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ASTM F3470-20

(Guide)

Standard Guide for A-UGV Capabilities

Standard Guide for A-UGV Capabilities

SIGNIFICANCE AND USE
5.1 This guide is intended to be used by manufacturers and users of A-UGVs: (1) to fully define capabilities of their A-UGV(s) or (2) to allow the standard requestor to describe the A-UGV capabilities required for the requested A-UGV to align with assigned task(s). A-UGVs that are covered within ASTM Committee F45 are industrial vehicles that, for example, can be automatic guided vehicles through mobile robots, can be pre-programmed-through-autonomously controlled, can operate indoors or outdoors in infinitely diverse environmental conditions and therefore, with infinitely diverse functionality. To fully describe and measure the usefulness of these vehicles, functionality can be divided into categories where associated capabilities can be independently measured. This guide therefore provides a decomposition of many, perhaps not all, categories and capabilities that are typical of current A-UGVs globally marketed.  
5.2 Capability Categories:  
5.2.1 Goal Navigation: Pre-Programmed—Capabilities are the various abilities of the A-UGV to navigate a series of externally-defined waypoints on the way to a final goal.  
5.2.2 Goal Navigation: In situ—Capabilities are the various abilities of the A-UGV to navigate to a final goal by using the A-UGV system’s internal logic to determine the route.  
5.2.3 Localization—Capabilities are the various abilities of the A-UGV to determine its pose within an environment map.  
5.2.4 Docking—Capabilities are the various abilities of the A-UGV to stop at a position relative to another object or an absolute position in an environment.  
5.2.4.1 Infrastructure Dependence—Sub-category describing the need of the A-UGV to rely on features in the environment for Goal Navigation: Pre-Programmed, Goal Navigation: In-Situ, Localization, or Docking.  
5.2.5 Obstacle Avoidance: Single Vehicle—Capabilities are the various abilities of the A-UGV not to collide with an obstacle(s).  
5.2.5.1 Types of objects that can be avoided and are with...
SCOPE
1.1 This guide categorizes the autonomous capabilities of an automatic through autonomous-unmanned ground vehicle (A-UGV) based on the following list of capability categories:
(a) Goal Navigation: Pre-Programmed;
(b) Goal Navigation: In situ;
(c) Localization;  
(d) Docking—Infrastructure Dependence;
(e) Obstacle Avoidance—Types of objects that can be avoided and are within the A-UGV envelope, and types of objects that can be avoided and are outside of the A-UGV envelope;
(f) Changing Contour Area or Envelope;
(g) Changing Payload;  
(h) Impaired Communication Behavior;  
(i) Lost Communication Behavior;  
(j) Environmental Conditions;
(k) Fleet Makeup—Fleet Task Assignment, Information Sharing/Updating, Fleet Navigation Coordination, and Fleet Task Coordination.  
1.2 This guide provides a basis for A-UGV manufacturers and users to compare the intended task to the A-UGV capability. This guide does not purport to cover all relevant capabilities or categories that an A-UGV can perform. Instead, this guide provides a method for defining A-UGV capabilities and limits of A-UGV capabilities within specified categories listed in 1.1.  
1.3 One or more capabilities may be used to define the A-UGV capability and not all categories are required to be used for defining the capability of an A-UGV.  
1.4 The values stated in SI units are to be regarded as the standard. The values given in parentheses are not precise mathematical conversions to imperial units. They are close approximate equivalents for the purpose of specifying material dimensions or quantities that are readily available to avoid excessive fabrication costs of test apparatuses while maintaining repeatability and reproducibility of the test method results. These values given in parentheses are provided for information only and are not considered standard.  
1.5 This standard does not purport to address all of the safety concerns, if any, associat...

General Information

Status
Published
Publication Date
31-Jul-2020
ICS
35.240.60 - IT applications in transport
43.020 - Road vehicles in general
Technical Committee
F45 - Robotics, Automation, and Autonomous Systems
Drafting Committee
F45.91 - Terminology
Current Stage
Ref Project

