1、Designation: E3132/E3132M 17Standard Practice forEvaluating Response Robot Logistics: SystemConfiguration1This standard is issued under the fixed designation E3132/E3132M; the number immediately following the designation indicates the yearof original adoption or, in the case of revision, the year of
2、 last revision. A number in parentheses indicates the year of last reapproval.A superscript epsilon () indicates an editorial change since the last revision or reapproval.INTRODUCTIONThe robotics community needs ways to measure whether a particular robot system is capable ofperforming specific missi
3、ons in unstructured and often hazardous environments. These missionsdecompose into elemental robot tasks that can be represented individually as standard test methodsand practices. The associated test apparatuses and performance metrics provide a tangible language tocommunicate various mission requi
4、rements. They also enable repeatable testing to establish thereliability of robot capabilities.ASTM International Committee E54 on Homeland Security Applications specifies standard testmethods and practices for evaluating such robot capabilities. These standards facilitate comparisonsacross robot mo
5、dels or various configurations of a particular robot model. They support robotresearchers, manufacturers, and user organizations in different ways. Researchers use the standards tounderstand mission requirements, encourage innovations, and demonstrate breakthrough capabilities.Manufacturers use the
6、standards to evaluate design decisions, integrate emerging technologies, andharden systems. User organizations leverage the resulting robot capabilities data to guide purchasingdecisions, align deployment objectives, and focus training with standard measures of operatorproficiency. Associated usage
7、guides describe how such standards can be applied to support thesevarious objectives.The overall suite of the standards addresses robotic critical subsystems, including maneuvering,mobility, dexterity, sensing, energy, communications, durability, proficiency, autonomy, logistics,safety, and terminol
8、ogy. This practice is part of the logistics test suite and addresses the issue ofidentifying robot system configuration.1. Scope1.1 This practice, as a part of the response robot logisticstest suite, specifies the requirements of identifying and docu-menting the configuration of a robot system under
9、 test as wellas the associated processes for doing it. The aspects to beincluded in such a configuration practice are the key dimen-sions and weights, the existent subsystems and keycomponents, as well as the key timing requirements for settingup and maintaining the system.1.2 This practice applies
10、to ground, aerial, and aquaticresponse robot systems controlled remotely by an operatorfrom a standoff distance appropriate for the intended missions.Such robot systems may further possess certain assistivefeatures or autonomous behaviors.1.3 Performing LocationThis practice may be performedanywhere
11、 the specific apparatuses are implemented and envi-ronmental conditions are met.1.4 UnitsThe values stated in either SI units or inch-pound units are to be regarded separately as standard. Thevalues stated in each system may not be exact equivalents;therefore, each system shall be used independently
12、 of the other.Combining values from the two systems may result in noncon-formance with the standard. Both units are referenced tofacilitate acquisition of materials internationally and minimizefabrication costs.1.5 This standard does not purport to address all of thesafety concerns, if any, associat
13、ed with its use. It is theresponsibility of the user of this standard to establish appro-priate safety, health, and environmental practices and deter-mine the applicability of regulatory limitations prior to use.1.6 This international standard was developed in accor-dance with internationally recogn
14、ized principles on standard-ization established in the Decision on Principles for the1This practice is under the jurisdiction of ASTM Committee E54 on HomelandSecurity Applications and is the direct responsibility of Subcommittee E54.09 onResponse Robots.Current edition approved Oct. 1, 2017. Publis
15、hed November 2017. DOI:10.1520/E3132_E3132M-17.Copyright ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United StatesThis international standard was developed in accordance with internationally recognized principles on standardization established in the Dec
16、ision on Principles for theDevelopment of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.1Development of International Standards, Guides and Recom-mendations issued by the World Trade Organization TechnicalBarrie
17、rs to Trade (TBT) Committee.2. Referenced Documents2.1 ASTM Standards:2E2521 Terminology for Evaluating Response Robot Capa-bilitiesE2592 Practice for Evaluating Response Robot Capabilities:Logistics: Packaging for Urban Search and Rescue TaskForce Equipment CachesE2830 Test Method for Evaluating th
