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ASTM F457-94(1999)

(Test Method)

Standard Test Method for Speed and Distance Calibration of a Fifth Wheel Equipped With Either Analog or Digital Instrumentation

Standard Test Method for Speed and Distance Calibration of a Fifth Wheel Equipped With Either Analog or Digital Instrumentation

SCOPE
1.1 This test method covers the determination of vehicle speed and cumulative distance traveled using a device termed a fifth wheel and using appropriate associated instrumentation.
1.2 This test method also describes the calibration technique applicable to digital or analog speed and distance measurement systems employing a fifth wheel.
1.3 The values stated in SI (millimeter-kilogram) units are to be regarded as the standard.
1.4 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 and health practices and determine the applicability of regulatory limitations prior to use. For specific precautionary statements, see Section 6.

General Information

Status
Historical
Publication Date
09-Sep-1999
ICS
43.020 - Road vehicles in general
Technical Committee
F09 - Tires
Drafting Committee
F09.10 - Equipment, Facilities and Calibration
Current Stage
Ref Project

Relations

Replaced By
ASTM F457-04 - Standard Test Method for Speed and Distance Calibration of Fifth Wheel Equipped With Either Analog or Digital Instrumentation
Effective Date
01-Dec-2004
Referred By
ASTM F1572-21 - Standard Test Methods for Tire Performance Testing on Snow and Ice Surfaces
Effective Date
10-Sep-1999
Referred By
ASTM F559-05(2017) - Standard Test Method for Measuring Length of Road Test Courses Using a Fifth Wheel
Effective Date
10-Sep-1999
Referred By
ASTM F408-21 - Standard Test Method for Tires for Wet Traction in Straight-Ahead Braking, Using a Towed Trailer
Effective Date
10-Sep-1999
Referred By
ASTM F1649-20 - Standard Test Methods for Evaluating Wet Braking Traction Performance of Passenger Car Tires on Vehicles Equipped with Anti-Lock Braking Systems
Effective Date
10-Sep-1999
Referred By
ASTM F762/F762M-08(2020)e1 - Standard Test Method for Determining Change in Groove (or Void) Depth With Distance Traveled for Passenger Car Tires
Effective Date
10-Sep-1999

