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ASTM E2853-12

(Test Method)

Standard Test Method for Evaluating Emergency Response Robot Capabilities: Human-System Interaction (HSI): Search Tasks: Random Mazes with Complex Terrain

Standard Test Method for Evaluating Emergency Response Robot Capabilities: Human-System Interaction (HSI): Search Tasks: Random Mazes with Complex Terrain

SIGNIFICANCE AND USE
A main purpose of using robots in emergency response operations is to enhance the safety and effectiveness of emergency responders operating in hazardous or inaccessible environments. The testing results of the candidate robot shall describe, in a statistically significant way, how reliably the robot is able to perform the specified types of tasks and thus provide emergency responders sufficiently high levels of confidence to determine the applicability of the robot.
This test method addresses robot performance requirements expressed by emergency responders and representatives from other interested organizations. Robot performance data captured within this test method are indicative of the robotic system’s capabilities. Having available a roster of successfully tested robots with associated performance data to guide procurement and deployment decisions for emergency responders is consistent with the guideline of “Governments at all levels have a responsibility to develop detailed, robust, all-hazards response plans” as stated in National Response Framework.
This test method is part of a test suite and is intended to provide a capability baseline for the robotic HSI subsystems based on the identified needs of the emergency response community. Adequate performance using this test suite will not ensure successful operation in all emergency response situations due to possible extreme operational difficulties. Rather, this test method is intended to provide a common comparison of technologies against a reasonable simulation of emergency response environments and to provide quantitative performance data to emergency response organizations to aid in choosing appropriate systems. This standard is also intended to encourage development of improved and innovative communications systems for use on emergency response robots.  
The standard apparatus is specified to be easily fabricated to facilitate self-evaluation by robot developers and provide practice tasks for emergen...
SCOPE
1.1 Purpose:
1.1.1 The purpose of this test method, as a part of a suite of human-system interactions (HSI) test methods, is to quantitatively evaluate a teleoperated ground robot’s (see Terminology E2521) capability of searching in a maze.
1.1.2 Teleoperated robots shall possess a certain set of HSI capabilities to suit critical operations such as emergency responses, including enabling the operators to search for required targets. A passage that forms on complex terrains and possesses complex and visually similar branches is a type of environments that exists in emergency response and other robotically applicable situations. The complexity often poses challenges for the operators to teleoperate the robots to conduct searches. This test method is based on a standard maze and specifies metrics and a procedure for testing the search capability.
1.1.3 Emergency response robots shall enable the operator to handle many types of tasks. The required HSI capabilities include search and navigation on different types of terrains, passages, and confined spaces. Standard test methods are required to evaluate whether candidate robots meet these requirements.
1.1.4 ASTM E54.08.01 Task Group on Robotics specifies a HSI test suite, which consists of a set of test methods for evaluating these HSI capability requirements. This random maze searching test method is a part of the HSI test suite. The apparatuses associated with the test methods challenge specific robot capabilities in repeatable ways to facilitate comparison of different robot models as well as particular configurations of similar robot models. (See Fig. 1.)
1.1.5 The test methods quantify elemental HSI capabilities necessary for ground robots intended for emergency response applications. As such, based on their particular capability requirements, users of this test suite can select only the applicable test methods and can individually weight particular test met...

General Information

Status
Historical
Publication Date
31-Jan-2012
ICS
13.200 - Accident and disaster control
Technical Committee
E54 - Homeland Security Applications
Drafting Committee
E54.09 - Response Robots
Current Stage
Ref Project

