ASTM E3380/E3380M-23
(Test Method)Standard Test Method for Evaluating Ground Response Robot Endurance Using Reproducible Terrains
Standard Test Method for Evaluating Ground Response Robot Endurance Using Reproducible Terrains
SIGNIFICANCE AND USE
5.1 This test method is part of an overall suite of related test methods that provide repeatable measures of robotic system mobility and remote operator proficiency. The operational endurance of a ground robot significantly impacts the performance of the robot during a variety of tasks. Robot endurance is a complex function of robot design, control scheme design, and energy storage selection. This test method evaluates the endurance of a robot through continuous operation on a complex surface. The continuous pitch/roll ramp terrain chosen for endurance testing specifically challenges robotic system locomotion, suspension systems to maintain traction, rollover tendencies, self-righting in complex terrain (if necessary), chassis shape variability (if available), and remote situational awareness by the operator. As such, it can be used to represent modest outdoor terrain complexity or indoor debris within confined areas. The endurance test standard provides a method in which the operational endurance of a large variety of robot sizes and locomotion system designs may be compared. The test provides both a measure of the endurance of the robot and a measure of the reliability of the robot when operating continuously for extended periods of time on complex terrains.
5.2 The scale of the terrain apparatus can vary to provide different constraints depending on the typical obstacle spacing of the intended deployment environment. For example, the terrain with containment walls can be sized to represent repeatable complexity within bus, train, or plane aisles; dwellings with hallways and doorways; relatively open parking lots with spaces between cars; or unobstructed terrains.
5.3 The test apparatuses are low cost and easy to fabricate so they can be widely replicated. The procedure is also simple to conduct. This eases comparisons across various testing locations and dates to determine best-in-class systems and operators.
5.4 Evaluation—This test method can be used i...
SCOPE
1.1 This test method is intended for remotely operated ground robots operating in complex, unstructured, and often hazardous environments. It specifies the apparatuses, procedures, and performance metrics necessary to measure the mission endurance of a robot while traversing complex terrains in the form of continuous pitch/roll ramps or other standard terrains in the terrain suite. This test method is one of several ground robot tests that can be used to evaluate overall system capabilities.
1.2 The robotic system includes a remote operator in control of all functionality, so an onboard camera and remote operator display are typically required. Assistive features or autonomous behaviors that improve the effectiveness or efficiency of the overall system are encouraged.
1.3 Different user communities can set their own thresholds of acceptable performance within this test method for various mission requirements.
1.4 Performing Location—This test method may be performed anywhere the specified apparatuses and environmental conditions can be implemented.
1.5 Units—The International System of Units (SI Units) and U.S. Customary Units (Imperial Units) are used throughout this document. They are not mathematical conversions. Rather, they are approximate equivalents in each system of units to enable use of readily available materials in different countries. The differences between the stated dimensions in each system of units are insignificant for the purposes of comparing test method results, so each system of units is separately considered standard within this test method.
1.6 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.
1.7 This international standard was develo...
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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: E3380/E3380M − 23
Standard Test Method for
Evaluating Ground Response Robot Endurance Using
1
Reproducible Terrains
This standard is issued under the fixed designation E3380/E3380M; 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 measure whether a particular robot is capable of performing
specific missions in complex, unstructured, and often hazardous environments. These missions require
various combinations of elemental robot capabilities. Each capability can be represented as a test
method with an associated apparatus to provide tangible challenges for various mission requirements
and performance metrics to communicate results. These test methods can then be combined and
sequenced to evaluate essential robot capabilities and remote operator proficiencies necessary to
successfully perform intended missions.
The ASTM International Standards Committee on Homeland Security Applications (E54) specifies
these standard test methods to facilitate comparisons across different testing locations and dates for
diverse robot sizes and configurations. These standards 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 systems.
Emergency responders and soldiers use them to guide purchasing decisions, align deployment
expectations, and focus training with standard measures of operator proficiency. Associated usage
guides describe how these standards can be applied to support various objectives.
Several suites of standards address these elemental capabilities including maneuvering, mobility,
dexterity, sensing, endurance, communications, durability, proficiency, autonomy, and logistics.
1. Scope 1.3 Different user communities can set their own thresholds
of acceptable performance within this test method for various
1.1 This test method is intended for remotely operated
mission requirements.
ground robots operating in complex, unstructured, and often
hazardous environments. It specifies the apparatuses,
1.4 Performing Location—This test method may be per-
procedures, and performance metrics necessary to measure the
formed anywhere the specified apparatuses and environmental
mission endurance of a robot while traversing complex terrains
conditions can be implemented.
in the form of continuous pitch/roll ramps or other standard
1.5 Units—The International System of Units (SI Units) and
terrains in the terrain suite. This test method is one of several
U.S. Customary Units (Imperial Units) are used throughout this
ground robot tests that can be used to evaluate overall system
document. They are not mathematical conversions. Rather,
capabilities.
they are approximate equivalents in each system of units to
1.2 The robotic system includes a remote operator in control
enable use of readily available materials in different countries.
of all functionality, so an onboard camera and remote operator
The differences between the stated dimensions in each system
display are typically required. Assistive features or autono-
of units are insignificant for the purposes of comparing test
mous behaviors that improve the effectiveness or efficiency of
method results, so each system of units is separately considered
the overall system are encouraged.
standard within this test method.
1.6 This standard does not purport to address all of the
1
This test method is under the jurisdiction of ASTM Committee E54 on
safety concerns, if any, associated with its use. It is the
Homeland Security Applications and is the direct responsibility of Subcommittee
responsibility of the user of this standard to establish appro-
E54.09 on Response Robots.
priate safety, health, and environmental practices and deter-
Current edition approved April 1, 2023. Published April 2023. DOI: 10.1520/
E3380_E3380M-23. mine the applicability of regulatory limitations prior to use.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
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E3380/E3380M − 23
1.7 This international standard was developed in accor- 120 cm 6 2.5 cm tolerance [48 in. 6 1 in. tolerance], such
dance with in
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