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https://www.nist.gov/el/intelligent-systems-division-73500/test-methods

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Engineering Laboratory

## Intelligent Systems Division

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# Test Methods

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**LOGISTICS: ROBOT TEST CONFIG AND CACHE PACKAGING**

Purpose The purpose of this standard practice is to quantitatively evaluate the cache packaging and setup attributes of deployable robotic systems to be compatible with transportation and storage procedures prescribed by the Federal Emergency Management Agency (FEMA) Urban Search & Rescue (US&R) Task Force Teams and other emergency response organizations.Metrics • Number and weight of qualified packing containers • Setup time from packing containers to deployment • Downrange/testing configuration of robotic system • Weights and measurements of the robot, operator control unit (OCU), payload, and batteries • Tools needed for repair and maintenance**ENERGY/POWER: ENDURANCE: PITCH/ROLL RAMP TERRAIN**

Purpose The purpose of this test method is to quantitatively evaluate the battery capacity per charge cycle for a remotely teleoperated robot operating in confined areas in lighted and dark conditions. This test method can also be tested at temperature extremes.Metrics • Distance (m) per charge tested to inoperability (before and after benchtop cycling) • Time (min) per charge tested to inoperability (before and after benchtop cycling) • Change in capacity (%) after 100 benchtop battery cycles**MOBILITY: TERRAIN: FLAT/PAVED SURFACES (100 m)**

Purpose The purpose of this test method is to quantitatively evaluate the sustained speed capabilities for a remotely teleoperated robot operating on a flat/paved surface with confined area turns.Metrics • Completion of 10 figure-8 repetitions • Average time per repetition**MOBILITY: TERRAIN: CONTINUOUS RAMPS 15° (YELLOW)**

Purpose The purpose of this test method is to quantitatively evaluate the mobility capabilities of a remotely teleoperated robot operating in confined areas with continuous full ramp and half ramp terrain elements in lighted and dark conditions.Metrics • Completion of 10 figure-8 repetitions • Average time per repetition**MOBILITY: TERRAIN: CROSSING RAMPS 15° (ORANGE)**

Purpose The purpose of this test method is to quantitatively evaluate the mobility capabilities of a remotely teleoperated robot operating in confined areas with crossing (discontinuous) full ramp and half ramp terrain elements in lighted and dark conditions.Metrics • Completion of 10 figure-8 repetitions • Average time per repetition**MOBILITY: TERRAIN: SYMMETRIC STEPFIELDS (RED)**

Purpose The purpose of this test method is to quantitatively evaluate the mobility capabilities of a remotely teleoperated robot operating in confined areas with symmetric stepfield terrain elements in lighted and dark conditions.Metrics • Completion of 10 figure-8 repetitions • Average time per repetition**MOBILITY: OBSTACLE INCLINED PLANE (0° - 90°)**

Purpose The purpose of this test method is to quantitatively evaluate the incline plane maneuvering capabilities, including variable chassis configurations, rollover potential, and de-tracking, of a remotely teleoperated robot operating in lighted and dark conditions.Metrics • Maximum incline (degrees) while completing 10 repetitions each for vertical, diagonal, and horizontal paths • Average time per repetition**MOBILITY: OBSTACLE: GAP: HORIZONTAL (10 cm to 100 cm)**

Purpose The purpose of this test method is to quantitatively evaluate the horizontal gap traversing capabilities, including variable chassis configurations and coordinated traversal behaviors, of a remotely teleoperated robot operating in confined areas in lighted and dark conditions.Metrics • Maximum gap (cm) traversed for 10 repetitions • Average time per repetition**MOBILITY: OBSTACLE: PIPE STEP (10 cm to 100 cm)**

Purpose The purpose of this test method is to quantitatively evaluate the vertical step surmounting capabilities, including variable chassis configurations and coordinated climbing behaviors, of a remotely teleoperated robot operating in confined areas in lighted and dark conditions.Metrics • Maximum elevation (cm) surmounted for 10 repetitions • Average time per repetition**MOBILITY: OBSTACLE: STAIRS (30°/35°/40°/45°; WOOD/METAL; WET)**

Purpose The purpose of this test method is to quantitatively evaluate the stair ascending/descending capabilities, including variable chassis configurations, coordinated climbing behaviors, and tread surface vulnerabilities, for a remotely teleoperated robot operating in confined areas in lighted and dark conditions.Metrics • Maximum successful incline (degrees) with a variety of surface conditions for 10 repetitions • Average time per repetition**MOBILITY: TOWING: GRASPED SLED (100 M)**

Purpose The purpose of this test method is to quantitatively evaluate the grasped towing capabilities for a remotely teleoperated robot operating on a flat/paved surface with confined area turns.Metrics • Maximum weight dragged (kg) for 10 repetitions • Average time per repetition**RADIO COMMS: LINE-OF-SIGHT RANGE**

