ASTM E2521-16
(Terminology)Standard Terminology for Evaluating Response Robot Capabilities
Standard Terminology for Evaluating Response Robot Capabilities
SCOPE
1.1 This terminology identifies and precisely defines terms as used in the standard test methods, practices, and guides for evaluating response robots intended for hazardous environments. Further discussions of the terms can be found within the standards in which the terms appear.
1.2 The term definitions address response robots, including ground, aquatic, and aerial systems. Some key features of such systems are remotely operated from safe standoff distances, deployable at operational tempos, capable of operating in complex environments, sufficiently hardened against harsh environments, reliable and field serviceable, durable or cost effectively disposable, and equipped with operational safeguards.
1.3 Units—Values stated in either the International System of Units (metric) or U.S. Customary units (inch-pound) are to be regarded separately as standard. The values stated in each system may not be exact equivalents. Both units are referenced to facilitate acquisition of materials internationally and minimize fabrication costs. Tests conducted using either system maintain repeatability and reproducibility of the test method and results are comparable.
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Designation: E2521 − 16
Standard Terminology for
1
Evaluating Response Robot Capabilities
This standard is issued under the fixed designation E2521; 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 quantitatively measure whether a particular robot is capable
of performing and reliable enough to perform specific missions. These missions decompose into sets
of elemental robot tasks that can be represented individually as standard test methods. The ASTM
International Committee on Homeland Security Applications, Operational Equipment Subcommittee,
Robots Task Group (E54.08.01) specifies standard test methods, practices, and guides for evaluating
response robots. These standard test methods measure specific robot capabilities in repeatable ways to
facilitate comparisons among different robot models or different configurations of a particular robot
model. Users assemble different sets of standard test methods into combinations that address their
envisioned missions tasks.
Resulting robot capabilities data support robot researchers, manufacturers, and user organizations in
different ways. Researchers use them to understand mission requirements, refine innovating
approaches, and demonstrate break-through capabilities. Manufacturers use them to evaluate design
decisions, integrate payloads and emerging technologies, and harden systems. Responder organiza-
tions use them to guide purchasing, align with deployment objectives, and focus training with
measures of operator proficiency.
The overall set of the standards addresses the robotic terminology, safety, maneuvering, terrains,
obstacles, dexterity, sensing, communications, energy/power, durability, proficiency, autonomy, and
logistics. Each standard test method enables repeatable testing to establish statistically significant
levels of reliability and confidence that the robot can perform the task. Standard test methods
essentially define the test apparatuses, procedures, and performance metrics so they can be fabricated
and practiced by robot manufacturers and user groups alike. They provide a tangible language to
communicate responder requirements and demonstrate robot capabilities.
1. Scope deployable at operational tempos, capable of operating in
complex environments, sufficiently hardened against harsh
1.1 This terminology identifies and precisely defines terms
environments, reliable and field serviceable, durable or cost
as used in the standard test methods, practices, and guides for
effectively disposable, and equipped with operational safe-
evaluating response robots intended for hazardous environ-
guards.
ments. Further discussions of the terms can be found within the
1.3 Units—Values stated in either the International System
standards in which the terms appear.
of Units (metric) or U.S. Customary units (inch-pound) are to
1.2 The term definitions address response robots, including
be regarded separately as standard. The values stated in each
ground, aquatic, and aerial systems. Some key features of such
system may not be exact equivalents. Both units are referenced
systems are remotely operated from safe standoff distances,
to facilitate acquisition of materials internationally and mini-
mize fabrication costs. Tests conducted using either system
1
This terminology is under the jurisdiction of ASTM Committee E54 on maintain repeatability and reproducibility of the test method
Homeland Security Applications and is the direct responsibility of Subcommittee
and results are comparable.
E54.09 on Response Robots.
