1、Designation: E 2592 07Standard Practice forEvaluating Cache Packaged Weight and Volume of Robotsfor Urban Search and Rescue1This standard is issued under the fixed designation E 2592; the number immediately following the designation indicates the year oforiginal adoption or, in the case of revision,
2、 the year of last revision. A number 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 practice covers the requirement that urban searchand rescue robots and all necessary associated com
3、ponents orequipment (for example, operator control station, powersources, spare parts, sensors, manipulators, tools, and so forth)shall complement the response organizations cache packagingand transportation systems.1.2 Shipment by ground, air, or marine should be consid-ered.1.3 Volume, weight, shi
4、pping classification, and deployabil-ity of the robots and associated components are considered inthis practice.1.3.1 The deployability is considered through the determi-nation of:1.3.1.1 The length of time required to prepare the robotsystem for deployment, and1.3.1.2 The types of tools required fo
5、r servicing the robotsystem in the field.1.3.2 Associated components or equipment include not onlyall the onboard sensors, tethers, and operator control station,but also any spare parts and specialized tools needed forassembly, disassembly, and field servicing.1.3.3 Associated components also includ
6、e power equipmentnecessary for the operation of the system, such as batteries,chargers, and power converters. Gasoline, diesel, or other typesof liquid fuel are not included.1.4 The packaged items shall support the operational avail-ability of the robot during a deployment of up to ten days.There sh
7、all be no resupply within the first 72 h of deployment.1.5 No such standards currently exist except for thoserelevant to shipping (for example, CFR Title 49 and Interna-tional Air Transport Association (IATA) documents).1.6 The values stated in SI units are to be regarded as thestandard. The values
8、given in parentheses are for informationonly.1.7 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 applica-bility of regula
9、tory limitations prior to use.2. Referenced Documents2.1 Federal Standard:2CFR Title 49 Transportation2.2 ISO Standard:3ISO 6780:2003 Flat pallets for intercontinental materialshandlingPrincipal dimensions and tolerances3. Terminology3.1 Definitions of Terms Specific to This Standard:3.1.1 cache, na
10、pproved complement of tools, equipment,and supplies stored in a designated location available for useduring responses to emergencies.3.1.2 operator control unit (OCU), ncomputer(s), acces-sories, and data link equipment that an operator uses to control,communicate with, receive data and information
11、from, andplan missions for one or more robots.3.1.2.1 DiscussionAlso referred to as operator controlinterface (OCI), operator control station, or human interactioncontrol unit.3.1.3 robot system, nrobot platform and all necessaryassociated components required for field operation and main-tenance of
12、the robot, which includes, but is not limited to, theoperator control station, power sources, spare parts, sensors,manipulators, and maintenance tools.4. Summary of Practice4.1 The number and types of cases required for packing therobot and all associated components are identified, along withthe wei
13、ght of each. This information will prepare the logisticsmanager of a response team to allocate space in the warehouseas well as in the transportation vehicle to convey the robot toand from the response site. Weight is taken into considerationin terms of transporting the equipment to and from the res
14、ponsesite.4.2 The length of time required to unpack and ready therobot for operation is measured. This provides the responder1This practice is under the jurisdiction of ASTM Committee E54 on HomelandSecurity Applications and is the direct responsibility of Subcommittee E54.08 onOperational Equipment
15、.Current edition approved Oct. 1, 2007. Published November 2007.2Available from the U.S. Government Printing Office, Superintendent ofDocuments, Stop SSOP, Washington, DC 20402-0001.3Available from American National Standards Institute (ANSI), 25 W. 43rd St.,4th Floor, New York, NY 10036, http:/www.
16、ansi.org.1Copyright ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959, United States.organization an estimate of how long to allocate to thepreparation of the robot for deployment.4.3 The tools that are required for servicing the robot in thefield are identifie
17、d. This will help the logistics managerdetermine whether additional, special tools will need to bepacked along with the robot. It is preferable to avoid usingspecialized tools that are not typically available in toolboxesthat are part of the existing cache. If a specialized tool ismissing, there may
18、 be no recourse in resolving the problemwith the robot in the field, and the robot may be renderedinoperable.4.4 The weights of the robot and OCU are measured. Theresponders already have to carry an array of tools andequipment from the base of operation to the operational worksite. Part of their new
19、 logistical planning when robots aredeployed will be the additional burden of carrying the robotand any associated equipment, such as the OCU. It is importantthat the weight of the robot and the OCU be factored into theresponse planning process on site.5. Significance and Use5.1 Introduction of robo
20、ts to the responders cache for use inurban search and rescue missions may have an impact on thelogistical planning for the response teams. Additional volumeand weight shall be stored and transported to the response site.Additional preparation time shall be allotted to ready the robotfor deployment.
