Work Item
ASTM WK33261

New Test Method for Evaluating Ground Response Robot Sensing: Point and Zoom Cameras

1. Scope

The purpose of this test method, as a part of a suite of sensors test methods, is to quantitatively evaluate a remotely teleoperated robots capability of pointing its camera and providing the visual information. Such tasks are performed on complex terrains and in confined areas while being remotely teleoperated. The apparatus associated with this test method challenges specific robot capabilities in repeatable ways to facilitate direct comparison of different robot models as well as particular configurations of similar robot models. The apparatus specifies multiple sets of targets with different sizes and colors and are placed at specified locations aiming at differentiate various cameras capabilities. This apparatus can fit into a standard ISO shipping container to facilitate testing in temperature extremes and other environmental conditions such as darkness, smoke, rain, etc. The primary metric is the cameras capability to enable the operator to identify the targets in terms of the total numbers and their respective sizes, colors, and locations. A secondary metric, the time the robot takes to perform the test, provides a relative indication of performance. The suite of sensor test methods quantifies a corresponding set of elemental capabilities necessary for ground robot emergency response applications. As such, the suite should be used collectively to capture the overall sensing performance. The current, first set of the test methods includes acuity and field of view measures, complete pan, tilt, and zoom tasks for the cameras, rapid pan, tilt, and zoom tasks for the cameras, speech intelligibility, spectrum response tones, and localization and mapping. Additional test methods will be developed within the suite to fully address robot sensing capabilities requirements. This suite of test methods characterizes the sensing capabilities of ground robots intended to be operated in human-scale, complex environments with variables including terrains, lighting, temperature, etc. Robots under test shall be teleoperated via operator control units (OCUs) that are out of sight and sound of the test apparatuses but within the radio or tethered communications range, except when the communication is the subject of the testing. The robotic configuration, as to be tested, shall be specified for all the subsystems and is to remain the same for all the suites of the test methods, as appropriate. Any variation in robot configuration will result in retesting for all the suites of the test methods to provide a comprehensive perspective of the performance for the particular robotic variant.


C-IED, counter-IED, emergency, mobility, IED, improvised explosive device, operator control unit (OCU), remote teleoperation, responders, response, robot, task, test, test suite, traverse, urban search and rescue (US&R)


These test methods were developed for emergency response robots, but 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.

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


Developed by Subcommittee: E54.09

Committee: E54

Staff Manager: Kevin Shanahan

Work Item Status

Date Initiated: 05-03-2011

Technical Contact: Raymond Sheh

Item: 000