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Response Robot Evaluation
Exercise (#4)
Disaster City, Texas A&M University, College Station, TX
June 18-22, 2007
June 22, 2007 Standards Working Group Meetings (ASTM E54.08.01)
Test Methods
Cache
Packaging, Weight, Setup, Tools
Requirements
(Metric):
-
Logistics:
Cache Packaging: Volume (#pelicans: #hardiggs: #ropacks)
-
Logistics:
Cache Packaging: Weight (kilograms)
-
Logistics:
Cache Packaging: Setup Time (minutes)
-
Logistics:
Cache Packaging: Transportation Restrictions (yes:no)
-
Logistics:
Field Maintenance: Spares and Supplies (percent of robot weight)
-
Logistics:
Field Maintenance: Tools (none:typical:special)
-
Human-System
Interaction: Portability (kilograms)
-
Power:
Voltage Compatibility With Cache (yes:no)
-
Quantify
logistics requirements for system to remain operational for 72
hours without re-supply, and on site for 10 day deployment
-
Count
qualified containers containing all system components and supplies
-
Measure
shipping weight and deployed robot weight
-
Measure
set-up time from unpacking to deployment down-range
-
Identify
tools required for setup and field maintenance
-
Check
list or choose appropriate selection from a specifically defined
scale for each requirement
[Return
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Confined
Space (ZIG-ZAG or FIGURE-8)
Requirements
(Metric):
-
Mobility:
Locomotion: Sustained Speed - Obstacles (kilometers/hour)
-
Mobility:
Locomotion: Endurance - Obstacles (hours)
-
Mobility:
Tumble Recovery Within Terrain Type (none:self-righting:invertible
continuous operations)
Test Method:
-
Measure
the operator’s ability to remotely traverse/negotiate
a confined space passage while operating the robot through
the operator interface and communications link.
-
Random
stepfield pallets (full cubic) provide complex flooring
and ceiling obstacles.
-
Adjustable
posts heights provide diminishing void space for increased
difficulty.
-
Test
in ambient light and dark environments, radio and tether
communications separately.
[Return
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Requirements
(Metric):
-
Payload:
Manipulation: Sensor Manipulation (yes:no, holes/level)
-
Payload:
Manipulation: Max Reach (centimeters , holes/level)
-
Chassis:
Illumination: Variable (yes:no)
-
Sensing:
Real-time Color Video: Near Field Acuity (smallest chart line)
-
Sensing:
Remote Temperature (yes:no)
-
Sensing:
Audio: Two-way (volume control:listen always-push to talk:stereo:direction
indicator)
-
Sensing:
Hazmat Detection (PH+O2,LEL,CO, H2S,RAD : plus WMD and TIC
detection/classification : plus
-
Tentative
WMD and TIC identification : plus WMD and TIC sampling)
-
Human-System
Interaction: Initial Training (hours)
-
Human-System
Interaction: Proficiency Education (hours/year)
-
Human-System
Interaction: Acceptable Usability (effectiveness, percent
of targets)
-
Human-System
Interaction: Assistive: Auto Notification (yes:no)
-
Human-System
Interaction: Assistive: Path Tracing (yes:no)
-
Measure
the operator’s ability to remotely position sensors
near holes in box stacks to identify assorted targets placed
inside while operating the robot through the operator interface
and communications link.
-
Box
stacks surround the robot on thee sides (front, left, right)
with holes on facing and top surfaces. Each level is tested
sequentially up to four levels high (72 inch / 180 cm).
Holes are offset from the centerline robot position.
-
Visual
targets inside the holes require positioning a camera with
adjustable illumination into two different horizontal viewing
angles at each level to read visual acuity charts (0°
directly through the hole) and hazmat labels (approximately
25° inward toward the centerline).
-
Other
targets/sensors can be used including chemical, radiological,
explosive, thermal, etc. which also allow first detection
measurements.