18、e Mobility Capabilitiesof Emergency Response Robots Using Towing Tasks:Grasped SledsE2854 Test Method for Evaluating Emergency ResponseRobot Capabilities: Radio Communication: Line-of-SightRangeE2855 Test Method for Evaluating Emergency ResponseRobot Capabilities: Radio Communication: Non-Line-of-Si
19、ght Range3. Terminology3.1 The following terms are used in this practice and aredefined in Terminology E2521: administrator or testadministrator, operator, operator station, response robot oremergency response robot, teleoperation, test event or event,test form, test sponsor, test suite, and trial.3
20、.2 The following terms are used in this practice and aredefined in the ALFUS Framework Volume I: autonomous,autonomy, levels of autonomy, human-robot interaction, opera-tor control unit (OCU), and semi-autonomous.34. Summary of Practice4.1 This practice specifies a way in which a robot systemsconfig
21、uration shall be identified and documented.NOTE 1The resulting information is intended to provide the users,who could be responders, law enforcement officials, and soldiers, a quickand overall perspective of their response robot systems and help themmake decisions on procurement, deployment, or oper
22、ator training.4.2 The particular system configuration to be tested shall becomprehensively identified and uniquely named by using themake, model, and applicable configuration name as providedby the manufacturer. This identification process includes mea-suring the time required to bring the system to
23、 the operationallyready state, called setup time. The process, then, involvesmeasuring and documenting the dimensions and weights of allthe subsystem, components, and as-shipped packaging. Theseinclude the robot, OCU, and other sustainment and mainte-nance items such as power sources and spare parts
24、. Thisidentification process also lists subsystems, payloads, anditems in the field-maintenance kit. These include tools andconsumable items such as duct tape, cable ties, and other items.Documentation shall also include detailed photographs of all ofthe above as well as videos of routine maintenanc
25、e tasks (forexample, battery change). The system configuration shallremain the same for all relevant tests to enable direct compari-son of performance and to identify capability trade-offs be-tween different configurations. Any number of identified sys-tem configurations can be subjected to testing.
26、5. Significance and Use5.1 These basic requirements for response robots that helpenhance the safety and effectiveness of responders or soldiersinclude: the robots are designed to be remotely operated fromsafe standoff distances, deployable at operational tempos,capable of operating in complex enviro
27、nments, sufficientlyhardened against harsh environments, reliable and fieldserviceable, durable or cost-effectively disposable, andequipped with operational safeguards.5.2 This practice aligns user expectations with actual capa-bilities to understand the inherent trade-offs in deployablesystems at a
28、ny given cost. For example, a design issue of thenumber of batteries to be packed on a robot could affect thedesired weight, endurance, or cost. Appropriate levels ofunderstanding can help ensure that requirement specificationsare articulated within the limit of current capabilities.5.3 This practic
29、e provides a tangible representation ofessential robot capabilities with quantifiable measures of per-formance. It facilitates communication among communities ofrobot users and manufacturers. As such, this practice can beused to help:5.3.1 Inspire technical innovation and guide developerstoward impl
30、ementing the combinations of capabilities neces-sary to perform essential mission tasks.5.3.2 Measure and compare essential robot capabilities.This practice can help establish the reliability of the system toperform specified tasks, highlight break-through capabilities,and encourage hardening of dev
31、elopmental systems.5.3.3 Inform purchasing decisions, conduct acceptancetesting, and align deployment objectives with statisticallysignificant robot capabilities data captured through repeatedtesting and comparison of quantitative results.5.3.4 Focus operator training and measure proficiency as arep
32、eatable practice task that exercises actuators, sensors, andoperator interfaces. The practice can help capture and comparequantitative scores even within uncontrolled environmentalvariables and, in turn, help develop, maintain, measure, andtrack very perishable skills over time and enable comparison
33、sacross squads, regions, or national averages.5.4 Although this practice is scoped for homeland securityapplications, it could be much more wildly applicable.However, it shall be the responsibilities of the respectivepractitioners to verify the extents of applicability of thispractice to their domai
