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    ASTM F3243 - 21

    Standard Practice for Implementing Communications Impairments on A-UGV Systems

    Active Standard ASTM F3243 | Developed by Subcommittee: F45.04

    Book of Standards Volume: 15.08

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    Significance and Use

    4.1 A-UGVs operate in a wide range of indoor and outdoor applications that include many communications challenges that can affect A-UGV control and monitoring. An A-UGV system or A-UGVS as defined in Terminology F3200 includes the A-UGV and all associated components, equipment, software, and communications necessary to make a fully functional system. Communications impairments can cause: (1) changes in A-UGV operation, (2) changes in behavior in system components such as control and scheduling, or (3) changes in operation or timing of infrastructure equipment coordination. This practice is intended to record the task performance of an A-UGV while communications are impaired in a specified and repeatable manner (for example, standard test method).

    4.2 Communications impairments can occur at a variety of locations within the A-UGVS. The network topology in Fig. 1 shows many of the common communications links that could be impaired. The numbered arrows in Fig. 1 label different places where communications impairments could occur. The box colors (that is, green, red, blue) indicate different types of impairments where the two red boxes are similar to each other. Fig. 1 will be used throughout this practice and included on the test report for use in describing the test setup and results by the test supervisor.

    FIG. 1 Block Diagram of Communications for Control/Monitoring of A-UGVs and Associated Facility Equipment in which Numbers with Arrows Indicate Examples of Communications Impairment Locations

    Block Diagram of Communications for Control/Monitoring of A-UGVs and Associated Facility Equipmentin which Numbers with Arrows Indicate Examples of Communications Impairment Locations Block Diagram of Communications for Control/Monitoring of A-UGVs and Associated Facility Equipmentin which Numbers with Arrows Indicate Examples of Communications Impairment Locations

    4.3 The requested expected results provide pass/fail reporting criteria along with recorded notes pertinent to the test or results or both. It is possible that the communications impairments used will have no noticeable effect, and this is often the desired outcome.


    1. Scope

    1.1 This practice considers impairments of communications within an automatic, automated, or autonomous unmanned ground vehicle (A­UGV) system during task execution. An A-UGV system typically uses communications between an A-UGV and fixed system components and resources, such as off-board control, job and fleet scheduling, infrastructure equipment interactions, or cloud-computing programs for tasks. Communications impairments can cause an A-UGV operation to change in various ways that can include delays or failure to complete the task.

    1.2 This practice is designed for applying known communications impairments to an A-UGV system in conjunction with A-UGV task testing. It is designed to create similar changes in communications that can possibly cause task performance limiting effects that are often experienced by an A-UGV system in different environments.

    1.3 This practice is intended to simulate impairments that may be present during the operation of an A-UGV system. This practice can be used, for example, by a manufacturer to indicate that system performance was tested to be robust against specific test communications impairments. The tests are not intended to test situations that should be eliminated during system installation, for example, a duplicate internet protocol (IP) address on the network.

    1.4 This practice only describes communications impairments. It does not specify an A-UGV task. The A-UGV task should be a defined ASTM International test method or task description in similar detail.

    1.5 This practice defines methods to record communications impairment types and extents while the A-UGV is stationary or performs a task. Temporal or spatial extents in which communications impairments occur include the timing, duration, location within the task, or other triggered events. Examples for implementing common communications impairments are provided.

    1.6 This practice is not intended for:

    1.6.1 Communications impairments between onboard components of an A-UGV, for example, onboard sensors-to-onboard computers.

    1.6.2 Communications or measurement impairments directly affecting external reference or positioning systems, for example, global positioning system (GPS) used for navigation and range/azimuth sensor-to-wall reflectors.

    1.7 The values stated in SI units are to be regarded as the standard. No other units of measurement are included in this standard.

    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, health, and environmental practices and determine the applicability of regulatory limitations prior to use. Safety standards for A-UGVs (for example, ITSDF B56.5, ISO 3691-4) should be followed.

    1.9 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. Referenced Documents (purchase separately) The documents listed below are referenced within the subject standard but are not provided as part of the standard.

    ASTM Standards

    F3200 Terminology for Driverless Automatic Guided Industrial Vehicles

    F3218 Practice for Documenting Environmental Conditions for Utilization with A-UGV Test Methods

    F3244 Test Method for Navigation: Defined Area

    F3265 Test Method for Grid-Video Obstacle Measurement

    F3327 Practice for Recording the A-UGV Test Configuration

    Referencing This Standard
    Link Here
    Link to Active (This link will always route to the current Active version of the standard.)

    DOI: 10.1520/F3243-21

    Citation Format

    ASTM F3243-21, Standard Practice for Implementing Communications Impairments on A-UGV Systems, ASTM International, West Conshohocken, PA, 2021, www.astm.org

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