ASTM E3426-E 3426M-24 Standard Test Method for Evaluating Aerial Response Robot Endurance

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Designation: E3426/E3426M 24
Standard Test Method for
Evaluating Aerial Response Robot Endurance
1
This standard is issued under the fixed designation E3426/E3426M; 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 (´) indicates an editorial change since the last revision or reapproval.
INTRODUCTION
The robotics community needs ways to measure whether a particular robot is capable of performing
specific missions in complex, unstructured, and often hazardous environments. These missions require
various combinations of elemental robot capabilities. Each capability can be represented as a test
method with an associated apparatus to provide tangible challenges for various mission requirements
and performance metrics to communicate results. These test methods can then be combined and
sequenced to evaluate essential robot capabilities and remote pilot proficiencies necessary to
successfully perform intended missions.
The ASTM International Standards Committee on Homeland Security Applications (E54) specifies
these standard test methods to facilitate comparisons across different testing locations and dates for
diverse robot sizes and configurations. These standards support robot researchers, manufacturers, and
user organizations in different ways. Researchers use the standards to understand mission
requirements, encourage innovation, and demonstrate break-through capabilities. Manufacturers use
the standards to evaluate design decisions, integrate emerging technologies, and harden systems.
Emergency responders and soldiers use them to guide purchasing decisions and align deployment
expectations. Associated usage guides describe how these standards can be applied to support various
objectives. These standard test methods may be used in concert with Specification F3330 to create
scenario-based training programs.
Several suites of standards address these elemental capabilities including maneuvering, mobility,
dexterity, sensing, endurance, communications, durability, proficiency, autonomy, and logistics.
1. Scope
1.1 This test method is intended for remotely operated aerial
response robots (that is, unmanned aerial systems [UAS],
drones, unmanned aircrafts) operating in complex,
unstructured, and often hazardous environments. It specifies
the apparatuses, procedures, and performance metrics neces-
sary to measure the mission endurance of an aerial robot while
either station keeping or following an approximate flight path
defined by obstacles or boundaries, or both, intended to induce
repeated cyclical movement. This test method is one of several
robot tests that can be used to evaluate overall system
capabilities.
1.2 The robotic system includes a remote pilot in control of
most functionality, so an onboard camera and remote pilot
display are typically required. This test method can be used to
evaluate assistive or autonomous behaviors intended to im-
prove the effectiveness or efficiency of remotely operated
systems.
1.3 Different user communities can set their own thresholds
of acceptable performance within this test method for various
mission requirements.
1.4 Performing Location—This test method may be per-
formed anywhere the specified apparatuses and environmental
conditions can be implemented. Flying unmanned aircraft
without a comprehensive understanding of the laws and
regulations enforced by the relevant jurisdiction poses signifi-
cant safety and legal risks. Failure to comply with these
regulations may result in accidents, injuries, property damage,
and legal consequences. Users of this standard are strongly
advised to review and adhere to all applicable ASTM Com-
mittee F38 standards and to ensure full compliance with the
authorities holding jurisdiction.
1.5 Units—The International System of Units (SI Units) and
U.S. Customary Units (Imperial Units) are used throughout this
document. They are not mathematical conversions. Rather,
they are approximate equivalents in each system of units to
1
This test method is under the jurisdiction of ASTM Committee E54 on
Homeland Security Applications and is the direct responsibility of Subcommittee
E54.09 on Response Robots.
Current edition approved Feb. 1, 2024. Published February 2024. DOI: 10.1520/
E3426_E3426M-24.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
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.
1
enable use of readily available materials in different countries.
The differences between the stated dimensions in each system
of units are insignificant for the purposes of comparing test
method results, so each system of units is separately considered
standard within this test method.
1.6 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 appro-
priate safety, health, and environmental practices and deter-
mine the applicability of regulatory limitations prior to use.
1.7 This international standard was developed in accor-
dance with internationally recognized principles on standard-
ization established in the Decision on Principles for the
Development of International Standards, Guides and Recom-
mendations issued by the World Trade Organization Technical
Barriers to Trade (TBT) Committee.
