ASTM F3218-19
(Practice)Standard Practice for Documenting Environmental Conditions for Utilization with A-UGV Test Methods
Standard Practice for Documenting Environmental Conditions for Utilization with A-UGV Test Methods
SIGNIFICANCE AND USE
4.1 This section provides a description of the environmental conditions listed in Section 1 and describes the sub-conditions within each condition. Examples provided for many of the conditions and sub-conditions are provided as guidance only. Each of the conditions described should be evaluated and documented as set forth in Sections 5, 6, and 7.
4.2 Environmental Consistency: Static, Dynamic, Transitional:
4.2.1 Static is when the environment is similar throughout the test apparatus. For example, there are minor fluctuations in temperature throughout the apparatus as shown in Fig. 1 and Fig. 2. Dynamic is when the environment significantly differs within the test apparatus. For example, when the temperature changes between repetitions as shown in Fig. 3. Transitional is when the environment significantly differs in different areas within the test apparatus as shown in Fig. 4. The intent here is to not give specific guidance, but to provide a high-level classification of a particular set of environmental conditions. If environment consistency is dynamic or transitional, or both, a report form (see Section 7) for each unique set of environmental conditions should be completed.
FIG. 1 Example of Static Environment using Temperature
FIG. 2 Example of Static Environment using Temperature and Showing a Transition between Two Static Environments
FIG. 3 Example of Dynamic Environment using Temperature and Showing that the Environment Changed during the Test
FIG. 4 Example of Transitional Environment using Temperature; Portions of the Environment May Remain Static or May Be Dynamic (for example, Cold to Colder)
4.3 Lighting:
4.3.1 Various lighting conditions can potentially affect A-UGV optical sensor performance by affecting sensor and in turn, A-UGV responsiveness. Lighting sources can include ambient lighting as well as light emitters associated A-UGV operation. Two setups for lighting include direct or ambient source(s) applied to the A-UGV. Direct...
SCOPE
1.1 When conducting test methods, it is important to consider the role that the environmental conditions play in the Automatic through Autonomous – Unmanned Ground Vehicle (A-UGV) performance. Various A-UGVs are designed to be operated both indoors and outdoors under conditions specified by the manufacturer. Likewise, end users of the A-UGV will be operating these vehicles in a variety of environmental conditions. When conducting and replicating F45 test methods by vehicle manufacturers and users, it is important to specify and document the environmental conditions under which the A-UGV is to be tested as there will be variations in vehicle performance caused by the conditions, especially when comparing and replicating sets of test results. It is also important to consider changes in environmental conditions during the course of operations (for example, transitions between conditions). As such, environmental conditions specified in this practice are static, dynamic, or transitional, or combinations thereof; with the A-UGV stationary or in motion. This practice provides brief introduction to the following list of environmental conditions that can affect performance of the A-UGV: Lighting, External sensor emission, Temperature, Humidity, Electrical Interference, Air quality, Ground Surface, and Boundaries. This practice then breaks down each condition into sub-categories so that the user can document the various aspects associated with the category prior to A-UGV tests defined in ASTM F45 Test Methods (for example, F3244). It is recommended that salient environment conditions be documented when conducting F45 test methods.
1.2 The environmental conditions listed in 1.1 to be documented for A-UGV(s) being tested are described and parameterized in Section 4 and allow a basis for performance comparison in test methods. The approach is to divide the list of environmental conditions into sub-conditions that represent the var...
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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: F3218 − 19
Standard Practice for
Documenting Environmental Conditions for Utilization with
1
A-UGV Test Methods
This standard is issued under the fixed designation F3218; 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 sunlight within ambient lighting). Where necessary, this prac-
tice also provides guidelines (for example, lighting direction)
1.1 When conducting test methods, it is important to con-
to document environmental conditions in an existing environ-
sider the role that the environmental conditions play in the
ment.
Automatic through Autonomous – Unmanned Ground Vehicle
(A-UGV) performance. Various A-UGVs are designed to be
1.3 The values stated in SI units are to be regarded as the
operated both indoors and outdoors under conditions specified
standard. The values given in parentheses are not precise
bythemanufacturer.Likewise,endusersoftheA-UGVwillbe
mathematical conversion to imperial units. They are close
operating these vehicles in a variety of environmental condi-
approximate equivalents for the purpose of specifying material
tions. When conducting and replicating F45 test methods by
dimensions or quantities that are readily available to avoid
vehicle manufacturers and users, it is important to specify and
excessive fabrication costs of test apparatuses while maintain-
document the environmental conditions under which the
ing repeatability and reproducibility of the test method results.
