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ASTM E2854-12

(Test Method)

Standard Test Method for Evaluating Emergency Response Robot Capabilities: Radio Communication: Line-of-Sight Range

Standard Test Method for Evaluating Emergency Response Robot Capabilities: Radio Communication: Line-of-Sight Range

SIGNIFICANCE AND USE
A main purpose of using robots in emergency response operations is to enhance the safety and effectiveness of emergency responders operating in hazardous or inaccessible environments. The testing results of the candidate robot shall describe, in a statistically significant way, how reliably the robot is able to perform the specified types of tasks and thus provide emergency responders sufficiently high levels of confidence to determine the applicability of the robot.  
This test method addresses robot performance requirements expressed by emergency responders and representatives from other interested organizations. The performance data captured within this test method are indicative of the testing robot’s capabilities. Having available a roster of successfully tested robots with associated capabilities data to guide procurement and deployment decisions for emergency responders is consistent with the guideline of “Governments at all levels have a responsibility to develop detailed, robust, all-hazards response plans” as stated in National Response Framework.
This test method is part of a test suite and is intended to provide a capability baseline for the robotic communications systems based on the identified needs of the emergency response community. Adequate testing performance will not ensure successful operation in all emergency response environments due to possible extreme communications difficulties. Rather, this standard is intended to provide a common comparison that can aid in choosing appropriate systems. This standard is also intended to encourage development of improved and innovative communications systems for use on emergency response robots.
The standard apparatus is specified to be easily fabricated to facilitate self-evaluation by robot developers and provide practice tasks for emergency responders to exercise robot actuators, sensors, and operator interfaces. The standard apparatus can also be used to support operator training and to establish o...
SCOPE
1.1 Purpose:
1.1.1 The purpose of this test method, as a part of a suite of radio communication test methods, is to quantitatively evaluate a teleoperated robot’s (see Terminology E2521) capability to perform maneuvering and inspection tasks in a line-of-sight environment.  
1.1.2 Robots shall possess a certain set of radio communication capabilities, including performing maneuvering and inspection tasks in a line-of-sight environment, to suit critical operations for emergency responses. The capability for a robot to perform these types of tasks in unobstructed areas down range is critical for emergency response operations. This test method specifies a standard set of apparatuses, procedures, and metrics to evaluate the robot/operator capabilities for performing these tasks.
1.1.3 Emergency response robots shall be able to operate remotely using the equipped radios in line-of-sight (LOS) environments, in non-line-of-sight (NLOS) environments, and for signal penetration through such impediments as buildings, rubbles, and tunnels. Additional capabilities include operating in the presence of electromagnetic interference and providing link security and data logging. Standard test methods are required to evaluate whether candidate robots meet these requirements.
1.1.4 ASTM E54.08.01 Task Group on Robotics specifies a radio communication test suite, which consists of a set of test methods for evaluating these communication capabilities. This line-of-sight range test method is a part of the radio communication test suite. The apparatuses associated with the test methods challenge specific robot capabilities in repeatable ways to facilitate comparison of different robot models as well as particular configurations of similar robot models.
1.1.5 This test method establishes procedures, apparatuses, and metrics for specifying and testing the capability of radio (wireless) links used between the operator station and the ...

General Information

Status
Historical
Publication Date
31-Jan-2012
ICS
25.040.30 - Industrial robots. Manipulators
Technical Committee
E54 - Homeland Security Applications
Drafting Committee
E54.09 - Response Robots
Current Stage
Ref Project

