Historical
ASTM E2853-12
Standard Test Method for Evaluating Emergency Response Robot Capabilities: Human-System Interaction (HSI): Search Tasks: Random Mazes with Complex Terrain
1.1 Purpose:
1.1.1 The purpose of this test method, as a part of a suite of human-system interactions (HSI) test methods, is to quantitatively evaluate a teleoperated ground robot’s (see Terminology E2521) capability of searching in a maze.
1.1.2 Teleoperated robots shall possess a certain set of HSI capabilities to suit critical operations such as emergency responses, including enabling the operators to search for required targets. A passage that forms on complex terrains and possesses complex and visually similar branches is a type of environments that exists in emergency response and other robotically applicable situations. The complexity often poses challenges for the operators to teleoperate the robots to conduct searches. This test method is based on a standard maze and specifies metrics and a procedure for testing the search capability.
1.1.3 Emergency response robots shall enable the operator to handle many types of tasks. The required HSI capabilities include search and navigation on different types of terrains, passages, and confined spaces. Standard test methods are required to evaluate whether candidate robots meet these requirements.
1.1.4 ASTM E54.08.01 Task Group on Robotics specifies a HSI test suite, which consists of a set of test methods for evaluating these HSI capability requirements. This random maze searching test method is a part of the HSI 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. (See Fig. 1.)
1.1.5 The test methods quantify elemental HSI capabilities necessary for ground 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 a ground robot’s overall HSI capability. The test results can be used to guide procurement specifications and acceptance testing for robots intended for emergency response applications.
Note 1—The teleoperation performance is affected by the robot’s as well as the operator’s capabilities. Among all the standard test methods that ASTM E54.08.01 Task Group on Robotics has specified, some depend more on the former while the others on the latter, but it would be extremely hard to totally isolate the two factors. This HSI test suite is specified to focus on evaluating the operator’s capabilities of interacting with the robotic system, whereas a separately specified sensor test suite, including Test Method E2566, focuses on the robots’ sensing capabilities.
Note 2—As robotic systems are more widely applied, emergency responders might identify additional or advanced HSI capability requirements to help them respond to emergency situations. They might also desire to use robots with higher levels of autonomy, beyond teleoperation to help reduce their workload
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