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:
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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
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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.
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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
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