ASTM_E_2803_-_11.pdf

Designation:E280311Standard Test Method forEvaluating Emergency Response Robot Capabilities:Mobility:Confined Area Obstacles:Inclined Planes1This standard is issued under the fixed designation E2803;the number immediately following the designation indicates the year oforiginal adoption or,in the case of revision,the year of last revision.A number in parentheses indicates the year of last reapproval.Asuperscript epsilon()indicates an editorial change since the last revision or reapproval.1.Scope1.1 Purpose:1.1.1 The purpose of this test method is to quantitativelyevaluate a teleoperated ground robots(see TerminologyE2521)capability of traversing inclined planes in confinedareas.1.1.2 Robots shall possess a certain set of mobilitycapabilities,including negotiating obstacles,to suit criticaloperations such as emergency responses.An inclined slope is atype of obstacle that exists in emergency response and otherenvironments.These environments often pose constraints torobotic mobility to various degrees.This test method specifiesapparatuses,procedures,and metrics to standardize this ob-stacle for testing.1.1.3 The test apparatuses are scalable to provide a range ofdimensions to constrain the robotic mobility during taskperformance.Fig.1 shows three apparatus sizes to test robotsintended for different emergency response scenarios.1.1.4 Emergency response ground robots shall be able tohandle many types of obstacles and terrain complexities.Therequired mobility capabilities include traversing gaps,hurdles,stairs,slopes,various types of floor surfaces or terrains,andconfined passageways.Yet additional mobility requirementsinclude sustained speeds and towing capabilities.Standard testmethods are required to evaluate whether candidate robotsmeet these requirements.1.1.5 ASTM Task Group E54.08.01 specifies a mobility testsuite,which consists of a set of test methods for evaluatingthese mobility capability requirements.This inclined-plane-traversing test method is a part of the mobility test suite.Theapparatuses associated with the test methods challenge specificrobot capabilities in repeatable ways to facilitate comparison ofdifferent robot models as well as particular configurations ofsimilar robot models.1.1.6 The test suite quantifies elemental mobility capabili-ties necessary for ground robot intended for emergency re-sponse applications.As such,users of this standard can useeither the entire suite or a subset based on their particularperformance requirements.Users are also allowed to weightparticular test methods or particular metrics within a testmethod differently based on their specific performance require-ments.The testing results should collectively represent anemergency response ground robots overall mobility perfor-mance.These performance data can be used to guide procure-ment specifications and acceptance testing for robots intendedfor emergency response applications.NOTE1Additional test methods within the suite are anticipated to bedeveloped to address additional or advanced robotic mobility capabilityrequirements,including newly identified requirements and for even newapplication domains.1.2 Performing LocationThis test method shall be per-formed in a testing laboratory or the field where the specifiedapparatus and environmental conditions are implemented.1.3 The values stated in SI units are to be regarded as thestandard.The values given in parentheses are not precisemathematical conversions to inch-pound units.They are closeapproximate equivalents for the purpose of specifying materialdimensions or quantities that are readily available to avoidexcessive fabrication costs of test apparatuses while maintain-ing repeatability and reproducibility of the test method results.These values given in parentheses are provided for informationonly and are not considered standard.1.4 This standard does not purport to address all of thesafety concerns,if any,associated with its use.It is theresponsibility of the user of this standard to establish appro-priate safety and health practices and determine the applica-bility of regulatory limitations prior to use.2.Referenced Documents2.1 ASTM Standards:2E2521 Terminology for Urban Search and Rescue RoboticOperationsE2592 Practice for Evaluating Cache Packaged Weight andVolume of Robots for Urban Search and Rescue1This test method is under the jurisdiction of ASTM Committee E54 onHomeland Security Applications and is the direct responsibility of SubcommitteeE54.08 on Operational Equipment.Current edition approved July 1,2011.Published November 2011.DOI:10.1520/E2803-11.2For referenced ASTM standards,visit the ASTM website,www.astm.org,orcontact ASTM Customer Service at serviceastm.org.For Annual Book of ASTMStandards volume information,refer to the standards Document Summary page onthe ASTM website.Copyright ASTM International,100 Barr Harbor Drive,PO Box C700,West Conshohocken,PA 19428-2959.United States1 2.2 Additional Documents:National Response Framework,U.S.Department