ASTM E2521-23
(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.
1.4 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.
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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: E2521 − 23
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, Subcommittee E54.09 on Response
Robots, 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 environments, reliable and field serviceable, durable or cost
effectively disposable, and equipped with operational safe-
1.1 This terminology identifies and precisely defines terms
guards.
as used in the standard test methods, practices, and guides for
evaluating response robots intended for hazardous environ-
1.3 Units—Values stated in either the International System
ments. Further discussions of the terms can be found within the
of Units (metric) or U.S. Customary units (inch-pound) are to
standards in which the terms appear.
be regarded separately as standard. The values stated in each
system may not be exact equivalents. Both units are referenced
1.2 The term definitions address response robots, including
to facilitate acquisition of materials internationally and mini-
ground, aquatic, and aerial systems. Some key features of such
mize fabrication costs. Tests conducted using either system
systems are remotely operated from safe standoff distances,
maintain repeatability and reproducibility of the test method
deployable at operational tempos, capable of operating in
and results are comparable.
complex environments, sufficiently hardened against harsh
1.4 This international standard was developed in accor-
1
dance with internationally recognized principles on standard-
This terminology is under the jurisdiction of ASTM Committee E54 on
Homeland Security Applications and is the direct responsibility of Subcommittee
ization established in the Decision on Principles for the
E54.09 on Response Robots.
Development of International Standards, Guides and Recom-
Current edition approved Sept. 1, 2023. Published September 2023. Originally
mendations issued by the World Trade Organization Technical
approved in 2007. Last previous edition approved in 2016 as E2521 – 16. DOI:
10.1520/E2521-23. Barriers to Trade (TBT) Committee.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1
---------------------- Page: 1 ----------------------
E2521 − 23
2. Terminology hallway, n—an area with a width equal to the chosen apparatus
clearance width (W) and a variable length that is a multiple
2.1 Definitions:
of W.
abstain, v—robot manufacturer or designated
...
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 − 16 E2521 − 23
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) Subcommittee E54.09 on Response Robots, 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 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
This terminology is under the jurisdiction of ASTM Committee E54 on Homeland Security Applications and is the direct responsibility of Subcommittee E54.09 on
Response Robots.
Current edition approved Jan. 1, 2016Sept. 1, 2023. Published January 2016September 2023. Originally approved in 2007. Last previous edition approved in 20072016
as E2521 – 07a.E2521 – 16. DOI: 10.1520/E2521-16.10.1520/E2521-23.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1
---------------------- Page: 1 ----------------------
E2521 − 23
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.
1.4 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 Techn
...
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