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ASTM F3470-20 - Standard Guide for A-UGV CapabilitiesASTM F3470-20 - Standard Guide for A-UGV Capabilities
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ASTM F3470-20 - Standard Guide for A-UGV Capabilities
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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: F3470 − 20
Standard Guide for
1
A-UGV Capabilities
This standard is issued under the fixed designation F3470; 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 These values given in parentheses are provided for information
only and are not considered standard.
1.1 Thisguidecategorizestheautonomouscapabilitiesofan
1.5 This standard does not purport to address all of the
automatic through autonomous-unmanned ground vehicle (A-
safety concerns, if any, associated with its use. It is the
UGV) based on the following list of capability categories:
responsibility of the user of this standard to establish appro-
(a) Goal Navigation: Pre-Programmed;
priate safety, health, and environmental practices and deter-
(b) Goal Navigation: In situ;
mine the applicability of regulatory limitations prior to use.
(c) Localization;
1.6 This international standard was developed in accor-
(d) Docking—Infrastructure Dependence;
dance with internationally recognized principles on standard-
(e) Obstacle Avoidance—Types of objects that can be
ization established in the Decision on Principles for the
avoided and are within the A-UGV envelope, and types of
Development of International Standards, Guides and Recom-
objects that can be avoided and are outside of the A-UGV
mendations issued by the World Trade Organization Technical
envelope;
Barriers to Trade (TBT) Committee.
(f) Changing Contour Area or Envelope;
(g) Changing Payload;
2. Referenced Documents
(h) Impaired Communication Behavior;
2
(i) Lost Communication Behavior;
2.1 ASTM Standards:
(j) Environmental Conditions;
F3200 Terminology for DriverlessAutomatic Guided Indus-
(k) Fleet Makeup—Fleet Task Assignment, Information
trial Vehicles
Sharing/Updating, Fleet Navigation Coordination, and Fleet
F3218 Practice for Documenting Environmental Conditions
Task Coordination.
for Utilization with A-UGV Test Methods
F3244 Test Method for Navigation: Defined Area
1.2 This guide provides a basis for A-UGV manufacturers
F3265 Test Method for Grid-Video Obstacle Measurement
and users to compare the intended task to theA-UGV capabil-
F3327 PracticeforRecordingtheA-UGVTestConfiguration
ity. This guide does not purport to cover all relevant capabili-
F3381 Practice for Describing Stationary Obstacles Utilized
ties or categories that an A-UGV can perform. Instead, this
within A-UGV Test Methods
guide provides a method for defining A-UGV capabilities and
limits of A-UGV capabilities within specified categories listed
2.2 Other Standards:
in 1.1.
ANSI/ITSDF B56.5-2019 Safety Standard for Driverless,
Automatic Guided Industrial Vehicles and Automated
1.3 One or more capabilities may be used to define the
3
Functions of Manned Industrial Vehicles
A-UGV capability and not all categories are required to be
ANSI/RIA 15.08 Safety Standard for Industrial Mobile
used for defining the capability of an A-UGV.
3
Robots and Mobile Manipulators
1.4 The values stated in SI units are to be regarded as the
EN 60529 Degrees of Protection Provided by Enclosures (IP
standard. The values given in parentheses are not precise 4
Code)
mathematical conversions to imperial units. They are close
BS EN 60529:1992 Degrees of Protection Provided by
approximate equivalents for the purpose of specifying material 4
Enclosures (IP Code)
dimensions or quantities that are readily available to avoid
excessive fabrication costs of test apparatuses while maintain-
ing repeatability and reproducibility of the test method results.
2
For referenced ASTM standards, visit the ASTM website, www.astm.org, or
contact ASTM Customer Service at service@astm.org. For Annual Book of ASTM
Standards volume information, refer to the standard’s Document Summary page on
1
This guide is under the jurisdiction of ASTM Committee F45 on Driverless the ASTM website.
3
Automatic Guided Industrial Vehicles and is the direct responsibility of Subcom- Available fromAmerican National Standards Institute (ANSI), 25 W. 43rd St.,
mittee F45.91 on Terminology. 4th Floor, New York, NY 10036, http://www.ansi.org.
4
Current edition approved Aug. 1, 2020. Published September 2020. DOI: Available from European Committee for Standardization (CEN), Avenue
10.1520/F3470-20. Marnix 17, B-1000, Brussels, Belgium, http://www.cen.eu.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1