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ASTM F457-94(1999) - Standard Test Method for Speed and Distance Calibration of a Fifth Wheel Equipped With Either Analog or Digital InstrumentationASTM F457-94(1999) - Standard Test Method for Speed and Distance Calibration of a Fifth Wheel Equipped With Either Analog or Digital Instrumentation
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ASTM F457-94(1999) - Standard Test Method for Speed and Distance Calibration of a Fifth Wheel Equipped With Either Analog or Digital Instrumentation
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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:F457–94 (Reapproved 1999)
Standard Test Method for
Speed and Distance Calibration of a Fifth Wheel Equipped
With Either Analog or Digital Instrumentation
This standard is issued under the fixed designation F 457; 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 (e) indicates an editorial change since the last revision or reapproval.
1. Scope 3.4 Fifth wheel calibration is performed by operating the
device at a fixed speed over a known distance and comparing
1.1 This test method covers the determination of vehicle
the speed and distance readout to a known speed and distance.
speed and cumulative distance traveled using a device termed
a fifth wheel and using appropriate associated instrumentation.
4. Significance and Use
1.2 Thistestmethodalsodescribesthecalibrationtechnique
4.1 This test method may be used for calibration of speed
applicable to digital or analog speed and distance measurement
and distance measurement systems used on tire test vehicles
systems employing a fifth wheel.
and tire test trailers, or any land-based vehicle that contacts the
1.3 The values stated in SI (millimeter-kilogram) units are
road and which uses a trailing-wheel system for measurement
to be regarded as the standard.
of speed and distance. This test method applies only to hard,
1.4 This standard does not purport to address all of the
dry, smooth surfaces and is not accurate for highly curved
safety concerns, if any, associated with its use. It is the
vehicle paths. This test method does not encompass optical
responsibility of the user of this standard to establish appro-
types of devices.
priate safety and health practices and determine the applica-
bility of regulatory limitations prior to use. For specific
5. Apparatus
precautionary statements, see Section 6.
5.1 Fifth Wheel—The fifth-wheel assembly shall be of
2. Referenced Documents sufficient mechanical integrity to withstand long periods of
sustained operation with minimal maintenance. The wheel
2.1 ASTM Standards:
vertical pivot assembly shall be sufficient to permit directional
F 1082 Practice for Tires—Determining Precision for Test
2 changes without inducing lateral skidding of the fifth-wheel
Method Standards
tire. The fifth-wheel assembly shall be equipped with a
3. Summary of Test Method suspension capable of minimizing bounce and wheel hop, due
to roadway irregularities, to the extent necessary to ensure
3.1 Vehicle speed and distance determinations are made by
measurement accuracy. The wheel shall be equipped with a
use of a fifth wheel, signal transducer(s), and compatible
suitable tire, preferably of a straight-ribbed design. The tires
display devices.
shall have a minimum (new) size of 349–37 (16 3 1 ⁄8). Tire
3.2 The fifth wheel assembly and signal transducer(s) are
and wheel shall be balanced statically each time the tire is
attached to the vehicle or the test trailer so that the fifth wheel
replaced.
remains in contact with the normal roadway surface while the
5.2 Instrumentation—Fifth-wheel systems shall be
equipment is in motion. The rotation of this wheel is detected
equipped with either analog or digital instrumentation for
in a suitable manner and is translated into measurements of
determining wheel rotation. Suitable readouts shall be pro-
vehicle speed and distance with auxiliary equipment.
vided.
3.3 The speed is to be communicated to the vehicle operator
5.2.1 Analog Instrumentation:
at all times, and should be visible without undue distraction or
5.2.1.1 Generator (tachometer)—The generator shall be
a requirement for physical movement on the part of the
coupled to the fifth wheel to produce an electrical output
operator.
proportional to the angular velocity (converted into linear
velocity expressed in km/h (mph)) of the fifth wheel. The
generator output shall be continuously proportional to the
This test method is under the jurisdiction of ASTM Committee F09 on Tires
and is the direct responsibility of Subcommittee F09.10 on Equipment, Facilities,
rotational velocity within the required tolerance. The generator
and Calibration.
output shall be biased after engineering unit conversion by an
Current edition approved Feb. 15, 1994. Published May 1994. Originally
amount less than or equal to 0.5 % of the converted speed, or
published as F 457 – 76. Last previous edition F 457 – 86.
