Obstacles and Mobility
Robotic mobility includes confined areas, different terrains such as gravel and sand, and more.
ASTM E2521-16 Red
Standard Terminology for Evaluating Response Robot Capabilities (Standard + Redline PDF Bundle)
1.1 This terminology identifies and precisely defines terms as used in the standard test methods, practices, and guides for evaluating response robots intended for hazardous environments. Further discussions of the terms can be found within the standards in which the terms appear.
1.2 The term definitions address response robots, including ground, aquatic, and aerial systems. Some key features of such systems are remotely operated from safe standoff distances, deployable at operational tempos, capable of operating in complex environments, sufficiently hardened against harsh environments, reliable and field serviceable, durable or cost effectively disposable, and equipped with operational safeguards.
1.3 Units—Values stated in either the International System of Units (metric) or U.S. Customary units (inch-pound) are to be regarded separately as standard. The values stated in each system may not be exact equivalents. Both units are referenced to facilitate acquisition of materials internationally and minimize fabrication costs. Tests conducted using either system maintain repeatability and reproducibility of the test method and results are comparable.
IEEE 1873-2015
IEEE Standard for Robot Map Data Representation for Navigation
A map data representation of environments of a mobile robot performing a navigation task is specified in this standard. It provides data models and data formats for two-dimensional (2D) metric and topological maps.
ASTM E2592-16 Red
Standard Practice for Evaluating Response Robot Capabilities: Logistics: Packaging for Urban Search and Rescue Task Force Equipment Caches (Standard + Redline PDF Bundle)
1.1 This practice covers the requirement that urban search and rescue robots and all necessary associated components or equipment (for example, operator control station, power sources, spare parts, sensors, manipulators, tools, and so forth) shall complement the response organization’s cache packaging and transportation systems.
1.2 Shipment by ground, air, or marine should be considered.
1.3 Volume, weight, shipping classification, and deployability of the robots and associated components are considered in this practice.
1.3.1 The deployability is considered through the determination of:
1.3.1.1 The length of time required to prepare the robot system for deployment, and
1.3.1.2 The types of tools required for servicing the robot system in the field.
1.3.2 Associated components or equipment include not only all the onboard sensors, tethers, and operator control station, but also any spare parts and specialized tools needed for assembly, disassembly, and field servicing.
1.3.3 Associated components also include power equipment necessary for the operation of the system, such as batteries, chargers, and power converters. Gasoline, diesel, or other types of liquid fuel are not included.
1.4 The packaged items shall support the operational availability of the robot during a deployment of up to ten days. There shall be no resupply within the first 72 h of deployment.
1.5 No such standards currently exist except for those relevant to shipping (for example, CFR Title 49 and International Air Transport Association (IATA) documents).
1.6 The values stated in SI units are to be regarded as the standard. The values given in parentheses are for information only.
1.7 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 and health practices and determine the applicability of regulatory limitations prior to use.
ASTM E2801-11(2020)
Standard Test Method for Evaluating Emergency Response Robot Capabilities: Mobility: Confined Area Obstacles: Gaps
1.1 Purpose:
1.1.1 The purpose of this test method is to quantitatively evaluate a teleoperated ground robot’s (see Terminology E2521) capability of crossing horizontal gaps in confined areas.
1.1.2 Robots shall possess a certain set of mobility capabilities, including negotiating obstacles, to suit critical operations such as emergency responses. A horizontal gap with an unknown edge condition is a type of obstacle that exists in emergency response and other environments. These environments often pose constraints to robotic mobility to various degrees. This test method specifies apparatuses, procedures, and metrics to standardize this testing.
1.1.3 The test apparatuses are scalable to provide a range of lateral dimensions to constrain the robotic mobility during task performance. Fig. 1 shows three apparatus sizes to test robots intended for different emergency response scenarios.
FIG. 1 Mobility: Confined Area Obstacles: Gaps Apparatuses
1.1.4 Emergency response ground robots shall be able to handle many types of obstacles and terrain complexities. The required mobility capabilities include traversing gaps, hurdles, stairs, slopes, various types of floor surfaces or terrains, and confined passageways. Yet additional mobility requirements include sustained speeds and towing capabilities. Standard test methods are required to evaluate whether candidate robots meet these requirements.