-
Various
terrain pallets to increase difficulty include flat floor,
pitch ramp, roll ramp, and random stepfields.
-
Test
in ambient light and dark environments, radio and tether
communications separately.
[Return
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Grasping
Dexterity
Requirements
(Metric):
-
Payload:
Manipulation: Sensor Manipulation (yes:no, blocks/level)
-
Payload:
Manipulation: Max Reach (centimeters, blocks/level)
-
Payload:
Delivery (kilograms at max reach, blocks/level)
-
Payload:
Retrieval (centimeters at max reach, blocks/level)
-
Payload:
Emplacement (yes:no, blocks/level)
-
Payload:
Manipulation: Sensor Manipulation (yes:no, holes/level)
-
Measure
the operator’s ability to remotely grasp and place
blocks onto shelf stacks with three different access approaches
while operating the robot through the operator interface
and communications link.
-
Shelf
stacks surround the robot on thee sides (front, left, right)
with nine objects placed in designated quadrants of one
given surface. All surfaces have nine quadrants clearly
marked.
-
Objects
placed on any given test level must be grasped and placed
onto the remaining stacks at that level, requiring three
different access approaches (open, under, over). Each object
should be placed in the correlating quadrant of each stack.
Each level is tested sequentially up to four levels high
(72 in / 180 cm).
-
Other
objects can be used including simulated pipe bombs, water
bottles with shock tube, communications devices, emplaced
sensors, etc.
-
Various
terrain pallets including flat flooring, pitch ramp, roll
ramp, and random stepfields increase difficulty.
-
Test
in ambient light and dark environments, radio and tether
communications separately.
[Return
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Human
Systems Interactions
Requirements
(Metric):
-
Human-System
Interaction: Operator Ratio (operators/robot)
-
Human-System
Interaction: Context: Protective Clothing (yes:no)
-
Human-System
Interaction: Context: Lighting Conditions (dark:daylight:glare)
-
Human-System
Interaction: Context: Mobility (stationary:portable:mobile)
-
Human-System
Interaction: Context: Operator Disengagement (yes:no)
-
Human-System
Interaction: Context: Co-Located Information Sharing (yes:no)
-
Human-System
Interaction: Context: Remote Information Sharing (meters)
-
Human-System
Interaction: Display: Dashboard (yes:no)
-
Human-System
Interaction: Display: Mission Data Integration (yes:no)
-
Human-System
Interaction: Interaction: Component Controls (yes:no, diagnostics)
-
Human-System
Interaction: Interaction: Adjustable Noise Filtering (yes:no)
- Human-System
Interaction: Assistive: Unattended Sampling (yes:no)
- Human-System
Interaction: Assistive: Auto Notification (yes:no)
- Human-System
Interaction: Assistive: Path Tracing (yes:no)
- Human-System
Interaction: Assistive: Re-acquire Communications (yes:no)
- Human-System
Interaction: Assistive: Station Keeping (# of axes)
- Human-System
Interaction: Assistive: Self Extraction (yes:no)
- Human-System
Interaction: Assistive: Emergency Stop (yes:no)
- Sensing:
Real-time Color Video: Pan/Tilt Orientation Indicator (yes:no)
-
Identify
assorted operational features demonstrated during setup,
practice, and/or testing.
Check list or choose appropriate selection from a specifically
defined scale for each requirement.
-
Measure the operator’s ability to remotely grasp and
place blocks onto shelf stacks with three different access
approaches while operating the robot through the operator
interface and communications link.
[Return
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Inclined
Plane (WALL CLIMBING and INVERTED OPERATIONS)
Requirements
(Metric):
-
Mobility:
Locomotion: Sustained Speed - Obstacles (kilometers/hour)
- Mobility:
Locomotion: Sustained Speed - Soft (kilometers/hour)
- Mobility:
Locomotion: Sustained Speed - Firm (kilometers/hour)
- Mobility:
Tumble Recovery Within Terrain Type (none: self-righting: invertible
continuous operations)
-
Measure
the operator’s ability to remotely traverse
an inclined/vertical/inverted plane while operating
the robot through the operator interface and communications
link.
