Bi-Annual Meeting 

ASTM Committee F45

Meeting Minutes

Roger Bostelman, Chairman

ASTM Committee F45

National Institute of Standards and Technology

Gaithersburg, MD 20899

Roger.bostelman@nist.gov

August 17 & 18, 2016

(red text are meeting minutes)
Agenda
Agenda
Agenda
Announcements

• Dinner sign-up:

• Paladar Latin American Restaurant• 203 Crown Park Ave, Gaithersburg, MD 20878; (301) 330-4400• 6:30 PM

• Irv Lichtenstein, F45.04 Subcommittee Chairman

• Potentially leaving position due to medical issues• Looking for replacement - current Deputy Subcommittee, 2017 Chairman
Introductions

• Name• F45 member or guest• Organization• Job title/function – related to industrial vehicles

Greeting by Dr. Joannie Chin

NIST/Engineering Laboratory, Acting Deputy Director
ASTM Committee F45 Structure

•interests. committees and other national and international organizations having mutual or related standards. The work of this Committee will be coordinated with other ASTM technical and sponsor symposia, workshops, and publications to facilitate the development of such automatic guided industrial vehicles. The Committee will encourage research in this field practices, guides, test methods, specifications, and performance standards for driverless The development of standardized nomenclature and definitions of terms, recommended Scope

F45-01 Environmental Effects

• F45-02 Docking & Navigation • F45-03 Object Detection & Protection • F45-04 Communication & Integration • F45-91 Terminology 
F45 Status

• Established May 2014• Approximately 55 members• Third face-to-face committee meeting

• August 2015 – NIST, Gaithersburg, MD• April 2016 – Modex Atlanta, GA• August 2016 – NIST, Gaithersburg, MD

• Monthly Subcommittee E-meetings• 5 Working Documents – 2 have been balloted

• F45.01: WK54576 - Standard Practice for Recording Environmental Effects for Utilization with 

A

•

-UGV Test Methods 

balloted through F45.01

• F45.02: WK48955 - Standard Test Method for Navigation : Defined Space• F45.03: WK54662 - Standard Test Method for Grid-Video Obstacle Measurement• F45.04: WK54431 - Standard Test Method for A-UGV Communication and Integration• F45.91: WK48954 - Standard Terminology for Driverless Automatic Guided Industrial Vehicles 

• ballot 16-01 (~135 terms) and ballot 16-02 (Scope and 6 terms)
Demonstrations

• Docking with onboard equipment; with Comm. interrupts

• A video was shown of an Automatic-UGV docking with a test apparatus.• A demonstration was provided of an Automatic-UGV with onboard robot docking with an apparatus from a variety of positions and orientations. •

between the vehicle controller and the wireless router. During the demonstration, the communication link was interrupted (removed) 

• Navigation: defined spaces

• A demonstration was provided of an Autonomous-UGV navigating through three of the test spaces as described in WK48955.

• Obstacle avoidance

• The navigation demonstration included the addition of Umass-Lowells concept of standard obstacles within the defined space. •

shining on the vehicle. Additionally, a change in the environmental setup as shown with a light directly 
Automatic-UGV docking 

point rollerthat simulates a two with a test apparatus 

-table dock

Docking with onboard equipment; with Comm. 

Docking an Automatic

interrupts Demo Setup

-UGV 

with onboard robot with a 

test apparatus.
Virtual defined space

Barrier defined spaces

Autonomous-UGV

A-UGV paths

shining towards Aenvironment (i.e., Light setup as change to 

-UGV)

Obstacles 

Navigation/Obstacle Avoidance Demo Setup
ASTM Info-Roster Main

•

membership. Membership requests were also made and signJulia Moynihan, ASTM Technical Manager, provided an update on the 

-up 

sheets provided for requests to join each of the subcommittees.

