ASTM E2521-23

This document is not an ASTM standard and is intended only to provide the user of an ASTM standard an indication of what changes have been made to the previous version. Because
it may not be technically possible to adequately depict all changes accurately, ASTM recommends that users consult prior editions as appropriate. In all cases only the current version
of the standard as published by ASTM is to be considered the official document.
Designation: E2521 − 16 E2521 − 23
Standard Terminology for
Evaluating Response Robot Capabilities
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.
INTRODUCTION
The robotics community needs ways to quantitatively measure whether a particular robot is capable
of performing and reliable enough to perform specific missions. These missions decompose into sets
of elemental robot tasks that can be represented individually as standard test methods. The ASTM
International Committee on Homeland Security Applications, Operational Equipment Subcommittee,
Robots Task Group (E54.08.01) Subcommittee E54.09 on Response Robots, specifies standard test
methods, practices, and guides for evaluating response robots. These standard test methods measure
specific robot capabilities in repeatable ways to facilitate comparisons among different robot models
or different configurations of a particular robot model. Users assemble different sets of standard test
methods into combinations that address their envisioned missions tasks.
Resulting robot capabilities data support robot researchers, manufacturers, and user organizations in
different ways. Researchers use them to understand mission requirements, refine innovating
approaches, and demonstrate break-through capabilities. Manufacturers use them to evaluate design
decisions, integrate payloads and emerging technologies, and harden systems. Responder organiza-
tions use them to guide purchasing, align with deployment objectives, and focus training with
measures of operator proficiency.
The overall set of the standards addresses the robotic terminology, safety, maneuvering, terrains,
obstacles, dexterity, sensing, communications, energy/power, durability, proficiency, autonomy, and
logistics. Each standard test method enables repeatable testing to establish statistically significant
levels of reliability and confidence that the robot can perform the task. Standard test methods
essentially define the test apparatuses, procedures, and performance metrics so they can be fabricated
and practiced by robot manufacturers and user groups alike. They provide a tangible language to
communicate responder requirements and demonstrate robot capabilities.
1. Scope
1.1 This terminology identifies and precisely defines terms as used in the standard test methods, practices, and guides for
evaluating response robots intended for hazardous environments. Further discussions of the terms can be found within the
standards in which the terms appear.
1.2 The term definitions address response robots, including ground, aquatic, and aerial systems. Some key features of such systems
are remotely operated from safe standoff distances, deployable at operational tempos, capable of operating in complex
environments, sufficiently hardened against harsh environments, reliable and field serviceable, durable or cost effectively
disposable, and equipped with operational safeguards.
This terminology is under the jurisdiction of ASTM Committee E54 on Homeland Security Applications and is the direct responsibility of Subcommittee E54.09 on
Response Robots.
Current edition approved Jan. 1, 2016Sept. 1, 2023. Published January 2016September 2023. Originally approved in 2007. Last previous edition approved in 20072016
as E2521 – 07a.E2521 – 16. DOI: 10.1520/E2521-16.10.1520/E2521-23.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
E2521 − 23
1.3 Units—Values stated in either the International System of Units (metric) or U.S. Customary units (inch-pound) are to be
regarded separately as standard. The values stated in each system may not be exact equivalents. Both units are referenced to
facilitate acquisition of materials internationally and minimize fabrication costs. Tests conducted using either system maintain
repeatability and reproducibility of the test method and results are comparable.
1.4 This international standard was developed in accordance with internationally recognized principles on standardization
established in the Decision on Principles for the Development of International Standards, Guides and Recommendations issued
by the World Trade Organization Technical Barriers to Trade (TBT) Committee.
2. Terminology
2.1 Definitions:
abstain, v—robot manufacturer or designated operator declaring not to perform a particular test or not to have the test result
disseminated.
alcove, n—a square area with walls on three of four sides whose sides are equal to the chosen apparatus clearance width (W).
aspect ratio, n—ratio of width to height of an image produced by a camera system.
cache, n—stock of tools, equipment, and supplies stored in a designated location.
collapse hazard zone, n—area established by the responsible official for the purpose of controlling all access to an area that
could be impacted or affected by building collapse, falling debris, or other associated types of hazards including electrical,
chemical, water, and aftershocks.
dynamic range (of a camera), n—a measure of the ability of a camera system to observe detail in a dark part of an otherwise
bright environment, or vice versa, "simultaneously" in a single image or "sequentially" across multiple images, under
"automatic" or "manual" control of the camera system’s settings.
emergency response robot or response robot, n—deployable sensing and control device intended to perform tasks at
operational tempos to assist the operator with handling the involved task.
emergency response team (ERT), n—team assembled by involved organization in response to the occurrence of a disaster.
fault condition, n—certain situation or occurrence during response robot testing or training whereby the robot either cannot
continue operating without human intervention or has performed some defined rules infraction.
falt-floorflat-floor terrain element, n—flat surface with nominal overall dimensions of 1.2 by 1.2 m [4 by 4 ft] and elevation
of 10 by 10 cm [4 by 4 in.].square flat surface whose sides measure one apparatus clearance width (W).
DISCUSSION—
The material used to build these elements shall be strong enough to allow the participating robots to execute the testing tasks.
focal length, n—equivalent distance in free air between the point at which rays of light entering the optical system are first
collimated and the focal point of the camera.
foveated vision or foveated vision system, n—camera system that has higher resolution (provides more information) at the
center of the image than at the edges.
full-ramp terrain element, n—inclined surface with nominal overall dimensions of 1.2 by 1.2 m [4 by 4 ft] 1.2 m by 1.2 m [4 ft
by 4 ft] and slope of 15°.
FEMA US&R-2-FG “Urban Search and Rescue Response System Field Operations Guide,” Latest Version (September 2003 or later).
E2521 − 23
half-ramp terrain element, hallway, n—inclined surface with nominal overall dimensions of 0.6 by 1.2 m [2 by 4 ft] and slope
of 15°.an area with a width equal to the chosen apparatus clearance width (W) and a variable length that is a multiple of W.
human robot interaction/interface (HRI), n—(1) physical activities that users engage with robots to perform assigned tasks;
(2) physical devices that facilitate the aforementioned activities; (3) logical design and description of planned and anticipated
interactions between the robot and the user.
DISCUSSION—
Also referred to as or human system interaction/interface (HSI).
human-scale, adj—used to indicate that (1) the concerned objects, terrains, or other environmental features are, individually, in
volumetric and weight scales typically handled by humans, although possibly compromised or collapsed enough to limit human
access; (2) the concerned robots are suitable for operating within these contexts; and (3) the robot tasks are identifiable,
perceivable, and controllable with human interaction.
image, n—two-dimensional matrix of values with each of the two dimensions representing angular deviation (possibly
nonlinear) in orthogonal directions from the sensor’s optical axis.
image acuity or acuity, n—measure of the resolving capability of the robot’s camera system.
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