-
A
pattern of goal positions on the plane provide prescribed
straight line paths to traverse including directly
ascending, directly descending, diagonal and cross
incline paths.
-
The
incline can be adjusted from 20° - 80° for
ground robots, 90° for wall climbing robots,
or 100° to 180° for robots capable of inverted
operations.
-
The
incline can be covered in a variety of surfaces
(including random stepfields), but is initially
simple oriented strand board (OSB)
-
Test
in ambient light and dark environments, radio and
tether communications separately
Requirements
(Metric):
- Mobility:
Locomotion: Sustained Speed - Obstacles (kilometers/hour)
- Mobility:
Locomotion: Sustained Speed - Soft (kilometers/hour)
- Mobility:
Locomotion: Sustained Speed - Firm (kilometers/hour)
- Mobility:
Locomotion: Endurance - Obstacles (hours)
- Mobility:
Locomotion: Endurance - Soft (hours)
- Mobility:
Locomotion: Endurance - Firm (hours)
- Mobility:
Tumble Recovery Within Terrain Type (none:self-righting:invertible
continuous operations)
- Power:
Working Time (single charge)
- (1 hour:
4 hours: 12 hours)
- Logistics:
Field Maintenance: Intervals (12hours:24hours:72hours:10days)
- Logistics:
Field Maintenance: Duration (minutes)
- Logistics:
Shock Resistance: (drop test, vibration test)
- Logistics:
Mean Time Before Failure (hours)
-
Measure
the operator’s ability to remotely traverse/negotiate
various terrain types within a fixed course to show
mobility or endurance while operating the robot
through the operator interface and communications
link.
-
Walls
define the courses in the “Mobility/Endurance”
test methods.
-
Various
repeatable terrain pallets can be used including
flat floors, pitch ramps, roll ramps, and random
stepfields to increase difficulty. Other terrains
can be used including gravel, tarmac, snow, etc.
-
Endurance
testing can include logistics requirements for failures
and repairs.
-
Test
in ambient light and dark environments, radio and
tether communications separately.
[Return
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Other
Operational Features
Requirements
(Metric):
-
Chassis:
Tether Point (yes:no)
-
Chassis:
System Component Interoperability (yes:no)
-
Power:
Run Time Indicator (yes:no)
-
Power:
Dwell Time
-
(12
hours: 24 hours: 72 hours: 10 days)
-
Sensing:
Internal: Orientation Reporting (# of axis)
-
Sensing:
Structural: Void Detection (yes:no)
-
Sensing:
Structural: Range Finder (yes:no)
-
Sensing:
Victim Indicators: Thermal Imaging (industry:military:US&R needs
such as leaks, fire, etc)
-
Sensing:
Victim Indicators: Seismic (yes:no)
-
Passive
Data Logging Offboard: System Health (yes:no)
-
Passive
Data Logging Offboard: Location (yes:no)
-
Passive
Data Logging Offboard: Hazmat (yes:no)
-
Passive
Data Logging Offboard: Victim Indicators (yes:no)
-
Passive
Data Logging Offboard: Video (yes:no)
-
Passive
Data Logging Onboard: System Health (yes:no)
-
Passive
Data Logging Onboard: Location (yes:no)
-
Passive
Data Logging Onboard: Hazmat (yes:no)\
-
Passive Data Logging Onboard: Victim Indicators (yes:no)
-
Passive
Data Logging Onboard: Video (yes:no)
-
Identify
assorted operational features demonstrated during
setup, practice, and/or testing.
-
Check
list or choose appropriate selection from a specifically
defined scale for each requirement.Measure the operator’s
ability to remotely traverse/negotiate various terrain
types within a fixed course to show mobility or
endurance while operating the robot through the
operator interface and communications link.
