ASTM E2521-07a

NOTICE: This standard has either been superseded and replaced by a new version or withdrawn.
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Designation: E2521 − 07a
StandardTerminology for
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Urban Search and Rescue Robotic Operations
This standard is issued under the fixed designation E2521; the number immediately following the designation indicates the year of
original adoption or, in the case of revision, the year of last revision. A number in parentheses indicates the year of last reapproval. A
superscript epsilon (´) indicates an editorial change since the last revision or reapproval.
DISCUSSION—The composition, size, and capability of the team may
1. Scope
vary based on the nature and size of the disaster. See Ref (1).
1.1 This terminology covers terms associated with Urban
Search and Rescue (US&R) Robotics. By providing a common human robot interaction/interface (HRI), n—(1) physical
and consistent lexicon, the purpose of this document is to activities that users engage with robots to perform assigned
facilitate communication between individuals who may be tasks; (2) physical devices that facilitate the aforementioned
involved in the research, design, and deployment of robots for activities; (3) logical design and description of planned and
US&R operations. anticipated interactions between the robot and the user. See
Ref (2).
1.2 In order for the standard to be harmonious with the
practices in the field, definitions have been drawn from the
mission planning, n—process used to generate tactical goals,
literature or other public sources when possible. When new
routes, tasks, commanding structures, coordination, and
concepts require definitions be drafted, or existing definitions
timing.
be updated, a consensus-based approach will be employed to
DISCUSSION—Themissionplanscanbegeneratedeitherinadvanceor
resolve them. The development of this standard is taking place
in real-time, can be generated either by an operator on an operator
in close coordination with the corresponding efforts in E54.08 control unit or by the onboard software systems in either centralized or
distributed ways. The mission plans can be general or specific and can
and E54.92 to ensure comprehensive and consistent coverage.
be for a single robot or for teams of them. See Ref (2).
2. Terminology
mixed initiative control, n—type of control for robotic sys-
2.1 Definitions:
tems with which both the operator and the robot can take the
cache, n—stock of tools, equipment, and supplies stored in a initiative to perform the assigned missions or tasks.
designated location.
remote control, n—continuously controlling a robot from a
DISCUSSION—Organizations may standardize the items on the cache
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separate location and under direct observation.
lists and the availability of the items. See Ref (1).
robot, n—mechanical system designed to be able to control its
collapse hazard zone, n—area established by the responsible
official for the purpose of controlling all access to an area sensing and acting for the purpose of achieving goals in the
physical world.
that could be impacted or affected by building collapse,
falling debris, or other associated types of hazards including
sensor fusion, n—process that combines, integrates, or
electrical, chemical, water, and aftershocks.
correlates, or a combination thereof, data generated by
DISCUSSION—The area could contain a building or multiple
multiple sensory sources to create information that fits the
structures, above ground or underground. A collapse hazard zone can
needs, including decision-making and display for user.
also be established when an occurrence of such disasters is deemed
highly probable or when a building is determined to be structurally DISCUSSION—The fusion techniques include detection and classifica-
unsustainable. See Ref (1). tion.
emergency response team (ERT), n—team assembled by the
teleoperation, v—controlling a distant robot on a continuous
involved organization in response to the occurrence of a
basis and being provided with sensory or control
disaster.
information, or both, through means other than direct obser-
vation. See Ref (3).
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world model, n—robot’s internal representation of the world it
This terminology is under the jurisdiction of ASTM Committee E54 on
Homeland Security Applications and is the direct responsibility of Subcommittee
is aware of, consisting of the parts of the environment that
E54.08 on Operational Equipment.
are of interest to the robot and the operator.
Current edition approved Aug. 1, 2007. Published August 2007. Originally
DISCUSSION—The world model may include entities—including the
approved in 2007. Last previous edition approved in 2007 as E2521 – 07. DOI:
robot itself, objects in the environment, maps, and images. The
10.1520/E2521-07A.
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individual representations may be complete or incomplete and may be
The boldface numbers in parentheses refer to a list of references at the end of
this standard. associatedwithvariouslevelsofconfide
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