1.1.5 ASTM Task Group E54.08.01 on Robotics specifies a mobility test suite, which consists of a set of test methods for evaluating these mobility capability requirements. This confined area gap test method is a part of the mobility 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.
1.1.6 The mobility test suite quantifies elemental mobility capabilities necessary for ground robots intended for emergency response applications. As such, users can use either the entire suite or a subset based on their particular performance requirements. Users are also allowed to weight particular test methods or particular metrics within a test method differently based on their specific performance requirements. The testing results should collectively represent an emergency response ground robot’s overall mobility performance. These performance data can be used to guide procurement specifications and acceptance testing for robots intended for emergency response applications.
Note 1: Additional test methods within the suite are anticipated to be developed to address additional or advanced robotic mobility capability requirements, including newly identified requirements and even for new application domains.
1.2 Performing Location—This test method shall be performed in a testing laboratory or the field where the specified apparatus and environmental conditions are implemented.
1.3 Units—The values stated in SI units are to be regarded as 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 are provided for information only but are not considered standard.
1.4 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.
1.5 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.
ASTM E2802-11(2020)
Standard Test Method for Evaluating Emergency Response Robot Capabilities: Mobility: Confined Area Obstacles: Hurdles
1.1 Purpose:
1.1.1 The purpose of this test method, as a part of a suite of mobility test methods, is to quantitatively evaluate a teleoperated ground robot’s (see Terminology E2521) capability of traversing vertical obstacles in confined areas.
1.1.2 Robots shall possess a certain set of mobility capabilities, including negotiating obstacles, to suit critical operations such as emergency responses. A vertical step with an unknown edge condition is a type of obstacle that exists in emergency response and other environments. These environments often pose constraints to robotic mobility to various degrees. This test method specifies apparatuses, procedures, and metrics to standardize this obstacle for testing.
1.1.3 The test apparatuses are scalable to provide a range of lateral dimensions to constrain the robotic mobility during task performance. Fig. 1 shows three apparatus sizes to test robots intended for different emergency response scenarios.
FIG. 1 Mobility: Confined Area Obstacles: Hurdles Apparatuses
1.1.4 Emergency response ground robots shall be able to handle many types of obstacles and terrain complexities. The required mobility capabilities include traversing gaps, hurdles, stairs, slopes, various types of floor surfaces or terrains, and confined passageways. Yet additional mobility requirements include sustained speeds and towing capabilities. Standard test methods are required to evaluate whether candidate robots meet these requirements.
1.1.5 ASTM Task Group E54.08.01 on Robotics specifies a mobility test suite, which consists of a set of test methods for evaluating these mobility capability requirements. This confined area hurdle test method is a part of the mobility 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.
1.1.6 The mobility test suite quantifies elemental mobility capabilities necessary for ground robots intended for emergency response applications. As such, users can use either the entire suite or a subset based on their particular performance requirements. Users are also allowed to weight particular test methods or particular metrics within a test method differently based on their specific performance requirements. The testing results should collectively represent an emergency response ground robot’s overall mobility performance. These performance data can be used to guide procurement specifications and acceptance testing for robots intended for emergency response applications.
Note 1: Additional test methods within the suite are anticipated to be developed to address additional or advanced robotic mobility capability requirements, including newly identified requirements and even for new application domains.
1.2 Performing Location—This test method shall be performed in a testing laboratory or the field where the specified apparatus and environmental conditions are implemented.
1.3 Units—The values stated in SI units are to be regarded as 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 are provided for information only and are not considered standard.
1.4 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.
1.5 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.
ASTM E2803-11(2020)
Standard Test Method for Evaluating Emergency Response Robot Capabilities: Mobility: Confined Area Obstacles: Inclined Planes
1.1 Purpose:
1.1.1 The purpose of this test method is to quantitatively evaluate a teleoperated ground robot’s (see Terminology E2521) capability of traversing inclined planes in confined areas.
