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ASTM E2855-12(2021)

(Test Method)

Standard Test Method for Evaluating Emergency Response Robot Capabilities: Radio Communication: Non-Line-of-Sight Range

Standard Test Method for Evaluating Emergency Response Robot Capabilities: Radio Communication: Non-Line-of-Sight Range

SIGNIFICANCE AND USE
5.1 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.  
5.2 This test method addresses robot performance requirements expressed by emergency responders and representatives from other interested organizations. The performance data captured within this test method are indicative of the testing robot’s capabilities. Having available a roster of successfully tested robots with associated capabilities 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.  
5.3 This test method is part of a test suite and is intended to provide a capability baseline for the robotic communications systems based on the identified needs of the emergency response community. Adequate testing performance will not ensure successful operation in all emergency response environments due to possible extreme communications difficulties. Rather, this standard is intended to provide a common comparison that can 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.  
5.4 The standard apparatus is specified to be easily fabricated to facilitate self-evaluation by robot developers and provide practice tasks for emergency responders to exercise robot actuators, sensors, and operator interfaces. The standard apparatus can also be used to support operator training ...
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1.1 Purpose:  
1.1.1 The purpose of this test method, as a part of a suite of radio communication test methods, is to quantitatively evaluate a teleoperated robot’s (see Terminology E2521) capability to perform maneuvering and inspection tasks in a non-line-of-sight environment.  
1.1.2 Robots shall possess a certain set of radio communication capabilities, including performing maneuvering and inspection tasks in a non-line-of-sight environment, to suit critical operations for emergency responses. The capability for a robot to perform these types of tasks in obstructed areas down range is critical for emergency response operations. This test method specifies a standard set of apparatuses, procedures, and metrics to evaluate the robot/operator capabilities for performing these tasks.  
1.1.3 Emergency response robots shall be able to operate remotely using the equipped radios in line-of-sight environments, in non-line-of-sight environments, and for signal penetration through such impediments as buildings, rubbles, and tunnels. Additional capabilities include operating in the presence of electromagnetic interference and providing link security and data logging. 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 radio communication test suite, which consists of a set of test methods for evaluating these communication capabilities. This non-line-of-sight range test method is a part of the radio communication 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.  
1.1.5 This test method establishes procedures, apparatuses, and metrics for specifying and testing the capability of radio (wireless) links used between the operator station and the t...

General Information

Status
Published
Publication Date
31-Dec-2020
ICS
25.040.30 - Industrial robots. Manipulators
Technical Committee
E54 - Homeland Security Applications
Drafting Committee
E54.09 - Response Robots
Current Stage
Ref Project

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ASTM E2855-12(2021) - Standard Test Method for Evaluating Emergency Response Robot Capabilities: Radio Communication: Non-Line-of-Sight RangeASTM E2855-12(2021) - Standard Test Method for Evaluating Emergency Response Robot Capabilities: Radio Communication: Non-Line-of-Sight Range
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ASTM E2855-12(2021) - Standard Test Method for Evaluating Emergency Response Robot Capabilities: Radio Communication: Non-Line-of-Sight Range
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Standards Content (Sample)

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: E2855 − 12 (Reapproved 2021)
Standard Test Method for
Evaluating Emergency Response Robot Capabilities: Radio
1
Communication: Non-Line-of-Sight Range
This standard is issued under the fixed designation E2855; 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 testing robot in a non-line-of-sight environment. These links
include the command and control channel(s) and video, audio,
1.1 Purpose:
and other sensor data telemetry.
1.1.1 The purpose of this test method, as a part of a suite of
radiocommunicationtestmethods,istoquantitativelyevaluate 1.1.6 This test method is intended to apply to ground based
a teleoperated robot’s (see Terminology E2521) capability to robotic systems and small unmanned aerial systems (sUAS)
perform maneuvering and inspection tasks in a non-line-of-
capable of hovering to perform maneuvering and inspection
sight environment.
tasks down range for emergency response applications.
1.1.2 Robots shall possess a certain set of radio communi-
1.1.7 This test method specifies an apparatus that is, first of
cation capabilities, including performing maneuvering and
all, an essentially clear radio frequency channel for testing. In
inspection tasks in a non-line-of-sight environment, to suit
addition, a standard line-of-sight barrier between the testing
critical operations for emergency responses. The capability for
operator control unit (OCU) and the robot is specified. Fig. 1
arobottoperformthesetypesoftasksinobstructedareasdown
provides an illustration.
range is critical for emergency response operations. This test
method specifies a standard set of apparatuses, procedures, and
NOTE1—Frequencycoordinationandinteroperabilityarenotaddressed
metrics to evaluate the robot/operator capabilities for perform- in this standard. These issues should be resolved by the affected agencies
(Fire, Police, and Urban Search and Rescue) and written into Standard
ing these tasks.
Operating Procedures (SOPs) that guide the responses to emergency
1.1.3 Emergency response robots shall be able to operate
situations.
remotely using the equipped radios in line-of-sight
environments, in non-line-of-sight environments, and for sig-
1.1.8 The radio communication test suite quantifies elemen-
nal penetration through such impediments as buildings,
tal radio communication capabilities necessary for robots
rubbles, and tunnels. Additional capabilities include operating
intended for emergency response applications. As such, based
in the presence of electromagnetic interference and providing
on their particular capability requirements, users of this test
link security and data logging. Standard test methods are
suite can select only the applicable test methods and can
required to evaluate whether candidate robots meet these
individually weight particular test methods or particular met-
requirements.
rics within a test method. The testing results should collec-
1.1.4 ASTM E54.08.01 Task Group on Robotics specifies a
tively represent an emergency response robot’s overall radio
radio communication test suite, which consists of a set of test
communication capability. These test results can be used to
methods for evaluating these communication capabilities. This
guide procurement specifications and acceptance testing for
non-line-of-sight range test method is a part of the radio
robots intended for emergency response applications.
communication test suite. The apparatuses associated with the
test methods challenge specific robot capabilities in repeatable
NOTE 2—As robotic systems are more widely applied, emergency
ways to facilitate comparison of different robot models as well responders might identify additional or advanced robotic radio commu-
nication capability requirements to help them respond to emergency
as particular configurations of similar robot models.
situations. They might also desire to use robots with higher levels of
1.1.5 This test method establishes procedures, apparatuses,
autonomy,beyondteleoperateontohelpreducetheirworkload—seeNIST
and metrics for specifying and testing the capability of radio
Special Publication 1011-II-1.0. Further, emergency responders in ex-
(wireless) links used between the operator station and the
panded emergency response domains might also desire to apply robotic
technologies to their situations, a source for new sets of requirements.As
a result, additional standards within the suite would be developed. This
...