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4.1 A-UGVs navigate, dock, or perform other tasks, or combinations thereof, within for example manufacturing, warehouse, hospital, and other environments. Objects (defined in Terminology F3200 as anything in the environment that is not infrastructure) and obstacles (defined in Terminology F3200 as static or moving objects that obstruct the intended movement) are common within these environments. Objects can cause A-UGV challenges in navigation, docking, etc. (see Test Method F3244, Guide F3470) where the object detection systems must provide the highest level of performance to allow safe and productive vehicle use. ASTM Committee F45 surveyed the A-UGV community of manufacturers, users, and researchers, and determined that a relatively short list of objects are the most common objects that their vehicles must detect and avoid. Additionally, ANSI/ITSDF B56.5 includes three test pieces that represent (1) the human body torso lying horizontally and (2) standing human leg, both with worst case, flat black coatings, and (3) flat objects (for example, boxes, doors, manufactured materials), including a worst case, highly (optically) reflective coating. The survey results are listed here and are considered example objects found in warehousing/manufacturing, healthcare, domestic, and retail environments:  
4.1.1 Pallets, racking, wheeled carts;  
4.1.2 Other A-UGVs or AMRs;  
4.1.3 Steps or stairs;  
4.1.4 Tables or desks, ladders;  
4.1.5 Cables or hoses, or both;  
4.1.6 Chairs, overhangs (that is, on objects);  
4.1.7 IV poles; and  
4.1.8 Forklifts/forklift tines.
As some objects may not be cost-effectively available for only A-UGV object detection tests (for example, 4.1.2, 4.1.3, and 4.1.8), the remaining objects are potentially more cost-effective as objects and are described in this guide as the standard set of objects.  
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1.1 This standard guide provides a standard set of reference objects for use with automatic, automated, or autonomous unmanned ground vehicles (A-UGVs). The objects set includes typical objects found within industrial areas including, but not limited to: warehouses, hospitals, office spaces, and manufacturing facilities. Also, the objects set includes three test pieces from ANSI/ITSDF B56.5. The objects set is intended for use by A-UGV manufacturers and users to test the performance of A-UGVs when near the object(s). The objects set is minimized to include characteristics that have proven to cause interrupted A-UGV operation. Beyond this set of objects, Test Method F3418 is used to record most any object.  
1.2 The objects set contains one each of the following items: pallet, racking, ladder, cable cover, table, cart, intravenous (IV) pole, chair, forklift tines, and test pieces shown in ANSI/ITSDF B56.5, including a horizontal cylinder, vertical cylinder, and flat plate. The objects set is not intended to be exhaustive.  
1.3 It is intended that the objects set mainly includes off-the-shelf items. This standard guide provides a reporting method to provide obstacle information (for example, model, serial number, photograph) to allow obstacle use for exact replication of tests.  
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Standard Test Method for Navigation: Defined Area