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ASTM E2854-12 - Standard Test Method for Evaluating Emergency Response Robot Capabilities: Radio Communication: Line-of-Sight RangeASTM E2854-12 - Standard Test Method for Evaluating Emergency Response Robot Capabilities: Radio Communication: Line-of-Sight Range
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ASTM E2854-12 - Standard Test Method for Evaluating Emergency Response Robot Capabilities: Radio Communication: Line-of-Sight Range
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NOTICE: This standard has either been superseded and replaced by a new version or withdrawn.
Contact ASTM International (www.astm.org) for the latest information
Designation: E2854 − 12
Standard Test Method for
Evaluating Emergency Response Robot Capabilities: Radio
1
Communication: Line-of-Sight Range
This standard is issued under the fixed designation E2854; 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.
1. Scope include the command and control channel(s) and video, audio,
and other sensor data telemetry.
1.1 Purpose:
1.1.6 This test method is intended to apply to ground based
1.1.1 The purpose of this test method, as a part of a suite of
robotic systems and small unmanned aerial systems (sUAS)
radiocommunicationtestmethods,istoquantitativelyevaluate
capable of hovering to perform maneuvering and inspection
a teleoperated robot’s (see Terminology E2521) capability to
tasks down range for emergency response applications.
perform maneuvering and inspection tasks in a line-of-sight
1.1.7 This test method specifies an apparatus that is an
environment.
essentially clear radio frequency channel for testing. Fig. 1
1.1.2 Robots shall possess a certain set of radio communi-
provides an illustration.
cation capabilities, including performing maneuvering and
inspection tasks in a line-of-sight environment, to suit critical
NOTE1—Frequencycoordinationandinteroperabilityarenotaddressed
operations for emergency responses. The capability for a robot
in this standard. These issues should be resolved by the affected agencies
(Fire, Police, and Urban Search and Rescue) and written into the Standard
to perform these types of tasks in unobstructed areas down
Operating Procedures (SOPs) that guide the responses to emergency
range is critical for emergency response operations. This test
situations.
method specifies a standard set of apparatuses, procedures, and
1.1.8 The radio communication test suite quantifies elemen-
metrics to evaluate the robot/operator capabilities for perform-
tal radio communication capabilities necessary for robots
ing these tasks.
intended for emergency response applications. As such, based
1.1.3 Emergency response robots shall be able to operate
on their particular capability requirements, users of this test
remotely using the equipped radios in line-of-sight (LOS)
suite can select only the applicable test methods and can
environments, in non-line-of-sight (NLOS) environments, and
individually weight particular test methods or particular met-
for signal penetration through such impediments as buildings,
rics within a test method. The testing results should collec-
rubbles, and tunnels. Additional capabilities include operating
tively represent a ground robot’s overall radio communication
in the presence of electromagnetic interference and providing
capability. These test results can be used to guide procurement
link security and data logging. Standard test methods are
specifications and acceptance testing for robots intended for
required to evaluate whether candidate robots meet these
emergency response applications.
requirements.
1.1.4 ASTM E54.08.01 Task Group on Robotics specifies a
NOTE 2—As robotic systems are more widely applied, emergency
radio communication test suite, which consists of a set of test
responders might identify additional or advanced robotic radio commu-
methods for evaluating these communication capabilities. This nication capability requirements to help them respond to emergency
situations. They might also desire to use robots with higher levels of
line-of-sight range test method is a part of the radio commu-
autonomy, beyond teleoperation to help reduce their workload—see NIST
nication test suite. The apparatuses associated with the test
Special Publication 1011-II-1.0. Further, emergency responders in ex-
methods challenge specific robot capabilities in repeatable
panded emergency response domains might also desire to apply robotic
ways to facilitate comparison of different robot models as well
technologies to their situations, a source for new sets of requirements.As
as particular configurations of similar robot models. a result, additional standards within the suite would be developed. This
standard is, nevertheless, standalone and complete.
1.1.5 This test method establishes procedures, apparatuses,
and metrics for specifying and testing the capability of radio
1.2 Performing Location—This test method shall be per-
(wireless) links used between the operator station and the
formed in a testing laboratory or the field where the specified
testing robot in a line-of-sight environment. These links
apparatus and environmental conditions are implemented.
1.3 Units—The values stated in SI units shall be the stan-
1
This test method is
...