21、The tools that are taken to the field may needto be augmented to service the robots. Once the robot is readyfor deployment, it shall be transported from the base ofoperations to the mission zone. Responders may have to carrythe robot and its controller or may have to provide some othertransportation
22、 mechanism if it is too heavy.5.2 This practice is designed to appraise the impact in termsof logistical considerations for a response organization.6. Data Collection Form6.1 A sample data collection form is shown in Fig. 1. Thisform is referenced throughout Sections 7-11.Logistics7. Volume of Cache
23、 Packaging7.1 The robot system shall be compatible with the respond-ers cache packaging and transportation system.7.2 Three standard packing cases are used by the FederalEmergency Management Agency (FEMA) Urban Search andRescue (USAR) task forces. Self-contained robot systems mayalso be loaded onto
24、a pallet.7.3 ApparatusPacking cases or pallets.7.3.1 Packing CasesThese packing cases are required fortransport by FEMA task forces. Their equivalent dimensionsare given in Table 1. Other organizations may not be con-strained to use these specific brands or sizes. However, theprocess described in th
25、is practice can still be applied so as toprovide consistent volumetric measures for robot systems.7.3.1.1 Hardigg Cases4Packed cases should weigh nomore than 68 kg (150 lb). For two people to carry, 90 kg (200lb) is the absolute maximum. The empty cases should eachweigh no more than 13.6 kg (30 lb).
26、 Two models are used byFEMA USAR task forces. Their model numbers and outerdimensions are shown in Table 1.7.3.1.2 Pelican Cases5These cases are molded plasticcontainers that may have an airtight and watertight gasket.Anymodel Pelican that will fit into a Hardigg case in 7.3.1.1 isallowed. Packed Pe
27、lican cases shall, therefore, fit into, and notexceed, the weight limit of a Hardigg case as noted in Table 1.7.3.1.3 Orbis BulkPak Cases6These cases are plasticcollapsible bulk containers. One model (#4048) is approved foruse by FEMA USAR task forces. Its dimensions (or for anequivalent) are 101.6
28、by 121.9 cm (40 by 48 in.). Maximumheight is 114.3 cm (45 in.). Lids, doors, and other options arepermissible. The weight limit is up to the rating of thecontainer.7.3.2 PalletsPallets are flat structures used to transportitems via forklifts or other mobile devices. If a pallet is used totransport t
29、he robot system, its dimensions should conform toISO standards like ISO 6780:2003. These ISO dimensions arelisted in Table 2.7.4 Determine whether the robot system can fit within thepacking cases available to the FEMA task forces. It is notrequired that all of the equipment associated with the robot
30、 fitwithin a single packing case. Other organizations may not havethe same restrictions as FEMA task forces; however, thevolume and weight required to transport the robot system shallbe determined.7.4.1 Enumerate the number of packing cases (by type)required for transport of the entire robot system.
31、8. Weight of Cache Packaging8.1 Responders shall be able to move and store all equip-ment using existing methods and tools.8.2 ApparatusA scale shall be available to weigh eachpackage.8.3 Place the robotic system within the required packingcase(s) (see Section 7). For each case that is required fort
32、ransporting the robotic system, determine the weight inkilograms. Enter the value in the data collection form (Fig. 1).8.4 For Hardigg cases, the packed cases should weigh nomore than 68 kg (150 lb). For two people to carry, 90 kg (200lb) is the absolute maximum. The empty cases should eachweigh no
33、more than 13.6 kg (30 lb).8.5 The weight of the entire robotic system is to becomputed by summing the weights of the individual cases forthe robotic system.8.6 The weight(s) should be also reported in inch-poundunits (pounds) in addition to SI units.8.7 Determine weights to within 0.25 kg (0.55 lb).
