1、Designation: E2830 11Standard Test Method forEvaluating the Mobility Capabilities of Emergency ResponseRobots Using Towing Tasks: Grasped Sleds1This standard is issued under the fixed designation E2830; the number immediately following the designation indicates the year oforiginal adoption or, in th
2、e 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 ofmobility test me
3、thods, is to quantitatively evaluate a teleoper-ated ground robots towing capability with the task of graspingloads and traversing a specified route on a flat and pavedsurface.1.1.2 Robots shall possess a certain set of mobility capabili-ties, including towing, to suit critical operations such aseme
4、rgency responses. This capability would be required toperform such emergency response-related tasks as deliveringcritical supplies, moving victims to safe locations, or transport-ing suspected packages away from humans.1.1.3 Emergency response ground robots shall be able tohandle many types of obsta
5、cles and terrains. The requiredmobility capabilities 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 eva
6、luate whether candidate robots meetthese requirements.1.1.4 ASTM Task Group E54.08.01 specifies a mobility testsuite, which consists of a set of test methods for evaluatingthese mobility capability requirements. This towing-by-grasping test method is a part of the mobility test suite. Theapparatuses
7、 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 elemental mobility capa-bilities necessary for ground robot emergenc
8、y response appli-cations. As such, the test suite should be used collectively torepresent a ground robots overall mobility performance.NOTE 1Additional test methods within the suite are anticipated to bedeveloped to address additional or advanced robotic mobility capabilityrequirements, including ne
9、wly identified requirements and even for newapplication 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 UnitsThe values stated in SI units are to be regardedas the s
10、tandard. The values given in parentheses are mathemati-cal conversions to inch-pound units that are provided forinformation only 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 us
11、er 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 Packaged Wei
12、ght andVolume of Robots for Urban Search and Rescue2.2 Other Standards:National Response Framework U.S. Department of Home-land Security33. Terminology3.1 Terminology E2521 lists additional definitions relevantto this test method.3.2 Definitions:3.2.1 abstain, vthe operators action of notifying thea
13、dministrator to withdraw from the test, causing the result notto be reported and the test form to be marked as abstained.3.2.1.1 DiscussionThe operator is the only person whocan convey the decision to abstain the test. The abstention maybe made when the robot configuration is not designed norequippe
14、d to perform the test. The testing sponsor should makea consistent policy about the time period during which theabstention is allowed. The abstention is granted only before thetest, as reflected in the procedure.1This test method is under the jurisdiction of ASTM Committee E54 onHomeland Security Ap
15、plications and is the direct responsibility of SubcommitteeE54.08 on Operational Equipment.Current edition approved July 1, 2011. Published December 2011. DOI:10.1520/E2830-11.2For referenced ASTM standards, visit the ASTM website, www.astm.org, orcontact ASTM Customer Service at serviceastm.org. Fo
16、r 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 20782-8055, http:/www.fema.gov.1Copyright ASTM International, 100 Barr Harbor Drive, PO Box C7
17、00, West Conshohocken, PA 19428-2959, United States.3.2.1.2 DiscussionBeing marked as abstained indicatesthat all the parties involved in the test acknowledge theomission of the performance data while the test method wasavailable at the test time.3.2.2 administrator, nperson who conducts the test.3.
18、2.2.1 DiscussionThe administrator shall ensure thereadiness of the apparatus, the test form, and any requiredmeasuring devices such as stopwatch and light meter; theadministrator shall ensure that the specified or required envi-ronmental conditions are met; the administrator shall notify theoperator
19、 when the safety belay is available and ensure that theoperator has either decided not to use it or assigned a person tohandle it properly; and the administrator shall call the operatorto start and end the test and record the performance data andany notable observations during the test.3.2.3 fault c
20、ondition, 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.3.2.3.1 DiscussionFault conditions include robotic sys-tem malfunction, such as detracking, and t
21、ask executionproblems, such as excessive deviation from a specified path orfailure to recognize a target.3.2.4 human-scale, adjused to indicate that the object, aresponse robot or an associated target, is in a volumetric andweight scale for a human or a small team of humans to handleproperly, such a
22、s carrying it using nothing more than handtools.3.2.4.1 DiscussionNo precise size and weight ranges arespecified for this 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
23、 response operations.3.2.5 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/he,through a designated second, shall be responsible for the use ofa safety belay; and she/he s
24、hall also determine whether toabstain from the test.3.2.6 operator control unit (OCU), na device used by anoperator to teleoperate the robot.3.2.7 operator station, napparatus for hosting the opera-tor and her/his operator control unit (OCU) to teleoperate (seeTerminology E2521) the robot; sight and
25、 sound insulation fromthe robot may be required as specified by the testing sponsor.3.2.8 repetition, nrobots completion of the task as speci-fied in the test method and readiness for repeating the sametask when required.3.2.8.1 DiscussionIn a traversing task, the entire mobilitymechanism shall be b
26、ehind 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 tocomplete the task. Multiple repetitions, performed in the sametest condition, may be used to establish the test performance toa certain degree of st
