ASTM_E_2855_-_12.pdf

Designation:E285512Standard Test Method forEvaluating Emergency Response Robot Capabilities:RadioCommunication:Non-Line-of-Sight Range1This standard is issued under the fixed designation E2855;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 ofradio communication test methods,is to quantitatively evaluatea teleoperated robots(see Terminology E2521)capability toperform maneuvering and inspection tasks in a non-line-of-sight environment.1.1.2 Robots shall possess a certain set of radio communi-cation capabilities,including performing maneuvering andinspection tasks in a non-line-of-sight environment,to suitcritical operations for emergency responses.The capability fora robot to perform these types of tasks in obstructed areas downrange is critical for emergency response operations.This testmethod specifies a standard set of apparatuses,procedures,andmetrics to evaluate the robot/operator capabilities for perform-ing these tasks.1.1.3 Emergency response robots shall be able to operateremotelyusingtheequippedradiosinline-of-sightenvironments,in non-line-of-sight environments,and for sig-nal penetration through such impediments as buildings,rubbles,and tunnels.Additional capabilities include operatingin the presence of electromagnetic interference and providinglink security and data logging.Standard test methods arerequired to evaluate whether candidate robots meet theserequirements.1.1.4 ASTM E54.08.01 Task Group on Robotics specifies aradio communication test suite,which consists of a set of testmethods for evaluating these communication capabilities.Thisnon-line-of-sight range test method is a part of the radiocommunication test suite.The apparatuses associated with thetest methods challenge specific robot capabilities in repeatableways to facilitate comparison of different robot models as wellas particular configurations of similar robot models.1.1.5 This test method establishes procedures,apparatuses,and metrics for specifying and testing the capability of radio(wireless)links used between the operator station and thetesting robot in a non-line-of-sight environment.These linksinclude the command and control channel(s)and video,audio,and other sensor data telemetry.1.1.6 This test method is intended to apply to ground basedrobotic systems and small unmanned aerial systems(sUAS)capable of hovering to perform maneuvering and inspectiontasks down range for emergency response applications.1.1.7 This test method specifies an apparatus that is,first ofall,an essentially clear radio frequency channel for testing.Inaddition,a standard line-of-sight barrier between the testingoperator control unit(OCU)and the robot is specified.Fig.1provides an illustration.NOTE1Frequency coordination and interoperability are not addressedin this standard.These issues should be resolved by the affected agencies(Fire,Police,and Urban Search and Rescue)and written into StandardOperating Procedures(SOPs)that guide the responses to emergencysituations.1.1.8 The radio communication test suite quantifies elemen-tal radio communication capabilities necessary for robotsintended for emergency response applications.As such,basedon their particular capability requirements,users of this testsuite can select only the applicable test methods and canindividually weight particular test methods or particular met-rics within a test method.The testing results should collec-tively represent an emergency response robots overall radiocommunication capability.These test results can be used toguide procurement specifications and acceptance testing forrobots intended for emergency response applications.NOTE2As robotic systems are more widely applied,emergencyresponders might identify additional or advanced robotic radio commu-nication capability requirements to help them respond to emergencysituations.They might also desire to use robots with higher levels ofautonomy,beyond teleoperate onto help reduce their workloadsee NISTSpecial Publication 1011-II-1.0.Further,emergency responders in ex-panded emergency response domains might also desire to apply robotictechnologies to their situations,a source for new sets of requirements.Asa result,additional standards within the suite would be developed.Thisstandard is,nevertheless,standalone and complete.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 shall be the stan-dard.The values given in parentheses are not precise math-ematical conversions to inch-pound units.They are close1This test method is under the jurisdiction of ASTM Committee E5