1.1.2 Robots shall possess a certain set of mobility capabilities, including negotiating obstacles, to suit critical operations such as emergency responses. An inclined slope is a type of obstacle that exists in emergency response and other environments. These environments often pose constraints to robotic mobility to various degrees. This test method specifies apparatuses, procedures, and metrics to standardize this obstacle for testing.
1.1.3 The test apparatuses are scalable to provide a range of dimensions to constrain the robotic mobility during task performance. Fig. 1 shows three apparatus sizes to test robots intended for different emergency response scenarios.
FIG. 1 Mobility: Confined Area Obstacles: Inclined Planes Apparatuses
1.1.4 Emergency response ground robots shall be able to handle many types of obstacles and terrain complexities. The required mobility capabilities include traversing gaps, hurdles, stairs, slopes, various types of floor surfaces or terrains, and confined passageways. Yet additional mobility requirements include sustained speeds and towing capabilities. Standard test methods are required to evaluate whether candidate robots meet these requirements.
1.1.5 ASTM Task Group E54.08.01 specifies a mobility test suite, which consists of a set of test methods for evaluating these mobility capability requirements. This inclined-plane-traversing test method is a part of the mobility 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.
1.1.6 The test suite quantifies elemental mobility capabilities necessary for ground robot intended for emergency response applications. As such, users of this standard can use either the entire suite or a subset based on their particular performance requirements. Users are also allowed to weight particular test methods or particular metrics within a test method differently based on their specific performance requirements. The testing results should collectively represent an emergency response ground robot’s overall mobility performance. These performance data can be used to guide procurement specifications and acceptance testing for robots intended for emergency response applications.
Note 1: Additional test methods within the suite are anticipated to be developed to address additional or advanced robotic mobility capability requirements, including newly identified requirements and for even new application domains.
1.2 Performing Location—This test method shall be performed in a testing laboratory or the field where the specified apparatus and environmental conditions are implemented.
1.3 The values stated in SI units are to be regarded as 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 are provided for information only and are not considered standard.
1.4 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.
1.5 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.
ASTM E2804-11(2020)
Standard Test Method for Evaluating Emergency Response Robot Capabilities: Mobility: Confined Area Obstacles: Stairs/Landings
1.1 Purpose:
1.1.1 The purpose of this test method is to quantitatively evaluate a teleoperated ground robot’s (see Terminology E2521) capability of traversing stairs with landings in confined areas.
1.1.2 Robots shall possess a certain set of mobility capabilities, including negotiating obstacles, to suit critical operations such as emergency responses. Stairs with landings are a type of obstacle that exists in emergency response and other environments. These environments often pose constraints to robotic mobility to various degrees. This test method specifies apparatuses, procedures, and metrics to standardize this testing.
1.1.3 The test apparatuses are scalable to provide a range of lateral dimensions to constrain the robotic mobility during task performance. Fig. 1 shows three apparatus sizes to test robots intended for different emergency response scenarios.
FIG. 1 Mobility: Confined Area Obstacles: Stairs/Landings Apparatuses
1.1.4 Emergency response ground robots shall be able to handle many types of obstacles and terrain complexities. The required mobility capabilities include traversing gaps, hurdles, stairs, slopes, various types of floor surfaces or terrains, and confined passageways. Yet additional mobility requirements include sustained speeds and towing capabilities. Standard test methods are required to evaluate whether candidate robots meet these requirements.
1.1.5 ASTM Task Group E54.08.01 on Robotics specifies a mobility test suite, which consists of a set of test methods for evaluating these mobility capability requirements. This confined area stairs/landings test method is a part of the mobility 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.
1.1.6 The mobility test suite quantifies elemental mobility capabilities necessary for ground robot intended for emergency response applications. As such, users of this standard can use either the entire suite or a subset based on their particular performance requirements. Users are also allowed to weight particular test methods or particular metrics within a test method differently based on their specific performance requirements. The testing results should collectively represent an emergency response ground robot’s overall mobility performance. These performance data can be used to guide procurement specifications and acceptance testing for robots intended for emergency response applications.
Note 1: Additional test methods within the suite are anticipated to be developed to address additional or advanced robotic mobility capability requirements, including newly identified requirements and even for new application domains.
