1、Designation: E2803 11Standard Test Method forEvaluating Emergency Response Robot Capabilities:Mobility: Confined Area Obstacles: Inclined Planes1This standard is issued under the fixed designation E2803; the number immediately following the designation indicates the year oforiginal adoption or, in t
2、he 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 is to quantitativelyevaluate a teleoper
3、ated ground robots (see TerminologyE2521) capability of traversing inclined planes in confinedareas.1.1.2 Robots shall possess a certain set of mobility capabili-ties, including negotiating obstacles, to suit critical operationssuch as emergency responses. An inclined slope is a type ofobstacle that
4、 exists in emergency response and other environ-ments. These environments often pose constraints to roboticmobility to various degrees. This test method specifies appa-ratuses, procedures, and metrics to standardize this obstacle fortesting.1.1.3 The test apparatuses are scalable to provide a range
5、ofdimensions 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 terrain complexities. Therequired mobi
6、lity capabilities include traversing gaps, hurdles,stairs, slopes, various types of floor surfaces or terrains, andconfined passageways. Yet additional mobility requirementsinclude sustained speeds and towing capabilities. Standard testmethods are required to evaluate whether candidate robotsmeet th
7、ese requirements.1.1.5 ASTM Task Group E54.08.01 specifies a mobility testsuite, which consists of a set of test methods for evaluatingthese mobility capability requirements. This inclined-plane-traversing test method is a part of the mobility test suite. Theapparatuses associated with the test meth
8、ods challenge specificrobot capabilities in repeatable ways to facilitate comparison ofdifferent robot models as well as particular configurations ofsimilar robot models.1.1.6 The test suite quantifies elemental mobility capabili-ties necessary for ground robot intended for emergency re-sponse appli
9、cations. 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 within a testmethod differently based on their specific performance require-ments. The
10、testing results should collectively represent anemergency response ground robots overall mobility perfor-mance. These performance data can be used to guide procure-ment specifications and acceptance testing for robots intendedfor emergency response applications.NOTE 1Additional test methods within t
11、he suite are anticipated to bedeveloped to address additional or advanced robotic mobility capabilityrequirements, including newly identified requirements and for even newapplication domains.1.2 Performing LocationThis test method shall be per-formed in a testing laboratory or the field where the sp
12、ecifiedapparatus and environmental conditions are implemented.1.3 The values stated in SI units are to be regarded as thestandard. The values given in parentheses are not precisemathematical conversions to inch-pound units. They are closeapproximate equivalents for the purpose of specifying material
13、dimensions or quantities that are readily available to avoidexcessive fabrication costs of test apparatuses while maintain-ing repeatability and reproducibility of the test method results.These values given in parentheses are provided for informationonly and are not considered standard.1.4 This stan
14、dard 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 regulatory limitations prior to use.2. Referenced Documents2.1 A
15、STM Standards:2E2521 Terminology for Urban Search and Rescue RoboticOperationsE2592 Practice for Evaluating Cache Packaged Weight andVolume of Robots for Urban Search and Rescue2.2 Additional Documents:1This test method is under the jurisdiction of ASTM Committee E54 onHomeland Security Applications
16、 and is the direct responsibility of SubcommitteeE54.08 on Operational Equipment.Current edition approved July 1, 2011. Published November 2011. DOI:10.1520/E2803-11.2For referenced ASTM standards, visit the ASTM website, www.astm.org, orcontact ASTM Customer Service at serviceastm.org. For Annual B
17、ook of ASTMStandards volume information, refer to the standards Document Summary page onthe ASTM website.1Copyright ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959, United States.National Response Framework , U.S. Department of Home-land Security3NIST Special
18、 Publication 1011I2.0 Autonomy Levels forUnmanned Systems(ALFUS) Framework Volume 1: Terminology , Version 2.043. Terminology3.1 Terminology E2521 lists additional definitions relevantto this test method.3.2 Definitions:3.2.1 abstain, vprior to starting a particular test method,the robot manufacture
19、r or designated operator shall choose toenter the test or abstain. Any abstention shall be 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 tim
20、e.3.2.1.1 DiscussionAbstentions may occur when the robotconfiguration is neither designed 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 a
21、dministrator, nperson who conducts the test. Theadministrator shall ensure the readiness of 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; theadministra
22、tor 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 it properly; and theadministrator shall call the operator to start and end the test andrecord the performance data and any notable observationsd
23、uring the test.3.2.3 emergency response robot, or response robot, narobot deployed to perform 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 de
24、signed to serve asan extension of the operator for gaining improved remotesituational awareness 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 respo
25、nse robot include: rapiddeployment, remote operation from an appropriate standoffdistance, mobile 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
26、fault condition, nduring the performance of thetask(s) as specified by the test method, a certain 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 te
