ASTM E3380/E3380M-23 PDF

SIGNIFICANCE AND USE 5.1 This test method is part of an overall suite of related test methods that provide repeatable measures of robotic system mobility and remote operator proficiency. The operational endurance of a ground robot significantly impacts the performance of the robot during a variety of tasks. Robot endurance is a complex function of robot design, control scheme design, and energy storage selection. This test method evaluates the endurance of a robot through continuous operation on a complex surface. The continuous pitch/roll ramp terrain chosen for endurance testing specifically challenges robotic system locomotion, suspension systems to maintain traction, rollover tendencies, self-righting in complex terrain (if necessary), chassis shape variability (if available), and remote situational awareness by the operator. As such, it can be used to represent modest outdoor terrain complexity or indoor debris within confined areas. The endurance test standard provides a method in which the operational endurance of a large variety of robot sizes and locomotion system designs may be compared. The test provides both a measure of the endurance of the robot and a measure of the reliability of the robot when operating continuously for extended periods of time on complex terrains. 5.2 The scale of the terrain apparatus can vary to provide different constraints depending on the typical obstacle spacing of the intended deployment environment. For example, the terrain with containment walls can be sized to represent repeatable complexity within bus, train, or plane aisles; dwellings with hallways and doorways; relatively open parking lots with spaces between cars; or unobstructed terrains. 5.3 The test apparatuses are low cost and easy to fabricate so they can be widely replicated. The procedure is also simple to conduct. This eases comparisons across various testing locations and dates to determine best-in-class systems and operators. 5.4 Evaluation—This test method can be used i... SCOPE 1.1 This test method is intended for remotely operated ground robots operating in complex, unstructured, and often hazardous environments. It specifies the apparatuses, procedures, and performance metrics necessary to measure the mission endurance of a robot while traversing complex terrains in the form of continuous pitch/roll ramps or other standard terrains in the terrain suite. This test method is one of several ground robot tests that can be used to evaluate overall system capabilities. 1.2 The robotic system includes a remote operator in control of all functionality, so an onboard camera and remote operator display are typically required. Assistive features or autonomous behaviors that improve the effectiveness or efficiency of the overall system are encouraged. 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 performed anywhere the specified apparatuses and environmental conditions can be implemented. 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 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 appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use. 1.7 This international standard was develo...