2. Referenced Documents
2.1 ASTM Standards:
2
E2521 Terminology for Evaluating Response Robot Capa-
bilities
E2592 Practice for Evaluating Response Robot Capabilities:
Logistics: Packaging for Urban Search and Rescue Task
Force Equipment Caches
E3132 Practice for Evaluating Response Robot Logistics:
System Configuration
F3330 Specification for Training and the Development of
Training Manuals for the UAS Operator
F3341 Terminology for Unmanned Aircraft Systems
2.2 Other Documents:
NIST Special Publication 1011-I-2.0 Autonomy Levels for
Unmanned Systems (ALFUS) Framework Volume I: Ter-
minology
3
3. Terminology
3.1 Definitions—The following terms are used in this test
method and are defined in Terminology E2521:abstain,
administrator or test administrator, emergency response robot
or response robot, fault condition, operator, operator station,
remote control, repetition, robot, teleoperation, test event or
event, test form, test sponsor, test suite, testing target or target,
testing task or task, and trial or test trial.
3.2 The following terms are used in this test method and are
defined in ALFUS Framework Volume I:3: autonomous,
autonomy, level of autonomy, operator control unit (OCU), and
semi-autonomous.
3.3 The following terms are used in this test method and are
defined in Terminology F3341:remote pilot and unmanned
aircraft.
3.4 Definitions of Terms Specific to This Standard:
3.4.1 apparatus clearance width (W), n—a specification for
the apparatus dimensions chosen from one of four possible
measurements, based on the intended robot deployment envi-
ronment:
240 cm 62.5 cm tolerance [96 in. 61 in. tolerance], such
as open and outdoor public spaces;
120 cm 62.5 cm tolerance [48 in. 61 in. tolerance], such
as indoor spaces in accessibility-compliant buildings;
60 cm 61.3 cm tolerance [24 in. 60.5 in. tolerance],
residences and aisles of public transportation; or
30 cm 61.3 cm tolerance [12 in. 60.5 in. tolerance],
cluttered indoor spaces, ductwork, and voids in collapsed
structures.
3.4.1.1 Discussion—The measures for these scales are
nominal and do not represent the measurement of the narrowest
point in the apparatus through which the robot should pass.
Consult Section 6for the overall measurements and dimen-
sions of the apparatus at each scale.
3.4.2 remote pilot, n—the remote pilot in command (RPIC)
or person other than the RPIC who is controlling the flight of
an unmanned aircraft (UA) under the supervision of the RPIC.
F3341
3.4.3 unmanned aircraft, n—aircraft operated without the
possibility of direct human intervention from within or on the
aircraft. F3341
NOTE 1—Due to similarities in characteristics and to maintain consis-
tency across standards developed through ASTM E54.09, the “unmanned
aircraft” (Terminology F3341) is referred to as the “robot” (Terminology
E2521) throughout this standard.
4. Summary of Test Method
4.1 This test method is performed by a remote pilot in
control of an aerial response robot (that is, unmanned aerial
system [UAS], drone, unmanned aircraft). The test administra-
tor and all participants shall ensure compliance with the
regulations of the authority holding jurisdiction before con-
ducting any tests. The robot follows one of four defined
operating profiles in the specified testing area, requiring the
robot to overcome challenges such as continuous movement,
obstacle avoidance, constant vector adjustment, station
keeping, or dwelling in varied environmental conditions. Four
tests are defined, one for each operating profile: outdoor
movement endurance (where the robot continuously flies down
range, ascends, descends, and returns up range), indoor move-
ment endurance (where the robot continuously flies following
a figure-8 flight path inside a confined space), indoor hovering
endurance (where the robot hovers in place inside a confined
space), and indoor dwelling endurance (where the robot lands
on the ground and remains in place inside a confined space).
The outdoor operating profile is performed in a testing area
measuring at least 15 m [50 ft] wide by 90 m [300 ft] long by
90 m [300 ft] tall; see Fig. 1. The three indoor operating
profiles are performed in a testing area measuring 2W wide by
7W long (or longer) by 2W tall, defined by physical boundaries
and with barrier posts that aid in defining the flight path. See
Fig. 2.
4.2 The outdoor movement test uses a straight, forward
flight path followed by an ascending/descending flight path in
2
For referenced ASTM standards, visit the ASTM website, www.astm.org, or
contact ASTM Customer Service at service@astm.org. For Annual Book of ASTM
Standards volume information, refer to the standard’s Document Summary page on
the ASTM website.
3
Available from National Institute of Standards and Technology (NIST), 100
Bureau Dr., Stop 1070, Gaithersburg, MD 20899-1070, http://www.nist.gov.