[Return
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Radio
Communications (LINE OF SIGHT, BEYOND LINE OF SIGHT)
Requirements
(Metric):
-
Communications:
Range: Line of Sight (meters)
- Communications:
Range: Beyond Line of Sight (meters)
- Communications:
Security (shielded from jamming and interference in none:commands:data
and commands)
- Communications:
Data Logging: Status and Notes (yes:no)
-
Measure
the operator’s ability to remotely control
the robot down-range while operating the robot
through the operator interface and radio communications
link.
-
Line
of Sight: Read visual acuity and hazmat label
targets straight down-range to demonstrate
control and data communications channels are
functional.
- Beyond
Line of Sight: At the end of the line of sight test, turn
90° around the corner of an appropriately large building.
Maintain the robot within 1.2 meters along the building’s
wall and read near field visual acuity charts and hazmat
labels at equally spaced intervals from the corner until
command or data communications fail.
-
Human-System
Interaction: Initial Training (hours)
-
Human-System
Interaction: Proficiency Education (hours/year)
-
Human-System
Interaction: Acceptable Usability (effectiveness,
percent of targets)
-
Human-System
Interaction: Assistive: Path Tracing (yes:no)
-
Sensing:
Location: Absolute (topological from start : plus
mapping onto floor plans : plus 3D GIS map)
-
Sensing:
Location: Relative Accuracy (meters)
-
Sensing:
Location: Absolute Accuracy (meters)
-
Sensing:
Mapping: Spatial Modeling (yes:no)
-
Sensing:
Mapping: Waypoint Annotation (manual : manual and
automatic : fully automatic and integrated)
-
Sensing:
Mapping: Operator Annotations (yes:no)
-
Sensing:
Mapping: Equipment Setup Time (minutes)
-
Measure
the operator’s ability to remotely traverse/negotiate a random
maze of hallways and rooms while operating the robot through the
operator interface and communications link.
-
Walls
define the random maze of 1.2 meter wide hallways.
-
Various
repeatable terrain pallets can be used including flat floors, pitch
ramps, roll ramps, and random stepfields to increase difficulty.
Other terrains can be used including gravel, tarmac, snow, etc.
-
Mission
goals can be to simply find a path end to end, find a path end to
end with target identifications along the way, right hand wall following
techniques, completeness of search space, etc.
-
Test
in ambient light and dark environments, radio and tether communications
separately.
[Return
to Top]
Stairs
(ASCENDING AND DESCENDING)
Requirements
(Metric):
- Mobility:
Locomotion: Sustained Speed - Obstacles (kilometers/hour)
- Mobility:
Locomotion: Endurance - Obstacles (hours)
- Mobility:
Tumble Recovery Within Terrain Type (none:self-righting:invertible
continuous operations)
Test Method:
- Measure the
operator’s ability to remotely control the robot to ascend
and descent stairs while operating the robot through the operator
interface and radio communications link.
[Return
to Top]
Station
Keeping (Aerial)
Requirements
(Metric):
-
Mobility:
Aerial: Station Keeping (# of axis)
- Mobility:
Aerial: Area of Coverage (square kilometers/hour)
- Human-System
Interaction: Initial Training (hours)
- Human-System
Interaction: Proficiency Education (hours/year)
- Human-System
Interaction: Acceptable Usability (effectiveness, percent of targets)
- Human-System
Interaction: Assistive: Auto Notification (yes:no)
- Human-System
Interaction: Assistive: Path Tracing (yes:no)
- Measure
the operator’s ability to remotely control the robot to ascend
and descent stairs while operating the robot through the operator
interface and radio communications link.
- Visual
acuity charts and hazmat labels are positioned inside the windows,
some flush mounted and others recessed inside, to give the operator
some tasks to perform.
- Prescribed
paths from window to window are performed without direct line
of sight from the operator to the robot.
- Test in
ambient light and dark environments, radio and tether (if available)
communications separately.
