ASTM E2592-07
(Practice)Standard Practice for Evaluating Cache Packaged Weight and Volume of Robots for Urban Search and Rescue
Standard Practice for Evaluating Cache Packaged Weight and Volume of Robots for Urban Search and Rescue
SCOPE
1.1 This practice covers the requirement that urban search and rescue robots and all necessary associated components or equipment (for example, operator control station, power sources, spare parts, sensors, manipulators, tools, and so forth) shall complement the response organizations cache packaging and transportation systems.
1.2 Shipment by ground, air, or marine should be considered.
1.3 Volume, weight, shipping classification, and deployability of the robots and associated components are considered in this practice.
1.3.1 The deployability is considered through the determination of:
The length of time required to prepare the robot system for deployment, and
The types of tools required for servicing the robot system in the field.
1.3.2 Associated components or equipment include not only all the onboard sensors, tethers, and operator control station, but also any spare parts and specialized tools needed for assembly, disassembly, and field servicing.
1.3.3 Associated components also include power equipment necessary for the operation of the system, such as batteries, chargers, and power converters. Gasoline, diesel, or other types of liquid fuel are not included.
1.4 The packaged items shall support the operational availability of the robot during a deployment of up to ten days. There shall be no resupply within the first 72 h of deployment.
1.5 No such standards currently exist except for those relevant to shipping (for example, CFR Title 49 and International Air Transport Association (IATA) documents).
1.6 The values stated in SI units are to be regarded as the standard. The values given in parentheses are for information only.
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.
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Designation: E2592 − 07
StandardPractice for
Evaluating Cache Packaged Weight and Volume of Robots
for Urban Search and Rescue
This standard is issued under the fixed designation E2592; 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 1.7 This standard does not purport to address all of the
safety concerns, if any, associated with its use. It is the
1.1 This practice covers the requirement that urban search
responsibility of the user of this standard to establish appro-
and rescue robots and all necessary associated components or
priate safety and health practices and determine the applica-
equipment (for example, operator control station, power
bility of regulatory limitations prior to use.
sources, spare parts, sensors, manipulators, tools, and so forth)
shall complement the response organization’s cache packaging
2. Referenced Documents
and transportation systems.
2.1 Federal Standard:
1.2 Shipment by ground, air, or marine should be consid-
CFR Title 49 Transportation
ered.
2.2 ISO Standard:
1.3 Volume, weight, shipping classification, and deployabil-
ISO 6780:2003 Flat pallets for intercontinental materials
ity of the robots and associated components are considered in
handling—Principal dimensions and tolerances
this practice.
3. Terminology
1.3.1 The deployability is considered through the determi-
nation of:
3.1 Definitions of Terms Specific to This Standard:
1.3.1.1 The length of time required to prepare the robot
3.1.1 cache, n—approved complement of tools, equipment,
system for deployment, and
and supplies stored in a designated location available for use
1.3.1.2 The types of tools required for servicing the robot
during responses to emergencies.
system in the field.
3.1.2 operator control unit (OCU), n—computer(s),
1.3.2 Associated components or equipment include not only
accessories, and data link equipment that an operator uses to
all the onboard sensors, tethers, and operator control station,
control, communicate with, receive data and information from,
but also any spare parts and specialized tools needed for
and plan missions for one or more robots.
assembly, disassembly, and field servicing.
3.1.2.1 Discussion—Also referred to as operator control
1.3.3 Associated components also include power equipment
interface (OCI), operator control station, or human interaction
necessary for the operation of the system, such as batteries,
control unit.
chargers,andpowerconverters.Gasoline,diesel,orothertypes
3.1.3 robot system, n—robot platform and all necessary
of liquid fuel are not included.
associated components required for field operation and main-
1.4 The packaged items shall support the operational avail-
tenance of the robot, which includes, but is not limited to, the
ability of the robot during a deployment of up to ten days.
operator control station, power sources, spare parts, sensors,
There shall be no resupply within the first 72 h of deployment.
manipulators, and maintenance tools.
