1、Designation: E2853 12Standard Test Method forEvaluating Emergency Response Robot Capabilities:Human-System Interaction (HSI): Search Tasks: RandomMazes with Complex Terrain1This standard is issued under the fixed designation E2853; the number immediately following the designation indicates the year
2、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.1. Scope1.1 Purpose:1.1.1 The purpose of this test method, as a part
3、of a suite ofhuman-system interactions (HSI) test methods, is to quantita-tively evaluate a teleoperated ground robots (see TerminologyE2521) capability of searching in a maze.1.1.2 Teleoperated robots shall possess a certain set of HSIcapabilities to suit critical operations such as emergencyrespon
4、ses, including enabling the operators to search forrequired targets. A passage that forms on complex terrains andpossesses complex and visually similar branches is a type ofenvironments that exists in emergency response and otherrobotically applicable situations. The complexity often poseschallenges
5、 for the operators to teleoperate the robots to conductsearches. This test method is based on a standard maze andspecifies metrics and a procedure for testing the searchcapability.1.1.3 Emergency response robots shall enable the operatorto handle many types of tasks. The required HSI capabilitiesinc
6、lude search and navigation on different types of terrains,passages, and confined spaces. Standard test methods arerequired to evaluate whether candidate robots meet theserequirements.1.1.4 ASTM E54.08.01 Task Group on Robotics specifies aHSI test suite, which consists of a set of test methods foreva
7、luating these HSI capability requirements. This randommaze searching test method is a part of the HSI test suite. Theapparatuses associated with the test methods challenge specificrobot capabilities in repeatable ways to facilitate comparison ofdifferent robot models as well as particular configurat
8、ions ofsimilar robot models. (See Fig. 1.)1.1.5 The test methods quantify elemental HSI capabilitiesnecessary for ground robots intended for emergency responseapplications. As such, based on their particular capabilityrequirements, users of this test suite can select only theapplicable test methods
9、and can individually weight particulartest methods or particular metrics within a test method. Thetesting results should collectively represent a ground robotsoverall HSI capability. The test results can be used to guideprocurement specifications and acceptance testing for robotsintended for emergen
10、cy response applications.NOTE 1The teleoperation performance is affected by the robots aswell as the operators capabilities. Among all the standard test methodsthatASTM E54.08.01 Task Group on Robotics has specified, some dependmore on the former while the others on the latter, but it would beextrem
11、ely hard to totally isolate the two factors. This HSI test suite isspecified to focus on evaluating the operators capabilities of interactingwith the robotic system, whereas a separately specified sensor test suite,including Test Method E2566, focuses on the robots sensing capabilities.NOTE 2As robo
12、tic systems are more widely applied, emergencyresponders might identify additional or advanced HSI capability require-ments to help them respond to emergency situations. They might alsodesire to use robots with higher levels of autonomy, beyond teleoperationto help reduce their workloadsee NIST Spec
13、ial Publication 1011-II-1.0.Further, emergency responders in expanded emergency response domainsmight also desire to apply robotic technologies to their situations, a sourcefor new sets of requirements. As a result, additional standards within thesuite would be developed. This standard is, neverthel
14、ess, standalone andcomplete.1.2 Performing 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 parenth
15、eses are not precisemathematical conversions to inch-pound units. They are closeapproximate equivalents for the purpose of specifying material1This test method is under the jurisdiction of ASTM Committee E54 onHomeland Security Applications and is the direct responsibility of SubcommitteeE54.08 on O
16、perational Equipment.Current edition approved Feb. 1, 2012. Published April 2012. DOI: 10.1520/E2853-12.1Copyright ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959, United States.dimensions that are readily available to avoid excessive fabri-cation costs of te
17、st apparatuses while maintaining repeatabilityand reproducibility of the test method results. These valuesgiven in parentheses are provided for information only and arenot considered standard.1.4 This standard does not purport to address all of thesafety concerns, if any, associated with its use. It
18、 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 Documents2.1 ASTM Standards:2E2521 Terminology for Urban Search and Rescue RoboticOperationsE2566 Test Method
19、 for Determining Visual Acuity andField of View of On-Board Video Systems for Teleopera-tion of Robots for Urban Search and Rescue ApplicationsE2592 Practice for Evaluating Cache Packaged Weight andVolume of Robots for Urban Search and Rescue2.2 Additional Documents:National Response Framework U.S.
