ASTM E2521-07

NOTICE: This standard has either been superseded and replaced by a new version or withdrawn.
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Designation:E2521–07
Standard Terminology for
Urban Search and Rescue Robotic Operations
This standard is issued under the fixed designation E 2521; 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 (e) indicates an editorial change since the last revision or reapproval.
tures,abovegroundorunderground.Acollapsehazardzonecanalsobe
1. Scope
established when an occurrence of such disasters is deemed highly
1.1 This terminology covers terms associated with Urban
probable or when a building is determined to be structurally unsustain-
Search and Rescue (US&R) Robotics. By providing a common
able. See Ref (1).
and consistent lexicon, the purpose of this document is to
emergency response team (ERT), n—team assembled by the
facilitate communication between individuals who may be
involved organization in response to the occurrence of a
involved in the research, design, and deployment of robots for
disaster.
US&R operations.
1.2 In order for the standard to be harmonious with the
DISCUSSION—The composition, size, and capability of the team may
vary based on the nature and size of the disaster. See Ref (1).
practices in the field, definitions have been drawn from the
literature or other public sources when possible. When no
mission planning, v—process used to generate tactical goals,
definition is available, or definitions are in dispute, a
routes, tasks, commanding structures, coordination, and
consensus-based approach will be employed to resolve defini-
timing.
tions and add them to the lexicon. The development of this
DISCUSSION—Themissionplanscanbegeneratedeitherinadvanceor
standard is taking place in close coordination with the corre-
in real-time, can be generated either by an operator on an operator
sponding efforts in E54.08 and E54.92 to ensure comprehen-
control unit or by the onboard software systems in either centralized or
sive and consistent coverage.
distributed ways. The mission plans can be general or specific and can
be for a single robot or for teams of them. See Ref (2).
2. Terminology
remote control, v—controlling a distant robot on a continuous
2.1 Definitions:
basis using only direct observation. See Ref (3).
cache, n—stock of tools, equipment, and supplies stored in a
robot, n—mechanical system designed to be able to control its
designated location.
sensing and acting for the purpose of achieving goals in the
physical world.
DISCUSSION—Organizations may standardize the items on the cache
lists and the availability of the items. See Ref (1). teleoperation, v—controlling a distant robot on a continuous
basis and being provided with sensory or control informa-
collapse hazard zone, n—area established by the responsible
tion, or both, through means other than direct observation.
official for the purpose of controlling all access to an area
See Ref (3).
that could be impacted or affected by building collapse,
worldmodel, n—robot’s internal representation of the world it
falling debris,
...