ASTM_E_2828_-_11.pdf

Designation:E282811Standard Test Method forEvaluating Emergency Response Robot Capabilities:Mobility:Confined Area Terrains:Symmetric Stepfields1This standard is issued under the fixed designation E2828;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)capability oftraversing complex terrain composed of symmetric stepfieldsin confined areas.1.1.2 Robots shall possess a certain set of mobilitycapabilities,including negotiating complex terrains,to suitcritical operations such as emergency responses.A part of thecomplexity is that the environments often pose constraints torobotic mobility to various degrees.This test method specifiesapparatuses to standardize a confined areas terrain that iscomposed of symmetric stepfields and that notionally repre-sents types of terrains containing extensive discontinuities,existent in emergency response and other environments.Thistest method also specifies procedures and metrics to standard-ize testing using the apparatus.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 terrains.The requiredmobility capabilities include traversing gaps,hurdles,stairs,slopes,various types of floor surfaces or terrains,and confinedpassageways.Yet additional mobility requirements includesustained speeds and towing capabilities.Standard test meth-ods are required to evaluate whether candidate robots meetthese 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 terrain with symmetric stepfields is a part of themobility test suite.Fig.2 shows examples of other confinedarea terrains,along with the traversing paths.The apparatusesassociated with the test methods challenge specific robotcapabilities in repeatable ways to facilitate comparison ofdifferent robot models as well as particular configurations ofsimilar robot models.1.1.6 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.This performance data can be used to guideprocurement specifications and acceptance testing for robotsintended 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.1This 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/E2828-11.Copyright ASTM International,100 Barr Harbor Drive,PO Box C700,West Conshohocken,PA 19428-2959.United States1 2.Referenced Documents2.1 ASTM Standards:2E2521 Terminology for Urban Search and Rescue RoboticOperationsE2592