1.5 No such standards currently exist except for those
4. Summary of Practice
relevant to shipping (for example, CFR Title 49 and Interna-
tional Air Transport Association (IATA) documents).
4.1 The number and types of cases required for packing the
robot and all associated components are identified, along with
1.6 The values stated in SI units are to be regarded as the
the weight of each. This information will prepare the logistics
standard. The values given in parentheses are for information
manager of a response team to allocate space in the warehouse
only.
as well as in the transportation vehicle to convey the robot to
This practice is under the jurisdiction of ASTM Committee E54 on Homeland
Security Applications and is the direct responsibility of Subcommittee E54.08 on Available from the U.S. Government Printing Office, Superintendent of
Operational Equipment. Documents, Stop SSOP, Washington, DC 20402-0001.
Current edition approved Oct. 1, 2007. Published November 2007. DOI: Available from American National Standards Institute (ANSI), 25 W. 43rd St.,
10.1520/E2592-07. 4th Floor, New York, NY 10036, http://www.ansi.org.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
E2592 − 07
and from the response site. Weight is taken into consideration are given in Table 1. Other organizations may not be con-
intermsoftransportingtheequipmenttoandfromtheresponse strained to use these specific brands or sizes. However, the
site. process described in this practice can still be applied so as to
provide consistent volumetric measures for robot systems.
4.2 The length of time required to unpack and ready the
7.3.1.1 Hardigg Cases —Packed cases should weigh no
robot for operation is measured. This provides the responder
more than 68 kg (150 lb). For two people to carry, 90 kg (200
organization an estimate of how long to allocate to the
lb) is the absolute maximum. The empty cases should each
preparation of the robot for deployment.
weigh no more than 13.6 kg (30 lb). Two models are used by
4.3 The tools that are required for servicing the robot in the
FEMA USAR task forces. Their model numbers and outer
field are identified. This will help the logistics manager
dimensions are shown in Table 1.
determine whether additional, special tools will need to be
7.3.1.2 Pelican Cases —These cases are molded plastic
packed along with the robot. It is preferable to avoid using
containers that may have an airtight and watertight gasket.Any
specialized tools that are not typically available in toolboxes
model Pelican that will fit into a Hardigg case in 7.3.1.1 is
that are part of the existing cache. If a specialized tool is
allowed. Packed Pelican cases shall, therefore, fit into, and not
missing, there may be no recourse in resolving the problem
exceed, the weight limit of a Hardigg case as noted in Table 1.
with the robot in the field, and the robot may be rendered
7.3.1.3 Orbis BulkPak Cases —These cases are plastic
inoperable.
collapsiblebulkcontainers.Onemodel(#4048)isapprovedfor
use by FEMA USAR task forces. Its dimensions (or for an
4.4 The weights of the robot and OCU are measured. The
responders already have to carry an array of tools and equivalent) are 101.6 by 121.9 cm (40 by 48 in.). Maximum
height is 114.3 cm (45 in.). Lids, doors, and other options are
equipment from the base of operation to the operational work
site. Part of their new logistical planning when robots are permissible. The weight limit is up to the rating of the
container.
deployed will be the additional burden of carrying the robot
andanyassociatedequipment,suchastheOCU.Itisimportant 7.3.2 Pallets—Pallets are flat structures used to transport
items via forklifts or other mobile devices. If a pallet is used to
that the weight of the robot and the OCU be factored into the
response planning process on site. transport the robot system, its dimensions should conform to
ISO standards like ISO 6780:2003. These ISO dimensions are
5. Significance and Use listed in Table 2.
7.4 Determine whether the robot system can fit within the
5.1 Introductionofrobotstotheresponder’scacheforusein
urban search and rescue missions may have an impact on the packing cases available to the FEMA task forces. It is not
required that all of the equipment associated with the robot fit
logistical planning for the response teams. Additional volume
and weight shall be stored and transported to the response site. within a single packing case. Other organizations may not have
the same restrictions as FEMA task forces; however, the
Additional preparation time sha
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