A-UGV is to be tested as there will be variations in vehicle
These values given in parentheses are provided for information
performance caused by the conditions, especially when com-
only and are not considered standard.
paring and replicating sets of test results. It is also important to
consider changes in environmental conditions during the
1.4 This standard does not purport to address all of the
course of operations (for example, transitions between condi-
safety concerns, if any, associated with its use. It is the
tions). As such, environmental conditions specified in this
responsibility of the user of this standard to establish appro-
practice are static, dynamic, or transitional, or combinations
priate safety, health, and environmental practices and deter-
thereof; with theA-UGV stationary or in motion. This practice
mine the applicability of regulatory limitations prior to use.
providesbriefintroductiontothefollowinglistofenvironmen-
1.5 This international standard was developed in accor-
tal conditions that can affect performance of the A-UGV:
dance with internationally recognized principles on standard-
Lighting, External sensor emission, Temperature, Humidity,
ization established in the Decision on Principles for the
Electrical Interference, Air quality, Ground Surface, and
Development of International Standards, Guides and Recom-
Boundaries. This practice then breaks down each condition
mendations issued by the World Trade Organization Technical
into sub-categories so that the user can document the various
Barriers to Trade (TBT) Committee.
aspects associated with the category prior to A-UGV tests
defined inASTM F45Test Methods (for example, F3244). It is
recommended that salient environment conditions be docu- 2. Referenced Documents
mented when conducting F45 test methods.
2
2.1 ASTM Standards:
1.2 The environmental conditions listed in 1.1 to be docu-
E1155M TestMethodforDetermining F FloorFlatnessand
F
mented for A-UGV(s) being tested are described and param-
F Floor Levelness Numbers (Metric)
L
eterized in Section 4 and allow a basis for performance
E1274 Test Method for Measuring Pavement Roughness
comparison in test methods. The approach is to divide the list
Using a Profilograph
of environmental conditions into sub-conditions that represent
F3200 Terminology for DriverlessAutomatic Guided Indus-
the various aspects of the major category (for example,
trial Vehicles
F3244 Test Method for Navigation: Defined Area
1
This practice is under the jurisdiction of ASTM Committee F45 on Driverless
Automatic Guided Industrial Vehicles and is the direct responsibility of Subcom-
2
mittee F45.01 on Environmental Effects. For referenced ASTM standards, visit the ASTM website, www.astm.org, or
Current edition approved Sept. 1, 2019. Published October 2019. Originally contact ASTM Customer Service at service@astm.org. For Annual Book of ASTM
approved in 2017. Last previous edition approved in 2017 as F3218 – 17. DOI: Standards
...
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: F3218 − 17 F3218 − 19
Standard Practice for
RecordingDocumenting Environmental EffectsConditions for
1
Utilization with A-UGV Test Methods
This standard is issued under the fixed designation F3218; 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
When conducting test methods, it is important to consider the role that the environmental conditions
play in the A-UGV performance. Various A-UGVs are designed to be operated both indoors and
outdoors under conditions specified by the manufacturer. Likewise, end users of the A-UGV will be
operating these vehicles in a variety of environmental conditions. When conducting and replicating
Committee F45 test methods by vehicle manufacturers and users, it is important to specify and record
the environmental conditions under which the A-UGV is tested as there will be variations in vehicle
performance caused by the conditions, especially when comparing and replicating sets of test results.
It is also important to consider changes in environmental conditions during the course of operations
(for example, transitions between conditions). As such, environmental conditions specified in this
practice are both continuous and transitional; with the A-UGV stationary or in motion. This practice
provides brief introduction to the following list of environmental conditions that can affect
performance of the A-UGV: lighting, external sensor emission, temperature, humidity, electrical
interference, ground surface, air quality.
This practice then breaks down each condition into sub-categories so that the user can record the
various aspects associated with the category when conducting A-UGV tests defined in Committee F45
Test Methods , , those listed in the Related Materials section, and Terminology F3200. It is
recommended that salient environment conditions be recorded when conducting Committee F45 test
methods, but is not required.
1. Scope
1.1 This practice describes a means to record the following When conducting test methods, it is important to consider the role
that the environmental conditions play in the Automatic through Autonomous – Unmanned Ground Vehicle (A-UGV) perfor-
mance. Various A-UGVs are designed to be operated both indoors and outdoors under conditions specified by the manufacturer.
Likewise, end users of the A-UGV will be operating these vehicles in a variety of environmental conditions. When conducting and
replicating F45 test methods by vehicle manufacturers and users, it is important to specify and document the environmental
conditions under which the A-UGV is to be tested as there will be variations in vehicle performance caused by the conditions,
especially when comparing and replicating sets of test results. It is also important to consider changes in environmental conditions
during the course of operations (for example, transitions between conditions). As such, environmental conditions specified in this
practice are static, dynamic, or transitional, or combinations thereof; with the A-UGV stationary or in motion. This practice
provides brief introduction to the following list of environmental conditions that maycan affect the performance of A-UGVs:
lighting, external sensor emission, temperature, ground surface, air quality, humidity, and electrical interference.the A-UGV:
Lighting, External sensor emission, Temperature, Humidity, Electrical Interference, Air quality, Ground Surface, and Boundaries.
This practice then breaks down each condition into sub-categories so that the user can document the various aspects associated with
the category prior to A-UGV tests defined in ASTM F45 Test Methods (for example, F3244). It is recommended that salient
environment conditions be documented when conducting F45 test methods.
1
This practice is under the jurisdiction of ASTM Committee F45 on Driverless Automatic Guided Industrial Vehicles and is the direct responsibility of Subcommittee
F45.01 on Environmental Effects.
Current edition approved July 1, 2017Sept. 1, 2019. Published October 2017October 2019. Originally approved in 2017. Last previous edition approved in 2017 as
F3218 – 17. DOI: 10.1520/F3218-17.10.1520/F3218-19.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
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