27、atistical significance as specified by thetesting sponsor.3.2.9 test event or event, na set of testing activities thatare planned and organized by the test sponsor and to be held atthe designated test site(s).3.2.9.1 DiscussionTesting may be done with or withoutbeing associated with a test event. A
28、testing event may beorganized for particular program purposes, such as procure-ment or applicability study. In such a case, the program and theorganization names should be considered a part of the eventname. Meanwhile, a robot may also be tested for its perfor-mance record purposes independent of an
29、y particular event. Atest event can also serve such additional purposes as promotingthe robotic tool in a new user community and facilitating usertraining.3.2.10 test form, nform corresponding to a test methodand contains fields for recording the testing results and theassociated information, includ
30、ing: (1) Metrics and correspond-ing measuring scales and ranges; (2) Any additional testingfeatures such as those reflecting performance proficiency; (3)Important notes to be recorded during the test, includingparticular fault conditions that occurred, the reason for abstain-ing, any observations by
31、 the administrator that could augmentthe recorded results in either positive or negative ways, or anycomments that the operator requests to be put on the form; (4)Administrative information including: names of the involvedpersonnel, organizations, and robot; testing date(s) and time;version number o
32、f the form; testing conditions on the environ-ment and the apparatus; and robotic configuration (tetherversus radio communication for example). If audio/videorecording is done during the testing, the file names should berecorded on the form.3.2.11 test sponsor, norganization or individual that com-m
33、issions 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, commu
34、nications, human-robot interaction (HRI), logistics, safety, and aerial or aquaticmaneuvering.4. Summary of Test Method4.1 The task for this test method, towing by grasping, isdefined as when the robot grasps either the specified sled thatcarries the operator-selected weight and traverses from theST
35、ART post for a specified route to the END post and backfully. The default route shall be a figure eight, also known as acontinuous “S” that is anchored by the two posts, as describedin Section 6. See Fig. 1 for an illustration.4.2 The robots towing capability is defined as when therobot is able to c
36、omplete the task with the associated effectivespeed. Further, the test sponsor can specify the statisticalreliability and confidence levels of such a capability and thusdictate the number of successful task performance repetitionsthat are required. In such a case, the average effective speedwill be
37、used, instead, as the robots capability.E2830 1124.3 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 f
38、rom the sights and sounds generated at the testapparatuses.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, there shall be no verbal commu-nication between the operator and the administrator regardingth
39、e 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 when the robot has completed arepetition, and notify the administrator accordingly. However
40、,it is the administrators authority to judge the completeness ofthe repetition.NOTE 2Practice within the test apparatus could help establish theapplicability of the robot for the given test method. It allows the operatorto gain familiarity with the standard apparatus and environmental condi-tions. I
41、t also helps the test administrator to establish the initial apparatussetting for the test when applicable.4.5 The test sponsor 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 cor
42、responding 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 This test method corresponds to the requirements asspecified by
43、 U.S. emergency responders and additional con-stituents. A robots performance in this test is indicative of itscapabilities needed in such operations as emergency responses.To have the successfully tested robots available to the emer-gency operations is consistent with the National ResponseFramework
44、.5.2 Although these test methods were developed first foremergency response robots, they may be applicable to otheroperational domains, such as law enforcement and military.They can also be used to ascertain operator proficiencies duringtraining or serve as practice tasks that exercise robot actuato
45、rs,sensors, and OCUs.5.3 The standard apparatus is specified to be easily as-sembled to facilitate robotic developers self evaluation of therobots and facilitate the emergency responders and otherusers proficiency training in applying the robotic tools.5.4 The objective of using robots in emergency
46、responseoperations is to enhance the emergency responders capabilityof operating in hazardous or hard-to-reach environments. Thetesting results of the candidate robot shall describe, in astatistically significant way, how reliably the robot is able totraverse the obstacle, thus enabling emergency re
47、sponders todetermine the applicability of the robot.6. Apparatus6.1 This test apparatus includes a flat, paved surface. Eachof the START and END points is identified with a post and theyare 50 m (164 ft) apart from each other. The path is a figureeight or a continuous “S” and is marked with white ch
48、alk, withthe turning radius around the START and END points being a2-m (6.5-ft) radius (Fig. 1). The effective distance for thetraversing task is 100 m (328 ft) and the robot is allowed to turnaround with as small a radius as it chooses.6.1.1 The apparatus also includes a loading device forcarrying
49、the towing load and a set of weights of 2 and 11 kg (5and 25 lb). Backpacks with weights lighter than the loadingdevice can also be used as stand-alone towing weights whenthe weight of the sled itself is too heavy for some of the testingrobots.6.1.2 The loading device, such as a sled or a medicalstretcher, is not standardized. Users of this test method mayselect a device that fit their needs with the following require-ments:6.1.2.1 Include the weight of the device as a part of thetowing capability;6.1.2.2 Use the same device for comparison purposes