•

votes. Additionally, Julia provided information on dealing with negative 
F45.91 Presentation 

• Scope: 

• Definitively includes only unmanned ground vehicles

• “unmanned (i.e., driverless), ...” mirrors the B56.5 title so that F45 includes AGVs• “ground (i.e., land-based and in continuous contact with the ground), industrial vehicles”

• Terms/Definitions

•

not home service vehicles Include a generic set of terms to include all types of ground industrial (i.e., 

– lawn mower, carpet sweeper, etc.)

•

(mobile robots), and autonomous (some mobile robots)Key terms include three types of intelligence: automatic (AGV), automated 

• A-unmanned ground vehicle, A-UGV, n—vehicle that operates while in contact with the 

ground without a human operator; see automatic-UGV, automated-UGV, and autonomous-UGV.

•Meeting Goal:

Resolve negative votes
The following slides are notes from each of 

the subcommittee and main meetings.
•

F45.01 Meeting Notes

Dave Lewis, F45.01 Subcommittee Chairman, presented the Sharp outdoor security A-UGV.

• Ballot to Main now, resolve negatives at February 2017 meeting or prior• Test methods for environmental effects

• Prioritized list 

• Surface measurement 

– description of conditions

• Temperature• Lighting• Methods for defining transitions

• Outdoor robot considerations

• Negative obstacle 

– not a navigation point

• Visual acuity test method 

– E.54 human readable, machine readable • i.e., light and dark conditions 

– detect objects or humans under certain conditions

• QR code use??

• Add perforations and voids/grates• Air velocity
•

F45.02 Meeting Notes

Check height of physical boundaries

• Multiple defined spaces 

•

defined spaces Does orientation of each configuration matter? Only for future multiple 

• Next: Roger to work with Malcolm on developing ‘Precision and Bias’

section
•

F45.03 Meeting Notes

Ballot mid Sept.

• Distance to stop? Needed – yes; does it need to stop?•

zonePotential interpretation to obstacles entering the vehicle path within the stop 

• B56.5 interpretation

• 9.12 not success, but some other word

• “If, after the A-UGV collides with the test piece, it comes to a stop on its own due to the detection of the test piece, then the repetition (trial) is a success. Important change”

• Stop zone – provide another word for ‘stop zone’ to minimize B56.5 association.• Start point and start line confusion; consistent ‘goal’, ‘end’, ‘repetition’, etc.• Future – add negative obstacles
•

F45.04 Meeting Notes

Turn into a practice instead of test method

• Post

-meeting point: Rename work item to match document scope, e.g., 

“Practice for Testing Data Communications Interruption for A

-UGVs”

• Take out ping, etc. and test interruptions • Change the drawing: “wireless router” to “comm. infrastructure”• Remove failure and replace with intended performance• Add forced GPS interrupts
•

F45.91 Meeting Notes

45 negatives from Ballot F45 (16-01) were reviewed and resolved

• Item 001 (Title/Scope) on F45 (16-02) received one negative and the 

received negatives onto a letter ballot for adjudication. subcommittee decided to put this item in addition to five other terms that 

• The terms considered persuasive were removed from ballot and will be either re- balloted or removed from the document completely.• Meeting Dates to Resolve Remaining Negatives; 1 PM to 3 PM EST on: 

• Sept 8, Thurs• Sept 19, Mon• Oct 4, Tues• Oct 17, Mon• Nov 1, Tues

• Ballot resolved terms
Wrap-Up Discussion Meeting Notes

• Main

• Include videos in standards? – include a link (e.g., NIST link)• Full committee meeting – Feb 1,2 in Norfolk, VA• Next web ex meetings: 

• F45.01 - 3rd Friday/month, 10 AM – 12 Noon 16 Sept• F45.02 - 2nd Wednesday/month from 11-1 PM 14 Sept• F45.03 - 3rd Wednesday/month from 11-1 PM 21 Sept• F45.04 - 1st Wed/month, 1-3 PM 7 Sept• F45.91 - 1st Monday/month from 11-1 PM - not setup yet

• ASTM to setup a Webex training session on Precision and Bias • What sub-committee should these be added to or create a new sub-com.?

• Configurations – hardware and software• Battery life test method• Sensing arms or other overhanging obstacles