Annual Book of ASTM Standards, Vol 09.02. 0.3 km/h (0.2 mph), whichever is greater. The generator
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959, United States.
F457
response to changes in speed shall not exceed 0.5 s throughput. 5.3 Tire Pressure, to be accurate to 3 kPa (0.5 psi).
Generator operation shall not be degraded by direct or con- 5.4 Stopwatch (required only for analog instrumented fifth
densed moisture, road film, petroleum residue, dust, salt, or wheel).
other environmental contaminates and ambient temperature
6. Safety Precautions
extremes.
6.1 Fifth-wheelassembliesshallbeinspectedperiodicallyto
5.2.1.2 Speed Readout— The display shall measure the
assure security of attachment. A safety chain is recommended
generator output and display the output as kilometres per hour
to prevent loss under extreme operating conditions. Wheel
(miles per hour). The generator output readout shall be
assemblies should not be subjected to undue side forces, or
equippedwithalowpassactivefilterthatwillreducetheripple
other conditions that may either impair accuracy or present a
output of the generator to less than or equal to 1 % of the
hazard to adjacent vehicles.
measured signal or 0.8 km/m (0.5 mph) peak to peak, which-
ever is greater. The maximum propagation delay of the
7. Calibration Procedure
filter/readout combination shall not exceed 0.5 s. The readout
7.1 Since analog instrumentation measures fifth-wheel an-
shall be biased to an amount less than or equal to 1.0 % of the
gular velocity and digital instrumentation measures angular
true speed, 0.5 km/h (0.3 mph), whichever is greater.
displacement, follow different calibration procedures for each
5.2.1.3 Distance Readout—The distance measuring device
system. In either case, accomplish calibration by adjustments
shall consist of a counter actuated by the fifth wheel with an
of electronics rather than tire pressure or other mechanical
output of at least 31 counts per metre (10 counts per foot).
means.Adjustment of tire pressure may affect the dynamics of
Distance traveled is calculated by multiplying the distance per
the fifth-wheel suspension and may disrupt optimum tire-road
pulse by the number of pulses indicated. The count shall be
contact. However, small tire inflation pressure changes less
restorable to zero and possess sufficient digit capacity to
than 5 psi may be used for small recalibration adjustments.
minimize the need for recycling the count during testing. The
7.2 Fifth-Wheel Preparation:
analog integration of an electrical generator signal to yield a
7.2.1 Install the fifth wheel according to the manufacturer’s
distance measurement is not recommended. The distance
instructions and as near as possible to the mid-track position of
measuringdeviceshallhaveacapabilityofaresolutionof8cm
the vehicle.
(3 in.).
7.2.2 Adjust the fifth-wheel tire pressure to the manufactur-
5.2.2 Digital Instrumentation:
er’s specification.
5.2.2.1 Transducer—The digital transducer shall produce a
7.2.3 It is common practice that the fifth wheel be prepared
periodic electrical signal whose period is some integer fraction
for testing by running at least 8 km (5 miles) at approximately
of the revolution rate of the fifth wheel, and there shall be a
64 km/h (40 mph) immediately before use. Normal travel in
minimum of ten signal counts per 0.3 m (1 ft) of travel of the
preparation for calibration fulfills this requirement.
fifth wheel along the vehicle path. The transducer shall be
7.3 Analog Calibration—The ultimate accuracy of speed
capable of providing the periodic electrical signals at speeds
measurements is determined principally by the accuracy to
from zero to the maximum speed necessary for the test being
which the speed per volt or current calibration can be estab-
conducted. Transducer operation shall not be degraded by
lished and how constant this calibration remains over the range
direct or condensed moisture, road film, petroleum residue,
of speed and over time. The accuracy of the distance measure-
dust, salt, or other environmental contaminates and ambient
ment is dependent primarily upon the accuracy to which the
temperature extremes.
distance traveled per revolution of the fifth wheel can be
5.2.2.2 Distance Readout—The distance display presented
determined. The number of fifth wheel revolutions should be
to the operator shall consist of a digital number representing
determinable to 60.1 revolution in 0.8 km (0.5 mi) distance,
the distance traveled. The use of analog integration is not
measured with a NIST method (or ASTM or SAE method).
recommended unless equipment adjustments can be main-
This calibration should be accomplished by adjustments of
tained within the tolerances stated below, over the expected
electronics rather than tire pressure or other mechanical means.
ambient temperature range. The distance measuring device
Adjustmentoftirepressuremayaffectthedynamicsofthefifth
shall have a capability of a resolution of 0.0766 0.038 m (0.25
wheel suspension and may disrupt optimum t
...

