1、Designation: E2827 11Standard Test Method forEvaluating Emergency Response Robot Capabilities:Mobility: Confined Area Terrains: Crossing Pitch/RollRamps1This standard is issued under the fixed designation E2827; the number immediately following the designation indicates the year oforiginal adoption
2、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 ofmobilit
3、y test methods, is to quantitatively evaluate a teleoper-ated ground robots (see Terminology E2521) capability oftraversing complex terrain composed of crossing pitch/rollramps in confined areas.1.1.2 Robots shall possess a certain set of mobility capabili-ties, including negotiating complex terrain
4、s, 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 crossing pitch/roll ramps and t
5、hat notionallyrepresents types of terrains containing moderate discontinui-ties, existent in emergency response and other environments.This test method also specifies procedures and metrics tostandardize 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 ground robots shall be able to handlemany types of obstacles and terrains. The required mobilitycapabilities incl
7、ude 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 requirements.1.1
8、.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 terrain with crossing pitch/roll ramps is a part of themobility test suite. Fig. 2 shows examples of other confin
9、edarea terrains, along with the traversing paths. The apparatusesassociated with the test methods challenge specific robotcapabilities in repeatable ways to facilitate comparison ofdifferent robot models as well as particular configurations ofsimilar robot models.1.1.6 The test methods quantify elem
10、ental mobility capa-bilities necessary for ground robots 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 methods or particular me
11、trics 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 specifications and acceptanc
12、e 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 newapplication domains.1.2 Pe
13、rforming 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 precisemathematical conver
14、sions 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 method results.1This tes
15、t 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/E2827-11.1Copyright ASTM International, 100 Barr Harbo
16、r 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 theresponsibility o
17、f 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 Evaluating Cache Pack
18、aged 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: Ter-minology, Version 2.043. Terminology3.1 Terminolo
19、gy E2521 lists additional definitions relevantto this test method.3.2 Definitions:3.2.1 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 begins. The test form sh
20、all be clearly marked as such,indicating that the manufacturer acknowledges the omission ofthe performance data while the test method was available at thetest time.3.2.1.1 DiscussionAbstentions may occur when the robotconfiguration is neither designed nor equipped to perform thetasks as specified in
21、 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 administrator, nperson who conducts the testTheadministrator shall ensure the readiness of the apparatus, thetest form, and any required me
22、asuring 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 touse it or assigned a p
23、erson 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.3.2.3 emergency response robot, or response robot, narobot deployed to perform operational tasks in an emergencyresponse situ
24、ation.3.2.3.1 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 her/his intent throughthe
25、 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 environments; sufficient hard
26、en-ing against harsh environments; reliable and field serviceable;durable or cost effectively disposable, or both; and equippedwith 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
27、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 testtime continues until the operator determines that she/he can notcontinue and notifies the administrator. The administrator shall,then, pa
28、use 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 sys-tem malfunction, such as de- tracking, and task executionproblems, such as excessive deviation from a specified path orfailure to recogni
29、ze a target.3.2.5 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 referenced ASTM standard
30、s, 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. Box10055, Hyattsville, MD
31、 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: Crossing Pitch/Roll Ramps Appara
32、tusesE2827 1123.2.5.1 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 surfaces, often encou
33、ntered inemergency responses. Solid wood posts with 10- by 10-cm (4-by 4-in.) cross-section dimensions typically support theramped surface.3.2.5.2 DiscussionSimilar elements like this type areused, sometimes mixed and assembled in different configura-tions, to create various levels of complexities f
34、or roboticfunctions such as orientation and traction.3.2.6 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 participatingrobots to
35、execute the allow tasks.3.2.6.1 DiscussionSee the discussions under full-rampterrain element.3.2.7 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 by humans, although
36、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.3.2.7.1 DiscussionNo precise size and weight ranges arespecified for this term. The test appa
37、ratus 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.3.2.8 operator, nperson who controls the robot to performthe tasks as specified in the test method; she/he shall ensure
38、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.3.2.9 operator station, napparatus for hosting the opera-tor and her/his operator control unit (
39、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.3.2.10 repetition, nrobots completion of the task as
40、specified in the test method and readiness for repeating thesame task when required.FIG. 2 Three Confined Area Terrain Apparatuses in the Mobility Test Suite with Increasing Complexity; The Continuous Pitch/RollRamps Terrain is Shown on the Left. The Crossing Pitch/Roll Ramps Terrain is Shown at the
41、 Center. The Symmetric Stepfields Terrainis Shown on the Right.E2827 1133.2.10.1 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 the START po
42、int 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.3.2.11 test event or event, na set of testing activities th
43、atare planned and organized by the test sponsor and to be held atdesignated test site(s).3.2.12 test form, nform corresponding to a test methodthat contains fields for recording the testing results and theassociated information.3.2.13 test sponsor, norganization or individual that com-missions a par
44、ticular test event and receives the correspondingtest results.3.2.14 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, hu
45、man-robot interaction (HRI), logistics, safety, and aerial or aquaticmaneuvering.3.2.15 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(s). A test me
46、thod may specify multipletasks.4. Summary of Test Method4.1 The task for this test method, crossing 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 repetitions. The defaultp
47、ath 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 capability of this
48、 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 that is required
49、. 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 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 to abstain from the test before it isstarted. Once the test begins, th