E3426/E3426M − 24
2
an open, outdoor area. It can be used to demonstrate horizontal
and vertical aerial traversal over long distances. See Fig. 3. The
robot starts in the takeoff area and then proceeds into the flight
area after taking off. Each repetition of the flight path begins
and ends when the robot crosses the start/end line without a
fault, after approximately following the flight path. A line
marking on the ground is made to guide the remote pilot in
controlling the robot when flying the horizontal 90 m [300 ft]
flight path; the line marking remains visible in the robot’s
forward-facing or downward-facing camera such that the robot
approximately follows the flight path. An upward-facing in-
spection target is positioned at the end of the horizontal flight
path to guide the remote pilot in controlling the robot when
flying the vertical 90 m [300 ft] flight path; the robot’s
downward-facing camera remains aimed at the target while
ascending/descending such that the robot approximately fol-
lows the flight path. When properly aligned with the target, the
remote pilot must be able to see the entire colored ring on the
OCU display of the robot’s camera (see Fig. 4 for examples of
correct and incorrect alignment). The distance per repetition is
a total of 360 m [1200 ft]. If the test ends before the robot is
able to complete all four of the 90 m [300 ft] flight segments,
the distance of those that were completed are included in its
performance metrics; 0.25 repetitions = 90 m [300 ft], 0.5
repetitions = 180 m [600 ft], 0.75 repetitions = 270 m [900 ft].
4.3 The indoor movement test uses a figure-8 forward flight
path through the testing area with alternating left and right
turns to avoid barriers. It can be used to demonstrate indoor
aerial traversal over long distances within a relatively small
apparatus. See Fig. 5; the flight path and available flight area
are shown in green. With the left-most boundary removed, the
robot starts in the takeoff area and then proceeds into the flight
area after taking off, at which point the left-most boundary is
put back into position. Each repetition of the figure-8 flight
path begins and ends when the robot crosses the start/end line
without a fault after approximately following the flight path.
The robot will visibly pass in front of the edge of the barrier as
it crosses its starting point, enabling more accurate data
collection from an outside observation point or from post-flight
camera footage. The distance per repetition is a total of 8W
(two 4W segments of the distance between the outer edges of
FIG. 1 Overview of the Testing Area for the Outdoor Endurance Test
E3426/E3426M − 24
3
the barriers). If the test ends before the robot is able to
complete both 4W flight segments, but it was able to complete
one 4W flight segment (that is, 0.5 repetitions), then that 4W
distance that was completed is included in its performance
metrics.
4.4 The indoor hovering test involves the robot traversing a
distance and then hovering in place at a specified location with
the intention of remaining as stationary as possible within that
location. See Fig. 6; the flight path and available flight area are
shown in green and the area where hovering is performed is
shown in purple. With the left-most boundary removed, the
robot starts in the takeoff area and then proceeds into the flight
area after taking off, at which point the left-most boundary is
put back into position. The robot crosses the start line and
performs a single figure-8 traversal. Once completed, it shall
stop and hover in place, remaining in position for as long as it
is able. The remote pilot is allowed to correct minor deviations
in position and height as needed, so long as the robot does not
leave the designated flight area.
4.5 The indoor dwelling test involves the robot traversing a
distance, landing at a specified location, and then dwelling
while landed at that location. See Fig. 6; the flight path and
available flight area are shown in green and the area where
dwelling is performed is shown in purple. With the left-most
boundary removed, the robot starts in the takeoff area and then
proceeds into the flight area after taking off, at which point the
left-most boundary is put back into position. The robot crosses
the start line and performs a single figure-8 traversal. Once
completed, it shall stop, land, and dwell in that position for as
long as it is able.
4.6 Potential faults include:
4.6.1 Any contact by the robot with the walls or barriers that
requires adjustment or repair to return the walls or barriers to
the initial condition;
4.6.2 Any physical interaction with the robot that assists
either the robot or the remote pilot (for example, if the robot
crashes and the remote pilot picks it up to resume testing); and
4.6.3 Leaving the apparatus during the trial.
4.7 Test trials of the outdoor and indoor movement tests
shall produce enough successful repetitions to demonstrate the
reliability of the system capability or the remote pilot profi-
ciency. The endurance test is unique in that a complete test
Dimensions scale proportionally to the apparatus clearance width (W). Wall and ceiling boundaries in 3D rendering are shown as transparent only for diagrammatic
purposes.
FIG. 2 Overview of the Testing Area for the Indoor Endurance Tests
E3426/E3426M − 24
4
摘要:

ASTM E3426-E 3426M-2024 Standard Test Method for Evaluating Aerial Response Robot Endurance 评估空中响应机器人耐久性的标准试验方法

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作者:Carl 分类:国外协会 价格:12星币 属性:14 页 大小:1.15MB 格式:PDF 时间:2024-09-04

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