Designation:E2853−12StandardTestMethodforEvaluatingEmergencyResponseRobotCapabilities:Human-SystemInteraction(HSI):SearchTasks:RandomMazeswithComplexTerrain1ThisstandardisissuedunderthefixeddesignationE2853;thenumberimmediatelyfollowingthedesignationindicatestheyearoforiginaladoptionor,inthecaseofrevision,theyearoflastrevision.Anumberinparenthesesindicatestheyearoflastreapproval.Asuperscriptepsilon(´)indicatesaneditorialchangesincethelastrevisionorreapproval.1.Scope1.1Purpose:1.1.1Thepurposeofthistestmethod,asapartofasuiteofhuman-systeminteractions(HSI)testmethods,istoquantita-tivelyevaluateateleoperatedgroundrobot’s(seeTerminologyE2521)capabilityofsearchinginamaze.1.1.2TeleoperatedrobotsshallpossessacertainsetofHSIcapabilitiestosuitcriticaloperationssuchasemergencyresponses,includingenablingtheoperatorstosearchforrequiredtargets.Apassagethatformsoncomplexterrainsandpossessescomplexandvisuallysimilarbranchesisatypeofenvironmentsthatexistsinemergencyresponseandotherroboticallyapplicablesituations.Thecomplexityoftenposeschallengesfortheoperatorstoteleoperatetherobotstoconductsearches.Thistestmethodisbasedonastandardmazeandspecifiesmetricsandaprocedurefortestingthesearchcapability.1.1.3Emergencyresponserobotsshallenabletheoperatortohandlemanytypesoftasks.TherequiredHSIcapabilitiesincludesearchandnavigationondifferenttypesofterrains,passages,andconfinedspaces.Standardtestmethodsarerequiredtoevaluatewhethercandidaterobotsmeettheserequirements.1.1.4ASTME54.08.01TaskGrouponRoboticsspecifiesaHSItestsuite,whichconsistsofasetoftestmethodsforevaluatingtheseHSIcapabilityrequirements.ThisrandommazesearchingtestmethodisapartoftheHSItestsuite.Theapparatusesassociatedwiththetestmethodschallengespecificrobotcapabilitiesinrepeatablewaystofacilitatecomparisonofdifferentrobotmodelsaswellasparticularconfigurationsofsimilarrobotmodels.(SeeFig.1.)1.1.5ThetestmethodsquantifyelementalHSIcapabilitiesnecessaryforgroundrobotsintendedforemergencyresponseapplications.Assuch,basedontheirpar...
