ASTM_E_2829_-_11.pdf

Designation:E282911Standard Test Method forEvaluating Emergency Response Robot Capabilities:Mobility:Maneuvering Tasks:Sustained Speed1This standard is issued under the fixed designation E2829;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,as a part of a suite ofmobility test methods,is to quantitatively evaluate a teleoper-ated ground robots(see Terminology E2521)sustained ma-neuvering speed on paved surfaces.1.1.2 Robots shall possess a certain set of mobilitycapabilities,including maneuvering,to suit critical operationssuch as emergency responses.The environments often poseconstraints to robotic mobility to various degrees.Being able tomaneuver effectively for extended distances is essential fordeployment down-range during emergency responses.This testmethod specifies apparatuses to standardize this maneuveringtask for testing.1.1.3 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.1.1.4 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 sus-tained speed 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.1.1.5 The test methods quantify elemental mobility capa-bilities necessary for ground robot intended for emergencyresponse 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 as required.These performance data can be used toguide procurement specifications and acceptance testing forrobots intended for 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 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 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 December 2011.DOI:10.1520/E2829-11.2For 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.Department of Home-land Security3NIST Special Publication 1011-I-2.0 Autonomy Levels forUnmanned Systems(ALFUS)Framework Volume I:Terminology,Version 2.043.Terminology3.1 Terminology E2521 lists addit