ASTM Committee F45

9

th Bi-Annual Meeting

Roger Bostelman

Chairman, ASTM Committee F45

NIST

Karen Murphy

ASTM F45 Staff Manager

April 30-May 1, 2019

Lowell, MA
Agenda

Day 1

UMass Lowell NERVE Center

Start

d

u

r

Event Lead

8:00 AM Greetings, Introductions, Agenda Bostelman

8:10 AM UMass Lowell Greeting and Presentation UML, Norton

8:30 AM

F45.90 Executive Committee meeting - history 

overview, status, officers, ASTM information, 

etc.

Bostelman, Murphy

9:00 AM F45.01 Environmental Conditions Bostelman

9:30 AM Coffee Break

9:45 AM F45.91 Terminology - A-UGV Capability Levels Bostelman

11:45 AM Lunch

12:45 PM F45.02 - Navigation and Docking Roberts

2:45 PM Coffee Break

3:00 PM Day 1 wrap-up and next day agenda Bostelman, Norton

3:15 PM

Demonstrations: Vehicle capabilities, 

environmental conditions, docking, navigation, 

obstacles... (communication impairment?)

Norton

4:45 PM Adjourn

6:00 PM Dinner - The Keep

Tuesday, 

Apr 30
Agenda

Day 2

UMass Lowell NERVE Center

Start Event Lead

8:00 AM 0:15:00 Day 2 agenda review, logistics, etc. Bostelman

8:15 AM 2:00:00 F45-03 Object Detection & Protection - 

Describing Obstacles (Static and Dynamic) Norton

10:15 AM 0:15:00 Coffee Break

10:30 AM 2:00:00 F45-04 Communication & Integration - Comm. 

Impairment

Holmberg

12:30 PM 0:30:00 Lunch

1:00 PM 0:30:00 Fleets Reynolds

1:30 PM 2:00:00 Building block standards Norton

3:30 PM 0:15:00 Coffee Break

3:45 PM 0:30:00 Main Committee - Subcommittee Reports, 

Future works

Bostelman

4:15 PM Adjourn

4:00 PM to 

5:20 PM

1:15:00 ASTM interviews and video recording LaFary, Roberts, 

Norton, Bostelman

6:00 PM Dinner - Lowell Burger Co.

