ASTM_F_2595_-_07.pdf

Designation:F259507Standard Guide forUnmanned Undersea Vehicle(UUV)Sensor Data Formats1This standard is issued under the fixed designation F2595;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.INTRODUCTIONASTM has prepared this series of standards to guide the development of autonomous unmannedunderwater vehicles(UUVs).The standards address the key capabilities that a UUV system mustpossess in order to be considered autonomous and reconfigurable:Autonomous Capable of operating without operator input for extended periods of time.Implicitin this description is the requirement that the UUVs sortie accomplishes its assigned goal and makesthe appropriate rendezvous for a successful recovery.Reconfigurable Capable of operating with multiple payloads.The top level requirement isestablished that the UUV systems will consist of:Payloads to complete specific system tasking such as environmental data collection,areasurveillance,mine hunting,mine countermeasures,intelligence/surveillance/reconnaissance(ISR),orother scientific,military,or commercial objectives.Vehicles that will transport the payloads to designated locations and be responsible for the launchand recovery of the vehicle/payload combination.While the payload will be specific to the objective,the vehicle is less likely to be so.Nevertheless,commonality across all classes of UUV with respect to such features as planning,communications,and post sortie analysis(PSA)is desirable.Commonality with regard to such features as launch andrecovery and a common control interface with the payload should be preserved within the UUV class.In accordance with this philosophy,ASTM identifies four standards to address UUV developmentand to promote compatibility and interoperability among UUVs:F2541Standard Guide for UUV Autonomy and Control,WK11283Standard Guide for UUV Physical Payload Interface,F2594Standard Guide for UUV Communications,andF2594Standard Guide for UUV Sensor Data Formats.The relationships among these standards are illustrated in Fig.1.The first two standards address theUUV autonomy,command and control,and the physical interface between the UUV and its payload.The last two ASTM standards address the handling of the most valuable artifacts created by UUVsystems,the data.Since there are many possibilities for communications links to exchange data,it isexpected that the UUV procurement agency will provide specific guidance relative to these links andthe appropriate use of the UUV communications standard.In a similar manner,specific guidance isexpected for the appropriate use of the UUV data formats.F2541Standard Guide for UUV Autonomy and ControlThe UUV autonomy and control guidedefines the characteristics of an autonomous UUV system.While much of this guide applies to thevehicle and how the vehicle should perform in an autonomous state,the relationship of the payloadswithin the UUV system is also characterized.A high level depiction of the functional subsystemsassociated with a generic autonomous UUV system is presented.The important functional relationshipestablished in this guide is the payloads subordinate role relative to the vehicle in terms of systemsafety.The payload is responsible for its own internal safety,but the vehicle is responsible for thesafety of the vehicle-payload system.Terminology is defined to provide a common framework for thediscussion of autonomous systems.System behaviors and capabilities are identified that tend to makea system independent of human operator input and provide varying levels of assurance that the UUVwill perform its assigned task and successfully complete recovery.A three-axis sliding scale ispresented to illustrate the systems level of autonomy(LOA)in terms of situational awareness,Copyright ASTM International,100 Barr Harbor Drive,PO Box C700,West Conshohocken,PA 19428-2959.United States1 decision-making/planning/execution,and external interaction.The control interface(messages ex-changed between the vehicle and the payload)is described and instantiations of this interface for thevarious classes of UUV are presented in associated appendices.WK11283Standard Guide for UUV Physical Payload InterfaceThe UUV physical payloadinterface guide is a physical and functional interface standard that guides the mechanical and electricalinterface between the vehicle and the payload,and the functional relationship between the vehicle andthe payload.In-as-much-as a single physical interface standard cannot address all classes of UUVs,this guide describes the physical interfaces in the body of the guide and provides appendices to guidethe instantiation for each of the classes.This guide reinforces the relationship between the vehicle andthe payload and confirms the permission-request responsibil