Purpose The purpose of this test method is to quantitatively evaluate the line of sight (LOS) radio communications range for a remotely teleoperated robot.Metrics • Maximum distance (m) downrange at which the robot completes tasks to verify the functionality of control, video, and audio transmissions.**RADIO COMMS: NON-LINE-OF-SIGHT RANGE**

Purpose The purpose of this test method is to quantitatively evaluate the non-line-of-sight (NLOS) radio communications range for a remotely teleoperated robot.Metrics • Maximum distance (m) behind a downrange metal monolith at which the robot completes tasks to verify the functionality of control, video, and audio transmissions.**MANIPULATION: DIRECTED PERCEPTION: OPEN ACCESS**

Purpose The purpose of this test method is to quantitatively evaluate the manipulator positioning capabilities of a remotely teleoperated robot operating on increasingly complex terrain in confined areas in lighted and dark conditions.Metrics • Number of correctly identified targets within sub-divided cells at various proximities and elevations relative to the robot • Average time per task**MANIPULATION: GRASPING DEXTERITY: OPEN ACCESS**

Purpose The purpose of this test method is to quantitatively evaluate the manipulator grasping and placement capabilities of a remotely teleoperated robot operating on increasingly complex terrain in confined areas in lighted and dark conditions.Metrics • Number of grasped pick and place objects within sub-divided cells at various proximities and elevations relative to the robot • Average time per task**MANIPULATION: DOOR OPENING AND TRAVERSING**

Purpose The purpose of this test method is to quantitatively evaluate the door opening capability of a remotely teleoperated robot operating in confined areas in lighted and dark conditions.Metrics • Completion of two subtasks: unlatching the door and traversing through • Average time per repetition**HUMAN-SYSTEM INTERACTION: RANDOM MAZE NAVIGATION**

****Purpose The purpose of this test method is to quantitatively evaluate the maneuvering navigation capability of a remotely teleoperated robot operating on complex terrain in confined areas in lighted and dark conditions.Metrics • Number of full and half ramp flooring elements traversed while wall following ("right-hand" or "left-hand") through the maze (complexity measure). • Completion time.**HUMAN-SYSTEM INTERACTION: RANDOM MAZE SEARCH**

Purpose The purpose of this test method is to quantitatively evaluate the maneuvering search capability of a remotely teleoperated robot operating on complex terrain in confined areas in lighted and dark conditions.Metrics • Percentage (%) of targets correctly identified, incorrectly identified (visual acuity), multiply identified (loss of spatial awareness), or missed (field of view). • Completion time.**HUMAN-SYSTEM INTERACTION: UNDER-BODY SEARCH**

Purpose The purpose of this test method is to quantitatively evaluate the camera pointing capability of a remotely teleoperated robot operating underneath a low underpass, such as under a vehicle, with half ramp terrain elements and recessed targets in lighted and dark conditions.Metrics • Percentage of targets successfully identified at each level • Completion time.**SENSING: VISUAL: ACUITY and FIELD OF VIEW**

Purpose The purpose of this test method is to quantitatively evaluate the color video, visual acuity, field of view (FOV), zooming, and variable illumination capabilities of a remotely teleoperated robot operating in lighted and dark conditions.Metrics • Color video capability (check) • Near field acuity (Snellen fraction) • Far field acuity (Snellen fraction) • Field of view (degrees)**SENSING: VISUAL: DIRECTED SEARCH (DETAILED)**

Purpose The purpose of this test method is to quantitatively evaluate the camera pointing capabilities of a remotely teleoperated operating on complex terrain in lighted and dark conditions.Metrics • Correct identification of the three colors of the smallest diameter cylinders for each shape totem.**SENSING: VISUAL: DIRECTED SEARCH (RAPID)**

Purpose The purpose of this test method is to quantitatively evaluate the camera pointing capabilities of a remotely teleoperated operating on complex terrain in lighted and dark conditions.Metrics • Number of targets correctly identified. • Average time per target.**SENSING: AUDIO: SPEECH INTELLIGIBILITY**

Purpose The purpose of this test method is to quantitatively evaluate the one/two-way audio capabilities of a remotely teleoperated robot.Metric • Percentage of words correctly identified from lists of standard rhyming words spoken by male and female voices**SENSING: AUDIO: SPECTRUM RESPONSE**

Purpose The purpose of this test method is to quantitatively evaluate the one/two-way audio capabilities of a remotely teleoperated robot.Metric • Percentage of input**SAFETY/ENVIRONMENT: DECONTAMINATION**

Purpose The purpose of this practice is to qualitatively evaluate a robot's washdown vulnerabilities and identify specific design issues that may hinder complete decontamination.Metric • Best practice, involves no metric****

ManufacturingRobotics in manufacturingResponse robotsResponse robots

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