Standard Test Method for Evaluating Response Robot Mobility: Traverse Gravel Terrain

SIGNIFICANCE AND USE
5.1 Traversing on terrains with small aggregate (such as Number 8 or smaller gravel, per Specification C33/C33M) could pose problems for ground robots because the aggregate may become incrementally packed into the locomotion subsystems (such as driving sprockets, belts, chains, tire treads, or track pads) leading to jamming, slippage, or other failures, and thus adversely affecting a robot’s mobility. This test method addresses aforementioned issues of mobility.
Note 1: Larger-sized gravel might not be as easily packed into robotic locomotion subsystems but might present different types of mobility challenges such as angular, rough, sharp, or broken aggregate pieces interfering with wheels, tracks, or other types of locomotion mechanisms. These issues are out of the scope of this test method.  
5.1.1 Small gravel based terrains are non-rigid in nature and could cause a robot to turn-in-place or dig-in when the robot is negotiating a tight turn. Certain robotic locomotion mechanisms might be designed for other mobility purposes and might not create sufficient traction against the specified gravel terrain. As such, extensive testing within this type of terrain may expose robot design or reliability issues and lead to field maintenance or repair.  
5.1.2 The gravel traverse capabilities could be affected by additional factors such as the weight and its distribution, ground contact areas, and control schemes for the robot. As such, extensive testing within this type of terrain may also lead to innovations in robot design.  
5.2 Key features of response robots are that they 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. As such, a major advantage of using robots in response operations is to enhance the safety and effectiv...
SCOPE
1.1 The purpose of this test method is to specify the apparatuses, procedures, and performance metrics necessary to quantitatively measure a teleoperated ground robot’s capability of traversing gravel terrain. The primary performance metric for this test method shall be a robot’s possession of such a capability with a specified statistical significance level.  
1.2 Average rate of advance over the specified terrain shall be the secondary performance metric for this test method. The measure shall be calculated only when a robot under test has completed a statistically-significant number of repetitions.  
1.3 This test method can also be used to measure the operator proficiency in performing the specified task. The corresponding performance metric may be the number of completed task repetitions per minute over an assigned time period ranging from 10 to 30 minutes.  
1.4 This test method is a part of the mobility suite of ground response robot test methods, but this test method is stand-alone and complete. This test method applies to ground systems operated remotely from a standoff distance appropriate for the intended mission. The system includes a remote operator in control of all functionality and any assistive features or autonomous behaviors that improve the effectiveness or efficiency of the overall system.  
1.5 The apparatus, specified in Section 6, can only test a limited range of a robot’s capabilities. When the robot has been tested through the limit or limits of the apparatus, a note shall be associated with the results indicating that the robot’s actual capability may be outside of the limit or limits imposed by the test apparatus. For example, the size of the gravel terrain test apparatus could possibly affect the acceleration of the robot under test and, in turn, the resulting average rate of advance.  
1.6 Performing Location—This test method may be performed anywhere the specified apparatuses and envir...

General Information

Status
Published
Publication Date
31-Aug-2017
Current Stage
Ref Project

Relations

Buy Standard

Standard
ASTM E2991/E2991M-17 - Standard Test Method for Evaluating Response Robot Mobility: Traverse Gravel Terrain
English language
13 pages
sale 15% off
Preview
sale 15% off
Preview

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: E2991/E2991M − 17
Standard Test Method for
Evaluating Response Robot Mobility: Traverse Gravel
1
Terrain
ThisstandardisissuedunderthefixeddesignationE2991/E2991M;thenumberimmediatelyfollowingthedesignationindicatestheyear
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 measure whether a particular robot is capable of performing
specific missions in unstructured and often hazardous environments. These missions decompose into
elemental robot tasks represented individually as standard test methods and practices. The associated
testapparatusesandperformancemetricsprovideatangiblelanguagetocommunicatevaryingmission
requirements. They also enable repeatable testing to establish the reliability of essential robot
capabilities.
TheASTM International Standards Committee on Homeland SecurityApplications (E54) specifies
standard test methods and practices for evaluating such robot capabilities. These standards facilitate
comparisons across diverse models or multiple configurations of a single model. They support robot
researchers, manufacturers, and user organizations in different ways. Researchers use the standards to
understand mission requirements, encourage innovation, and demonstrate break-through capabilities.
Manufacturers use the standards to evaluate design decisions, integrate emerging technologies, and
harden developed systems. User organizations leverage the resulting robot capabilities data to guide
purchasing decisions, align deployment objectives, and focus training with standard measures of
operator proficiency. Associated usage guides describe how such standards can be applied to support
these various objectives.
The overall suite of standards addresses critical subsystems of remotely operated response robots,
including maneuvering, mobility, dexterity, sensing, energy, communications, durability, proficiency,
autonomy,logistics,safety,andterminology.Thistestmethodaddressestheroboticmobilityongravel
terrain.
1. Scope corresponding performance metric may be the number of
completed task repetitions per minute over an assigned time
1.1 The purpose of this test method is to specify the
period ranging from 10 to 30 minutes.
apparatuses, procedures, and performance metrics necessary to
quantitatively measure a teleoperated ground robot’s capability
1.4 This test method is a part of the mobility suite of ground
of traversing gravel terrain. The primary performance metric
response robot test methods, but this test method is stand-alone
for this test method shall be a robot’s possession of such a
and complete. This test method applies to ground systems
capability with a specified statistical significance level.
operated remotely from a standoff distance appropriate for the
intended mission. The system includes a remote operator in
1.2 Average rate of advance over the specified terrain shall
control of all functionality and any assistive features or
be the secondary performance metric for this test method. The
autonomous behaviors that improve the effectiveness or effi-
measure shall be calculated only when a robot under test has
ciency of the overall system.
completed a statistically-significant number of repetitions.
1.3 This test method can also be used to measure the 1.5 The apparatus, specified in Section 6, can only test a
limitedrangeofarobot’scapabilities.Whentherobothasbeen
operator proficiency in performing the specified task. The
tested through the limit or limits of the apparatus, a note shall
be associated with the results indicating that the robot’s actual
1
This test method is under the jurisdiction of ASTM Committee E54 on
capability may be outside of the limit or limits imposed by the
Homeland Security Applications and is the direct responsibility of Subcommittee
test apparatus. For example, the size of the gravel terrain test
E54.09 on Response Robots.
apparatus could possibly affect the acceleration of the robot
Current edition approved Sept. 1, 2017. Published October 2017. DOI: 10.1520/
E2991_E2991M-17. under test and, in turn, the resulting average rate of advance.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1

---------------------- Page: 1 ----------------------
E2991/E2991M − 17
1.6 Performing Location—This test method may be per- 4. Summary of Test Method
formed anywhere the specified apparatuses and environmental
4.1 A robot under test traverses from one end of the
...

Questions, Comments and Discussion

Ask us and Technical Secretary will try to provide an answer. You can facilitate discussion about the standard in here.