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ASTM E2853-12 - Standard Test Method for Evaluating Emergency Response Robot Capabilities: Human-System Interaction (HSI): Search Tasks: Random Mazes with Complex TerrainASTM E2853-12 - Standard Test Method for Evaluating Emergency Response Robot Capabilities: Human-System Interaction (HSI): Search Tasks: Random Mazes with Complex Terrain
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ASTM E2853-12 - Standard Test Method for Evaluating Emergency Response Robot Capabilities: Human-System Interaction (HSI): Search Tasks: Random Mazes with Complex Terrain
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NOTICE: This standard has either been superseded and replaced by a new version or withdrawn.
Contact ASTM International (www.astm.org) for the latest information
Designation: E2853 − 12
Standard Test Method for
Evaluating Emergency Response Robot Capabilities:
Human-System Interaction (HSI): Search Tasks: Random
1
Mazes with Complex Terrain
This standard is issued under the fixed designation E2853; the number immediately following the designation indicates the year of
original adoption or, in the case of revision, the year of 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.
1. Scope applicable test methods and can individually weight particular
test methods or particular metrics within a test method. The
1.1 Purpose:
testing results should collectively represent a ground robot’s
1.1.1 The purpose of this test method, as a part of a suite of
overall HSI capability. The test results can be used to guide
human-system interactions (HSI) test methods, is to quantita-
procurement specifications and acceptance testing for robots
tively evaluate a teleoperated ground robot’s (see Terminology
intended for emergency response applications.
E2521) capability of searching in a maze.
1.1.2 Teleoperated robots shall possess a certain set of HSI
NOTE 1—The teleoperation performance is affected by the robot’s as
capabilities to suit critical operations such as emergency
well as the operator’s capabilities. Among all the standard test methods
responses, including enabling the operators to search for
thatASTME54.08.01TaskGrouponRoboticshasspecified,somedepend
required targets.Apassage that forms on complex terrains and
more on the former while the others on the latter, but it would be
extremely hard to totally isolate the two factors. This HSI test suite is
possesses complex and visually similar branches is a type of
specified to focus on evaluating the operator’s capabilities of interacting
environments that exists in emergency response and other
with the robotic system, whereas a separately specified sensor test suite,
robotically applicable situations. The complexity often poses
including Test Method E2566, focuses on the robots’sensing capabilities.
challengesfortheoperatorstoteleoperatetherobotstoconduct
NOTE 2—As robotic systems are more widely applied, emergency
searches. This test method is based on a standard maze and
responders might identify additional or advanced HSI capability require-
specifies metrics and a procedure for testing the search
ments to help them respond to emergency situations. They might also
capability.
desire to use robots with higher levels of autonomy, beyond teleoperation
1.1.3 Emergency response robots shall enable the operator to help reduce their workload—see NIST Special Publication 1011-II-1.0.
Further, emergency responders in expanded emergency response domains
to handle many types of tasks. The required HSI capabilities
might also desire to apply robotic technologies to their situations, a source
include search and navigation on different types of terrains,
for new sets of requirements. As a result, additional standards within the
passages, and confined spaces. Standard test methods are
suite would be developed. This standard is, nevertheless, standalone and
required to evaluate whether candidate robots meet these
complete.
requirements.
1.2 Performing Location—This test method shall be per-
1.1.4 ASTM E54.08.01 Task Group on Robotics specifies a
formed in a testing laboratory or the field where the specified
HSI test suite, which consists of a set of test methods for
apparatus and environmental conditions are implemented.
evaluating these HSI capability requirements. This random
maze searching test method is a part of the HSI test suite. The
1.3 Units—The values stated in SI units are to be regarded
apparatuses associated with the test methods challenge specific
as the standard.The values given in parentheses are not precise
robotcapabilitiesinrepeatablewaystofacilitatecomparisonof
mathematical conversions to inch-pound units. They are close
different robot models as well as particular configurations of
approximate equivalents for the purpose of specifying material
similar robot models. (See Fig. 1.)
dimensions that are readily available to avoid excessive fabri-
1.1.5 The test methods quantify elemental HSI capabilities
cation costs of test apparatuses while maintaining repeatability
necessary for ground robots intended for emergency response
and reproducibility of the test method results. These values
applications. As such, based on their particular capability
given in parentheses are provided for information only and are
requirements, users of this test suite can select only the
not considered standard.
1.4 This standard does not purport to address all of the
1
This test method is under the jurisdiction of ASTM Committee E54 on
safety concerns, if any, associated with it
...