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1.1 This test method is intended for remotely operated ground robots operating in complex, unstructured, and often hazardous environments. It specifies the apparatuses, procedures, and performance metrics necessary to measure the capability of a robot to negotiate an obstacle in the form of hurdles. This test method is one of several related mobility tests that can be used to evaluate overall system capabilities.  
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SIGNIFICANCE AND USE
5.1 This test method is part of an overall suite of related tests that provide reproducible measures of radio communications for remotely operated robots. It measures the maximum line-of-sight radio communications range between a robot and its remote operator interface using omnidirectional robot maneuvering and visual acuity tasks to evaluate the degradation of essential mission capabilities due to communications latency and loss.  
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5.3 Evaluations—This test method can be conducted in a controlled environment with no radio frequency interference and minimal radio propagation effects to measure baseline capabilities that can be compared widely across robotic systems. It also can be embedded into any operational training scenario as a practical measure of line-of-sight radio communications range with additional degradation due to uncontrolled variables such as radio frequency interference, weather, etc. The results of these scenario tests can be compared across robotic systems only when conducted in the same environment in similar conditions. However, the results cannot be compared reliably to results from other venues or environmental conditions due to the uncontrolled variables.  
5.4 Procurement—This test method can be used to identify inherent capability trade-offs in systems, make informed purchasing decisions, and verify performance during acceptance testing. This aligns requirement specifications and user expectations with existing capability limits.  
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1.1 This test method is intended for remotely operated ground robots using radio communications to transmit real-time data between a robot and its remote operator interface. This test method measures the maximum line-of-sight radio communications distance at which a robot can maintain omnidirectional steering, speed control, precise stopping, visual acuity, and other functionality. This test method is one of several related radio communication tests that can be used to evaluate overall system capabilities.  
1.2 A remote operator is in control of all functionality, so an onboard camera and remote operator display are typically required. Assistive features or autonomous behaviors may improve the effectiveness or efficiency of the overall system.  
1.3 Different user communities can set their own thresholds of acceptable performance within this test method to address various mission requirements.  
1.4 Performing Location—This test method may be performed anywhere the specified apparatuses and environmental conditions can be implemented.  
1.5 The International System of Units (a.k.a. SI Units) and U.S. Customary Units (a.k.a. Imperial Units) are used throughout this document. They are not mathematical conversions. Rather, they are approximate equivalents in each system of units to enable the use of readily available materials in different countries. The differences between the stated dimensions in each system of units are insignificant for the purposes of comparing test method results, so each system of units is separately considered standard within this test method.  
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SIGNIFICANCE AND USE
5.1 A main purpose of using robots in emergency response operations is to enhance the safety and effectiveness of emergency responders operating in hazardous or inaccessible environments. The testing results of the candidate robot shall describe, in a statistically significant way, how reliably the robot is able to perform the specified types of tasks and thus provide emergency responders sufficiently high levels of confidence to determine the applicability of the robot.  
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1.1 Purpose:  
1.1.1 The purpose of this test method, as a part of a suite of radio communication test methods, is to quantitatively evaluate a teleoperated robot’s (see Terminology E2521) capability to perform maneuvering and inspection tasks in a non-line-of-sight environment.  
1.1.2 Robots shall possess a certain set of radio communication capabilities, including performing maneuvering and inspection tasks in a non-line-of-sight environment, to suit critical operations for emergency responses. The capability for a robot to perform these types of tasks in obstructed areas down range is critical for emergency response operations. This test method specifies a standard set of apparatuses, procedures, and metrics to evaluate the robot/operator capabilities for performing these tasks.  
1.1.3 Emergency response robots shall be able to operate remotely using the equipped radios in line-of-sight environments, in non-line-of-sight environments, and for signal penetration through such impediments as buildings, rubbles, and tunnels. Additional capabilities include operating in the presence of electromagnetic interference and providing link security and data logging. Standard test methods are required to evaluate whether candidate robots meet these requirements.  
1.1.4 ASTM E54.08.01 Task Group on Robotics specifies a radio communication test suite, which consists of a set of test methods for evaluating these communication capabilities. This non-line-of-sight range test method is a part of the radio communication test suite. The apparatuses associated with the test methods challenge specific robot capabilities in repeatable ways to facilitate comparison of different robot models as well as particular configurations of similar robot models.  
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Standard Test Method for Evaluating Response Robot Mobility Using Crossing Pitch/Roll Ramp Terrains

