ASTM F2541-06
(Guide)Standard Guide for Unmanned Undersea Vehicles (UUV) Autonomy and Control (Withdrawn 2015)
Standard Guide for Unmanned Undersea Vehicles (UUV) Autonomy and Control (Withdrawn 2015)
SCOPE
1.1 This guide covers the need for UUVs to operate autonomously, without constant human intervention, and with flexibility based on their payloads and missions places unique requirements on UUV developers. Because the UUV community is expected to expand both its developer base and its user base in the next several years, it recognizes that success relies upon a well-written standard. The standard must encourage compatibility and reconfigurability, provide a common language to describe functional capabilities, and enable meaningful quantitative performance evaluation.
1.2 The scope of this guide includes those characteristics in a UUV system which, when implemented in a detailed design, result in a UUV that is capable of operating for extended periods of time without external intervention. Implicit in this statement is the requirement that the UUV execute its designated sortie plan. Non-expendable UUVs must also return to a rendezvous point for recovery. The top level concept of such an autonomous system is presented in Fig 3. The functional relationships identified in this block diagram will be discussed further in Section 4.
1.3 This guide contains a table of terminology so that autonomy and control can be described within the context of a common language, where all terms have consistent and clearly defined meaning. As introduced in Fig 3, this guide defines high level functional capabilities of the autonomy controller, the vehicle controller, and the payload controller. Correspondingly high level interfaces are also defined.
1.4 Section presents the capabilities that an autonomous system is required to have. The table in this section concentrates on the functional capabilities of the total system, as opposed to the capabilities of the component controllers. A method for verification of the capability is also presented.
1.5 Section presents a set of tables that index the system autonomy capabilities according to three criteria: Situational Awareness, Decision-making, Planning, and Control, and External Interactions. Such a set of qualifiers determines a Level of Autonomy (LOA) measurement for each of the three criteria. No attempt is made to combine these disparate measures into a single index.
1.6 The following are outside the scope of this guide and no part of this guide should be construed to prescribe requirements associated with these areas.Payloads-outside of the generic functions of the Payload controller and the top level interfaces, the design and implementation of payload subsystems are not addressed in this guide. Vehicles-outside of the generic function of the Vehicle controller and the top level interfaces, the design and implementation of the vehicle subsystems are not addressed in this guide. Safety-this guide does not address safety concerns, if any, associated with the use of the UUV system. It is the responsibility of the system designer to establish appropriate safety and health practices and determine the applicability of the regulatory limitations prior to use. Security-this guide does not address security concerns. It is the responsibility of the program referencing this guide to establish security mechanisms that are appropriate for the intended use of the UUV system and the requirements of the end-user of the system data.
1.7 These standards are intended to support the decision process for the acquisition and development of non-specific UUV systems. To the extent that UUV systems are specified, procured, and developed under a modular open system design approach, the autonomy standards presented herein will foster interoperability and reusability within the UUV community.
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.
WITHDRAWN RATIONALE
This gu...
General Information
Standards Content (Sample)
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: F2541 − 06
StandardGuide for
Unmanned Undersea Vehicles (UUV) Autonomy and
1
Control
This standard is issued under the fixed designation F2541; 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
ASTM has prepared this series of standards to guide the development of autonomous unmanned
underwater vehicles (UUVs). The standards address the key capabilities that a UUV system must
possess in order to be considered autonomous and reconfigurable:
Autonomous— Capable of operating without operator input for extended periods of time. Implicit
in this description is the requirement that the UUV’s sortie accomplishes its assigned goal and makes
the appropriate rendezvous for a successful recovery.
Reconfigurable— Capable of operating with multiple payloads. The top level requirement is
established that the UUV systems will consist of
Payloads to complete specific system tasking such as environmental data collection, area
surveillance, mine hunting, mine countermeasures, intelligence/surveillance/reconnaissance (ISR), or
other scientific, military, or commercial objectives.
Vehicles that will transport the payloads to designated locations and be responsible for the
launch and recovery of the vehicle/payload combination.
While the payload will be specific to the objective, the vehicle is likely to be less so. Nevertheless,
2
commonality across all classes of UUV with respect to such features as planning, communications,
and post sortie analysis (PSA) is desirable. Commonality with regard to such features as launch and
recovery and a common control interface with the payload should be preserved within the UUVclass.
In accordance with this philosophy, ASTM identifies four standards to address UUV development
and to promote compatibility and interoperability among UUVs:
F2541 Guide for UUV Autonomy and Control
WK11283 Guide for UUV Mission Payload Interface
F2594 Guide for UUV Communications
F2595 Guide for UUV Sensor Data Formats
The relationships among these standards are illustrated in Fig. 1.The first two standards address the
UUV autonomy, command and control, and the physical interface between the UUV and its payload.
The last two ASTM standards address the handling of the most valuable artifacts created by UUV
systems: the data. Since there are many possibilities for communications links to exchange data, it is
expected that the UUV procurement agency will provide specific guidance relative to these links and
the appropriate use of the UUV communications standard. In a similar manner, specific guidance is
expected for the appropriate use of the UUV data formats and data storage standard.
F2541–StandardGuideforUUVAutonomyandControl—The UUV autonomy and control guide
defines the characteristics of an autonomous UUV system. While much of this guide applies to the
vehicle and how the vehicle should perform in an autonomous state, the relationship of the payloads
within the UUV system is also characterized. A high level depiction of the functional subsystems
associatedwithagenericautonomousUUVsystemispresented.Theimportantfunctionalrelationship
established in this guide is the payload’s subordinate role relative to the vehicle in terms of system
safety. The payload is responsible for its own internal safety, but the vehicle is responsible for the
safety of the vehicle-payload system. Terminology is defined to provide a common framework for the
discussion of autonomous systems. System behaviors and capabilities are identified that tend to make
a system independent of human operator input and provide varying levels of assurance that the UUV
will perform its assigned task and successfully complete recovery. A three-axis sliding scale is
presented to illustrate the system’s level of autonomy (LOA) in terms of situational awareness,
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1
---------------------- Page: 1 ----------------------
F2541 − 06
FIG. 1 Notional System Interfaces and Governing Standards
decision-making/planning/execution, and external interaction. The control interface (messages ex-
changed between the vehicle and the payload) is described and instantiations of this interface for the
various classes of UUV are presented in associated appendices.
WK11283–Standard Guide for UUV Mission Payload Interface—The UUV mission payload
interface guide is a physical and functional interface standard that guides:
The mechanical and electrical interface between the vehicle and the payload.
The functional relationship between the vehi
...
Questions, Comments and Discussion
Ask us and Technical Secretary will try to provide an answer. You can facilitate discussion about the standard in here.