27、sttime continues until the operator determines that she/he can notcontinue and notifies the 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 sy
28、s-tem malfunction, such as de-tracking, and task executionproblems, such as excessive deviation from a specified path orfailure to recognize a target.3.2.5 human-scale, adjused to indicate that the obstacles,terrains, and tasks considered in this test suite are in a scaleconsistent with the environm
29、ents and structures typicallynegotiated by humans, although possibly compromised orcollapsed 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
30、 and weight ranges arespecified for 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.3.2.6 operator, nperson who controls the robot to performthe t
31、asks as specified in the test method; she/he shall 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.3Available from Federal Emergency Mana
32、gement Agency (FEMA), P.O. Box10055, Hyattsville, MD 20782-8055, http:/www.fema.gov/emergency/nrf/.4Available from National Institute of Standards and Technology (NIST), 100Bureau Dr., Stop 1070, Gaithersburg, MD 20899-1070, http:/www.nist.gov/customcf/get_pdf.cfm?pub_id=824705.FIG. 1 Mobility: Conf
33、ined Area Obstacles: Inclined Planes ApparatusesE2803 1123.2.6.1 DiscussionAn operator is typically an emergencyresponder in emergency response situations.3.2.7 operator station, napparatus for hosting the opera-tor and her/his operator control unit (OCU, see ALFUSFramework Volume I: Terminology) to
34、 teleoperate (see Termi-nology E2521) the robot. The operator station shall be posi-tioned in such a manner so as to insulate the operator from thesights and sounds generated at the test apparatuses.3.2.8 repetition, nrobots completion of the task as speci-fied in the test method and readiness for r
35、epeating 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 also specify returning to the START point tocomplete the task. Multiple
36、repetitions, performed in the sametest condition, may be used to establish the test performance toa certain degree of statistical significance as specified by thetesting sponsor.3.2.9 test eventor event, na set of testing activities that areplanned and organized by the test sponsor and to be held at
37、 theone or multiple designated test site(s).3.2.10 test form, nform corresponding to a test methodthat contains fields for recording the testing results and theassociated information.3.2.11 test sponsor, nan organization or individual thatcommissions a particular test event and receives the corre-sp
38、onding test results.3.2.12 test suite, ndesigned collection of test methods thatare used, collectively, to evaluate the performance of a robotsparticular subsystem or functionality, including mobility, ma-nipulation, sensors, energy/power, communications, human-robot interaction (HRI), logistics, sa
39、fety, and aerial or aquaticmaneuvering.3.2.13 testing task, or task, na set of activities welldefined in a test method for testing robots and the operators toperforms in order for the robots performance to be evaluated.A test method may specify multiple tasks. A task correspondsto the associated met
40、ric or metrics.4. Summary of Test Method4.1 This test method consists of three types of traversingtasks for the specified inclined plane apparatus setting: verticaltraverse forward and back, diagonal traverse forward and back,and horizontal traverse forward and back. The completion ofone of the task
41、s is defined as when the entire robot traversesfrom the specified START point to the END point and back.The robot shall not deviate from the path line for wider thanone half of the robots width at all times during a traverse. Thetesting sponsor has the authority to select a starting incline(degrees)
42、 for the test event.As the evaluation proceeds, the taskshall be performed on the increased inclines, as specified inSection 6, until the highest testing incline is accomplished forthe specified number of repetitions.4.2 The robots capability of traversing a plane of a particu-lar testing incline is
43、 defined as the robots ability to completeall the three traversing tasks repeatedly. The robots capabilityof traversing this type of inclined plane is defined as the highestdegree inclined plane that the robot is capable of traversingrepeatedly. Further, the test sponsor can specify the statisticalr
44、eliability and confidence levels of such a capability and, thus,dictate the number of successful task performance repetitionsthat are required.4.3 Teleoperation shall be used from the operator stationspecified by the administrator to test the robots using an OCUprovided by the operator. The operator
45、 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 from the test before it isstarted. Once the test begins, th
46、ere 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 shall have the full responsibility todetermine whether and
47、 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 t
48、he operatorto gain familiarity with the standard apparatus and environmental condi-tions. It also enables the test administrator to establish the initial apparatussetting for the test.4.5 The test sponsor has the authority to select the size forthe specified confined area apparatus. The test sponsor
49、 also hasthe authority to select the test methods that constitute the testevent, to select one or more test site(s) at which the testmethods are implemented, to determine the correspondingstatistical reliability and confidence levels of the results foreach of the test methods, and to establish the participation rulesincluding the testing schedules and the test environmentalconditions.5. Significance and Use5.1 A main purpose of using robots in emergency responseoperations is to enhance the safety and effectiveness ofemergency responders operating in