34、ns.6. Apparatus6.1 As illustrated in Fig. 1, two walls and a floor of a neutralcolor and entirely marked with a 20 cm 8 in. grid shall beused to provide a full and consistent background scale for2For referenced ASTM standards, visit the ASTM website, www.astm.org, orcontact ASTM Customer Service at
35、serviceastm.org. For Annual Book of ASTMStandards volume information, refer to the standards Document Summary page onthe ASTM website.3NIST Special Publication 1011-I-2.0, Autonomy Levels for Unmanned Systems(ALFUS), Framework Volume I: Terminology, Version 2.0.E3132/E3132M 172photographing the robo
36、t system under test. Such walls aretypically made of commercially available oriented strand board(OSB) or perforated hardboards.6.1.1 The walls shall be large enough such that all parts ofthe object being photographed are covered.6.1.2 Photographs shall be taken with a good quality digitalstill came
37、ra. A digital single-lens reflex or mirrorless largesensor camera is highly recommended.6.1.3 To reduce perspective and optical distortion, photo-graphs should be taken with as long a lens (or as “zoomed-in”)as is practical within the confines of the available space.6.1.4 It is recommended that stud
38、io strobe (flash) equipmentbe used to allow smaller apertures (increasing depth of field toensure that the whole robot is in focus), reduce image noise,and provide better image clarity. Lighting should be soft(diffuse) rather than direct. This may be achieved by placingwhite sheeting across the ceil
39、ing and two open sides andpositioning the strobes so that their light is reflected off thesheets rather than directed at the equipment being photo-graphed.6.1.5 As many video cameras as needed shall be used todocument the entireties of the required operations, as specifiedin Section 8.6.2 Commercial
40、ly made weight scales and tape measuresthat are accurate to at least the tenth digit shall be used for themeasurements as specified in Section 8.6.3 Timing devices, such as stopwatches, shall be availableto measure the lengths of time of required operations. Thedocumented time may be verified by obs
41、erving the correspond-ing video(s).7. Hazards7.1 Besides 1.5, which addresses common safety and healthconcerns, users of this practice shall also address equipmentpreservation as well as additional, specific safety concerns. Inaddition, environmental conditions, such as high or low tem-peratures and
42、 excessive moisture may also be stressful andcause damages to robot components or unexpected robotbehaviors.7.2 Identify all the emergency stop button(s) on the robotchassis and the OCU before operating or interacting with therobot.7.3 While the robot is active and the emergency stop buttonis diseng
43、aged, avoid:7.3.1 the areas directly in front of and behind the robot,7.3.2 the reachable radius of the robots manipulator, asequipped, and7.3.3 touching the robot other than to engage the emergencystop button.8. Procedure8.1 Identification Scope:8.1.1 The comprehensive configuration of a robot syst
44、emthat shall be identified and documented includes the robot, itsOCU, and all the applicable subsystems or major components,accessories, and payload.8.1.1.1 Keywords are recommended to be used for thedocumentation purposes. Such a practice facilitates identifica-tion of common characteristics among
45、different robot systemsand helps maintain consistent terminology.NOTE 2For example, the keywords “wheels” and “tracks” should beused as much as applicable to specify the locomotion mechanism.8.1.2 All the manual adjustments and settings available toonboard subsystems or components shall be determine
46、d and setas such and shall remain the same throughout the entire set ofthe identified tests. Any further such adjustment(s) duringtesting constitutes a new testing configuration for the robotsystem.8.1.2.1 Such specific settings and manual adjustment(s) andthe processes of making them shall be docum
47、ented in text,photos, or videos, or combinations thereof.NOTE 1The robot just fits within this booth; a larger booth would be necessary for any larger robot.FIG. 1 Example of a Standard Environment in which a Robot May be Photographed for DocumentationE3132/E3132M 1738.1.3 For US8.2.10.2 See Table 4
48、 for an example.8.2.11 Tether Communication, As EquippedIdentify anddocument power level delivered to the robot, total length,signal availabilities for control, video or audio or both, mediatype such as fiber or copper, spool diameter and weight whenfully loaded, and illumination.8.2.12 Manipulator,
49、 As EquippedIdentify, measure, anddocument the reaches of the applicable manipulator in thedirections of forward, side, vertical, and diagonal, and degreesof freedom. See Table 5 for an example.8.2.13 PayloadIdentify and document the applicablepayloads, including their purposes, the reaches in the directionsof forward, side, vertical, and diagonal, and the degrees offreedom as applicable.8.2.14 ToolsIdentify and document the applicable tools.See Table 6 for an example.8.2.15 All the applicable:8.2.15.1 Ports for data, power, and others;8.2.15.2 Operational indicators;8.
