ASTM_E_2853_-_12.pdf

Designation:E285312Standard Test Method forEvaluating Emergency Response Robot Capabilities:Human-System Interaction(HSI):Search Tasks:RandomMazes with Complex Terrain1This standard is issued under the fixed designation E2853;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 ofhuman-system interactions(HSI)test methods,is to quantita-tively evaluate a teleoperated ground robots(see TerminologyE2521)capability of searching in a maze.1.1.2 Teleoperated robots shall possess a certain set of HSIcapabilities to suit critical operations such as emergencyresponses,including enabling the operators to search forrequired targets.A passage that forms on complex terrains andpossesses complex and visually similar branches is a type ofenvironments that exists in emergency response and otherrobotically applicable situations.The complexity often poseschallenges for the operators to teleoperate the robots to conductsearches.This test method is based on a standard maze andspecifies metrics and a procedure for testing the searchcapability.1.1.3 Emergency response robots shall enable the operatorto handle many types of tasks.The required HSI capabilitiesinclude search and navigation on different types of terrains,passages,and confined spaces.Standard test methods arerequired to evaluate whether candidate robots meet theserequirements.1.1.4 ASTM E54.08.01 Task Group on Robotics specifies aHSI test suite,which consists of a set of test methods forevaluating these HSI capability requirements.This randommaze searching test method is a part of the HSI 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.(See Fig.1.)1.1.5 The test methods quantify elemental HSI capabilitiesnecessary for ground robots intended for emergency responseapplications.As such,based on their particular capabilityrequirements,users of this test suite can select only theapplicable test methods and can individually weight particulartest methods or particular metrics within a test method.Thetesting results should collectively represent a ground robotsoverall HSI capability.The test results can be used to guideprocurement specifications and acceptance testing for robotsintended for emergency response applications.NOTE1The teleoperation performance is affected by the robots aswell as the operators capabilities.Among all the standard test methodsthatASTM E54.08.01 Task Group on Robotics has specified,some dependmore on the former while the others on the latter,but it would beextremely hard to totally isolate the two factors.This HSI test suite isspecified to focus on evaluating the operators capabilities of interactingwith the robotic system,whereas a separately specified sensor test suite,including Test Method E2566,focuses on the robots sensing capabilities.NOTE2As robotic systems are more widely applied,emergencyresponders might identify additional or advanced HSI capability require-ments to help them respond to emergency situations.They might alsodesire to use robots with higher levels of autonomy,beyond teleoperationto help reduce their workloadsee NIST Special Publication 1011-II-1.0.Further,emergency responders in expanded emergency response domainsmight also desire to apply robotic technologies to their situations,a sourcefor new sets of requirements.As a result,additional standards within thesuite would be developed.This standard is,nevertheless,standalone andcomplete.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 that are readily available to avoid excessive fabri-cation costs of test apparatuses while maintaining repeatabilityand reproducibility of the test method results.These valuesgiven in parentheses are provided for information only and arenot 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 Ope