< div class=" SectionLevel2" > < p class=" subsec1 cdone2" > < span class=" Head3 cdone" > 1.1< / span>  < span class=" Head3Title cdone" > Purpose: < / span>

< div class=" SectionLevel3" > < p class=" subsec2 cdone2" > < span class=" Head4 cdone" > 1.1.1< / span>  The purpose of this test method, as a part of a suite of radio communication test methods, is to quantitatively evaluate a teleoperated robot’s (see Terminology < span class=" Body-link1 cdone" > E2521< / span> ) capability to perform maneuvering and inspection tasks in a non-line-of-sight environment.

< / div> < div class=" SectionLevel3" > < p class=" subsec2 cdone2" > < span class=" Head4 cdone" > 1.1.2< / span>  Robots shall possess a certain set of radio communication capabilities, including performing maneuvering and inspection tasks in a non-line-of-sight environment, to suit critical operations for emergency responses. The capability for a robot to perform these types of tasks in obstructed areas down range is critical for emergency response operations. This test method specifies a standard set of apparatuses, procedures, and metrics to evaluate the robot/ operator capabilities for performing these tasks.

< / div> < div class=" SectionLevel3" > < p class=" subsec2 cdone2" > < span class=" Head4 cdone" > 1.1.3< / span>  Emergency response robots shall be able to operate remotely using the equipped radios in line-of-sight environments, in non-line-of-sight environments, and for signal penetration through such impediments as buildings, rubbles, and tunnels. Additional capabilities include operating in the presence of electromagnetic interference and providing link security and data logging. Standard test methods are required to evaluate whether candidate robots meet these requirements.

< / div> < div class=" SectionLevel3" > < p class=" subsec2 cdone2" > < span class=" Head4 cdone" > 1.1.4< / span>  ASTM E54.08.01 Task Group on Robotics specifies a radio communication test suite, which consists of a set of test methods for evaluating these communication capabilities. This non-line-of-sight range test method is a part of the radio communication test suite. The apparatuses associated with the test methods challenge specific robot capabilities in repeatable ways to facilitate comparison of different robot models as well as particular configurations of similar robot models.

< / div> < div class=" SectionLevel3" > < p class=" subsec2 cdone2" > < span class=" Head4 cdone" > 1.1.5< / span>  This test method establishes procedures, apparatuses, and metrics for specifying and testing the capability of radio (wireless) links used between the operator station and the testing robot in a non-line-of-sight environment. These links include the command and control channel(s) and video, audio, and other sensor data telemetry.

< / div> < div class=" SectionLevel3" > < p class=" subsec2 cdone2" > < span class=" Head4 cdone" > 1.1.6< / span>  This test method is intended to apply to ground based robotic systems and small unmanned aerial systems (sUAS) capable of hovering to perform maneuvering and inspection tasks down range for emergency response applications.

< / div> < div class=" SectionLevel3" > < p class=" subsec2 cdone2" > < span class=" Head4 cdone" > 1.1.7< / span>  This test method specifies an apparatus that is, first of all, an essentially clear radio frequency channel for testing. In addition, a standard line-of-sight barrier between the testing operator control unit (OCU) and the robot is specified. < span class=" Body-link1 cdone" > Fig. 1< / span> provides an illustration.

< div class=" ParaCenter" > < div class=" FigureTitle" > < p class=" Table-title cdone" > < span class=" Table-number cdone" > FIG. 1< / span>  Test Fabrication at An Air Strip

< / div> < img src=" http:/ / www.astm.org/ HTTP/ IMAGES/ E2855_003151_z.svg" alt=" Test Fabrication at An Air Strip" class=" svg" / > < img src=" http:/ / www.astm.org/ HTTP/ IMAGES/ E2855_003151_z.png" alt=" Test Fabrication at An Air Strip" class=" png" / > < div class=" FooterDetails Figinfo" > < p class=" cdone" > Left: The non-line-of-sight range test method uses an airstrip or flat, paved road with robot test stations placed in front of and behind a wall constructed of stacked 12 m (40 ft) International Standards Organization (ISO) shipping containers. Right: Robot test stations are prototyped behind the wall with targets on the barrels for visual inspection tasks and circular paths for maneuvering tasks.

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< span class=" note cdone" style=" text-transform: uppercase " > Note 1:< / span>  < span class=" note cdone" > Frequency coordination and interoperability are not addressed in this standard. These issues should be resolved by the affected agencies (Fire, Police, and Urban Search and Rescue) and written into Standard Operating Procedures (SOPs) that guide the responses to emergency situations.< / span>

< / div> < / div> < div class=" SectionLevel3" > < p class=" subsec2 cdone2" > < span class=" Head4 cdone" > 1.1.8< / span>  The radio communication test suite quantifies elemental radio communication capabilities necessary for robots intended for emergency response applications. As such, based on their particular capability requirements, users of this test suite can select only the applicable test methods and can individually weight particular test methods or particular metrics within a test method. The testing results should collectively represent an emergency response robot’s overall radio communication capability. These test results can be used to guide procurement specifications and acceptance testing for robots intended for emergency response applications.

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< span class=" note cdone" style=" text-transform: uppercase " > Note 2:< / span>  < span class=" note cdone" > As robotic systems are more widely applied, emergency responders might identify additional or advanced robotic radio communication capability requirements to help them respond to emergency situations. They might also desire to use robots with higher levels of autonomy, beyond teleoperate onto help reduce their workload—see NIST Special Publication 1011-II-1.0. Further, emergency responders in expanded emergency response domains might also desire to apply robotic technologies to their situations, a source for new sets of requirements. As a result, additional standards within the suite would be developed. This standard is, nevertheless, standalone and complete.< / span>

< / div> < / div> < / div> < div class=" SectionLevel2" > < p class=" subsec1 cdone2" > < span class=" Head3 cdone" > 1.2< / span>  < span class=" Head3Title cdone" > Performing Location—< / span> This test method shall be performed in a testing laboratory or the field where the specified apparatus and environmental conditions are implemented.

< / div> < div class=" SectionLevel2" > < p class=" subsec1 cdone2" > < span class=" Head3 cdone" > 1.3< / span>  < span class=" Head3Title cdone" > Units—< / span> The values stated in SI units shall be the standard. The values given in parentheses are not precise mathematical conversions to inch-pound units. They are close approximate equivalents for the purpose of specifying material dimensions or quantities that are readily available to avoid excessive fabrication costs of test apparatuses while maintaining repeatability and reproducibility of the test method results. These values given in parentheses facilitate testing but are not considered standard.

< / div> < div class=" SectionLevel2" > < p class=" caveat cdone2" > < span class=" Head3 cdone" > 1.4< / span>  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.

< / div> < div class=" SectionLevel2" > < p class=" WTOcaveat cdone2" > < span class=" Head3 cdone" > 1.5< / span>  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.

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