Wednesday, May 1
Dinners

10 17 10

Name Affiliation Monday dinner Tuesday dinner

Wednesday 

dinner

Bostelman, Roger NIST yes yes yes

Ferman, Ahmet M Omron Adept Technologies yes yes

Gates, Rusty Universal Parks and Resorts yes yes

Ghataore, Gurpreet The Manufacturing Technology Centre

yes yes

Holmberg, Robert Google yes yes

Jordan, Adam The Manufacturing Technology Centre

yes yes

LaFary, Matt yes yes yes

Li, Qiang Shenzhen Click Technology

Marino, Anthony SOSV HAX

Messina, Elena NIST yes yes

Murphy, Karen ASTM International yes yes yes

Noelte, Greg Sensata Technologies yes

Norton, Adam University of Massachusetts Lowell

yes yes yes

Pedersen, Christian Have Mobile Industrial Robots yes yes

Reynolds, Todd Omron Adept Technologies yes yes

Roberts, Malcolm T BR2 Consulting

Sarbak, Emre Mediate

Sparrow, Mary Ellen T Next Shift Robotics

Vogtman, Randall Oceaneering International, Inc yes

Yanco, Holly University of Massachusetts Lowell

yes yes

Davis, Chris ASTM International yes yes

Huang, Ahing ASTM International yes yes yes

• Monday Fuse Bistro, 10 minute walk

• Tuesday The Keep, 10 minute walk

• Wednesday Lowell Burger Co.
Introductions

• Name

• Organization and your role

• F45 Member or Guest?
Welcome and Overview

University of Massachusetts Lowell

• Julie Chen, Vice Chancellor for Research and Innovation

• Adam Norton, NERVE Center Assistant Director 

New England Robotics Validation and Experimentation 
F45.90 Executive

Subcommittee Meeting

Roger Bostelman

Chairman, ASTM Committee F45

Karen Murphy

ASTM Staff Manager

April 30, 2019
Committee Officers & ASTM Staff

F45 CHAIRMAN Bostelman, Roger

F45 VICE-CHAIRMAN LaFary, Mathew

F45 SECRETARY Norton, Adam

F45 MEMBERSHIP SECRETARY LaFary, Mathew

F45.01 SUB-CHAIRMAN Bostelman, Roger Environmental Effects

F45.02 SUB-CHAIRMAN Roberts, Malcolm Navigation and Docking

F45.03 SUB-CHAIRMAN Norton, Adam Obstacle Detection and Protection

F45.04 SUB-CHAIRMAN Holmberg, Bob Communication and Integration

F45.91 SUB-CHAIRMAN Bostelman, Roger Terminology

ASTM STAFF MANAGER Murphy, Karen

ASTM ADMIN ASSISTANT McKeever, Marianne

ASTM EDITOR Rosborough, Mark
Key Roles to fill

• F45.01 Chairman – Environmental 

Effects

Membership/Attendees

Committee July 2018 Dec 2018

F45 49 51

F45.01 22 27

F45.02 35 39

F45.03 41 45

F45.04 36 40

F45.91 27 32

Countries

Canada

China

Finland

India

Japan

Russia

Singapore

Sweden

Switzerland

UK

USA

Classification Dec 2018

Producer 21

User 8

General Interest 22
Recent New Members

• Ockwoo Nam, Korean Intellectual Property Office

• Constantine Panagotacos, Dunn Panagotacos Attorneys at Law
ASTM F45 Committee Accomplishments

Eight (8) Bi-Annual Face-to-Face Meetings

• And at least once per year, these meetings also hold demonstrations of standards being developed.

Two Workshops

• First Workshop – at IEEE ICRA 2015

• Ten (10) papers were presented and discussions followed

• Published ASTM book - STP1594 “Autonomous Industrial Vehicles: From the Laboratory to the Factory 

Floor”

• Second Workshop – with July 2018 meeting

• Developed new work items:

• A-UGV Capabilities (and a roadmap to future standards development)

• Combining A-UGV Standards (e.g., navigation, docking, obstacles, communication impairments, 

etc.)

ASTM Awards

• Robert J. Painter Memorial Award

• James A. Thomas President's Leadership Award

• Two (2) Awards for Outstanding F45 Participation

NIST Website

• https://www.nist.gov/el/intelligent-systems-division-73500/unmanned-ground-vehicles-research-andstandard-test-methods
ASTM F45 Meeting #8 Annecy, France

hosted by Omron
ASTM F45 Committee Accomplishments

Standards and Work Items

• Published standards

1. F3200-17,18 Terminology for Driverless Automatic Guided Industrial Vehicles

2. F3218-17 Standard Practice for Recording Environmental Effects for Utilization with A-UGV Test Methods

3. F3244-17 Standard Test Method for Navigation: Defined Area

4. F3265-17 Standard Test Method for Grid-Video Obstacle Measurement

5. F3327-18 Standard Practice for Recording the A-UGV Test Configuration

• Work Items

1. F45.01 - WK54576 Standard Practice for Recording Environmental Conditions for Utilization with A-UGV Test Methods 

2. F45.02 - WK57000 Standard Test Method for Docking Driverless Automatic Guided Industrial Vehicles

3. F45.02 - WK65141 Standard Guide for Combining A-UGV Standards

4. F45.03 - WK54662 Standard Practice for Capturing A-UGV Positions using Grid-Video Techniques

5. F45.03 - WK60390 Standard Practice for Describing Stationary Obstacles Utilized within A-UGV Test Methods 

6. F45.04 - WK54431 Standard Practice for Implementing Communications Impairments on A-UGV Systems

7. F45.91 - WK65139 Standard Guide for A-UGV Capabilities
Recent Ballots

Ballot Issue Date Closing Date

F45 (19-01) Mar 07, 2019 Apr 16, 2019

2018/2019 Ballots

Obstacles

Obstacles

Env Cond.

Test Config.
Minimal votes ... again
Inactivity 

Report
F45.90 Admin.

Voting Inactivity

• A member was inactive for 5 ballots

• Possible mismatch in ASTM alerts

• This org. has three members – one voting and one redundant-non-voting – the inactive 

member is not the voting member for the organization

• i.e., why the alert?

More important for F45 Exec: need policy for how to handle more than X missed votes

• Alerts are sent by ASTM for missed votes

• Suggested policy: warning from the Exec Comm. after 3 missed votes that they’ll be removed 

as a voting member if another vote is missed – can still participate in F45.

• What else can be done to get votes?

• Continuous emails to members?