1.2 Performing Location—This test method shall be performed in a testing laboratory or the field where the specified apparatus and environmental conditions are implemented.
1.3 The values stated in SI units are to be regarded as 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 are provided for information only and are not considered standard.
1.4 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.
1.5 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.
ASTM E2991/E2991M-17
Standard Test Method for Evaluating Response Robot Mobility: Traverse Gravel Terrain
1.1 The purpose of this test method is to specify the apparatuses, procedures, and performance metrics necessary to quantitatively measure a teleoperated ground robot’s capability of traversing gravel terrain. The primary performance metric for this test method shall be a robot’s possession of such a capability with a specified statistical significance level.
1.2 Average rate of advance over the specified terrain shall be the secondary performance metric for this test method. The measure shall be calculated only when a robot under test has completed a statistically-significant number of repetitions.
1.3 This test method can also be used to measure the operator proficiency in performing the specified task. The corresponding performance metric may be the number of completed task repetitions per minute over an assigned time period ranging from 10 to 30 minutes.
1.4 This test method is a part of the mobility suite of ground response robot test methods, but this test method is stand-alone and complete. This test method applies to ground systems operated remotely from a standoff distance appropriate for the intended mission. The system includes a remote operator in control of all functionality and any assistive features or autonomous behaviors that improve the effectiveness or efficiency of the overall system.
1.5 The apparatus, specified in Section 6, can only test a limited range of a robot’s capabilities. When the robot has been tested through the limit or limits of the apparatus, a note shall be associated with the results indicating that the robot’s actual capability may be outside of the limit or limits imposed by the test apparatus. For example, the size of the gravel terrain test apparatus could possibly affect the acceleration of the robot under test and, in turn, the resulting average rate of advance.
1.6 Performing Location—This test method may be performed anywhere the specified apparatuses and environmental conditions can be implemented.
1.7 Units—The values stated in either SI units or inch-pound units are to be regarded separately as standard. The values stated in each system may not be exact equivalents; therefore, each system shall be used independently of the other. Combining values from the two systems may result in nonconformance with the standard. Both units are referenced to facilitate acquisition of materials internationally and minimize fabrication costs.
1.8 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.
1.9 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.
ASTM E2992/E2992M-17
Standard Test Method for Evaluating Response Robot Mobility: Traverse Sand Terrain
1.1 The purpose of this test method is to specify the apparatuses, procedures, and performance metrics necessary to quantitatively measure a teleoperated ground robot’s capability of traversing sand terrain. The primary performance metric for this test method shall be a robot’s possession of such a capability with a specified statistical significance level.
1.2 Average rate of advance over the specified terrain shall be the secondary performance metric for this test method. The measure shall be calculated only when a robot under test has completed a statistically-significant number of repetitions.
1.3 This test method can also be used to measure the operator proficiency in performing the specified task. The corresponding performance metric may be the number of completed task repetitions per minute over an assigned time period ranging from 10 to 30 minutes.
1.4 This test method is a part of the mobility suite of ground response robot test methods, but this test method is stand-alone and complete. This test method applies to ground systems operated remotely from a standoff distance appropriate for the intended mission. The system includes a remote operator in control of all functionality and any assistive features or autonomous behaviors that improve the effectiveness or efficiency of the overall system.
1.5 The apparatus, specified in Section 6, can only test a limited range of a robot’s capabilities. When the robot has been tested through the limit or limits of the apparatus, a note shall be associated with the results indicating that the robot’s actual capability may be outside of the limit or limits imposed by the test apparatus. For example, the size of the sand terrain test apparatus could possibly affect the acceleration of the robot under test and, in turn, the resulting average rate of advance.
1.6 Performing Location—This test method may be performed anywhere the specified apparatuses and environmental conditions can be implemented.
1.7 Units—The values stated in either SI units or inch-pound units are to be regarded separately as standard. The values stated in each system may not be exact equivalents; therefore, each system shall be used independently of the other. Combining values from the two systems may result in nonconformance with the standard. Both units are referenced to facilitate acquisition of materials internationally and minimize fabrication costs.
