ASTM WK35214

    New Test Method for Evaluating Ground Response Robot Mobility: Traverse Sand Terrain

    (What is a Work Item?)

    Developed by Subcommittee: E54.09 | Committee E54 | Contact Staff Manager


    1. Scope

    1.1 The purpose of this test method is to specify the apparatuses, procedures, and performance metrics necessary to measure quantitatively a teleoperated ground robots capability of traversing sand terrain. The primary performance metric for this test method shall be a robots possession of such a capability with a specified statistical significance level. 1.2 Average rate of advance over the specified terrain shall be the secondary performance metric for this test method. The measure shall be calculated only when a robot under test has completed a statistically significant number of repetitions. 1.3 This test method can also be used to measure the operator proficiency in performing the specified task. The corresponding performance metric may be the number of completed task repetitions per minute over an assigned time period ranging from 10 to 30 min. 1.4 This test method is a part of the mobility suite of ground response robot test methods, but this test method is stand-alone and complete. This test method applies to ground systems operated remotely from a standoff distance appropriate for the intended mission. The system includes a remote operator in control of all functionality and any assistive features or autonomous behaviors that improve the effectiveness or efficiency of the overall system. 1.5 The apparatus, specified in Section 6, can only test a limited range of a robots capabilities. When the robot has been tested through the limit or limits of the apparatus, a note shall be associated with the results indicating that the robots actual capability may be outside of the limit or limits imposed by the test apparatus. For example, the size of the sand terrain test apparatus could possibly affect the acceleration of the robot under test and, in turn, the resulting average rate of advance. 1.6 Performing Location-This test method may be performed anywhere the specified apparatuses and environmental conditions can be implemented. 1.7 Units-The values stated in either SI units or inch-pound units are to be regarded separately as standard. The values stated in each system may not be exact equivalents; therefore, each system shall be used independently of the other. Combining values from the two systems may result in nonconformance with the standard. Both units are referenced to facilitate acquisition of materials internationally and minimize fabrication costs. 1.8 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 and health practices and determine the applicability of regulatory limitations prior to use.

    These test methods were developed specifically for emergency response robots. They may be applicable to other application domains. They can be used to ascertain operator proficiencies during training. They can provide practice tasks that exercise robotic control, including actuators, sensors, and operator interfaces. They can also provide performance objectives for the corresponding subsystems on the robots.


    abstain; autonomy; E-Stop; emergency response; emergency responder; emergency step; mobility; OCU; operator control unit; operator station; oriented strand board; OSB; repetition; responder, response, robot; teleoperation; test suite; urban search and rescue; US&R; USAR

    The title and scope are in draft form and are under development within this ASTM Committee.

    Citing ASTM Standards
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    Work Item Status

    Date Initiated:

    Technical Contact:
    Hui-Min Huang


    E54 (17-04)

    Ballot Item Approved as E2992-2017 and Pending Publication