Ballots

• Pixelated images on ASTM ballot postings.
Upcoming Meetings

• Monthly E-meetings:

• F45.02 1st Tuesday /month 1-3 PM ET

• F45.03 2nd Tuesday /month 1-3 PM ET

• F45.04 3rd Tuesday /month 1-3 PM ET

• F45.91/.01 4th Tuesday /month 1-3 PM ET

• Face-to-Face Meeting 

• 10th Bi-Annual Face-to-Face Meeting:

• Where ?

• When: Fall 2019

• 11th Bi-Annual Face-to-Face Meeting:

• Where ?

• When: Spring 2020
F45.01 Environmental Effects 

Subcommittee Meeting

Roger Bostelman

Chairman, ASTM F45.01

April 30, 2019
F45.01 Agenda

• Old business

• Modifying WK54576 Standard Practice for 

Recording Environmental Effects Conditions for 

Utilization with A-UGV Test Methods 

• Added test method references, boundaries, etc.

• Ballot F45 (18-03) – closed 14 Dec 2018

• One negative and some comments

• New business

• Review document prior to preballot/ballot

• 4. Significance and Use; Gap/Step; etc.

• Needs updated test reports
Demonstrations

Adam Norton, NERVE Center Assistant Director 

New England Robotics Validation and Experimentation 
F45.91 Terminology 

Subcommittee Meeting

Roger Bostelman

Chairman, ASTM F45.91

April 30, 2019
F45.91 Agenda

• Old business

• No WK65139 A-UGV Capabilities

• Developed navigation and docking capabilities

• New business

• Are there other terms from other 

standards to add to F3200?

• WK65139 A-UGV Capabilities

• Several proposed terms

• Discuss table of A-UGV Capabilities
Old Business

CLASSIFIER 3 4 5 6 7 

Navigation Follows 

preprogrammed path

Leaves preprogrammed 

path and returns to 

preprogrammed path

Can find an alternate 

preprogrammed path Self-routes to the goal 

 - infrastructure 

dependence relies on infrastructure relies on infrastructure relies on infrastructure relies on infrastructure

does not rely on 

infrastructure; corrects 

for errors

does not rely on 

infrastructure; corrects 

for errors

does not rely on 

infrastructure; corrects 

for errors

does not rely on 

infrastructure; corrects 

for errors

Docking

Docks at 

preprogrammed 

waypoints

Able to adjust based on 

local docking position

Dynamic docking with 

moving objects

 - infrastructure 

dependence relies on infrastructure relies on infrastructure relies on infrastructure

does not rely on 

infrastructure; corrects 

for errors

does not rely on 

infrastructure; corrects 

for errors

does not rely on 

infrastructure; corrects 

for errors

 - docking degrees of 

freedom x (heading) x (heading) x (heading)

y (side-to-side) y (side-to-side) y (side-to-side)

z (vertical) z (vertical) z (vertical)

roll (rot. about x) roll (rot. about x) roll (rot. about x)

pitch (rot. about y) pitch (rot. about y) pitch (rot. about y)

yaw (rot. about z) yaw (rot. about z) yaw (rot. about z)

A-UGV CAPABILITY
New Business: A-UGV Capabilities

CLASSIFIER

Goal Navigation: PreProgrammed 

Can navigate a 

preprogrammed path to 

the goal.

If encounters obstacle, 

can leave the 

preprogrammed path 

and return to the 

preprogrammed path to 

the goal

If blocked, can navigate 

an alternate 

preprogrammed path to 

the goal. E.g., navigate a 

different hallway/aisle

If blocked, can navigate 

multiple alternate 

preprogrammed paths 

to the goal. E.g., 

navigate a third 

hallway/aisle if the 

second is blocked

Goal Navigation: In 

situ 

Can determine and 

navigate an initial path 

to the goal 

If blocked, can 

determine and navigate 

an alternate path to the 

goal. E.g., navigate a 

different hallway/aisle

If blocked, can 

determine and navigate 

multiple alternate paths 

to the goal. E.g., 

navigate a third 

hallway/aisle if the 

second is blocked

 - infrastructure 

dependence - ability 

to rely on physical 

features in the 

environment 

Can rely on features in 

the environment that 

were specifically 

installed to assist A-UGV 

operation. E.g., 

magnetic tape, QR 

codes

Can rely on natural 

features. E.g., walls, 

racking

Can operate without 

reliance on 

infrastructure. E.g., 

GPS?

Localization 

A-UGV can find it's 

initial pose 

automatically.