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1.1 This test method is intended for remotely operated ground robots using radio communications to transmit real-time data between a robot and its remote operator interface. This test method measures the maximum line-of-sight radio communications distance at which a robot can maintain omnidirectional steering, speed control, precise stopping, visual acuity, and other functionality. This test method is one of several related radio communication tests that can be used to evaluate overall system capabilities.  
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ASTM
ASTM E2826/E2826M-20(Test Method)
Standard Test Method for Evaluating Response Robot Mobility Using Continuous 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 continuous 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 measures of remot...
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 continuous 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 standard was develo...

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ASTM
ASTM E2828/E2828M-20(Test Method)
Standard Test Method for Evaluating Response Robot Mobility Using Symmetric Stepfields 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 symmetric stepfield 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 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 E2803-11(2020)(Test Method)
Standard Test Method for Evaluating Emergency Response Robot Capabilities: Mobility: Confined Area Obstacles: Inclined Planes

SIGNIFICANCE AND USE
5.1 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 negotiate various types of obstacles, including the specified one, and thus provide emergency responders sufficiently high levels of confidence to determine the applicability of the robot.  
5.2 This test method addresses robot performance requirements expressed by emergency responders and representatives from other interested organizations. The performance data captured within this test method are indicative of the testing robot’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.  
5.3 The test apparatuses are scalable to constrain robot maneuverability during task performance for a range of robot sizes in confined areas associated with emergency response operations. (See 6.1 for specified incline sizes.)  
5.4 The standard apparatus is specified to be easily fabricated to facilitate self-evaluation by robot developers and provide practice tasks for emergency responders that exercise robot actuators, sensors, and operator interfaces. The standard apparatus can also be used to support operator training and establish operator proficiency.  
5.5 Although the test method was developed first for emergency response robots, it may be applicable to other operational domains.
SCOPE
1.1 Purpose:  
1.1.1 The purpose of this test method is to quantitatively evaluate a teleoperated ground robot’s (see Terminology E2521) capability of traversing inclined planes in confined areas.  
1.1.2 Robots shall possess a certain set of mobility capabilities, including negotiating obstacles, to suit critical operations such as emergency responses. An inclined slope is a type of obstacle that exists in emergency response and other environments. These environments often pose constraints to robotic mobility to various degrees. This test method specifies apparatuses, procedures, and metrics to standardize this obstacle for testing.  
1.1.3 The test apparatuses are scalable to provide a range of dimensions to constrain the robotic mobility during task performance. Fig. 1 shows three apparatus sizes to test robots intended for different emergency response scenarios.
FIG. 1 Mobility: Confined Area Obstacles: Inclined Planes Apparatuses  
1.1.4 Emergency response ground robots shall be able to handle many types of obstacles and terrain complexities. The required mobility capabilities include traversing gaps, hurdles, stairs, slopes, various types of floor surfaces or terrains, and confined passageways. Yet additional mobility requirements include sustained speeds and towing capabilities. Standard test methods are required to evaluate whether candidate robots meet these requirements.  
1.1.5 ASTM Task Group E54.08.01 specifies a mobility test suite, which consists of a set of test methods for evaluating these mobility capability requirements. This inclined-plane-traversing test method is a part of the mobility 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.  
1.1.6 The test suite quantifies elemental mobility capabilities necessary for ground robot intended for emergency response applications. As such, users of this standard can use either the entire suite or a subset based on their particular performance requirements...

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