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Standard Test Method for Navigation: Defined Area

SIGNIFICANCE AND USE
5.1 A-UGVs operate in a wide range of applications such as manufacturing facilities and warehouses. Fig. 1 shows three example A-UGV types and test apparatus sizes to test A-UGVs intended for different vehicle tasks, types, sizes, and capabilities. Such sites can have both defined and undefined areas that are structured and unstructured. The testing results of the candidate A-UGV shall describe, in a statistically significant way, the ability of the A-UGV to navigate through a defined area with or without impairments. Whether or not an A-UGV is able to deviate from its path, or uses features of the local environment as input to its navigation method or both, should not result in a different test method. Rather, the capabilities of the A-UGV to adapt its navigation method in a given environment will be objectively determined by its performance in the test method.  
5.2 Three different manners in which a test method apparatus can be rendered are specified for use: physical boundaries, virtual boundaries, and floor markings (see Section 6 for apparatus specifics). Two types of impairments are specified that can be utilized as the defined area as part of a navigation test: obstacles and communication impairments (see Section 7 for more detail). The apparatuses and impairments chosen shall be appropriate to the application and environment in which the A-UGV will be used.  
5.3 These test methods address A-UGV performance requirements expressed by A-UGV manufacturers and potential A-UGV users. The performance data captured by these test methods are indicative of the capabilities of the A-UGV and the application represented by the test.  
5.4 The test apparatuses are scalable to constrain A-UGV sizes in defined areas to meet current and advanced next generation manufacturing and distribution facility operations.  
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SCOPE
1.1 Purpose:  
1.1.1 The purpose of this test method is to evaluate an automatic, automated, or autonomous-unmanned ground vehicle’s (A-UGV) capability of traversing through a defined space with limited A-UGV clearance. This test method is intended for use by A-UGV manufacturers, installers, and users. This test method defines a set of generic 2D area shapes representative of user applications and for different A-UGV types.  
1.1.2 A-UGVs shall possess a certain set of navigation capabilities appropriate to A-UGV operations. Two examples of such capabilities include A-UGV movement between structures that define the vehicle path or obstacle avoidance. A navigation system is the monitoring and controlling functions of the A-UGV, providing frequent A-UGV updates of vehicle movement from one place to another. A-UGV environments often include various constraints to A-UGV mobility, such as boundaries and obstacles. In this test method, apparatuses, impairments, procedures, tasks, and metrics are specified that apply constraints and thereby, standard test methods for determining an A-UGV’s navigation capabilities are defined.  
1.1.3 This test method is scalable to provide a range of dimensions to constrain the A-UGV mobility during task performance.  
1.1.4 A-UGVs shall be able to handle many types of open and defined area complexities with appropriate precision and accuracy to perform a particular task.  
1.1.5 The required mobility capabilities include either preprogrammed movement, autonomous movement, or a combination of both, from a start location to an end location. Further mobility requirements may include: sustained speeds, vehicle reconfiguration to pass through defined spaces, payload, A-UGV movement within constrained volumes, A-UGV avoidance of obstacles while navigating, or other vehicle capabilities, or combinations thereof. This test method is designed such that a candidate A-UGV can be evaluated as to whe...

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ASTM F3470-20(Guide)
Standard Guide for A-UGV Capabilities

SIGNIFICANCE AND USE
5.1 This guide is intended to be used by manufacturers and users of A-UGVs: (1) to fully define capabilities of their A-UGV(s) or (2) to allow the standard requestor to describe the A-UGV capabilities required for the requested A-UGV to align with assigned task(s). A-UGVs that are covered within ASTM Committee F45 are industrial vehicles that, for example, can be automatic guided vehicles through mobile robots, can be pre-programmed-through-autonomously controlled, can operate indoors or outdoors in infinitely diverse environmental conditions and therefore, with infinitely diverse functionality. To fully describe and measure the usefulness of these vehicles, functionality can be divided into categories where associated capabilities can be independently measured. This guide therefore provides a decomposition of many, perhaps not all, categories and capabilities that are typical of current A-UGVs globally marketed.  
5.2 Capability Categories:  
5.2.1 Goal Navigation: Pre-Programmed—Capabilities are the various abilities of the A-UGV to navigate a series of externally-defined waypoints on the way to a final goal.  
5.2.2 Goal Navigation: In situ—Capabilities are the various abilities of the A-UGV to navigate to a final goal by using the A-UGV system’s internal logic to determine the route.  
5.2.3 Localization—Capabilities are the various abilities of the A-UGV to determine its pose within an environment map.  
5.2.4 Docking—Capabilities are the various abilities of the A-UGV to stop at a position relative to another object or an absolute position in an environment.  
5.2.4.1 Infrastructure Dependence—Sub-category describing the need of the A-UGV to rely on features in the environment for Goal Navigation: Pre-Programmed, Goal Navigation: In-Situ, Localization, or Docking.  
5.2.5 Obstacle Avoidance: Single Vehicle—Capabilities are the various abilities of the A-UGV not to collide with an obstacle(s).  
5.2.5.1 Types of objects that can be avoided and are with...
SCOPE
1.1 This guide categorizes the autonomous capabilities of an automatic through autonomous-unmanned ground vehicle (A-UGV) based on the following list of capability categories:
(a) Goal Navigation: Pre-Programmed;
(b) Goal Navigation: In situ;
(c) Localization;  
(d) Docking—Infrastructure Dependence;
(e) Obstacle Avoidance—Types of objects that can be avoided and are within the A-UGV envelope, and types of objects that can be avoided and are outside of the A-UGV envelope;
(f) Changing Contour Area or Envelope;
(g) Changing Payload;  
(h) Impaired Communication Behavior;  
(i) Lost Communication Behavior;  
(j) Environmental Conditions;
(k) Fleet Makeup—Fleet Task Assignment, Information Sharing/Updating, Fleet Navigation Coordination, and Fleet Task Coordination.  
1.2 This guide provides a basis for A-UGV manufacturers and users to compare the intended task to the A-UGV capability. This guide does not purport to cover all relevant capabilities or categories that an A-UGV can perform. Instead, this guide provides a method for defining A-UGV capabilities and limits of A-UGV capabilities within specified categories listed in 1.1.  
1.3 One or more capabilities may be used to define the A-UGV capability and not all categories are required to be used for defining the capability of an A-UGV.  
1.4 The values stated in SI units are to be regarded as the standard. The values given in parentheses are not precise mathematical conversions to imperial units. They are close approximate equivalents for the purpose of specifying material dimensions or quantities that are readily available to avoid excessive fabrication costs of test apparatuses while maintaining repeatability and reproducibility of the test method results. These values given in parentheses are provided for information only and are not considered standard.  
1.5 This standard does not purport to address all of the safety concerns, if any, associat...

