ASTM E2802/E2802M-21e1
(Test Method)Standard Test Method for Evaluating Response Robot Mobility Using Variable Hurdle Obstacles
Standard Test Method for Evaluating Response Robot Mobility Using Variable Hurdle Obstacles
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 variable hurdle obstacle as described challenges robotic system locomotion, suspension systems to maintain traction, rollover tendencies, self-righting (if necessary), chassis shape variability (if available), and remote situational awareness by the operator. As such, the variable hurdle obstacle can be used to represent obstacles in the environment, such as railroad tracks, curbs, and debris.
5.2 The scale of the apparatus can vary to provide different constraints representative of typical obstacle spacing in the intended deployment environment. For example, the three configurations can be representative of repeatable complexity for unobstructed obstacles (open configuration), relatively open parking lots with spaces between cars (rectangular confinement configuration), or within bus, train, or plane aisles, or dwellings with hallways and doorways (square confinement configuration).
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 in a controlled environment to measure baseline capabilities. The variable hurdle obstacle can also be embedded into operational training scenarios to measure degradation due to uncontrolled variables in lighting, weather, radio communications, GPS accuracy, etc.
5.5 Procurement—This test method can be used to identify inherent capability trade-offs in systems, make informed purchasing decisions, and verify performance during acceptance testing. This aligns requirement specifications and user expectations with existing capability limits.
5.6 Training—This test method can be used to focus operator training as a repea...
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 capability of a robot to negotiate an obstacle in the form of hurdles. This test method is one of several related mobility tests that can be used to evaluate overall system capabilities.
1.2 The robotic system includes a remote operator in control of most functionality, so an onboard camera and remote operator display are typically required. This test method can be used to evaluate assistive or autonomous behaviors intended to improve the effectiveness or efficiency of remotely operated systems.
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 (a.k.a. SI Units) and U.S. Customary Units (a.k.a. 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 developed in accordance with internation...
General Information
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.
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Designation: E2802/E2802M − 21
Standard Test Method for
Evaluating Response Robot Mobility Using Variable Hurdle
1
Obstacles
ThisstandardisissuedunderthefixeddesignationE2802/E2802M;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.
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ε NOTE—Editorial corrections were made to Table 1 in May 2021.
INTRODUCTION
The robotics community needs ways to measure whether a particular robot is capable of performing
specificmissionsincomplex,unstructured,andoftenhazardousenvironments.Thesemissionsrequire
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.
TheASTM International Standards Committee on Homeland SecurityApplications (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, energy, communications, durability, proficiency, autonomy, and logistics. This
standard is part of the Mobility suite of test methods.
1. Scope used to evaluate assistive or autonomous behaviors intended to
improve the effectiveness or efficiency of remotely operated
1.1 This test method is intended for remotely operated
systems.
ground robots operating in complex, unstructured, and often
1.3 Different user communities can set their own thresholds
hazardous environments. It specifies the apparatuses,
of acceptable performance within this test method for various
procedures, and performance metrics necessary to measure the
mission requirements.
capability of a robot to negotiate an obstacle in the form of
hurdles.Thistestmethodisoneofseveralrelatedmobilitytests
1.4 Performing Location—This test method may be per-
that can be used to evaluate overall system capabilities.
formed anywhere the specified apparatuses and environmental
conditions can be implemented.
1.2 Theroboticsystemincludesaremoteoperatorincontrol
of most functionality, so an onboard camera and remote
1.5 Units—The International System of Units (a.k.a. SI
operator display are typically required.This test method can be
Units) and U.S. Customary Units (a.k.a. Imperial Units) are
used throughout this document. They are not mathematical
conversions. Rather, they are approximate equivalents in each
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system of units to enable use of readily available materials in
This test method is under the jurisdiction of ASTM Committee E54 on
Homeland Security Applications and is the direct responsibility of Subcommittee
different countries. The differences between the stated dimen-
E54.09 on Response Robots.
sions in each system of units are insignificant for the purposes
Current edition approved March 1, 2021. Published March 2021. Originally
of comparing test method results, so each system of units is
approved in 2011. Last previous edition approved in 2020 as E2802 – 11 (2020).
DOI: 10.1520/E2802_E2802M-21E01. separately considered standard within this test method.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
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E2802/E2802M − 21
1.6 This standard does not purport to address all of the 3. Terminology
safety concerns, if any, associated with its use. It is the
3.1 Definitions—The following terms are used in this test
responsibility of the user of this standard to establish appro-
method and are defined in Terminology E2521: abs
...
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