1.8 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.
1.9 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.
ASTM E2829-11(2020)
Standard Test Method for Evaluating Emergency Response Robot Capabilities: Mobility: Maneuvering Tasks: Sustained Speed
1.1 Purpose:
1.1.1 The purpose of this test method, as a part of a suite of mobility test methods, is to quantitatively evaluate a teleoperated ground robot’s (see Terminology E2521) sustained maneuvering speed on paved surfaces.
1.1.2 Robots shall possess a certain set of mobility capabilities, including maneuvering, to suit critical operations such as emergency responses. The environments often pose constraints to robotic mobility to various degrees. Being able to maneuver effectively for extended distances is essential for deployment down-range during emergency responses. This test method specifies apparatuses to standardize this maneuvering task for testing.
1.1.3 Emergency response ground robots shall be able to handle many types of obstacles and terrain complexities. The required mobility capabilities include traversing gaps, hurdles, stairs, slopes, various types of floor surfaces or terrains, and confined passageways. Yet additional mobility requirements include sustained speeds and towing capabilities. Standard test methods are required to evaluate whether candidate robots meet these requirements.
1.1.4 ASTM Task Group E54.08.01 on Robotics specifies a mobility test suite, which consists of a set of test methods for evaluating these mobility capability requirements. This sustained speed test method is a part of the mobility 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.
1.1.5 The test methods quantify elemental mobility capabilities necessary for ground robot intended for emergency response applications. As such, users of this standard can use either the entire suite or a subset based on their particular performance requirements. Users are also allowed to weight particular test methods or particular metrics within a test method differently based on their specific performance requirements. The testing results should collectively represent an emergency response ground robot’s overall mobility performance as required. These performance data can be used to guide procurement specifications and acceptance testing for robots intended for emergency response applications.
Note 1: Additional test methods within the suite are anticipated to be developed to address additional or advanced robotic mobility capability requirements, including newly identified requirements and even for new application domains.
1.2 Performing Location—This test method shall be performed in a testing laboratory or the field where the specified apparatus and environmental conditions are implemented.
1.3 Units—The values stated in SI units are to be regarded as 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 are provided for information only and are not considered standard.
1.4 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.
1.5 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.
ASTM E2830-11(2020)
Standard Test Method for Evaluating the Mobility Capabilities of Emergency Response Robots Using Towing Tasks: Grasped Sleds
1.1 Purpose:
1.1.1 The purpose of this test method, as a part of a suite of mobility test methods, is to quantitatively evaluate a teleoperated ground robot’s towing capability with the task of grasping loads and traversing a specified route on a flat and paved surface.
1.1.2 Robots shall possess a certain set of mobility capabilities, including towing, to suit critical operations such as emergency responses. This capability would be required to perform such emergency response-related tasks as delivering critical supplies, moving victims to safe locations, or transporting suspected packages away from humans.
1.1.3 Emergency response ground robots shall be able to handle many types of obstacles and terrains. The required mobility capabilities include traversing gaps, hurdles, stairs, slopes, various types of floor surfaces or terrains, and confined passageways. Yet additional mobility requirements include sustained speeds and towing capabilities. Standard test methods are required to evaluate whether candidate robots meet these requirements.
1.1.4 ASTM Task Group E54.08.01 specifies a mobility test suite, which consists of a set of test methods for evaluating these mobility capability requirements. This towing-by-grasping test method is a part of the mobility 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.
1.1.5 The test methods quantify elemental mobility capabilities necessary for ground robot emergency response applications. As such, the test suite should be used collectively to represent a ground robot’s overall mobility performance.
Note 1: Additional test methods within the suite are anticipated to be developed to address additional or advanced robotic mobility capability requirements, including newly identified requirements and even for new application domains.
1.2 Performing Location—This test method shall be performed in a testing laboratory or the field where the specified apparatus and environmental conditions are implemented.
1.3 Units—The values stated in SI units are to be regarded as the standard. The values given in parentheses are mathematical conversions to inch-pound units that are provided for information only and are not considered standard.
1.4 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.
1.5 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.
