1、Designation: E2804 11Standard Test Method forEvaluating Emergency Response Robot Capabilities:Mobility: Confined Area Obstacles: Stairs/Landings1This standard is issued under the fixed designation E2804; 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 stairs with landings 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. Stairs with landings are a type ofobst
4、acle that 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 testing.1.1.3 The test apparatuses are scalable to provide a range ofl
5、ateral dimensions 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
6、 mobility 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 robotsme
7、et these requirements.1.1.5 ASTM Task Group E54.08.01 on Robotics specifies amobility test suite, which consists of a set of test methods forevaluating these mobility capability requirements. This con-fined area stairs/landings test method is a part of the mobilitytest suite. The apparatuses associa
8、ted with the test methodschallenge specific robot capabilities in repeatable ways tofacilitate comparison of different robot models as well asparticular configurations of similar robot models.1.1.6 The mobility test suite quantifies elemental mobilitycapabilities necessary for ground robot intended
9、for emergencyresponse applications. 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 perf
10、ormance require-ments. The 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 1Addit
11、ional test methods within the suite are anticipated to bedeveloped to address additional or advanced robotic mobility capabilityrequirements, including newly identified requirements and even for newapplication domains.1.2 Performing LocationThis test method shall be per-formed in a testing laborator
12、y or the field where the specifiedapparatus 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 pur
13、pose of specifying materialdimensions 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 consid
14、ered standard.1.4 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 regulatory limitations prior to use.2
15、. Referenced Documents2.1 ASTM Standards:2E2521 Terminology for Urban Search and Rescue RoboticOperationsE2592 Practice for Evaluating Cache Packaged Weight andVolume of Robots for Urban Search and Rescue1This test method is under the jurisdiction of ASTM Committee E54 onHomeland Security Applicatio
16、ns and is the direct responsibility of SubcommitteeE54.08 on Operational Equipment.Current edition approved July 1, 2011. Published November 2011. DOI:10.1520/E2804-11.2For referenced ASTM standards, visit the ASTM website, www.astm.org, orcontact ASTM Customer Service at serviceastm.org. For Annual
17、 Book 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.2.2 Additional Documents:National Response Framework , U.S. Department of Home
18、-land Security3NIST Special Publication 1011I2.0 Autonomy Levels forUnmanned Systems (ALFUS) Framework, Volume I: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 m
19、ethod,the robot manufacturer 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 w
20、as available at thetest time.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
21、for the given robot.3.2.2 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 light meter; the administrator shall ensure that thespecified or required environmental conditio
22、ns 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 it properly; and theadministrator shall call the operator to start and end the test andrecord the performance data and
23、any notable observationsduring 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 remotely deploy-able device intended to perform operational tasks at operationaltempos du
24、ring emergency responses. It is designed 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 themissio
25、n. The desired features of a response robot include: rapiddeployment; remote operation from an appropriate standoffdistance; mobility in complex environments; sufficiently hard-ened against harsh environments; reliable and field serviceable;durable or cost effectively disposable, or both; and equipp
26、edwith operational safeguards.3.2.4 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 pa
27、rtially completed repetition. The testtime 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 Discussio
28、nFault conditions include robotic sys-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 flat-floor terrain element, nflat surface with overalldimensions of 1.2 by 1.2 m (4 by 4 ft) which is elevat
29、ed byusing 10-by 10-cm (4-by 4-in.) posts to form a 10 cm (4 in.)thick pallet. The material used to build these elements shall bestrong enough to allow the participating robots to execute thetasks.3.2.5.1 DiscussionThe material that is typically used tobuild these elements, oriented strand board (OS
30、B), is 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.3.2.6 human-scale, adjused to indicate that the objects,terrains, or tasks specified in th
31、is test method are in a scaleconsistent with the environments and structures typicallynegotiated by humans, although possibly compromised orcollapsed enough to limit human access.Also, that the response3Available from Federal Emergency Management Agency (FEMA), P.O. Box10055, Hyattsville, MD 20782-8
32、055, 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: Confined Area Obstacles: Stairs/Landings ApparatusesE2804 112rob
33、ots considered in this context are in a volumetric and weightscale appropriate for operation within these environments.3.2.6.1 DiscussionNo precise size and weight ranges arespecified for this term. The test apparatus specifies the confinedareas in which to perform the tasks. Such constraints limit
34、theoverall sizes of robots to those considered applicable toemergency response operations.3.2.7 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 designated sec
35、ond shall be responsible for the use ofa safety belay; and she/he shall also determine whether toabstain the test.3.2.8 operator station, napparatus for hosting the opera-tor and her/his operator control unit (OCU, see ALFUSFramework Volume I: Terminology) to teleoperate (see Termi-nology E2521) the
36、 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.3.2.9 repetition, nrobots completion of the task as speci-fied in the test method and readiness for repeating the sametask when required.3.2.9
37、.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 repetitions, performed in the sametest co
38、ndition, may be used to establish the robot performanceof a particular test method to a certain degree of statisticalsignificance as specified by the testing sponsor.3.2.10 test event or event, na set of testing activities thatare planned and organized by the test sponsor and to be held atthe design
39、ated test site(s).3.2.11 test form, nform corresponding to a test methodthat contains fields for recording the testing results and theassociated information.3.2.12 test sponsor, nan organization or individual thatcommissions a particular test event and receives the corre-sponding test results.3.2.13
40、 test suite, ndesigned collection of test methods thatare used, collectively, to evaluate the performance of a robotsparticular subsystem or functionality, includingmobility, ma-nipulation, sensors, energy/power, communications, human-robot interaction (HRI), logistics, safety, and aerial or aquatic
41、maneuvering.3.2.14 testing task, or task, na set of activities welldefined in a test method for testing robots and the operators toperform in order for the robotsperformance to be evaluated.Atest method may specify multiple tasks. A task corresponds tothe associated metric or metrics.4. Summary of T
42、est Method4.1 The task for this test method, stair traversing, is definedas the entire robot traversing from the starting flat-floor terrainelement to the landing at the top of the stairs apparatus andback. See Fig. 1 for an illustration. The test starts at the set ofstairs with the lowest slope and
43、 having dry surface. As theevaluation proceeds, the task shall be performed on all theother stair surfaces and on the increased stair inclines asspecified in Section 6.4.2 The robots stair traversing capability is defined as thesteepest stair set that the robot is able to traverse for all theselecte
44、d surface types. Further, the test sponsor can specify thestatistical reliability and confidence levels of such a capabilityand, thus, dictate the number of successful task performancerepetitions that is required.4.3 Teleoperation shall be used from the operator stationspecified by the administrator
45、 to test the robots using an OCUprovided by the operator. The operator 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
46、to abstain from the test before it isstarted. Once the test begins, there 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. T
47、he operator shall have the full responsibility todetermine whether and 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 establis
48、h theapplicability of the robot for the given test method. It allows the operatorto gain familiarity with the standard apparatus and environmental condi-tions. It also helps the test administrator to establish the initial apparatussetting for the test when applicable.4.5 The test sponsor has the aut
49、hority to select the size ofthe lateral clearance for the specified confined area apparatus.The test sponsor also has the authority to select the testmethods that constitute the test event, to select one or more testsite(s) at which the test methods are implemented, to determinethe corresponding statistical reliability and confidence levels ofthe results for each of the test methods, and to establish theparticipation rules including the testing schedules and the testenvironmental conditions.5. Significance and Use5.1 A main purpose of using robots in
