1、Designation: E2826 11Standard Test Method forEvaluating Emergency Response Robot Capabilities:Mobility: Confined Area Terrains: Continuous Pitch/RollRamps1This standard is issued under the fixed designation E2826; the number immediately following the designation indicates the year oforiginal adoptio
2、n or, in the 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, as a part of a suite ofmobil
3、ity test methods, is to quantitatively evaluate a teleoper-ated ground robots (see Terminology E2521) capability oftraversing complex terrain composed of continuous pitch/rollramps in confined areas.1.1.2 Robots shall possess a certain set of mobility capa-bilities, including negotiating complex ter
4、rains, to suit criticaloperations such as emergency responses. A part of the com-plexity is that the environments often pose constraints torobotic mobility to various degrees. This test method specifiesapparatuses to standardize a confined areas terrain that iscomposed of continuous pitch/roll ramps
5、 and that notionallyrepresents types of terrains containing undulating slopes,existent in emergency response and other environments. Thistest method also specifies procedures and metrics to standard-ize testing using the apparatus.1.1.3 The test apparatuses are scalable to provide a range oflateral
6、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 terrains. The requiredmobility capabilit
7、ies include traversing gaps, hurdles, stairs,slopes, various types of floor surfaces or terrains, and confinedpassageways. Yet additional mobility requirements includesustained speeds and towing capabilities. Standard test meth-ods are required to evaluate whether candidate robots meetthese requirem
8、ents.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-tinuous pitch/roll ramps terrain traversing test method is a partof the mobility test suite. Fig. 2 shows examples o
9、f otherconfined area terrains, along with the traversing paths. Theapparatuses associated with the test methods challenge specificrobot capabilities in repeatable ways to facilitate comparison ofdifferent robot models as well as particular configurations ofsimilar robot models.1.1.6 The mobility tes
10、t methods quantify elemental mobilitycapabilities necessary for ground robot intended 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 meth
11、ods or particular metrics within a testmethod differently based on their specific performance require-ments. The testing results should collectively represent anemergency response ground robots overall mobility perfor-mance as required. These performance data can be used toguide procurement specific
12、ations and acceptance testing forrobots intended for emergency response applications.NOTE 1Additional test methods within the suite are anticipated to bedeveloped to address additional or advanced robotic mobility capabilityrequirements, including newly identified requirements and even for newapplic
13、ation domains.1.2 Performing LocationThis test method shall be per-formed in a testing laboratory 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 precis
14、emathematical conversions to inch-pound units. They are closeapproximate equivalents for the purpose 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 meth
15、od results.1This test method is under the jurisdiction of ASTM Committee E54 onHomeland Security Applications and is the direct responsibility of SubcommitteeE54.08 on Operational Equipment.Current edition approved July 1, 2011. Published December 2011. DOI:10.1520/E2826-11.1Copyright ASTM Internati
16、onal, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959, United States.These values given in parentheses are provided for informationonly and are not considered standard.1.4 This standard does not purport to address all of thesafety concerns, if any, associated with its use. It is
17、 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 ASTM Standards:2E2521 Terminology for Urban Search and Rescue RoboticOperationsE2592 Practice for E
18、valuating Cache Packaged Weight andVolume of Robots for Urban Search and Rescue2.2 Additional Documents:National Response Framework, U.S. Department of Home-land Security3NIST Special Publication 1011I2.0 Autonomy Levels forUnmanned Systems (ALFUS) Framework, Volume 1:Terminology, Version 2.043. Ter
19、minology3.1 Definitions:3.1.1 Terminology E2521 lists additional definitions rel-evant to this test method.3.1.2 abstain, vprior to starting a particular test method,the robot manufacturer or designated operator shall choose toenter the test or abstain. Any abstention shall be granted beforethe test
20、 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 time.3.1.2.1 DiscussionAbstentions may occur when the robotconfiguration is neither designed nor equipped to perform
21、 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.3.1.3 administrator, nperson who conducts the testTheadministrator shall ensure the readiness of the apparatus, thetest
22、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; theadministrator shall notify the operator when the safety belay isavailable and ensure that the operator has either decided not
23、 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 observationsduring the test.3.1.4 emergency response robot, or response robot, narobot deployed to perform operational tasks in
24、an emergencyresponse situation.3.1.4.1 DiscussionA response robot is a deployable de-vice intended to perform operational tasks at operationaltempos during emergency responses. It is designed to serve asan extension of the operator for gaining improved remotesituational awareness and for projecting
25、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 response robot include: rapiddeployment; remote operation from an appropriate standoffdistance; mobility in complex envi
26、ronments; sufficient harden-ing against harsh environments; reliable and field serviceable;durable or cost effectively disposable, or both; and equippedwith operational safeguards.3.1.5 fault condition, nduring the performance of thetask(s) as specified by the test method, a certain condition mayocc
