rapiddeployment; remote operation from an appropriate standoffdistance; mo
26、bility in complex environments; sufficiently hard-ened against harsh environments; reliable and field serviceable;durable or cost effectively disposable, or both; and equippedwith operational safeguards.3.2.4 fault condition, nduring the performance of thetask(s) as specified by the test method, a c
27、ertain condition mayoccur that renders the task execution to be failed and such acondition is called a fault condition. Fault conditions result ina loss of credit for the partially completed repetition. The testtime continues until the operator determines that she/he can notcontinue and notifies the
28、 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.3.2.4.1 DiscussionFault conditions include robotic sys-tem malfunction such as de-tracking, task execution problems,and excessive deviation from
29、 a specified path or uncontrolledbehaviors and other safety violations which require adminis-trative intervention.3.2.5 human-scale, adjused to indicate that the objects,terrains, or tasks specified in this test method are in a scaleconsistent with the environments and structures typicallynegotiated
30、 by humans, although possibly compromised or2For referenced ASTM standards, visit the ASTM website, www.astm.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.3Available from F
31、ederal 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 20899-1070, http:/www.nist.gov.FIG. 1 Mobility: Confined Area Terrains: Symmetric
32、 Stepfields ApparatusesE2828 112collapsed enough to limit human access.Also, that the responserobots considered in this context are in a volumetric and weightscale appropriate for operation within these environments.3.2.5.1 DiscussionNo precise size and weight ranges arespecified for this term. The
33、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 operations.3.2.6 operator, nperson who controls the robot to performthe tasks as specified in the test method; she/he shal
34、l 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 determine whether toabstain the test.3.2.7 operator station, napparatus for hosting the opera-tor and her/his operator contr
35、ol 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 operator from the sights andsounds generated at the test apparatuses.3.2.8 repetition, nrobots completion of the task as
36、speci-fied in the test method and readiness for repeating the sametask when required.3.2.8.1 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 th
37、e START point tocomplete the task. Multiple repetitions, performed in the sametest condition, may be used to establish the robot performanceof a particular test method to a certain degree of statisticalsignificance as specified by the testing sponsor.3.2.9 stepfield terrain element, ndiscontinuous t
38、erraintype using 10- by 10-cm (4- by 4-in.) posts with heights of 10,20, 30, 40, and 50 cm (4, 8, 12, 16, and 20 in.); the posts arearranged in specified topologies, which, in turn, dictate thelevels of complexity of the resulting terrain. The material usedFIG. 2 Three Confined Area Terrain Apparatu
39、ses in the Mobility Test Suite with Increasing Complexity: The Continuous Pitch/RollRamps Terrain Is Shown on the Left; The Crossing Pitch/Roll Ramps Terrain Is Shown at the Center; The Symmetric Stepfields TerrainIs Shown on the RightE2828 113to build these elements shall be strong enough to enable
40、 theparticipating robots to execute the tasks.3.2.10 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).3.2.11 test form, nform corresponding to a test methodthat contains fields for recording the testing r
41、esults and theassociated information.3.2.12 test sponsor, nan organization or individual thatcommissions a particular test event and receives the corre-sponding test results.3.2.13 test suite, ndesigned collection of test methods thatare used, collectively, to evaluate the performance of a robotspar
42、ticular subsystem or functionality, including mobility, ma-nipulation, sensors, energy/power, communications, human-robot interaction (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 ope
43、rators 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, symmetric stepfield terraintraversing, is defined as the robot traversing from the STARTpoint alo
44、ng the specified path which ends back at the STARTpoint, thus enabling continuous repetitions. The default pathshall be a figure-eight, also known as a continuous “S,” aroundtwo pylons installed in the test course as described in Section6. The START and END points are the same, located beside thefir
45、st pylon upon entering the gate. See Fig. 3 for an illustration.4.2 The robots traversing capability of this type of terrain isdefined as the robots ability to complete the task and theassociated effective speed. Further, the test sponsor can specifythe statistical reliability and confidence levels
46、of such acapability and, thus, dictate the number of successful taskperformance repetitions that is required. In such a case, theaverage effective speed shall be used, instead, as the robotscapability.4.3 Teleoperation shall be used from the operator stationspecified by the administrator to test the
47、 robots using an OCUprovided by the operator. The operator station shall be posi-tioned and implemented in such a manner so as to insulate theoperator from the sights and sounds generated at the testapparatus.4.4 The operator is allowed to practice before the test.She/he is also allowed to abstain f
48、rom 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 any safety relatedconditions. The operator
49、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 test apparatus could help establish theapplicability of the robot for the given test method. It allows the operatorFIG. 3 Mobility: Confined Area Terrains: Symmetric Stepfield Apparatuses (Perspective View)E2828 114to gain familiarity with the standard apparatus and environmental condi-tions. It a
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