1、Designation:E283011Standard Test Method forEvaluating the Mobility Capabilities of Emergency ResponseRobots Using Towing Tasks:Grasped Sleds1This standard is issued under the fixed designation E2830;the number immediately following the designation indicates the year oforiginal adoption or,in the cas
2、e 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.1.Scope1.1 Purpose:1.1.1 The purpose of this test method,as a part of a suite ofmobility test methods,is to
3、quantitatively evaluate a teleoper-ated ground robots towing capability with the task of graspingloads and traversing a specified route on a flat and pavedsurface.1.1.2 Robots shall possess a certain set of mobilitycapabilities,including towing,to suit critical operations such asemergency responses.
4、This capability would be required toperform such emergency response-related tasks as deliveringcritical supplies,moving victims to safe locations,or transport-ing suspected packages away from humans.1.1.3 Emergency response ground robots shall be able tohandle many types of obstacles and terrains.Th
5、e requiredmobility capabilities include traversing gaps,hurdles,stairs,slopes,various types of floor surfaces or terrains,and confinedpassageways.Yet additional mobility requirements includesustained speeds and towing capabilities.Standard test meth-ods are required to evaluate whether candidate rob
6、ots meetthese requirements.1.1.4 ASTM Task Group E54.08.01 specifies a mobility testsuite,which consists of a set of test methods for evaluatingthese mobility capability requirements.This towing-by-grasping test method is a part of the mobility test suite.Theapparatuses associated with the test meth
7、ods challenge specificrobot capabilities in repeatable ways to facilitate comparison ofdifferent robot models as well as particular configurations ofsimilar robot models.1.1.5 The test methods quantify elemental mobility capa-bilities necessary for ground robot emergency response appli-cations.As su
8、ch,the test suite should be used collectively torepresent a ground robots overall mobility performance.NOTE1Additional test methods within the suite are anticipated to bedeveloped to address additional or advanced robotic mobility capabilityrequirements,including newly identified requirements and ev
9、en for newapplication domains.1.2 Performing LocationThis test method shall be per-formed in a testing laboratory or the field where the specifiedapparatus and environmental conditions are implemented.1.3 UnitsThe values stated in SI units are to be regardedas the standard.The values given in parent
10、heses are mathemati-cal conversions to inch-pound units that are provided forinformation only and are not considered standard.1.4 This standard does not purport to address all of thesafety concerns,if any,associated with its use.It is theresponsibility of the user of this standard to establish appro
11、-priate safety and health practices and determine the applica-bility of regulatory limitations prior to use.2.Referenced Documents2.1 ASTM Standards:2E2521 Terminology for Urban Search and Rescue RoboticOperationsE2592 Practice for Evaluating Cache Packaged Weight andVolume of Robots for Urban Searc
12、h and Rescue2.2 Other Standards:National Response Framework U.S.Department of Home-land Security33.Terminology3.1 Terminology E2521 lists additional definitions relevantto this test method.3.2 Definitions:3.2.1 abstain,vthe operators action of notifying theadministrator to withdraw from the test,cau
13、sing the result notto be reported and the test form to be marked as abstained.3.2.1.1 DiscussionThe operator is the only person whocan convey the decision to abstain the test.The abstention maybe made when the robot configuration is not designed norequipped to perform the test.The testing sponsor sh
14、ould makea consistent policy about the time period during which the1This test method is under the jurisdiction of ASTM Committee E54 onHomeland Security Applications and is the direct responsibility of SubcommitteeE54.08 on Operational Equipment.Current edition approved July 1,2011.Published Decembe
15、r 2011.DOI:10.1520/E2830-11.2For referenced ASTM standards,visit the ASTM website,www.astm.org,orcontact ASTM Customer Service at serviceastm.org.For Annual Book of ASTMStandards volume information,refer to the standards Document Summary page onthe ASTM website.3Available from Federal Emergency Mana
16、gement Agency(FEMA),P.O.Box10055,Hyattsville,MD 20782-8055,http:/www.fema.gov.Copyright ASTM International,100 Barr Harbor Drive,PO Box C700,West Conshohocken,PA 19428-2959.United States1 abstention is allowed.The abstention is granted only before thetest,as reflected in the procedure.3.2.1.2 DiscussionBeing marked as abstained indicatesthat all the parties involved in the test acknowledge theomission of the performance data while the test method wasavailable at the test time.3.2.2 administrator