messina

Robots for Urban Search and Rescue Performance Metrics and Standards Development Program: 

Robots for Urban Search and Rescue Performance Metrics and Standards Development Program Presented by Elena Messina National Institute of Standards and Technology September 6, 2006 Sponsored by Department of Homeland Security Science & Technology Directorate, Standards Portfolio

Introduction: 

Introduction The Department of Homeland Security initiated a project to develop performance standards for urban search and rescue robots in 2004 and asked NIST to coordinate the effort. Building on NIST’s experience in developing performance requirements, metrics, and standard test methods for robots and other technologies Standard performance metrics and tests will enable federal, state, and local law enforcement and response agencies to obtain best value in their procurements and will accelerate the needed technology developments

Performance Metrics and Standards?: 

Performance Metrics and Standards? Standard test methods are being developed We’re not specifying a standard robot!! Various deployment modes will determine necessary performance characteristics - usage guides will also be generated Performance requirements will educate responders, motivate developers Vendors will self-certify

Are We Ready for Standards?: 

Are We Ready for Standards? Voluntary consensus STANDARD TEST METHODS can provide Developers: A common vocabulary, motivation, instructive problem sets, performance objectives for applicability, product testing environments, Responders: Confidence that field-able robots meet specified requirements, practice environments, training support, opportunities to guide developers toward system refinements Standards make the “confidence connection” between expectations of developers, suppliers, purchasers, users, and government regarding performance, interoperability, safety, and other characteristics. Together with conformity assessment, standards can facilitate trade.

DHS Standards Portfolio Process: 

DHS Standards Portfolio Process Courtesy of Dr. Bert Coursey, DHS Science & Technology

Requirements Definition: 

Requirements Definition Preliminary Statement of Requirements disseminated May, 2005 Produced by FEMA US&R Task Force members in a series of 3 workshops 100+ individual requirements, including performance objectives and thresholds Requirements and document continue to evolve

Requirement Categories: 

Requirement Categories

Requirements Categories: 

Requirements Categories

Deployment Situations: 

Deployment Situations

Deployment Situations: 

Deployment Situations

Standards Development Process: 

Standards Development Process ASTM E54 Homeland Security Applications E54.08 Operational Equipment E54.08.01 Urban Search and Rescue Robots Standards staged in waves Wave 1 - near-term achievable standard test methods are being developed with the intent to gain approval within ASTM by early 2007 Leverage/collaborate wherever possible, e.g. SAE AS4 Joint Architecture for Unmanned Systems (JAUS): interoperability IEEE communications standards

Working Groups within E54.08.01: 

Working Groups within E54.08.01 Logistics Operating Environment Communications Human-System Interaction Sensing Mobility Power Safety Terminology Deployment perspective(s)

Requirements Addressed in Wave 1: 

Requirements Addressed in Wave 1 ‡ References original requirements in Preliminary Report. See http://www.isd.mel.nist.gov/US&R_Robot_Standards

Requirements Addressed in Wave 1: 

Requirements Addressed in Wave 1 ‡ References original requirements in Preliminary Report. See http://www.isd.mel.nist.gov/US&R_Robot_Standards

Slide15: 

Sensing-Vision System-Acuity, Far Sensing-Vision System-Acuity, Near

Slide16: 

CommunicationsRange – Line of Sight

Slide17: 

Mobility – Ramps

Responders Meet Robots Exercises: 

Responders Meet Robots Exercises FEMA Nevada TF1 Training Facility August 5-9, 2005 Diverse set of robots: ground, aerial, underwater, and amphibious brought by manufacturers and researchers Responders operated robots in scenarios within rubble pile, freeway collapse, and using NIST test artifacts (simulated victims, mobility, vision, and other tests) Responders and vendors critiqued draft test methods, artifacts FEMA Texas TF1 Training Facility April 4-7, 2006 Disaster City - a 52 acre facility with diverse and rich training scenarios Numerous small aerial vehicles participated Initial piloting of Wave 1 test methods FEMA Maryland TF1 Training Facility August 19-21, 2006 Piloting of test methods prior to submission to standards organization Initial integration of radiation sensors and other hazmat sensors in test methods and operational scenarios Leveraging NIST-organized conferences: Performance Metrics for Intelligent Systems and IEEE Safety, Security, and Rescue Robots Refining Requirements Understanding Operational Scenarios Encouraging Information Flow: Manufacturers & End Users Evaluating Draft Test Methods and Artifacts

Other Program Elements: Compendium: 

Other Program Elements: Compendium Directed Perception L4 L3 L2 L1 Eye chart /4 /4 /4 /4 Avg. Line ___ Stick Color /4 /4 /4 /4 % Correct ___ Stick Orien. /4 /4 /4 /4 % Correct ___ Mobility Zig Zag (pavement) time Zig Zag (2-3” grass) time Zig Zag (Red Step Field) time Human Factor Ease of Use Proficiency Visual Acuity Lighted Dark Near Line # Dark Line # Far X m Line # Dark Line # Far X m Line # Dark Line # Far X m Line # Dark Line # Test Methods Results (Initial) Logistics Setup Time ___ Cache Packaging (# of boxes needed) Ropack____ Pelican____ Hardigg____ Deployed Weight ___

Other Program Elements: Measurement Technologies: 

Other Program Elements: Measurement Technologies Supporting technology infrastructure for measurements and standards Disaster classification (e.g. rubble, building type) Including ground truth capture for test sites Robot capabilities classification Integration of the two to assist in purchasing – and potentially in deployment decisions

High-Resolution Terrain and Feature Data Capture: 

Montgomery County – Fire & Rescue Training Academy Mapped 8-18-06 SkEyes Unlimited Corporation : MP-1 Real-Time Aerial Mapping System Montgomery County US&R training site rubble pile - high-resolution LADAR scans High-Resolution Terrain and Feature Data Capture

Related Work: Bomb Disposal Robot Standards: 

Related Work: Bomb Disposal Robot Standards National Institute of Justice-sponsored Development of test methods, focusing on bomb-disposal tasks Test methods overlap in areas

Contact Information: 

Contact Information Elena Messina elena.messina@nist.gov or usar.robots@nist.gov http://www.isd.mel.nist.gov/US&R_Robot_Standards/ Requirements Report Reports from Past Events Information about Upcoming Events Opportunities to provide input, participate