20、Department of Home-land Security3NIST Special Publication 1011-I-2.0 Autonomy Levels forUnmanned Systems (ALFUS) Framework Volume I: Ter-minology, Version 2.04NIST Special Publication 1011-II-1.0 Autonomy Levels forUnmanned Systems (ALFUS) Framework Volume II:Framework Models, Version 1.043. Termino
21、logy3.1 Definitions:3.1.1 abstain, vthe action of the manufacturer or desig-nated operator of the testing robot choosing not to enter thetest. Any decision to take such an action shall be conveyed tothe administrator before the test begins. The test form shall beclearly marked as such, indicating th
22、at the manufactureracknowledges the omission of the performance data while thetest method was available at the test time.3.1.1.1 DiscussionAbstentions may occur when the robotconfiguration is neither designed nor equipped to perform thetasks as specified in the test method. Practices within the test
23、apparatus prior to testing should allow for establishing theapplicability of the test method for the given robot.3.1.2 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 lig
24、ht 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 has either decided not touse it or assigned a person to handle; and the administratorshal
25、l call the operator to start and end the test and record theperformance data and any notable observations during the test.3.1.3 emergency response robot, or response robot, namobile device deployable to perform operational tasks atoperational tempos to assist the operators to handle a disaster.3.1.3
26、.1 DiscussionA response robot is designed to serveas an extension of the operator for gaining improved remotesituational awareness and for accomplishing the tasks remotelythrough the equipped capabilities. The use of a robot isdesigned to reduce risk to the operator while improvingeffectiveness and
27、efficiency of the mission. The desired fea-tures of a response robot include: the ability to be rapidlydeployed and remotely operated from an appropriate standoffdistance and to be mobile in complex environments, suffi-ciently hardened against harsh environments, reliable and fieldserviceable, durab
28、le and/or cost effectively disposable, andequipped with operational safeguards.3.1.4 fault condition, na certain situation or occurrenceduring testing whereby the robot either cannot continue with-out human intervention or has performed some defined rulesinfraction.3.1.4.1 DiscussionFault conditions
29、 include robotic sys-tem malfunction such as de-tracking, task execution problemssuch as excessive deviation from a specified path, or uncon-trolled behaviors and other safety violations which requireadministrative intervention.2For referenced ASTM standards, visit the ASTM website, www.astm.org, or
30、contact 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 Federal Emergency Management Agency (FEMA), P.O. Box10055, Hyattsville, MD 20782-8055, http:/www.fema.gov/emergency/n
31、rf/.4Available from National Institute of Standards and Technology (NIST), 100Bureau Dr., Stop 1070, Gaithersburg, MD 20899-1070, http:/www.nist.gov/el/isd/ks/autonomy_levels.cfm.FIG. 1 HSI: Search Tasks: Random Maze IllustrationE2853 1223.1.5 full-ramp terrain element, n1.2 by 1.2 m (4 by 4 ft)surf
32、ace ramp with 15 slope using solid wood support postswith angle cuts. The material used to build these elements shallbe strong enough to allow the participating robots to executethe testing tasks.3.1.5.1 DiscussionThe material that is typically used tobuild these elements, oriented strand board (OSB
33、) 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. Solid wood posts with 10 by 10 cm (4 by4 in) cross-section dimensions typically support
34、the rampedsurface.3.1.5.2 DiscussionElements similar to this type are used,sometimes mixed and assembled in different configurations, tocreate various levels of complexities for such robotic functionsas orientation and traction.3.1.6 human-scale, adjthe environments and structurestypically negotiate
35、d by humans, although possibly compro-mised or collapsed enough to limit human access.Also, that theresponse robots considered in this context are in a volumetricand weight scale appropriate for operation within these envi-ronments.3.1.6.1 DiscussionNo precise size and weight ranges arespecified for
36、 this term. The test apparatus specifies the confinedareas in which to perform the tasks. Such constraints limit theoverall sizes of robots to those considered applicable toemergency response operations.3.1.7 maze, na network of passages interconnected with-out any repetitive order of opening and cl
37、osing directions andmeant to challenge robotic navigation from the designedstarting and end points.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 desig
38、nated second shall be responsible for the use ofa safety belay; and she/he shall also determine whether toabstain the test.3.1.8.1 DiscussionAn emergency responder would be atypical operator in emergency response situations.3.1.9 operator station, napparatus for hosting the opera-tor and her/his ope
39、rator 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 operator from the sights andsounds generated at the test apparatuses.3.1.10 repetition, nrobots completion of
40、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 point before thetraverse and shall pass the END point to complete a repetition.A test method can specify re
41、turning to the START point tocomplete the task. Multiple repetitions, performed in the sametesting condition, may be used to establish the tested capabilityto a certain degree of statistical significance as specified by thetest sponsor.3.1.11 test event, or event, na set of testing activities thatar
42、e planned and organized by the test sponsor and to be held atthe designated test site(s).3.1.12 test form, na collection of data fields or graphicsused to record the testing results along with the associatedinformation. A single test form shall not be used to record theresults of multiple trials.3.1
43、.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 robotsparticular subsystem or functionality, incl
44、uding HSI, manipu-lation, sensors, energy/power, communications, logistics,safety and operating environment, and aerial or aquatic ma-neuvering.3.1.15 testing target, or target, na designed physicalfeature to be used by the testing robotic subsystem forevaluating the subsystem capabilities. The feat
45、ure may be anoperationally relevant object, a notional object, or one designedspecifically for exercising the subsystem features to its fullextent.3.1.16 testing task, or task, na set of activities welldefined in a test method for testing robots and the operators toperform in order for the systems c
46、apabilities to be evaluatedaccording to the corresponding metric(s). A test method mayspecify multiple tasks. A task corresponds to the associatedmetric(s).3.1.17 trial, nthe number of repetitions to be performedfor a test to reach required statistical significance. The repeti-tions may be recorded
47、on a single test form.3.2 Terminology E2521 lists additional definitions relevantto this test method.4. Summary of Test Method4.1 The search task for this test method is for a teleoperatedrobot to traverse in a specified maze to completely cover andclear specified targets. Standard hazardous materia
48、ls(HAZMAT) labels shall be used as the targets. Coverage of atarget is defined as when the operator correctly detects theexistence of the target through the video images displayed onthe Operator Control Unit (OCU) and conveys such existenceto the administrator. Clearance of a target is defined as wh
49、enthe operator correctly conveys the names of at least three out ofthe following four features on the label: color, icon, number,and words to the administrator. When the operator correctlyconveys one or two of the features, it is categorized ascoverage.4.2 A robots physical capabilities might affect the testoperators abilities in performing the tasks. The test sponsorcan elect to weight the coverage metric higher over clearanceto reduce the effects of the cameras and/or the lights whenher/his primary concern is the operators capability. An
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