1、Designation: E 2521 07aStandard Terminology forUrban Search and Rescue Robotic Operations1This standard is issued under the fixed designation E 2521; the number immediately following the designation indicates the year oforiginal adoption or, in the case of revision, the year of last revision. A numb
2、er in parentheses indicates the year of last reapproval. Asuperscript epsilon (e) indicates an editorial change since the last revision or reapproval.1. Scope1.1 This terminology covers terms associated with UrbanSearch and Rescue (US (2) physical devices that facilitate the aforementionedactivities
3、; (3) logical design and description of planned andanticipated interactions between the robot and the user. SeeRef (2).mission planning, nprocess used to generate tactical goals,routes, tasks, commanding structures, coordination, andtiming.DISCUSSIONThe mission plans can be generated either in advan
4、ce orin real-time, can be generated either by an operator on an operatorcontrol unit or by the onboard software systems in either centralized ordistributed ways. The mission plans can be general or specific and canbe for a single robot or for teams of them. See Ref (2).mixed initiative control, ntyp
5、e of control for roboticsystems with which both the operator and the robot can takethe initiative to perform the assigned missions or tasks.remote control, ncontinuously controlling a robot from aseparate location and under direct observation.robot, nmechanical system designed to be able to control
6、itssensing and acting for the purpose of achieving goals in thephysical world.sensor fusion, nprocess that combines, integrates, or corre-lates, or a combination thereof, data generated by multiplesensory sources to create information that fits the needs,including decision-making and display for use
7、r.DISCUSSIONThe fusion techniques include detection and classifica-tion.teleoperation, vcontrolling a distant robot on a continuousbasis and being provided with sensory or control informa-tion, or both, through means other than direct observation.See Ref (3).world model, nrobots internal representat
8、ion of the world itis aware of, consisting of the parts of the environment thatare of interest to the robot and the operator.1This terminology is under the jurisdiction of ASTM Committee E54 onHomeland Security Applications and is the direct responsibility of SubcommitteeE54.08 on Operational Equipm
9、ent.Current edition approved Aug. 1, 2007. Published August 2007. Originallyapproved in 2007. Last previous edition approved in 2007 as E 2521 07.2The boldface numbers in parentheses refer to a list of references at the end ofthis standard.1Copyright ASTM International, 100 Barr Harbor Drive, PO Box
10、 C700, West Conshohocken, PA 19428-2959, United States.DISCUSSIONThe world model may include entitiesincluding therobot itself, objects in the environment, maps, and images. Theindividual representations may be complete or incomplete and may beassociated with various levels of confidence. The world
11、model may alsocontain information on how these individual elements might be relatedand how they might form certain situations given certain conditionsand, thus, affect robotic operations in particular ways. See Albus et al.(4).REFERENCES(1) FEMA US or through the ASTM website(www.astm.org).E 2521 07a2