Current edition approved Jan. 1, 2016. Published January 2016. Originally
2. Terminology
approved in 2007. Last previous edition approved in 2007 as E2521 – 07a. DOI:
10.1520/E2521-16. 2.1 Definitions:
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
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E2521 − 16
abstain, v—robot manufacturer or designated operator declar- individually, in volumetric and weight scales typically
ing not to perform a particular test or not to have the test handled by humans, although possibly compromised or
result disseminated. collapsed enough to limit human access; (2) the concerned
robots are suitable for operating within these contexts; and
aspect ratio, n—ratio of width to height of an image produced
(3) the robot tasks are identifiable, perceivable, and control-
by a camera system.
lable with human interaction.
cache, n—stock of tools, equipment, and supplies stored in a
image, n—two
...
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: E2521 − 07a E2521 − 16
Standard Terminology for
Urban Search and Rescue Robotic OperationsEvaluating
1
Response Robot Capabilities
This standard is issued under the fixed designation E2521; 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 quantitatively measure whether a particular robot is capable
of performing and reliable enough to perform specific missions. These missions decompose into sets
of elemental robot tasks that can be represented individually as standard test methods. The ASTM
International Committee on Homeland Security Applications, Operational Equipment Subcommittee,
Robots Task Group (E54.08.01) specifies standard test methods, practices, and guides for evaluating
response robots. These standard test methods measure specific robot capabilities in repeatable ways to
facilitate comparisons among different robot models or different configurations of a particular robot
model. Users assemble different sets of standard test methods into combinations that address their
envisioned missions tasks.
Resulting robot capabilities data support robot researchers, manufacturers, and user organizations in
different ways. Researchers use them to understand mission requirements, refine innovating
approaches, and demonstrate break-through capabilities. Manufacturers use them to evaluate design
decisions, integrate payloads and emerging technologies, and harden systems. Responder organiza-
tions use them to guide purchasing, align with deployment objectives, and focus training with
measures of operator proficiency.
The overall set of the standards addresses the robotic terminology, safety, maneuvering, terrains,
obstacles, dexterity, sensing, communications, energy/power, durability, proficiency, autonomy, and
logistics. Each standard test method enables repeatable testing to establish statistically significant
levels of reliability and confidence that the robot can perform the task. Standard test methods
essentially define the test apparatuses, procedures, and performance metrics so they can be fabricated
and practiced by robot manufacturers and user groups alike. They provide a tangible language to
communicate responder requirements and demonstrate robot capabilities.
1. Scope
1.1 This terminology covers terms associated with Urban Search and Rescue (US&R) Robotics. By providing a common and
consistent lexicon, the purpose of this document is to facilitate communication between individuals who may be involved in the
research, design, and deployment of robots for US&R operations.identifies and precisely defines terms as used in the standard test
methods, practices, and guides for evaluating response robots intended for hazardous environments. Further discussions of the
terms can be found within the standards in which the terms appear.
1.2 The term definitions address response robots, including ground, aquatic, and aerial systems. Some key features of such
systems are remotely operated from safe standoff distances, deployable at operational tempos, capable of operating in complex
environments, sufficiently hardened against harsh environments, reliable and field serviceable, durable or cost effectively
disposable, and equipped with operational safeguards.
1.3 Units—In order for the standard to be harmonious with the practices in the field, definitions have been drawn from the
literature or other public sources when possible. When new concepts require definitions be drafted, or existing definitions be
updated, a consensus-based approach will be employed to resolve them. The development of this standard is taking place in close
1
This terminology is under the jurisdiction of ASTM Committee E54 on Homeland Security Applications and is the direct responsibility of Subcommittee E54.08 on
Operational Equipment.
Current edition approved Aug. 1, 2007Jan. 1, 2016. Published August 2007January 2016. Originally approved in 2007. Last previous edition approved in 2007 as
E2521 – 07.E2521 – 07a. DOI: 10.1520/E2521-07A.10.1520/E2521-16.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1
---------------------- Page: 1 ----------------------
E2521 − 16
coordination with the corresponding efforts in E54.08 and E54.92 to ensure compr
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