Standard Test Methods For Response Robots

ASTM International Standards Committee on Homeland Security Applications;

Operational Equipment; Robots (E54.08.01)

 

Call for Robots and Operators to Practice 

Standard Test Methods for Response Robots

Robot Test Facility, National Institute of Standards and Technology, Gaithersburg, MD 

The National Institute of Standards and Technology (NIST), with sponsorship from the Department of Homeland Security 

(DHS) Science and Technology (S&T) Directorate Office of Standards, is developing a suite of DHS-NIST-ASTM International 

Standard Test Methods for Response Robots to quantitatively evaluate the performance of robots for emergency response 

applications. These standard test methods measure robot capabilities in mobility, manipulation, energy, sensing, radio 

communication, operator proficiency, logistics, and safety to provide a point of comparison for a variety of robot sizes and 

configurations prior to testing in more realistic scenarios. They address ground, aerial, and aquatic systems for emergency 

response and military applications. Statistically significant robot performance data captured within these standard test methods 

measure incremental system improvements, highlight break-through capabilities, guide purchasing and deployment decisions, 

and support training with measures of operator proficiency. More than forty test methods are under development with apparatuses, procedures, and performance metrics. They are being standardized through the ASTM International standards committee on Homeland Security Applications; Operational Equipment; Robots (E54.08.01). 

We rely heavily on support from emergency responders and soldiers, robot developers, and test administrators from across 

the country and around the world to advise on robot capability requirements, help validate robot test methods, and set priorities for future standards. We are very appreciative of the efforts from each of these communities thus far. Such participation 

ensures that these standard test methods help robot developers more quickly and successfully address the needs of emergency responders and soldiers operating in hazardous environments.

ASTM International Standards Committee on Homeland Security Applications; 

Operational Equipment; Robots (E54.08.01)

May 28-29-30, 2014 

(Wednesday 1:00 pm - 5:00 pm; Thursday 9:00 am - 5:00 pm; Friday 9:00 am - 3:00 pm)

The goal of this meeting is to review the entire suite of standard test methods under development. It is open to all who are 

interested, and given our proximity to Washington we expect civilian and military robotics program managers from around the 

area will attend. We will discuss each sub-suite of test methods throughout the three days, and intersperse robot demonstrations provided by participating robot developers and emergency responders during frequent breaks and lunches served in the 

building. Recent Use-Cases and reports from field deployments will also be presented as examples of how the standards development process works for response robots. 

To Participate: Pre-registration is essential to gain access to NIST. You do not need to be an ASTM member. Please register 

at the ASTM website: http://meetingsprod.astm.org/AttendeeMeetingRegistration.aspx?EventId=2524&MeetingId=85918. See 

the attached map for driving directions, including on the NIST campus. 

To Bring Robots for Practice or Demonstration: In addition to following the instructions above, please email RobotTestMethods@nist.gov which meeting days you expect to come, the make/model robot and related tools you plan to bring. You 

may practice in any available test method throughout the meeting days and highlight your robot’s capabilities within the test 

methods during breaks and lunches. We can secure equipment overnight if helpful. 

Adam Jacoff

Intelligent Systems Division, Engineering Laboratory 

National Institute of Standards and Technology

RobotTestMethods@nist.gov | 301-975-4235 

http://www.nist.gov/el/isd/ks/upload/DHS_NIST_ASTM_Robot_Test_Methods-2.pdf

SENSORS t AUTONOMY t OPERATORS t DURABILITY

t ENERGY t MOBILITY t MANIPULATION t COMMS t SAFETY t

AERIAL t GROUND t AQUATIC

DHS OFFICE OF STANDARDS

STANDARDTEST METHODS

RESPONSE ROBOT CAPABILITIES
Standard Test Methods For Response Robots

ASTM International Standards Committee on Homeland Security Applications;

Operational Equipment; Robots (E54.08.01)

SENSORS t AUTONOMY t TRAINING t DURABILITY

t ENER

FETY t

AERIAL t GROUND t AQUATIC

RESPONSE ROBOT CAPABILITIES 

Contact Adam Jacoff, National Institute of Standards and Technology, RobotTestMethods@nist.gov, http://www.nist.gov/el/isd/test-methods.cfm

