ASTM E2854/E2854M-21
(Test Method)Standard Test Method for Evaluating Response Robot Radio Communications Line-of-Sight Range
Standard Test Method for Evaluating Response Robot Radio Communications Line-of-Sight Range
SIGNIFICANCE AND USE
5.1 This test method is part of an overall suite of related tests that provide reproducible measures of radio communications for remotely operated robots. It measures the maximum line-of-sight radio communications range between a robot and its remote operator interface using omnidirectional robot maneuvering and visual acuity tasks to evaluate the degradation of essential mission capabilities due to communications latency and loss.
5.2 This test method is inexpensive, easy to fabricate, and simple to conduct so it can be replicated widely. This enables comparisons across various testing locations and dates to determine best-in-class system capabilities and remote operator proficiency.
5.3 Evaluations—This test method can be conducted in a controlled environment with no radio frequency interference and minimal radio propagation effects to measure baseline capabilities that can be compared widely across robotic systems. It also can be embedded into any operational training scenario as a practical measure of line-of-sight radio communications range with additional degradation due to uncontrolled variables such as radio frequency interference, weather, etc. The results of these scenario tests can be compared across robotic systems only when conducted in the same environment in similar conditions. However, the results cannot be compared reliably to results from other venues or environmental conditions due to the uncontrolled variables.
5.4 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.
5.5 Training—This test method can be used to focus operator training as a repeatable practice task or as an embedded task within training scenarios. Operators can learn system behaviors during radio communication degradation and refine techniques to mit...
SCOPE
1.1 This test method is intended for remotely operated ground robots using radio communications to transmit real-time data between a robot and its remote operator interface. This test method measures the maximum line-of-sight radio communications distance at which a robot can maintain omnidirectional steering, speed control, precise stopping, visual acuity, and other functionality. This test method is one of several related radio communication tests that can be used to evaluate overall system capabilities.
1.2 A remote operator is in control of all functionality, so an onboard camera and remote operator display are typically required. Assistive features or autonomous behaviors may improve the effectiveness or efficiency of the overall system.
1.3 Different user communities can set their own thresholds of acceptable performance within this test method to address 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 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 the 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 ...
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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: E2854/E2854M − 21
Standard Test Method for
Evaluating Response Robot Radio Communications Line-of-
1
Sight Range
ThisstandardisissuedunderthefixeddesignationE2854/E2854M;thenumberimmediatelyfollowingthedesignationindicatestheyear
of original adoption or, in the case of revision, the year of last revision.Anumber in parentheses indicates the year of last reapproval.
A superscript epsilon (´) indicates an editorial change since the last revision or reapproval.
INTRODUCTION
Theroboticscommunityneedswaystomeasurewhetheraparticularrobotiscapableofperforming
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 communications suite of test methods.
1. Scope 1.3 Different user communities can set their own thresholds
of acceptable performance within this test method to address
1.1 This test method is intended for remotely operated
various mission requirements.
ground robots using radio communications to transmit real-
time data between a robot and its remote operator interface. 1.4 Performing Location—This test method may be per-
This test method measures the maximum line-of-sight radio formed anywhere the specified apparatuses and environmental
communications distance at which a robot can maintain omni- conditions can be implemented.
directional steering, speed control, precise stopping, visual
1.5 The International System of Units (a.k.a. SI Units) and
acuity, and other functionality. This test method is one of
U.S.CustomaryUnits(a.k.a.ImperialUnits)areusedthrough-
several related radio communication tests that can be used to
out this document. They are not mathematical conversions.
evaluate overall system capabilities.
Rather, they are approximate equivalents in each system of
1.2 Aremoteoperatorisincontrolofallfunctionality,soan
unitstoenabletheuseofreadilyavailablematerialsindifferent
onboard camera and remote operator display are typically countries. The differences between the stated dimensions in
required. Assistive features or autonomous behaviors may
each system of units are insignificant for the purposes of
improve the effectiveness or efficiency of the overall system. comparing test method results, so each system of units is
separately considered standard within this test method.
1
1.6 This standard does not purport to address all of the
This test method is under the jurisdiction of ASTM Committee E54 on
Homeland Security Applications and is the direct responsibility of Subcommittee
safety concerns, if any, associated with its use. It is the
E54.09 on Response Robots.
responsibility of the user of this standard to establish appro-
CurrenteditionapprovedJan.1,2021.PublishedJune2021.Originallyapproved
priate safety, health, and environmental practices and deter-
in 2012. Last previous edition approved in 2012 as E2854–12. DOI: 10.1520/
E2854_E2854M-21. 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
1
---------------------- Page: 1 ----------------------
E2854/E2854M − 21
Overview of the test site showing a roadway, airstrip, or parking lot with
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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: E2854 − 12 E2854/E2854M − 21
Standard Test Method for
Evaluating Emergency Response Robot Capabilities: Radio
1
Communication:Communications Line-of-Sight Range
This standard is issued under the fixed designation E2854;E2854/E2854M; 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, energy, communications, durability, proficiency, autonomy, and logistics. This
standard is part of the communications suite of test methods.
1. Scope
1.1 Purpose: This test method is intended for remotely operated ground robots using radio communications to transmit real-time
data between a robot and its remote operator interface. This test method measures the maximum line-of-sight radio
communications distance at which a robot can maintain omnidirectional steering, speed control, precise stopping, visual acuity, and
other functionality. This test method is one of several related radio communication tests that can be used to evaluate overall system
capabilities.
1.1.1 The purpose of this test method, as a part of a suite of radio communication test methods, is to quantitatively evaluate a
teleoperated robot’s (see Terminology E2521) capability to perform maneuvering and inspection tasks in a line-of-sight
environment.
1
This test method 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 Feb. 1, 2012Jan. 1, 2021. Published April 2012June 2021. Originally approved in 2012. Last previous edition approved in 2012 as E2854 – 12.
DOI: 10.1520/E2854-12.10.1520/E2854_E2854M-21.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1
---------------------- Page: 1 ----------------------
E2854/E2854M − 21
Left: The line-of-sight range test method uses an airstrip or paved road with robot test stations placed every 100 m (330 ft) along the centerline. Right: Robot test stations
are prototyped with targets on the barrels for visual inspection tasks and circular paths for maneuvering tasks.Overview of the test site showing a roadway, airstrip, or
parking lot with a centerline and measured incremental distances between the omnidirectional robot tasks and a movable remote operator interface.
FIG. 1 Test Fabrication at An Air StripOverview of the Test Site
1.1.2 Robots shall possess a certain set of radio communication capabilities, including performing maneuvering and inspection
tasks in a line-of-sight environment, to suit critical operations for emergency responses. The capability for a robot to perform these
types of tasks in unobstructed areas down range is critical for emergenc
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