SIGNIFICANCE AND USE
5.1 This test method is part of an overall suite of related test methods that provide repeatable measures of robotic system mobility and remote operator proficiency. This crossing (discontinuous) pitch/roll ramp terrain specifically challenges robotic system locomotion, suspension systems to maintain traction, rollover tendencies, self-righting in complex terrain (if necessary), chassis shape variability (if available), and remote situational awareness by the operator. As such, it can be used to represent modest outdoor terrain complexity or indoor debris within confined areas.  
5.2 The overall size of the terrain apparatus can vary to provide different constraints depending on the typical obstacle spacing of the intended deployment environment. For example, the terrain with containment walls can be sized to represent repeatable complexity within bus, train, or plane aisles; dwellings with hallways and doorways; relatively open parking lots with spaces between cars; or unobstructed terrains.  
5.3 The test apparatuses are low cost and easy to fabricate so they can be widely replicated. The procedure is also simple to conduct. This eases comparisons across various testing locations and dates to determine best-in-class systems and operators.  
5.4 Evaluation—This test method can be used in a controlled environment to measure baseline capabilities. It can also be embedded into operational training scenarios to measure degradation due to uncontrolled variables in lighting, weather, radio communications, GPS accuracy, etc.  
5.5 Procurement—This test method can be used to identify inherent capability trade-offs in systems, make informed purchasing decisions, and verify performance during acceptance testing. This aligns requirement specifications and user expectations with existing capability limits.  
5.6 Training—This test method can be used to focus operator training as a repeatable practice task or as an embedded task within training scenarios. The resulting mea...
SCOPE
1.1 This test method is intended for remotely operated ground robots operating in complex, unstructured, and often hazardous environments. It specifies the apparatuses, procedures, and performance metrics necessary to measure the capability of a robot to traverse complex terrains in the form of crossing (discontinuous) pitch/roll ramps. This test method is one of several related mobility tests that can be used to evaluate overall system capabilities.  
1.2 The robotic system includes a remote operator in control of all functionality, so an onboard camera and remote operator display are typically required. Assistive features or autonomous behaviors that improve the effectiveness or efficiency of the overall system are encouraged.  
1.3 Different user communities can set their own thresholds of acceptable performance within this test method for various mission requirements.  
1.4 Performing Location—This test method may be performed anywhere the specified apparatuses and environmental conditions can be implemented.  
1.5 Units—The International System of Units (SI Units) and U.S. Customary Units (Imperial Units) are used throughout this document. They are not mathematical conversions. Rather, they are approximate equivalents in each system of units to enable use of readily available materials in different countries. This avoids excessive purchasing and fabrication costs. The differences between the stated dimensions in each system of units are insignificant for the purposes of comparing test method results, so each system of units is separately considered standard within this test method.  
1.6 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use.  
1.7 This international stand...

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ASTM
ASTM E2828/E2828M-20(Test Method)
Standard Test Method for Evaluating Response Robot Mobility Using Symmetric Stepfields Terrains

SIGNIFICANCE AND USE
5.1 This test method is part of an overall suite of related test methods that provide repeatable measures of robotic system mobility and remote operator proficiency. This symmetric stepfield terrain specifically challenges robotic system locomotion, suspension systems to maintain traction, rollover tendencies, self-righting in complex terrain (if necessary), chassis shape variability (if available), and remote situational awareness by the operator. As such, it can be used to represent modest outdoor terrain complexity or indoor debris within confined areas.  
5.2 The overall size of the terrain apparatus can vary to provide different constraints depending on the typical obstacle spacing of the intended deployment environment. For example, the terrain with containment walls can be sized to represent repeatable complexity within bus, train, or plane aisles; dwellings with hallways and doorways; relatively open parking lots with spaces between cars; or unobstructed terrains.  
5.3 The test apparatuses are low cost and easy to fabricate so they can be widely replicated. The procedure is also simple to conduct. This eases comparisons across various testing locations and dates to determine best-in-class systems and operators.  
5.4 Evaluation—This test method can be used in a controlled environment to measure baseline capabilities. It can also be embedded into operational training scenarios to measure degradation due to uncontrolled variables in lighting, weather, radio communications, GPS accuracy, etc.  
5.5 Procurement—This test method can be used to identify inherent capability trade-offs in systems, make informed purchasing decisions, and verify performance during acceptance testing. This aligns requirement specifications and user expectations with existing capability limits.  
5.6 Training—This test method can be used to focus operator training as a repeatable practice task or as an embedded task within training scenarios. The resulting measures of remote opera...
SCOPE
1.1 This test method is intended for remotely operated ground robots operating in complex, unstructured, and often hazardous environments. It specifies the apparatuses, procedures, and performance metrics necessary to measure the capability of a robot to traverse complex terrains in the form of symmetric stepfields. This test method is one of several related mobility tests that can be used to evaluate overall system capabilities.  
1.2 The robotic system includes a remote operator in control of all functionality, so an onboard camera and remote operator display are typically required. Assistive features or autonomous behaviors that improve the effectiveness or efficiency of the overall system are encouraged.  
1.3 Different user communities can set their own thresholds of acceptable performance within this test method for various mission requirements.  
1.4 Performing Location—This test method may be performed anywhere the specified apparatuses and environmental conditions can be implemented.  
1.5 Units—The International System of Units (SI Units) and U.S. Customary Units (Imperial Units) are used throughout this document. They are not mathematical conversions. Rather, they are approximate equivalents in each system of units to enable use of readily available materials in different countries. This avoids excessive purchasing and fabrication costs. The differences between the stated dimensions in each system of units are insignificant for the purposes of comparing test method results, so each system of units is separately considered standard within this test method.  
1.6 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use.  
1.7 This international standard was developed in ...