SIGNIFICANCE AND USE
5.1 A-UGVs operate in a wide range of applications such as manufacturing facilities and warehouses. Fig. 1 shows three example A-UGV types and test apparatus sizes to test A-UGVs intended for different vehicle tasks, types, sizes, and capabilities. Such sites can have both defined and undefined areas that are structured and unstructured. The testing results of the candidate A-UGV shall describe, in a statistically significant way, the ability of the A-UGV to navigate through a defined area with or without impairments. Whether or not an A-UGV is able to deviate from its path, or uses features of the local environment as input to its navigation method or both, should not result in a different test method. Rather, the capabilities of the A-UGV to adapt its navigation method in a given environment will be objectively determined by its performance in the test method.  
5.2 Three different manners in which a test method apparatus can be rendered are specified for use: physical boundaries, virtual boundaries, and floor markings (see Section 6 for apparatus specifics). Two types of impairments are specified that can be utilized as the defined area as part of a navigation test: obstacles and communication impairments (see Section 7 for more detail). The apparatuses and impairments chosen shall be appropriate to the application and environment in which the A-UGV will be used.  
5.3 These test methods address A-UGV performance requirements expressed by A-UGV manufacturers and potential A-UGV users. The performance data captured by these test methods are indicative of the capabilities of the A-UGV and the application represented by the test.  
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1.1 Purpose:  
1.1.1 The purpose of this test method is to evaluate an automatic, automated, or autonomous-unmanned ground vehicle’s (A-UGV) capability of traversing through a defined space with limited A-UGV clearance. This test method is intended for use by A-UGV manufacturers, installers, and users. This test method defines a set of generic 2D area shapes representative of user applications and for different A-UGV types.  
1.1.2 A-UGVs shall possess a certain set of navigation capabilities appropriate to A-UGV operations. Two examples of such capabilities include A-UGV movement between structures that define the vehicle path or obstacle avoidance. A navigation system is the monitoring and controlling functions of the A-UGV, providing frequent A-UGV updates of vehicle movement from one place to another. A-UGV environments often include various constraints to A-UGV mobility, such as boundaries and obstacles. In this test method, apparatuses, impairments, procedures, tasks, and metrics are specified that apply constraints and thereby, standard test methods for determining an A-UGV’s navigation capabilities are defined.  
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SIGNIFICANCE AND USE
4.1 A-UGVs navigate, dock, or perform other tasks, or combinations thereof, within for example manufacturing, warehouse, hospital, and other environments. Objects (defined in Terminology F3200 as anything in the environment that is not infrastructure) and obstacles (defined in Terminology F3200 as static or moving objects that obstruct the intended movement) are common within these environments. Objects can cause A-UGV challenges in navigation, docking, etc. (see Test Method F3244, Guide F3470) where the object detection systems must provide the highest level of performance to allow safe and productive vehicle use. ASTM Committee F45 surveyed the A-UGV community of manufacturers, users, and researchers, and determined that a relatively short list of objects are the most common objects that their vehicles must detect and avoid. Additionally, ANSI/ITSDF B56.5 includes three test pieces that represent (1) the human body torso lying horizontally and (2) standing human leg, both with worst case, flat black coatings, and (3) flat objects (for example, boxes, doors, manufactured materials), including a worst case, highly (optically) reflective coating. The survey results are listed here and are considered example objects found in warehousing/manufacturing, healthcare, domestic, and retail environments:  
4.1.1 Pallets, racking, wheeled carts;  
4.1.2 Other A-UGVs or AMRs;  
4.1.3 Steps or stairs;  
4.1.4 Tables or desks, ladders;  
4.1.5 Cables or hoses, or both;  
4.1.6 Chairs, overhangs (that is, on objects);  
4.1.7 IV poles; and  
4.1.8 Forklifts/forklift tines.
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4.1.2 The material condition at the time of testing, sampling frequency, specimen location and orientation, reporting requirements, and other test parameters are contained in the pertinent material specification or in a general requirement specification for the particular product form.  
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Sections  
Tension  
7 to 14  
Bend  
15  
Hardness  
16  
Brinell  
17  
Rockwell  
18  
Portable  
19  
Impact  
20 to 30  
Keywords  
32  
1.3 Annexes covering details peculiar to certain products are appended to these test methods as follows:    
Annex  
Bar Products  
Annex A1  
Tubular Products  
Annex A2  
Fasteners  
Annex A3  
Round Wire Products  
Annex A4  
Significance of Notched-Bar Impact Testing  
Annex A5  
Converting Percentage Elongation of Round Specimens to
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Annex A6    
Testing Multi-Wire Strand  
Annex A7  
Rounding of Test Data  
Annex A8  
Methods for Testing Steel Reinforcing Bars  
Annex A9  
Procedure for Use and Control of Heat-cycle Simulation  
Annex A10  
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SCOPE
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5.2 This test method may be used for the design of the filtration component of a sediment retention device to meet requirements of regulatory agencies in filtering efficiency or flow rate for the specific soil tested.  
5.2.1 The designer can use this test method to determine the spacing between sediment retention devices.  
5.3 This test method is intended for performance evaluation, as the results will depend on the specific soil evaluated. Unless testing with the default soil is desired, it is recommended that the user or representative perform the test to pre-approve products, as sediment retention device manufacturers are not typically equipped to handle or test soil requirements.  
5.4 This test method provides a means of evaluating the filtration component of sediment retention devices with different soils under various conditions that simulate the conditions that exist in a sediment retention device installation. This test method may be used to simulate several storm events on the same sediment retention device specimen. Therefore, the number of times this test is repeated per specimen is dependent upon the user and the site conditions.
SCOPE
1.1 This test method is used to determine the filtering efficiency and the flow rate of the filtration component of a sediment retention device, such as a silt fence, silt barrier, or inlet protector.  
1.1.1 The results are shown as a percentage for filtering efficiency and cubic metres per square metre per minute (m3/m2/min) or gallons per square foot per minute (gal/ft2/min) for flow rate.  
1.1.2 The filtering efficiency indicates the percent of sediment removed from sediment-laden water.  
1.1.3 The flow rate is the average rate of passage of the sediment-laden water through the filtration component of a sediment retention device.  
1.2 This test method requires several specialized pieces of equipment, such as an integrated water sampler and an analytical balance, or a vacuum filtration system. At the client’s discretion, the test soil is either a site-specific soil or a soil that is representative of a target default gradation.  
1.3 The values stated in SI units are the standard, while the inch-pound units are provided for information. The values expressed in each system may not be exact equivalents; therefore, each system must be used independently of the other, without combining values in any way.  
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 appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use.  
1.5 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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ASTM
ASTM F2647-07(2023)(Guide)
Standard Guide for Approved Methods of Installing a CVS (Central Vacuum System)

