ASTM E2853/E2853M-22
(Test Method)Standard Test Method for Evaluating Ground Response Robot Capabilities: Search Tasks
Standard Test Method for Evaluating Ground Response Robot Capabilities: Search Tasks
SIGNIFICANCE AND USE
5.1 This test method is part of an overall suite of related test methods that provide repeatable measures of human-system interaction capability including robotic system mobility, dexterity, inspection, remote operator proficiency, and situational awareness. In particular, the operator control unit (OCU) design and interface features may impact the operator’s ability to perform movement and inspection tasks with the robot.
5.2 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, dates, and times to determine best-in-class systems and operators.
5.3 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.
5.4 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.
5.5 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 operator proficiency enable tracking of perishable skills over time, along with comparisons of performance across squads, regions, or national averages.
5.6 Innovation—This test method can be used to inspire technical innovation, demonstrate break-through capabilities, and measure the reliability of systems performing specific tasks within an overall mission sequence. Combining or sequencing multiple test methods can guide manufacturers toward implementing the combinations of capabilities necessary to perform essential mission tasks.
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 maneuver and search throughout an environment to inspect objects of interest while negotiating complex terrain. This test method is one of several related human-system interaction tests that can be used to evaluate overall system capabilities.
1.2 The robotic system typically 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 may improve the effectiveness or efficiency of the overall system.
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 (a.k.a. SI Units) and U.S. Customary Units (a.k.a. Imperial Units) are used throughout this test method. 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. 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 i...
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This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the
Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.
Designation: E2853/E2853M − 22
Standard Test Method for
Evaluating Ground Response Robot Capabilities: Search
1
Tasks
ThisstandardisissuedunderthefixeddesignationE2853/E2853M;thenumberimmediatelyfollowingthedesignationindicatestheyear
of original adoption or, in the case of revision, the year of last revision.Anumber in parentheses indicates the year of last reapproval.
A superscript epsilon (´) indicates an editorial change since the last revision or reapproval.
INTRODUCTION
Theroboticscommunityneedswaystomeasurewhetheraparticularrobotiscapableofperforming
specificmissionsincomplex,unstructured,andoftenhazardousenvironments.Thesemissionsrequire
various combinations of elemental robot capabilities. Each capability can be represented as a test
method,withanassociatedapparatus,toprovidetangiblechallengesforvariousmissionrequirements
and performance metrics to communicate results. These test methods can then be combined and
sequenced to evaluate essential robot capabilities and remote operator proficiencies necessary to
successfully perform intended missions.
TheASTM International Standards Committee on Homeland SecurityApplications (E54) specifies
these standard test methods to facilitate comparisons across different testing locations and dates for
diverse robot sizes and configurations.These standards support robot researchers, manufacturers, and
user organizations in different ways. Researchers use the standards to understand mission
requirements, encourage innovation, and demonstrate break-through capabilities. Manufacturers use
the standards to evaluate design decisions, integrate emerging technologies, and harden systems.
Emergency responders and soldiers use them to guide purchasing decisions, align deployment
expectations, and focus training with standard measures of operator proficiency. Associated usage
guides describe how these standards can be applied to support various objectives.
Several suites of standards address these elemental capabilities including maneuvering, mobility,
dexterity, sensing, energy, communications, durability, proficiency, autonomy, and logistics. This
standard is part of the Human-System Interaction (HSI) suite of test methods.
1. Scope autonomous behaviors may improve the effectiveness or effi-
ciency of the overall system.
1.1 This test method is intended for remotely operated
ground robots operating in complex, unstructured, and often
1.3 Different user communities can set their own thresholds
hazardous environments. It specifies the apparatuses,
of acceptable performance within this test method for various
procedures, and performance metrics necessary to measure the
mission requirements.
capability of a robot to maneuver and search throughout an
1.4 Performing Location—This test method may be per-
environment to inspect objects of interest while negotiating
formed anywhere the specified apparatuses and environmental
complex terrain. This test method is one of several related
conditions can be implemented.
human-system interaction tests that can be used to evaluate
overall system capabilities.
