ASTM_E_2801_-_11.pdf

Designation:E280111Standard Test Method forEvaluating Emergency Response Robot Capabilities:Mobility:Confined Area Obstacles:Gaps1This standard is issued under the fixed designation E2801;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 crossing horizontal gaps in confinedareas.1.1.2 Robots shall possess a certain set of mobilitycapabilities,including negotiating obstacles,to suit criticaloperations such as emergency responses.Ahorizontal gap withan unknown edge condition is a type of obstacle that exists inemergency response and other environments.These environ-ments often pose constraints to robotic mobility to variousdegrees.This test method specifies apparatuses,procedures,and metrics to standardize this testing.1.1.3 The test apparatuses are scalable to provide a range oflateral dimensions 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 on Robotics specifies amobility test suite,which consists of a set of test methods forevaluating these mobility capability requirements.This con-fined area gap test method is a part of the mobility test suite.The apparatuses associated with the test methods challengespecific robot capabilities in repeatable ways to facilitatecomparison of different robot models as well as particularconfigurations of similar robot models.1.1.6 The mobility test suite quantifies elemental mobilitycapabilities necessary for ground robots intended for emer-gency response applications.As such,users can use either theentire suite or a subset based on their particular performancerequirements.Users are also allowed to weight particular testmethods or particular metrics within a test method differentlybased on their specific performance requirements.The testingresults should collectively represent an emergency responseground robots overall mobility performance.These perfor-mance data can be used to guide procurement specificationsand acceptance testing for robots intended for emergencyresponse applications.NOTE1Additional test methods within the suite are anticipated to bedeveloped to address additional or advanced robotic mobility capabilityrequirements,including newly identified requirements and even for 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 UnitsThe values stated in SI units are to be regardedas the standard.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 but 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 October 2011.DOI:10.1520/E2801-11.2For 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 Other Standards:National Response Framework U.S.Departm