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ASTM F3381-19(Practice)
Standard Practice for Describing Stationary Obstacles Utilized within A-UGV Test Methods

SIGNIFICANCE AND USE
4.1 This section lists and explains the characteristics that are used to describe a stationary obstacle.  
4.2 It is essential that sufficient information about the obstacle is recorded using this practice so that the obstacle can be replicated. This will allow comparisons to be made between test method performances that use obstacles with similar characteristics.  
4.3 Class:  
4.3.1 When describing an obstacle to be utilized in ASTM Committee F45 test methods, two classes are defined:
4.3.1.1 Genuine—The obstacle being described is an existing real world object (for example, a chair, table, machinery, or equipment). Any identifying information, such as make, model, SKU, etc., should be recorded.
4.3.1.2 Artifact—The obstacle being described has been constructed according to the characteristics outlined in this section. Obstacles of this class are intended to be replicable.  
4.4 Parts of the Obstacle:  
4.4.1 Each characteristic can be used to describe a property of the entire obstacle or a part of the obstacle. All parts of the obstacle must be uniquely named and identified in the test report described in Section 6.  
4.5 Shape:  
4.5.1 The shape refers to the relationships between the external, physical boundaries of the obstacle. All shapes can be in contact with the ground or elevated above the ground (see Fig. 1, Fig. 2, and Fig. 3). The unique obstacle shapes are:
4.5.1.1 Bar (for example, column)
4.5.1.2 Panel (for example, sign, pallet, shelf)
4.5.1.3 Cuboid
4.5.1.4 Sphere
4.5.1.5 Cone
4.5.1.6 Other—Obstacle shapes that do not fall into one of the above categories (for example, a pile of fabric). An obstacle can use a single shape to describe its overall volume or multiple shapes to describe parts of the obstacle. For example, the shape of a desk could be described as an elevated horizontal panel with two vertical panels spanning from the ground to the horizontal panel or the shape of a table could be described as an elevated hori...
SCOPE
1.1 This practice specifies physical characteristics that can be used to describe obstacles utilized within ASTM Committee F45 test methods. The obstacle characteristics specified in this practice are not described with respect to the manner in which they will be sensed or detected by an A-UGV. Rather, the obstacles are described according to their real world characteristics. For example, the real world characteristics of a wooden box that is flat black on one side can be described according to its actual dimensions, material, and color. An A-UGV with a lidar sensor may have difficulty detecting the side of the box that is flat black, which could make the obstacle appear smaller to the A-UGV compared to its actual dimensions in the real world. However, this may not be the case for other A-UGVs due to the wide variety of sensors used to detect obstacles, so the actual, real world characteristics are used to describe it instead.  
1.2 Real world, existing objects can be used as obstacles and described using this practice. The characteristics specified herein can also be used to construct test artifacts to use as representative obstacles that are intended to have similar characteristics to that of real world obstacles. The obstacles that can be described using this practice may be found in indoor and outdoor environments.  
1.3 This practice does not purport to cover all relevant obstacle characteristics that may have an effect on A-UGV performance. The characteristics specified in this practice are limited to the physical properties which are considered to be the most salient in terms of the effects they can have on A-UGV performance. As such, the user of this standard may select the level of detail to use in order to describe the characteristics of an obstacle in such a way. The characteristics are also limited to those which are more easily measurable and replicable when comparing test method results that use similar o...