Given an initial pose, AUGV doesn't get lost in a 

static environment e.g., 

office building

Given an initial pose, AUGV doesn't get lost in a 

dynamic environment 

e.g., warehouse with 

pallets being moved

Given that the A-UGV is 

correctly localized, it 

[becomes forcably 

unlocalized] gets picked 

up and moved to 

another location 

(kidnapped), then it 

stops and requires 

human intervention to 

restart

A-UGV can 

automatically 

determine its pose after 

being kidnapped.

A-UGV can update it's 

environment map 

based on detected 

changes in the 

environment (e.g., 

continuous SLAM)

Docking

Can position at 

preprogrammed 

waypoints, E.g,, 

absolute coordinates

Can dock with a static 

object, E.g., conveyer

Can dock with a 

moveable but, 

stationary object, E.g., 

another vehicle, pallet 

or cart

coordinated movement 

E.g., mid-air fueling

A-UGV CAPABILITY
New Business: A-UGV Capabilities

Environmental 

conditions under 

which the A-UGV can 

operate

Mobility: Refer to ASTM 

F3218-18, section 4.9 

Ground Surface for: 

elevation change 

up/down; gap; grade; 

deformability; 

undulation; floor 

particulates; coefficient 

of friction; boundaries 

(e.g., cold storage 

curtains)

IP Rating: refer to IP 

Rating scale, e.g., EN 

60529 (British BS EN 

60529:1992, European 

IEC 60509:1989)

Obstacle Avoidance - 

Single Vehicle Can stop when path is 

obstructed. E.g., pallet 

in the path.

Can navigate around 

static obstacles without 

collision. E.g., navigating 

around a box partially 

blocking a hallway

Can navigate around 

moving obstacles 

without collision. E.g., 

navigating around a 

moving vehicle that 

crosses the A-UGV path

Types of objects that 

can be avoided and 

are within the A-UGV 

envelope

on ground, < 10 cm 

obstacle height

on ground, 10 to 20 cm 

obstacle height

on ground, > 20 cm 

obstacle height

elevated >= 20 cm and 

within the A-UGV 

envelope, < 10 cm 

obstacle height

elevated >= 20 cm and 

with the A-UGV 

envelope, >= 10 cm 

obstacle height

Types of objects that 

can be avoided and 

are outside of the AUGV envelopenegative obstacles, <= 1 

cm obstacle height, E.g., 

missing tile

negative obstacles, > 1 

to <= 10 cm obstacle 

height, E.g., removable 

panel on a raised floor

negative obstacles, > 10 

cm obstacle height, E.g., 

loading dock, cliff, 

manhole

elevated above the AUGV envelope and 

within the vertical 

projection of the A-UGV 

envelope

beside the A-UGV 

envelope

Information 

Sharing/Updating 

(e.g., presence of 

obstacles, 

environment map 

changes)

one A-UGV information 

is shared with one or 

more A-UGVs in its fleet 

from the same 

manufacturer

one A-UGVs 

information is shared 

with its fleet from 

different manufacturers

Information from a 

sensor connected to the 

A-UGV System informs 

its fleet from the same 

manufacturer

Information from a 

sensor connected to the 

A-UGVS informs its fleet 

from different 

manufacturers

External systems can 

inform the fleet 

list the env cond categories
New Business: A-UGV Capabilities

Fleet Navigation 

Coordination

Stop and wait for 

permission to use a 

traffic zone (one A-UGV 

per traffic zone)

Gets permission to use 

a traffic zone without 

requiring stopping (one 

A-UGV per traffic zone)

Stop and wait for 

permission to use a 

traffic zone (more than 

one A-UGV per traffic 

zone)

Gets permission to use 

a traffic zone without 

requiring stopping 

(more than one A-UGV 

per traffic zone)