Small Unmanned Aerial Systems

(Initially for Vertical Takeoff and Landing, 

FAA Group I, <2 kg, 30 knots, frangable)

Maneuvering Tasks: 

Station-Keeping: 

Horizontal and Vertical

(Validating)

Endurance/Power: 

Endurance: 

Path Following

(Validating)

Safety: 

Impact Forces

(Prototyping)

Safety: 

Lost Control/Communications/

Power Behaviours

(Prototyping)

Small Unmanned Underwater 

Systems and ROVs Maneuvering Tasks: 

Sustained Speed

(Prototyping)

Maneuvering Tasks: 

Station-Keeping in a Current

(Prototyping)

Manipulation: 

Cutting Ropes and Rods

(Prototyping)

Manipulation: 

Lifting and Placing Tasks

(Prototyping)

Sensors: 

Sonar Resolution

(Prototyping)

Safety: Lost Communications 

and/or Power Behaviours

(Prototyping)

Human-System Interaction

Maneuvering Tasks: 

Sustained Speed

(ASTM E2829-11)

Maneuvering Tasks: 

Towing Grasped/Hitched Sleds

(ASTM E2830-11)

Maneuvering Tasks: 

Post/Hole Slaloms

(Balloting)

Navigation Tasks: 

Hallway Labyrinths with 

Complex Terrain

(WK33260)

Search Tasks: 

Random Mazes with Complex 

Terrain

(ASTM 2857-12)

Search Tasks: 

Underbody Inspection

(Validating)

Pan-Tilt-Zoom Tasks

(Balloting)

Operator Interface Constraints: 

PPE; Posture; Lighting

(Prototyping)

Operator Interface Indicators: 

Low Battery; Robot Tilt

(Prototyping)

Radio Communications

Line-of-Sight range

(ASTM E2854-12)

Non-Line-of-Sight Range

(ASTM E2855-12)

Structure Penetration 

Environment

(Prototyping)

Urban Canyon Environment

(Prototyping)

Interference Signal 

Environment

(Prototyping)

COMMUNICATE, MEASURE, COMPARE, PRACTICE

STANDARD TEST METHODS

Standard Test Methods and Practices for Evaluating Response Robot Capabilities

ASTM International Standards Committee on Homeland Security Applications;

Operational Equipment; Robots (E54.08.01)

Status: Standard (ASTM ###), Balloting (B), Validating (V), Prototyping (P)

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Continuous Pitch/Roll Ramps

(ASTM E2826-11)

Crossing Pitch/Roll Ramps

(ASTM E2827-11)

6\PPHWULF6WHS¿HOGV

(ASTM E2828-11)

Gravel

(Balloting)

Sand

(Balloting)

Mud

(Prototyping)

Manipulator Dexterity

Strength at Reach

(Balloting)

Inspection

(Balloting)

Retrieving/Inserting Objects

(Validating)

Pushing/Pulling/Rotating 

Forces

(Validating)

Door Opening and Traversal

(WK27852)

Tools Deployment: 

Disruptor Aiming

(Validating)

Tools Deployment: 

Breaking/Boring

(Validating)

Energy/Power

Endurance: 

Continuous Pitch/Roll Ramp 

Terrain

(Balloting)

Peak Power: Stairs/Landings

(Prototyping)

Sensors

Video Acuity, Resolution, and 

Field of View

(ASTM E2566-08)

(Re-Balloting)

Video Dynamic Range

(Balloting)

Video Color Acuity

(Validating)

Video Latency

(Validating)

Audio Speech Intelligibility

Two-Way

(WK34435)

Audio Spectrum Response 

Tones Two-Way

(Prototyping)

Mapping Spatial Resolution

(Prototyping)

Mapping of Hallway Labyrinths 

with Complex Terrain (2D/3D)

(Prototyping)

Mapping of Sparse Feaure 

Environments

(Prototyping)

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Gaps

(ASTM E2801-11)

Hurdles

(ASTM E2802-11)

Hurdles with Culvert 

(Validating)

Inclined Planes

(ASTM E2803-11)

Stairs/Landings

(ASTM E2804-11)