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ASTM F3218-19(Practice)
Standard Practice for Documenting Environmental Conditions for Utilization with A-UGV Test Methods

SIGNIFICANCE AND USE
4.1 This section provides a description of the environmental conditions listed in Section 1 and describes the sub-conditions within each condition. Examples provided for many of the conditions and sub-conditions are provided as guidance only. Each of the conditions described should be evaluated and documented as set forth in Sections 5, 6, and 7.  
4.2 Environmental Consistency: Static, Dynamic, Transitional:  
4.2.1 Static is when the environment is similar throughout the test apparatus. For example, there are minor fluctuations in temperature throughout the apparatus as shown in Fig. 1 and Fig. 2. Dynamic is when the environment significantly differs within the test apparatus. For example, when the temperature changes between repetitions as shown in Fig. 3. Transitional is when the environment significantly differs in different areas within the test apparatus as shown in Fig. 4. The intent here is to not give specific guidance, but to provide a high-level classification of a particular set of environmental conditions. If environment consistency is dynamic or transitional, or both, a report form (see Section 7) for each unique set of environmental conditions should be completed.
FIG. 1 Example of Static Environment using Temperature
FIG. 2 Example of Static Environment using Temperature and Showing a Transition between Two Static Environments
FIG. 3 Example of Dynamic Environment using Temperature and Showing that the Environment Changed during the Test
FIG. 4 Example of Transitional Environment using Temperature; Portions of the Environment May Remain Static or May Be Dynamic (for example, Cold to Colder)  
4.3 Lighting:  
4.3.1 Various lighting conditions can potentially affect A-UGV optical sensor performance by affecting sensor and in turn, A-UGV responsiveness. Lighting sources can include ambient lighting as well as light emitters associated A-UGV operation. Two setups for lighting include direct or ambient source(s) applied to the A-UGV. Direct...
SCOPE
1.1 When conducting test methods, it is important to consider the role that the environmental conditions play in the Automatic through Autonomous – Unmanned Ground Vehicle (A-UGV) performance. Various A-UGVs are designed to be operated both indoors and outdoors under conditions specified by the manufacturer. Likewise, end users of the A-UGV will be operating these vehicles in a variety of environmental conditions. When conducting and replicating F45 test methods by vehicle manufacturers and users, it is important to specify and document the environmental conditions under which the A-UGV is to be tested as there will be variations in vehicle performance caused by the conditions, especially when comparing and replicating sets of test results. It is also important to consider changes in environmental conditions during the course of operations (for example, transitions between conditions). As such, environmental conditions specified in this practice are static, dynamic, or transitional, or combinations thereof; with the A-UGV stationary or in motion. This practice provides brief introduction to the following list of environmental conditions that can affect performance of the A-UGV: Lighting, External sensor emission, Temperature, Humidity, Electrical Interference, Air quality, Ground Surface, and Boundaries. This practice then breaks down each condition into sub-categories so that the user can document the various aspects associated with the category prior to A-UGV tests defined in ASTM F45 Test Methods (for example, F3244). It is recommended that salient environment conditions be documented when conducting F45 test methods.  
1.2 The environmental conditions listed in 1.1 to be documented for A-UGV(s) being tested are described and parameterized in Section 4 and allow a basis for performance comparison in test methods. The approach is to divide the list of environmental conditions into sub-conditions that represent the var...

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