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5.3 The test apparatuses are low cost and easy to fabricate so they can be widely replicated. The procedure is also simple to conduct. This eases comparisons across various testing locations and dates to determine best-in-class systems and operators.  
5.4 Evaluation—This test method can be used in a controlled environment to measure baseline capabilities. It can also be embedded into operational training scenarios to measure degradation due to uncontrolled variables in lighting, weather, radio communications, GPS accuracy, etc.  
5.5 Procurement—This test method can be used to identify inherent capability trade-offs in systems, make informed purchasing decisions, and verify performance during acceptance testing. This aligns requirement specifications and user expectations with existing capability limits.  
5.6 Training—This test method can be used to focus operator training as a repeatable practice task or as an embedded task within training scenarios. The resulting measures of remote opera...
SCOPE
1.1 This test method is intended for remotely operated ground robots operating in complex, unstructured, and often hazardous environments. It specifies the apparatuses, procedures, and performance metrics necessary to measure the capability of a robot to traverse complex terrains in the form of symmetric stepfields. This test method is one of several related mobility tests that can be used to evaluate overall system capabilities.  
1.2 The robotic system includes a remote operator in control of all functionality, so an onboard camera and remote operator display are typically required. Assistive features or autonomous behaviors that improve the effectiveness or efficiency of the overall system are encouraged.  
1.3 Different user communities can set their own thresholds of acceptable performance within this test method for various mission requirements.  
1.4 Performing Location—This test method may be performed anywhere the specified apparatuses and environmental conditions can be implemented.  
1.5 Units—The International System of Units (SI Units) and U.S. Customary Units (Imperial Units) are used throughout this document. They are not mathematical conversions. Rather, they are approximate equivalents in each system of units to enable use of readily available materials in different countries. This avoids excessive purchasing and fabrication costs. The differences between the stated dimensions in each system of units are insignificant for the purposes of comparing test method results, so each system of units is separately considered standard within this test method.  
1.6 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use.  
1.7 This international standard was developed in ...

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ASTM
ASTM E2827/E2827M-20(Test Method)
Standard Test Method for Evaluating Response Robot Mobility Using Crossing Pitch/Roll Ramp Terrains

SIGNIFICANCE AND USE
5.1 This test method is part of an overall suite of related test methods that provide repeatable measures of robotic system mobility and remote operator proficiency. This crossing (discontinuous) pitch/roll ramp terrain specifically challenges robotic system locomotion, suspension systems to maintain traction, rollover tendencies, self-righting in complex terrain (if necessary), chassis shape variability (if available), and remote situational awareness by the operator. As such, it can be used to represent modest outdoor terrain complexity or indoor debris within confined areas.  
5.2 The overall size of the terrain apparatus can vary to provide different constraints depending on the typical obstacle spacing of the intended deployment environment. For example, the terrain with containment walls can be sized to represent repeatable complexity within bus, train, or plane aisles; dwellings with hallways and doorways; relatively open parking lots with spaces between cars; or unobstructed terrains.  
5.3 The test apparatuses are low cost and easy to fabricate so they can be widely replicated. The procedure is also simple to conduct. This eases comparisons across various testing locations and dates to determine best-in-class systems and operators.  
5.4 Evaluation—This test method can be used in a controlled environment to measure baseline capabilities. It can also be embedded into operational training scenarios to measure degradation due to uncontrolled variables in lighting, weather, radio communications, GPS accuracy, etc.  
5.5 Procurement—This test method can be used to identify inherent capability trade-offs in systems, make informed purchasing decisions, and verify performance during acceptance testing. This aligns requirement specifications and user expectations with existing capability limits.  
5.6 Training—This test method can be used to focus operator training as a repeatable practice task or as an embedded task within training scenarios. The resulting mea...
SCOPE
1.1 This test method is intended for remotely operated ground robots operating in complex, unstructured, and often hazardous environments. It specifies the apparatuses, procedures, and performance metrics necessary to measure the capability of a robot to traverse complex terrains in the form of crossing (discontinuous) pitch/roll ramps. This test method is one of several related mobility tests that can be used to evaluate overall system capabilities.  
1.2 The robotic system includes a remote operator in control of all functionality, so an onboard camera and remote operator display are typically required. Assistive features or autonomous behaviors that improve the effectiveness or efficiency of the overall system are encouraged.  
1.3 Different user communities can set their own thresholds of acceptable performance within this test method for various mission requirements.  
1.4 Performing Location—This test method may be performed anywhere the specified apparatuses and environmental conditions can be implemented.  
1.5 Units—The International System of Units (SI Units) and U.S. Customary Units (Imperial Units) are used throughout this document. They are not mathematical conversions. Rather, they are approximate equivalents in each system of units to enable use of readily available materials in different countries. This avoids excessive purchasing and fabrication costs. The differences between the stated dimensions in each system of units are insignificant for the purposes of comparing test method results, so each system of units is separately considered standard within this test method.  
1.6 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use.  
1.7 This international stand...

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