ASTM E2801-11(2020)
(Test Method)Standard Test Method for Evaluating Emergency Response Robot Capabilities: Mobility: Confined Area Obstacles: Gaps
Standard Test Method for Evaluating Emergency Response Robot Capabilities: Mobility: Confined Area Obstacles: Gaps
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 the specified types of obstacles, 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 This test apparatus is scalable to constrain robot maneuverability during task performance for a range of robot sizes in confined areas associated with emergency response operations. Variants of the apparatus provide minimum lateral clearance of 2.4 m (8 ft) for robots expected to operate around the environments such as cluttered city streets, parking lots, and building lobbies; minimum lateral clearance of 1.2 m (4 ft) for robots expected to operate in and around the environments such as large buildings, stairwells, and urban sidewalks; minimum lateral clearance of 0.6 m (2 ft) for robots expected to operate within the environments such as dwellings and work spaces, buses and airplanes, and semi-collapsed structures; minimum lateral clearance of less than 0.6 m (2 ft) with a minimum vertical clearance adjustable from 0.6 m (2 ft) to 10 cm (4 in.) for robots expected to deploy through breech...
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 crossing horizontal gaps 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. A horizontal gap with an unknown edge condition 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 testing.
1.1.3 The test apparatuses are scalable to provide a range of lateral 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: Gaps 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 on Robotics specifies a mobility test suite, which consists of a set of test methods for evaluating these mobility capability requirements. This confined area gap 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 mobility test suite quantifies elemental mobility...
General Information
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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:E2801 −11 (Reapproved 2020)
Standard Test Method for
Evaluating Emergency Response Robot Capabilities:
1
Mobility: Confined Area Obstacles: Gaps
This standard is issued under the fixed designation E2801; 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 comparison of different robot models as well as particular
configurations of similar robot models.
1.1 Purpose:
1.1.6 The mobility test suite quantifies elemental mobility
1.1.1 The purpose of this test method is to quantitatively
capabilities necessary for ground robots intended for emer-
evaluate a teleoperated ground robot’s (see Terminology
gency response applications. As such, users can use either the
E2521) capability of crossing horizontal gaps in confined
entire suite or a subset based on their particular performance
areas.
requirements. Users are also allowed to weight particular test
1.1.2 Robots shall possess a certain set of mobility
methods or particular metrics within a test method differently
capabilities, including negotiating obstacles, to suit critical
based on their specific performance requirements. The testing
operations such as emergency responses.Ahorizontal gap with
results should collectively represent an emergency response
an unknown edge condition is a type of obstacle that exists in
ground robot’s overall mobility performance. These perfor-
emergency response and other environments. These environ-
mance data can be used to guide procurement specifications
ments often pose constraints to robotic mobility to various
and acceptance testing for robots intended for emergency
degrees. This test method specifies apparatuses, procedures,
response applications.
and metrics to standardize this testing.
1.1.3 The test apparatuses are scalable to provide a range of
NOTE 1—Additional test methods within the suite are anticipated to be
lateral dimensions to constrain the robotic mobility during task
developed to address additional or advanced robotic mobility capability
requirements, including newly identified requirements and even for new
performance. Fig. 1 shows three apparatus sizes to test robots
application domains.
intended for different emergency response scenarios.
1.1.4 Emergency response ground robots shall be able to
1.2 Performing Location—This test method shall be per-
handle many types of obstacles and terrain complexities. The
formed in a testing laboratory or the field where the specified
required mobility capabilities include traversing gaps, hurdles,
apparatus and environmental conditions are implemented.
stairs, slopes, various types of floor surfaces or terrains, and
1.3 Units—The values stated in SI units are to be regarded
confined passageways. Yet additional mobility requirements
as the standard.The values given in parentheses are not precise
include sustained speeds and towing capabilities. Standard test
mathematical conversions to inch-pound units. They are close
methods are required to evaluate whether candidate robots
approximate equivalents for the purpose of specifying material
meet these requirements.
dimensions or quantities that are readily available to avoid
1.1.5 ASTM Task Group E54.08.01 on Robotics specifies a
excessive fabrication costs of test apparatuses while maintain-
mobility test suite, which consists of a set of test methods for
ing repeatability and reproducibility of the test method results.
evaluating these mobility capability requirements. This con-
These values given in parentheses are provided for information
fined area gap test method is a part of the mobility test suite.
only but are not considered standard.
The apparatuses associated with the test methods challenge
specific robot capabilities in repeatable ways to facilitate
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 appro-
priate safety, health, and environmental practices and deter-
1
This test method is under the jurisdiction of ASTM Committee E54 on
mine the applicability of regulatory limitations prior to use.
Homeland Security Applications and is the direct responsibility of Subcommittee
E54.09 on Response Robots.
1.5 This international standard was developed in accor-
Current edition approved Jan. 1, 2020. Published January 2020. Originally
dance with internationally recognized principles on standard-
approved in 2011. Last previous editio
...
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