-
Mobility:
Locomotion: Sustained Speed – Obstacles (km/hr)
- Mobility:
Locomotion: Endurance – Obstacles (hours)
- Mobility:
Tumble Recovery Within Terrain Type (none: self-righting: invertible
continuous operations)
- Measure
the operator's ability to remotely control the robot to traverse
gaps of incremental lengths between pallets, ascend and descend
incremental stacks of pallets both with square edges and with
pipe diameters equal to the pallet step heights, while operating
the robot through the operator interface and communications link
(tested separately if radio and tether are available).
[Return
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Visual
Acuity (WITH VARIABLE ILLUMINATION)
Requirements
(Metric):
-
Sensing:
Real-time Color Video: Far Field Acuity (smallest chart
line)
- Sensing:
Real-time Color Video: Near Field Acuity (smallest chart line)
- Sensing:
Real-time Color Video: Field of View (degrees)
- Sensing:
Real-time Color Video: Pan (degrees)
- Sensing:
Real-time Color Video: Tilt (degrees)
- Sensing:
Real-time Color Video: Pan/Tilt Rate (degrees/second)
- Sensing:
Real-time Color Video: Pan/Tilt Orientation Indicator (yes:no)
- Chassis:
Illumination: Adjustable (yes:no)
- Measure
the operator’s ability to remotely read standard visual acuity
charts, both near field and far field, while operating the robot
through the operator interface and communications link.
- Measure
each camera’s field of view, pan, tilt, and associated rates.
- Identify
functionality of pan/tilt indicator on operator interface.
- Test in
ambient light and dark environments, radio and tether communications
separately.
Random Stepfield
Pallets:
-
-
Half-cubic
stepfield pallets (orange) provide repeatable surface topologies
for orientation complexity in static tests such as “Directed
Perception” or “Grasping Dexterity.”
-
Full-cubic
stepfield pallets (red) provide repeatable surface topologies
for test methods such as “Confined Space” and “Mobility/Endurance.”
-
-
Small-size
robots use pallets made of 2x2 posts (5 cm x 5 cm)
-
Mid-size
robots use pallets made of 4x4 posts (10 cm x 10 cm) (shown)
-
Large-size
robots use pallets made of clusters of (4) 4x4 posts (10 cm
x 10 cm)
-
-
-
-
Random
diagonal hill pallets
Pitch/roll
Ramps:
-
5°,
10°, and 15° pitch and roll ramps
provide non-flat flooring for orientation
complexity within test methods such as “Directed
Perception,” “Grasping Dexterity,”
“Random Maze,” or “Mobility/Endurance."
-
Far-field
and near-field charts provide easy to
recognize “tumbling E’s”
with standard metrics to measure an operator’s
ability to discern details in the video
image when viewed remotely through the
operator interface and communications
link. These charts are used in test methods
such as “Directed Perception,”
“Radio Communications,” “Random
Maze,” “Station Keeping,”
and “Visual Acuity.”
-
Various
hazmat labels provide
operationally significant
targets in the environment
to identify colors,
shapes, icons, numbers
and letters, which relate
directly back to the
visual acuity charts.
Hazmat labels are used
in test methods such
as “Directed Perception,”
“Radio Communications,”
“Random Maze,”
“Station Keeping,”
and “Visual Acuity.”
-
Simple
wood blocks of two different lengths (one
short enough to grasp from any direction,
one long enough to require a vertical grasp
for most grippers) are used in the “Grasping
Dexterity” test method to provide abstract
but repeatable grasping tasks that emphasize
manipulator dexterity.
-
Simulated
pipe bombs and mineral water bottles with
shock tube detonators provide operationally
recognizable shapes and weights for use in
test methods such as “Directed Perception”
or “Grasping Dexterity” or “Random
Maze.”
-
Thermal
heating pads and trace sources of chemical,
radiological, and explosive samples are also
used in test methods such as“Directed
Perception” and the “Random Maze."
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