27、ur that renders the task execution to be failed. Such acondition is called a fault condition. Fault conditions result ina loss of credit for the partially completed repetition. The testtime continues until the operator determines that she/he can notcontinue and notifies the administrator. The admini
28、strator shall,then, pause the test time and add a time-stamped note on thetest form indicating the reason for the fault condition.3.1.5.1 DiscussionFault conditions include robotic sys-tem malfunction, such as de-tracking, and task executionproblems, such as excessive deviation from a specified path
29、 orfailure to recognize a target.3.1.6 full-ramp terrain element, n1.2 by 1.2 m (4 by 4 ft)surface ramp with 15 slope using solid wood support postswith angle cuts. The material used to build these elements shallbe strong enough to allow the participating robots to executethe testing tasks.2For refe
30、renced ASTM standards, visit the ASTM website, www.astm.org, orcontact ASTM Customer Service at serviceastm.org. For Annual Book of ASTMStandards volume information, refer to the standards Document Summary page onthe ASTM website.3Available from Federal Emergency Management Agency (FEMA), P.O. Box10
31、055, 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: Confined Area Terrains: Continuous P
32、itch/Roll Ramps ApparatusesE2826 1123.1.6.1 DiscussionThe material that is typically used tobuild these elements, oriented strand board (OSB) is a com-monly available construction material. The frictional charac-teristics of OSB resemble that of dust covered concrete andother human improved flooring
33、 surfaces, often encountered inemergency responses. Solid wood posts with 10- by 10-cm (4-by 4-in) cross-section dimensions typically support the rampedsurface.3.1.6.2 DiscussionSimilar elements like this type areused, sometimes mixed and assembled in different configura-tions, to create various lev
34、els of complexities for roboticfunctions such as orientation and traction.3.1.7 half-ramp terrain element, n0.6-by 1.2-m (2-by4-ft) surface with the shorter dimension ramped at 15 usingsolid wood posts with angle cuts. The material used to buildthese elements shall be strong enough to allow the part
35、icipatingrobots to execute the allow tasks.3.1.7.1 DiscussionSee the discussions under full-rampterrain element.3.1.8 human-scale, adjused to indicate that the objects,terrains, or tasks specified in this test method are in a scaleconsistent with the environments and structures typicallynegotiated b
36、y 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.3.1.8.1 DiscussionNo precise size and weight ranges arespecified for this
37、term. The test apparatus constrains theenvironment in which the tasks are performed. Such con-straints, in turn, limit the types of robots to be consideredapplicable to emergency response operations.3.1.9 operator, nperson who controls the robot to performthe tasks as specified in the test method; s
38、he/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.FIG. 2 Three Confined Area Terrain Apparatuses in the Mobility Test Suite wit
39、h Increasing Complexity; The Continuous Pitch/RollRamps Terrain is Shown on the Left. The Crossing Pitch/Roll Ramps is Shown at the Center. The Symmetric Stepfields Terrain isShown on the Right.E2826 1133.1.10 operator station, napparatus for hosting the op-erator and her/his operator control unit (
40、OCU, see ALFUSFramework Volume I: Terminology) to 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.3.1.11 repetition, nrobots completion of the task as
41、specified in the test method and readiness for repeating thesame task when required.3.1.11.1 DiscussionIn a traversing task, the entire mobil-ity mechanism shall be behind the START point before thetraverse and shall pass the END point to complete a repetition.A test method can specify returning to
42、the START point tocomplete the task. Multiple repetitions, performed in the sametest condition, may be used to establish the robot performanceof a particular test method to a certain degree of statisticalsignificance as specified by the testing sponsor.3.1.12 test event or event, na set of testing a
43、ctivities thatare planned and organized by the test sponsor and to be held atthe designated test site(s).3.1.13 test form, nform corresponding to a test methodand contains fields for recording the testing results and theassociated information.3.1.14 test sponsor, norganization or individual that com
44、-missions a particular test event and receives the correspondingtest results.3.1.15 test suite, ndesigned collection of test methodsthat are used, collectively, to evaluate the performance of arobots particular subsystem or functionality, including mobil-ity, manipulation, sensors, energy/power, com
45、munications,human-robot interaction (HRI), logistics, safety, and aerial oraquatic maneuvering.3.1.16 testing task, or task, na set of activities specified ina test method for testing robots and the operators to perform inorder for the performance to be evaluated according to thecorresponding metric
46、(s). A test method may specify multipletasks.4. Summary of Test Method4.1 The task for this test method, continuous pitch/roll rampterrain traversing, is defined as the robot traversing from theSTART point along the specified path which ends back at theSTART point, thus enabling continuous repetitio
47、ns. The defaultpath shall be a figure-eight, also known as a continuous “S,”around two pylons installed in the test course as described inSection 6. The START and END points are the same, locatedbeside the first pylon upon entering the gate. See Fig. 3 for anillustration.4.2 The robots traversing ca
48、pability of this type of terrain isdefined as the robots ability to complete the task and theassociated effective speed. Further, the test sponsor can specifythe statistical reliability and confidence levels of such acapability and, thus, dictate the number of successful taskperformance repetitions
49、that is required. In such a case, theaverage effective speed shall be used, instead, as the robotscapability.4.3 Teleoperation shall be used from the operator stationspecified by the administrator to test the robots using an OCUFIG. 3 Mobility: Confined Area Terrains: Continuous Pitch/Roll Ramps Apparatuses (Perspective View)E2826 114provided 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 all
