1、Designation: E2521 07aE2521 16Standard Terminology forUrban Search and Rescue Robotic OperationsEvaluatingResponse Robot Capabilities1This standard is issued under the fixed designation E2521; 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.INTRODUCTIONThe robotics community needs ways to quantitatively measure whether a particular robot is capabl
3、eof performing and reliable enough to perform specific missions. These missions decompose into setsof elemental robot tasks that can be represented individually as standard test methods. The ASTMInternational Committee on Homeland Security Applications, Operational Equipment Subcommittee,Robots Task
4、 Group (E54.08.01) specifies standard test methods, practices, and guides for evaluatingresponse robots. These standard test methods measure specific robot capabilities in repeatable ways tofacilitate comparisons among different robot models or different configurations of a particular robotmodel. Us
5、ers assemble different sets of standard test methods into combinations that address theirenvisioned missions tasks.Resulting robot capabilities data support robot researchers, manufacturers, and user organizations indifferent ways. Researchers use them to understand mission requirements, refine inno
6、vatingapproaches, and demonstrate break-through capabilities. Manufacturers use them to evaluate designdecisions, integrate payloads and emerging technologies, and harden systems. Responder organiza-tions use them to guide purchasing, align with deployment objectives, and focus training withmeasures
7、 of operator proficiency.The overall set of the standards addresses the robotic terminology, safety, maneuvering, terrains,obstacles, dexterity, sensing, communications, energy/power, durability, proficiency, autonomy, andlogistics. Each standard test method enables repeatable testing to establish s
8、tatistically significantlevels of reliability and confidence that the robot can perform the task. Standard test methodsessentially define the test apparatuses, procedures, and performance metrics so they can be fabricatedand practiced by robot manufacturers and user groups alike. They provide a tang
9、ible language tocommunicate responder requirements and demonstrate robot capabilities.1. Scope1.1 This terminology covers terms associated with Urban Search and Rescue (US (2)physical devices that facilitate the aforementioned activities; (3) logical design and description of planned and anticipated
10、interactions between the robot and the user.See3Ref (2).DISCUSSION2 FEMA US (2) the concerned robots are suitable for operating within these contexts; and (3) the robot tasks are identifiable,perceivable, and controllable with human interaction.image, ntwo-dimensional matrix of values with each of t
11、he two dimensions representing angular deviation (possibly nonlinear)in orthogonal directions from the sensors optical axis.image acuity or acuity, nmeasure of the resolving capability of the robots camera system.image field of view or field of view, nmeasure of the extent of a scene that may be obs
12、erved in a single visual image, measuredin terms of degrees in the horizontal and vertical directions.image resolution, nmeasure of the level of detail of a scene that the robots camera system is capable of capturing, measuredas the number of horizontal scan lines per image height in the horizontal,
13、 vertical, and diagonal directions.imager, nsensory, or system of sensors, that produces an image.Landolt C, noptotype consisting of a black circular ring with a gap on white background; all the dimensions are specified.line-of-sight communication, npropagating signal-carrying electromagnetic energy
14、 between a transmitting and a receiving radioantennas using paths that are in direct visual contact without obstructions between them.maze, nnetwork of mobility passages interconnected without any repetitive order of opening and closing directions.mission planning, nprocess used to generate tactical
15、 goals, routes, tasks, commanding structures, coordination, and timing.3DISCUSSIONThe mission plans can be generated either in advance or in real-time, can be generated either by an operator on an operator control unit or by theonboard software systems in either centralized or distributed ways. The
16、mission plans can be general or specific and can be for a single robot or forteams of them. See Ref (2).mixed initiative control, ntype of control for robotic systems with which both the operator and the robot can take the initiativeto perform the assigned missions or tasks.non-line-of-sight communi
17、cation, npropagating signal-carrying electromagnetic energy between a transmitting and receivingradio antennas through paths that are not in direct visual contact because of obstructions between them.operator, nperson that controls the robot to perform specified tasks.operator station, napparatus fo
18、r hosting the operator and her/his operator control unit (OCU) to teleoperate the robot.4optotype, nstandardized symbol used to test visual capabilities.radio interferenceadverse effect on electromagnetic transfer of data when unrelated signals are received by either a transmittingor receiving radio
19、 antenna or both.remote control, ncontinuously controlling a robot from a an off-robot separate location and under direct observation.resolution wedge, nseries of co-planar lines that, in a consistent pattern, show decreases in the spacing between the lines andin individual line thicknesses.resolve,
20、 vact of visually discerning the presence of a marking or an object.robot, nmechanical system designed to be able to control its sensing and acting for the purpose of achieving goals in the physicalworld.sensor fusion, nprocess that combines, integrates, or correlates, or a combination thereof, data
21、 generated by multiple sensorysources to create information that fits the needs, including decision-making and display for user.DISCUSSIONThe fusion techniques include detection and classification.4 U.S. DOD OUSD (AT the posts may be arranged to form specified topologies.teleoperation, vcontrolling
22、a distant robot on a continuous basis and being provided with sensory or control information, or both,through means other than direct observation.See4 Ref (3).test administrator, or, administrator, nperson that conducts a test or a role that was played to conduct such a test.test repetition or repet
23、ition, nrobots completion of the task as specified in the test method and readiness for repeating the sametask when required.test event or event, nset of testing activities that are planned and organized by the test sponsor to be held at one or multipledesignated test site(s).test form, ncollection
24、of data fields or graphics or both used to record the testing results along with the associated information.test sponsor, norganization or individual that commissions a particular test event and receives the corresponding test results.test suite, ndesigned collection of test methods that are used co
25、llectively to evaluate the performance of or to identify thecapability of a response robots particular subsystem or functionality.testing target or target, nphysical feature identified or designed and specified in respective standard test methods for exercisingor evaluating robot subsystem capabilit
26、ies to full extents.world model,testing task or task, nrobots internal representation of the world it is aware of, consisting of the parts of theenvironment that are of interest to the robot and the operator.activities well defined and specified according to an identifiedmetric or an identified set
27、of metrics for the testing robots and operators to perform in order for the robots capabilities to beevaluated.DISCUSSIONThe world model may include entitiesincluding the robot itself, objects in the environment, maps, and images. The individual representations maybe complete or incomplete and may b
28、e associated with various levels of confidence. The world model may also contain information on how theseindividual elements might be related and how they might form certain situations given certain conditions and, thus, affect robotic operations inparticular ways. See Albus et al. (4).trial, nnumbe
29、r used to identify a series of repetitions that a testing robot is required to succeed in a standard test method for theresults to meet the required statistical significance.world model, nrobots internal representation of the world it is aware of.REFERENCES(1) FEMA US or through the ASTM website(www.astm.org). Permission rights to photocopy the standard may also be secured from the Copyright Clearance Center, 222Rosewood Drive, Danvers, MA 01923, Tel: (978) 646-2600; http:/ 165
