1、Designation: E2829 11Standard Test Method forEvaluating Emergency Response Robot Capabilities:Mobility: Maneuvering Tasks: Sustained Speed1This standard is issued under the fixed designation E2829; the number immediately following the designation indicates the year oforiginal adoption or, in the cas
2、e 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 ofmobility test methods
3、, is to quantitatively evaluate a teleoper-ated ground robots (see Terminology E2521) sustained ma-neuvering speed on paved surfaces.1.1.2 Robots shall possess a certain set of mobility capabili-ties, including maneuvering, to suit critical operations such asemergency responses. The environments oft
4、en pose constraintsto robotic mobility to various degrees. Being able to maneuvereffectively for extended distances is essential for deploymentdown-range during emergency responses. This test methodspecifies apparatuses to standardize this maneuvering task fortesting.1.1.3 Emergency response ground
5、robots shall be able tohandle many types of obstacles and terrain complexities. Therequired mobility capabilities include traversing gaps, hurdles,stairs, slopes, various types of floor surfaces or terrains, andconfined passageways. Yet additional mobility requirementsinclude sustained speeds and to
6、wing capabilities. Standard testmethods are required to evaluate whether candidate robotsmeet these requirements.1.1.4 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 sus-tained s
7、peed test method is a part of the mobility test suite. 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.1.1.5 The test methods quantify
8、 elemental mobility capa-bilities 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 methods or particula
9、r 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 specifications and accep
10、tance 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.
11、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 UnitsThe values stated in SI units are to be regardedas the standard. The values given in parentheses are not precisemathematic
12、al 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 method results.
13、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 of the user of this standard to establish appro-priate safety and healt
14、h 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 Packaged Weight andVolume of Robots for Urban Search and Rescue2.2 Other S
15、tandards:National Response Framework U.S. Department of Home-land Security31This 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. Publish
16、ed December 2011. DOI:10.1520/E2829-11.2For referenced 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 Federa
17、l Emergency Management Agency (FEMA), P.O. Box10055, Hyattsville, MD 20782-8055, http:/www.fema.gov.1Copyright ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959, United States.NIST Special Publication 1011-I-2.0 Autonomy Levels forUnmanned Systems (ALFUS) Frame
18、work Volume I: Ter-minology, 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 manufacturer or designated operator shall choose toenter the test or abstain. Any
19、 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 time.3.2.1.1 DiscussionAbstentions may occur when the robotconfiguration
20、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 administrator, nperson who conducts the test. Theadministrator shall en
21、sure 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; theadministrator shall notify the operator when the safety belay isavailable and en
22、sure 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 observationsduring the test.3.2.3 emergency response robot, or response robot, naro
23、bot 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 designed to serve asan extension of the operator for gaining improved re
24、motesituational 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 response robot include: rapiddeployment; remote operation from an appropria
25、te standoffdistance; mobility 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 fault condition, nduring the performance of thetask(s) as specified
26、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 testtime continues until the operator determines that she/he can notco
27、ntinue 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 sys-tem malfunction, such as detracking, and task executionproblems, s
28、uch as excessive deviation from a specified path orfailure to recognize a target.3.2.5 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 possibly com
29、promised 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 and weight ranges arespecified for this term. The test apparatus constr
30、ains theenvironment in which the tasks are performed. Such con-straints, in turn, limit the types of robots to be consideredapplicable to emergency response operations.3.2.6 operator, nperson who controls the robot to performthe tasks as specified in the test method; she/he shall ensure thereadiness
31、 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.3.2.7 operator station, napparatus for hosting the opera-tor and her/his operator control unit (OCU, see NIS
32、T SpecialPublication 1011-I-2.0) to teleoperate (see TerminologyE2521) the robot; the operator station shall be positioned insuch a manner so as to insulate the operator from the sights andsounds generated at the test apparatuses.3.2.8 repetition, nrobots completion of the task as speci-fied in the
33、test method and readiness for repeating 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 specify returning to the START point toco
34、mplete 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.3.2.9 test event or event, na set of testing activities thatare pla
35、nned and organized by the test sponsor and to be held atthe one 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, norganization or individual that com-mis
36、sions a particular test event and receives the correspondingtest 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, communi
37、cations, human-robot interaction (HRI), logistics, safety, 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.4Available from National Ins
38、titute of Standards and Technology (NIST), 100Bureau Dr., Stop 1070, Gaithersburg, MD 20899-1070, http:/www.nist.gov.E2829 112A test method may specify multiple tasks. A task correspondsto the associated metric or metrics.4. Summary of Test Method4.1 The task for this test method, traversing a speci
39、fied pathwhile straddling a line, is defined as the robot traversing fromthe START point along the specified path, which ends back atthe START point, thus enabling continuous repetitions. Thespecified path shall be a figure-eight, also known as a continu-ous “S,” around two pylons installed in the t
40、est course asdescribed in Section 6. See Fig. 1 for an illustration. The robotmust straddle the line continuously throughout the path,maintaining some part of the mobility chassis over the line atall times. This task is one of the maneuvering tasks thatcandidate response robots shall be able to perf
41、orm.4.2 The robots traversing capability is defined as the robotsability to complete the task and the associated effective speed.Further, the test sponsor can specify the statistical reliabilityand confidence levels of such a capability and, thus, dictate thenumber of successful task performance rep
42、etitions that isrequired. In such a case, the average effective speed shall beused, instead, as the robots capability. In either case, theresulting effective speed is specified as the robots sustainedspeed.4.3 Teleoperation shall be used from the operator stationspecified by the administrator to tes
43、t 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 abst
44、ain 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. The oper
45、ator 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 establish theap
46、plicability 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 authority
47、to select the turningradii for the traversing task. The test sponsor also has theauthority to select test methods that constitute the test event, toselect one or more test site(s) at which the test methods areimplemented, to determine the corresponding statistical reli-ability and confidence levels
48、of the results for each of the testmethods, and to establish the participation rules including thetesting schedules and the test environmental conditions.5. Significance and Use5.1 A main purpose of using robots in emergency responseoperations is to enhance the safety and effectiveness ofemergency r
49、esponders operating in hazardous or inaccessibleenvironments. The testing results of the candidate robot shalldescribe, in a statistically significant way, how reliably therobot is able to traverse the specified types of terrains and thusprovide emergency responders sufficiently high levels of con-fidence to determine the applicability of the robot.5.2 This test method addresses robot performance require-ments expressed by emergency responders and representativesfrom other interested organizations. The performance datacaptured within this test method