Doesn't require traffic 

zones, requires 

communication with 

fleet controller and/or 

other vehicles

Doesn't require traffic 

zones, without requiring 

communication with 

fleet controller and/or 

other vehicles define zone

Fleet Makeup

Homogenous A-UGVs

Heterogenous A-UGVs, 

same manufacturer

Heterogenous A-UGVs, 

different manufacturer

Fleet Task 

Assignment manual task assignment 

- give each A-UGV it's 

own task 

automatic task 

assignment - give fleet 

controller tasks to be 

performed by the AUGVs 

Fleet Task 

Coordination

tasks can only be given 

when they are able to 

be executed

can give future time 

that task needs to occur

tasks are performed by 

one A-UGV but can only 

be performed by a 

subset of the fleet 

tasks can require 

collaboration of 

multiple A-UGVs

can reorder execution 

of tasks when given 

new tasks tasks can have priority

can change A-UGV performance 

based on predicted future tasks 

tasks can have dependencies of 

other tasks

Impaired 

Communication 

Behavior

When communication is 

impaired, A-UGV stops 

and when 

communication 

resumes, requires 

human intervention in 

order to restart normal 

operation 

When communication is 

impaired, A-UGV stops 

and when 

communication 

resumes, does not 

require human 

intervention in order to 

restart normal 

operation 

While communication is 

impaired, A-UGV has 

modified operation, 

E.g., drive slower 

While communication is 

impaired, continues 

normal operation

Lost Communication 

Behavior

When communication is 

lost, A-UGV stops and 

when communication 

resumes, requires 

human intervention in 

order to restart normal 

operation 

When communication is 

lost, A-UGV stops and 

when communication 

resumes, does not 

require human 

intervention in order to 

restart normal 

operation 

While communication is 

lost, A-UGV has 

modified operation, 

E.g., drive slower 

While communication is 

lost, continues normal 

operation
New Business
New Business - meeting objectives

• Review terms/definitions to be used in the capabilities guide

• A-UGV Capabilities

• Review capabilities spreadsheet – informally approve 

• Continue drafting the standard guide
Subcomm. Notes

.03 

• WK60390 Practice for Describing Static Obstacles

• Negative - Hui

• 60% return, 66% sub, 90% main votes, all can vote regardless of status

• WK68031 Practice for Describing Moving Obstacles

• Rigid: Doors – swing, garage, 

• Soft: Curtains 

.04

• Roger - work with Bob H. to modify Fig 1:

• add traffic control and cloud

• add a new measurement figure showing the actual connections with the measurement 

device.
F45 Main Meeting

Roger Bostelman

Chairman, ASTM Committee F45

Karen Murphy

ASTM Staff Manager

April 30, 2019
Main Agenda

• Subcommittee reports - priorities

• F45 Main Officers – 2 yr timeframe, 3 terms in a row

• Nominated same Main officers through motion, 2nd

• Karen will send nomination ballot around October for anyone else to become 

a Main Officer should they choose. 

• F45 Promotion/Inform SDOs 

• Next Meetings
Promoting F45

• Joint Standards 

• ITSDF B56.5 Driverless Automatic Guided Industrial Vehicle Safety

• Roger presented F45 update at the February 2019 meeting, Sarasota, FL

• MHIA requested F45 update for their AGV Focused meeting

• Old Business:

• RIA 15.08 Mobile Robot and Mobile Manipulator Safety

• Roger presented F45, October 2018 meeting at NIST towards harmonization of terminology

• Video

• work with editors to produce F45 promotion video

• Future Meetings

• International (most members from USA) - promoting F45 face-to-face is ideal 

• Demonstrations and/or real A-UGV installations to observe - also ideal
Upcoming Meetings

• Monthly E-meetings:

• F45.02 1st Tuesday /month 1-3 PM ET

• F45.03 2nd Tuesday /month 1-3 PM ET

• F45.04 3rd Tuesday /month 1-3 PM ET

• F45.91/.01 4th Tuesday /month 1-3 PM ET

• Face-to-Face Meeting 

• 10th Bi-Annual Face-to-Face Meeting:

• Where ?

• When: Fall 2019

• 11th Bi-Annual Face-to-Face Meeting:

• Where ?

• When: Spring 2020
Possibilities for Next Bi-Annual F45 Meetings

Spring 2019, Autumn 2020

Suggestions for this meeting were:

• UMass-Lowell, MA, USA

• April 29th – May 3rd wk

• Fetch – San Jose, CA, USA 

• Robotnik – Valencia, Spain (sent Roberto Guzman a LinkedIn message – said “we could be interested”)

• Balyo – near Paris, France (sent Fabien Bardinet a LinkedIn message – no reply)

• NIST, Gaithersburg, MD, USA

• Omron –San Francisco, CA, USA

• Omron – Netherlands

ASTM-Hosted Committee Weeks:

• Oct 21-25, 2019 - Houston, TX

• Mar 30-Apr 3, 2020 - Boston, MA

• May 11-15, 2020 - Boston, MA

Suggestions for this meeting were:

• MTC (Catapult centers) Dyson - UK

• MIR, also robot cluster - Denmark 

• Disney, Universal Studios – Orlando, FL

• Mitsubishi, Diafuku, Sansei – Japan

• Rocla – Finland

• Technalia - Spain