SIGNIFICANCE AND USE
4.1 The suggestions of this guide are intended to provide proper installation materials and practices to be used during the installation of a central-vacuum system.
SCOPE
1.1 This guide demonstrates proper methods for installing a central-vacuum system.  
1.2 Appendix X1 contains additional sources of information that may be helpful to the user of this guide.  
1.3 The values stated in inch-pound units are to be regarded as the standard. The values given in parentheses are for information only.  
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 appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use.  
1.5 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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ASTM
ASTM F2886-17(2023)(Specification)
Standard Specification for Metal Injection Molded Cobalt-28Chromium-6Molybdenum Components for Surgical Implant Applications

ABSTRACT
This specification covers chemical, mechanical, and metallurgical general requirements for metal injection molded (MIM) cobalt-28chromium-6molybddenum components to be used in manufacturing surgical implants. In this specification, the MIM components covered may have been densified beyond their as-sintered density by post-sinter processing. For the chemical requirements, the components supplied in this specification must conform in accordance to the chemical requirements specified herein in Table 1. The product analysis tolerances must also conform to the product tolerances presented in Table 2. The specification also enumerates the mechanical requirements for MIM components wherein the tensile properties of the MIM must conform to the mechanical properties in Table 3. The microstructural requirements and specimen preparation shall be in accordance with Guide E3 and Practice E407.
SCOPE
1.1 This specification covers chemical, mechanical, and metallurgical requirements for metal injection molded (MIM) cobalt-28chromium-6molybdenum components to be used in the manufacture of surgical implants  
1.2 The MIM components covered by this specification may have been densified beyond their as-sintered density by post-sinter processing.  
1.3 Units—The values stated in either SI units or inch-pound units are to be regarded separately as standard. The values stated in each system may not be exact equivalents; therefore, each system shall be used independently of the other. Combining values from the two systems may result in nonconformance with the standard.  
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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ASTM
ASTM A480/A480M-23a(Specification)
Standard Specification for General Requirements for Flat-Rolled Stainless and Heat-Resisting Steel Plate, Sheet, and Strip

ABSTRACT
This specification covers general requirements for flat-rolled stainless and heat-resisting steel plate, sheet, and strip. The steel shall be made by one of the following processes: electric-arc, electric-induction, or other suitable processes. Heat and product analyses shall conform to the chemical requirements for each of the specific elements. The material shall undergo mechanical tests such as tension test, hardness test, and bend test. Special tests like intergranular corrosion test, permeability test, Charpy impact testing and tests for detrimental intermetallic phases in wrought duplex stainless steels shall be also be performed when required.
SCOPE
1.1 This specification2 covers a group of general requirements that, unless otherwise specified in the purchase order or in an individual specification, shall apply to rolled steel plate, sheet, and strip, under each of the following specifications issued by ASTM: Specifications A240/A240M, A263, A264, A265, A666, A693, A793, and A895.  
1.2 In the case of conflict between a requirement of a product specification and a requirement of this specification, the product specification shall prevail. In the case of conflict between a requirement of the product specification or a requirement of this specification and a more stringent requirement of the purchase order, the purchase order shall prevail. The purchase order requirements shall not take precedence if they, in any way, violate the requirements of the product specification or this specification; for example, by waiving a test requirement or by making a test requirement less stringent.  
1.3 The values stated in either SI units or inch-pound units are to be regarded separately as standard. The SI units are shown in brackets, except that when A480M is specified, Annex A3 shall apply for the dimensional tolerances and not the bracketed SI values in Annex A2. The values stated in each system are not necessarily exact equivalents; therefore, to ensure conformance with the standard, each system shall be used independently of the other, and values from the two systems shall not be combined.  
1.4 This specification and the applicable material specifications are expressed in both inch-pound and SI units. However, unless the order specifies the applicable “M” specification designation [SI units], the material shall be furnished in inch-pound units.  
1.5 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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