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ASTM
ASTM E2826/E2826M-20(Test Method)
Standard Test Method for Evaluating Response Robot Mobility Using Continuous Pitch/Roll Ramp Terrains

SIGNIFICANCE AND USE
5.1 This test method is part of an overall suite of related test methods that provide repeatable measures of robotic system mobility and remote operator proficiency. This continuous pitch/roll ramp terrain specifically challenges robotic system locomotion, suspension systems to maintain traction, rollover tendencies, self-righting in complex terrain (if necessary), chassis shape variability (if available), and remote situational awareness by the operator. As such, it can be used to represent modest outdoor terrain complexity or indoor debris within confined areas.  
5.2 The overall size of the terrain apparatus can vary to provide different constraints depending on the typical obstacle spacing of the intended deployment environment. For example, the terrain with containment walls can be sized to represent repeatable complexity within bus, train, or plane aisles; dwellings with hallways and doorways; relatively open parking lots with spaces between cars; or unobstructed terrains.  
5.3 The test apparatuses are low cost and easy to fabricate so they can be widely replicated. The procedure is also simple to conduct. This eases comparisons across various testing locations and dates to determine best-in-class systems and operators.  
5.4 Evaluation—This test method can be used in a controlled environment to measure baseline capabilities. It can also be embedded into operational training scenarios to measure degradation due to uncontrolled variables in lighting, weather, radio communications, GPS accuracy, etc.  
5.5 Procurement—This test method can be used to identify inherent capability trade-offs in systems, make informed purchasing decisions, and verify performance during acceptance testing. This aligns requirement specifications and user expectations with existing capability limits.  
5.6 Training—This test method can be used to focus operator training as a repeatable practice task or as an embedded task within training scenarios. The resulting measures of remot...
SCOPE
1.1 This test method is intended for remotely operated ground robots operating in complex, unstructured, and often hazardous environments. It specifies the apparatuses, procedures, and performance metrics necessary to measure the capability of a robot to traverse complex terrains in the form of continuous pitch/roll ramps. This test method is one of several related mobility tests that can be used to evaluate overall system capabilities.  
1.2 The robotic system includes a remote operator in control of all functionality, so an onboard camera and remote operator display are typically required. Assistive features or autonomous behaviors that improve the effectiveness or efficiency of the overall system are encouraged.  
1.3 Different user communities can set their own thresholds of acceptable performance within this test method for various mission requirements.  
1.4 Performing Location—This test method may be performed anywhere the specified apparatuses and environmental conditions can be implemented.  
1.5 Units—The International System of Units (SI Units) and U.S. Customary Units (Imperial Units) are used throughout this document. They are not mathematical conversions. Rather, they are approximate equivalents in each system of units to enable use of readily available materials in different countries. This avoids excessive purchasing and fabrication costs. The differences between the stated dimensions in each system of units are insignificant for the purposes of comparing test method results, so each system of units is separately considered standard within this test method.  
1.6 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use.  
1.7 This international standard was develo...

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