1.5 Units—The International System of Units (a.k.a. SI
Units) and U.S. Customary Units (a.k.a. Imperial Units) are
1.2 The robotic system typically includes a remote operator
used throughout this test method. They are not mathematical
incontrolofallfunctionality,soanonboardcameraandremote
conversions. Rather, they are approximate equivalents in each
operator display are typically required. Assistive features or
system of units to enable use of readily available materials in
different countries. The differences between the stated dimen-
sions in each system of units are insignificant for the purposes
1
This test method is under the jurisdiction of ASTM Committee E54 on
of comparing test method results, so each system of units is
Homeland Security Applications and is the direct responsibility of Subcommittee
separately considered standard within this test method.
E54.09 on Response Robots.
CurrenteditionapprovedMay1,2022.PublishedJuly2022.Originallyapproved
1.6 This standard does not purport to address all of the
in 2012. Last previous edition approved in 2021 as E2853–12 (2021). DOI:
10.1520/E2853_E2853M-22. safety concerns, if any, associated with its use. It is the
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1
---------------------- Page: 1 ----------------------
E2853/E2853M − 22
responsibility of the user of this standard to establish appro- 240 cm 6 2.5 cm tolerance [96 in. 6 1 in. tolerance], such
priate safety, health, and environmental practices and deter- as open and outdoor public spaces;
mine t
...
This document is not an ASTM standard and is intended only to provide the user of an ASTM standard an indication of what changes have been made to the previous version. Because
it may not be technically possible to adequately depict all changes accurately, ASTM recommends that users consult prior editions as appropriate. In all cases only the current version
of the standard as published by ASTM is to be considered the official document.
Designation: E2853 − 12 (Reapproved 2021) E2853/E2853M − 22
Standard Test Method for
Evaluating EmergencyGround Response Robot Capabilities:
Human-System Interaction (HSI): Search Tasks: Random
1
Mazes with Complex TerrainSearch Tasks
This standard is issued under the fixed designation E2853;E2853/E2853M; 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.
INTRODUCTION
The robotics community needs ways to measure whether a particular robot is capable of performing
specific missions in complex, unstructured, and often hazardous environments. These missions require
various combinations of elemental robot capabilities. Each capability can be represented as a test
method, with an associated apparatus, to provide tangible challenges for various mission requirements
and performance metrics to communicate results. These test methods can then be combined and
sequenced to evaluate essential robot capabilities and remote operator proficiencies necessary to
successfully perform intended missions.
The ASTM International Standards Committee on Homeland Security Applications (E54) specifies
these standard test methods to facilitate comparisons across different testing locations and dates for
diverse robot sizes and configurations. These standards support robot researchers, manufacturers, and
user organizations in different ways. Researchers use the standards to understand mission
requirements, encourage innovation, and demonstrate break-through capabilities. Manufacturers use
the standards to evaluate design decisions, integrate emerging technologies, and harden systems.
Emergency responders and soldiers use them to guide purchasing decisions, align deployment
expectations, and focus training with standard measures of operator proficiency. Associated usage
guides describe how these standards can be applied to support various objectives.
Several suites of standards address these elemental capabilities including maneuvering, mobility,
dexterity, sensing, energy, communications, durability, proficiency, autonomy, and logistics. This
standard is part of the Human-System Interaction (HSI) suite of test methods.
1. Scope
1.1 Purpose: 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 maneuver and search throughout an environment to inspect objects of interest while negotiating complex terrain. This
test method is one of several related human-system interaction tests that can be used to evaluate overall system capabilities.
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
This test method is under the jurisdiction of ASTM Committee E54 on Homeland Security Applications and is the direct responsibility of Subcommittee E54.09 on
Response Robots.
Current edition approved Jan. 1, 2021May 1, 2022. Published January 2021July 2022. Originally approved in 2012. Last previous edition approved in 20122021 as
E2853 – 12.E2853 – 12 (2021). DOI: 10.1520/E2853-12R21.10.1520/E2853_E2853M-22.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1
---------------------- Page: 1 ----------------------
E2853/E2853M − 22
FIG. 12 HSI: Search Tasks: Random Maze IllustrationExample Linear Inspection Rail Apparatus shown at an Angle (top) and from Over-
head (bottom)
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
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