Vertical Insertion/Retrieval 

Stack with Drops

(Validating)

Safety and Durability

Lost Communications and/or 

Power Behaviours

(Balloting)

Water Fording - IP##

(Validating)

Washdown/Decontamination - 

IPX#3 of 8

(WK33262)

Immersion - IPX7 of 8

(Prototyping)

Throw Distance

(Validating) Terminology and Logistics

Search Terminology for Urban 

Search and Rescue Robotic 

Operations

(ASTM E2521-07A)

Standard Terminology for 

Federal/State/Local Bomb 

Squads

(Prototyping)

Standard Practice for 

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Cache Packaging

(ASTM E2592-07)

(Re-Balloting)

SENSORS t AUTONOMY t TRAINING t DURABILITY

t ENERGY t MOBILITY t MANIPULATION t COMMS t SAFETY t

AERIAL t GROUND t AQUATIC

DHS OFFICE OF STANDARDS

STANDARDTEST METHODS

RESPONSE ROBOT CAPABILITIES

SENSORS t AUTONOMY t TRAINING t DURABILITY

t ENERGY t MOBILITY t MANIPULATION t COMMS t SAFETY t

AERIAL t GROUND t AQUATIC

DHS OFFICE OF STANDARDS

STANDARDTEST METHODS

RESPONSE ROBOT CAPABILITIES

SENSORS t AUTONOMY t TRAINING t DURABILITY

t ENERGY t MOBILITY t MANIPULATION t COMMS t SAFETY t

AERIAL t GROUND t AQUATIC

DHS OFFICE OF STANDARDS

STANDARDTEST METHODS

RESPONSE ROBOT CAPABILITIES
Standard Test Methods For Response Robots

ASTM International Standards Committee on Homeland Security Applications;

Operational Equipment; Robots (E54.08.01)

Robot Test

Facility

Main Gate

Directions to NIST’s Robot Test Facility

Gaithersburg, MD 20899

From Dulles International Airport (IAD) 45-60 Min.

• Dulles Access Road toward Washington

• Exit onto I-495 toward Bethesda/Baltimore

• Exit onto I-270 North toward Frederick (left lanes)

• Exit #10 West Diamond Ave. / Clopper Road (MD-117) 

• Right at the first traffic signal onto West Diamond Ave. 

• Left at the next traffic signal into NIST’s Visitor Center

From Reagan National Airport (DCA) 45-60 Min.

• George Washington (GW) Parkway North toward Maryland. (This 

road is confusing with several merges and forks. So when in doubt, 

stay right along the Potomac River until the following exit.)

• Exit onto I-495 toward Bethesda/Baltimore

• Exit onto I-270 North toward Frederick (left lanes)

• Exit #10 West Diamond Ave. / Clopper Road (MD-117) 

• Right at the first traffic signal onto West Diamond Ave. 

• Left at the next traffic signal into NIST’s Visitor Center

From Baltimore Washington Int’l Airport (BWI) 60-75 Min.

• I-195 West

• Exit onto I-95 South toward Washington

• Exit onto I-495 West toward Silver Spring

• Exit onto I-270 North toward Frederick

• Exit #10 West Diamond Ave. / Clopper Road (MD-117) 

• Right at the first traffic signal onto West Diamond Ave. 

• Left at the next traffic signal into NIST’s Visitor Center

NIST Campus

All visitors must enter the Visitor Center at the main gate on the 

first day of visit to pick up a badge (your name must already be in 

the system) and show the badge and photo ID to enter/exit any 

NIST Gate during visit.

From NIST’s Main Gate:

• Right on North Drive

• Left on West Drive to end

• Left on South Drive

• Right on Center Drive

• Left into first driveway/road (unmarked)

• Follow road to right toward tall brick tower

• Robot Test Facility is at top of hill

• Park anywhere except circular driveway (maintain fire access)

• Call x70777 from phone at door for entry (or 301-975-3418)

Robot Test Facility

(Bldg. 207)

Visitor

Center

Center Drive

EXIT 

#10

South Drive

North Drive

Gate To 

NIST

Nike Site

Alternate

Gate

West Drive

East Drive

Robot Test

Facility

Main

Gate