34、4Trademark of Hardigg Industries, Inc., 147 N. Main St., South Deerfield, MA01373-0201.5Trademark of Pelican Products, Inc., 23215 Early Ave., Torrance, CA 90505.6Trademark of Orbis Corporation, http:/ (formerly Ropak 4048 contain-ers).E2592072FIG. 1 Sample Data Collection FormE25920739. Setup Time9
35、.1 Measure the amount of time (on average) that it takesfor the robot system to be set up and ready to operate at thedeployment site.9.2 ApparatusA timing device shall be available. A watchor timer may be used.9.3 Protocol for Measuring Setup Time:9.3.1 The robot system shall be inside its packing c
36、rate(s) oron pallets at the beginning.9.3.2 Note the start time.9.3.3 Remove the robot and all of its necessary componentsfrom the packing crates.9.3.4 Assemble the robot and all of its necessary compo-nents as required to attain readiness for deployment.9.3.5 Conduct any necessary initialization, p
37、owering on,testing, or other preliminary procedures required to ensure astate of readiness for deployment.9.3.6 Note the end time.At this time, the robot shall be fullyfunctional.9.3.7 Note the elapsed time (in minutes).9.3.8 It is expected that there will be variability in the lengthof time require
38、d depending on circumstances in the field andthe experience level of the person preparing the robot. Thismeasure should reflect the time required by a user withmoderate experience. If desired, the testing organization maychoose to average the times of multiple users performing thesetup.9.4 Measureme
39、nt of time to a resolution of 1 min isadequate.10. Tools Requirement10.1 Responders are required to know what types of toolsare required for servicing a robot in the field.10.2 The following three choices of tools are possible:10.2.1 No special tools are needed. In this case, the robotparts snap tog
40、ether or can otherwise be disassembled andassembled without any external tools.10.2.2 Tools that typically reside in a cache toolbox areneeded. It is assumed that responder caches already includebasic tools such as screwdrivers, allen wrenches, socketwrenches, and circuit testers. Whether the robot
41、system re-quires SI or inch-pound tools shall be noted. This practice doesnot require either SI or inch-pound tools in recognition of thereality that both types will exist in the marketplace for theforeseeable future.10.2.3 Specialized tools that may not reside in a cachetoolbox are needed. If this
42、is the case, each special tool shall bedescribed. Note that all specialized tools that are needed shallbe included in the cache packaging considerations for volume,packaging, and weight.11. Downrange Weight11.1 Capture the weight of the robot, the OCU, and anycomponents that are necessary for operat
43、ion when the robot isdeployed. Additional components may include, for example,sensors or mission packages that are mounted on the robot.11.2 ApparatusA scale shall be available to weigh theentire robotic system.11.3 The robot is placed on the scale and its weight is noted.SI units (kilograms) are pr
44、eferred, but inch-pound units(pounds) may also be noted. The OCU is placed on the scaleand its weight is noted. SI units (kilograms) are preferred, butinch-pound units (pounds) may also be noted.11.4 Determine weights to within 0.25 kg (0.55 lb).12. Keywords12.1 cache packaging volume; cache packagi
45、ng weight;setup time; tools; urban search and rescue; urban and searchrescue robotASTM International takes no position respecting the validity of any patent rights asserted in connection with any item mentionedin this standard. Users of this standard are expressly advised that determination of the v
46、alidity of any such patent rights, and the riskof infringement of such rights, are entirely their own responsibility.This standard is subject to revision at any time by the responsible technical committee and must be reviewed every five years andif not revised, either reapproved or withdrawn. Your c
47、omments are invited either for revision of this standard or for additional standardsand should be addressed to ASTM International Headquarters. Your comments will receive careful consideration at a meeting of theresponsible technical committee, which you may attend. If you feel that your comments ha
48、ve not received a fair hearing you shouldmake your views known to the ASTM Committee on Standards, at the address shown below.This standard is copyrighted by ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959,United States. Individual reprints (single or multipl
49、e copies) of this standard may be obtained by contacting ASTM at the aboveaddress or at 610-832-9585 (phone), 610-832-9555 (fax), or serviceastm.org (e-mail); or through the ASTM website(www.astm.org).TABLE 1 Model Numbers and Outer Dimensions for FEMA USARTask Force Hardigg CasesOutside DimensionsModel Name Length, m (in.) Width, m (in.) Height, m (in.)AL-3418-1005 0.94 (37.2) 0.53 (21.0) 0.44 (17.3)AL-3124-1204 0.78 (30.8) 0.50 (19.6) 0.43 (17.0)TABLE 2 ISO Pallet DimensionsDimensions, mm Dimens
