ASTM F3218-19

4.3.2.1 Exposed bulb (for example, fluorescent, can lights),

4.3.2.2 Spotlight (for example, direct away from the A-UGV),

4.3.2.3 Sunlight (for example, the A-UGV is tested in bright sunlight),

4.3.2.4 Reflected (for example, bulb directed at the ceiling),

4.3.2.5 Filtered (for example, diffused light through translucent glass).

4.3.3.1 Exposed bulb,

4.3.3.2 Spotlight,

4.3.3.3 Sunlight (for example, the A-UGV faces/navigates towards low sun position),

4.3.3.4 Reflected,

4.3.3.5 Filtered,

4.3.3.6 Laser,

4.3.3.7 Light from another vehicle.

4.3.5.1 Level 1: 0 to 1 lux (for example, dark).

4.3.5.2 Level 2: 2 to 99 lux (for example, dim).

4.3.5.3 Level 3: 100 to 1000 lux (for example, office environment).

4.3.5.4 Level 4: 1001 to 9999 lux (for example, high intensity work light, spotlight).

4.3.5.5 Level 5: 10 000 lux and above (for example, full sunlight).

4.4.1 When emitters are outside of the A-UGV (for example, from another A-UGV, the environment) that can potentially interfere with the A-UGV sensor system. External radiation sources can affect the A-UGV performance, for example: multiple time-of-flight cameras, fork-lift pedestrian lights, 3D structured light sensors, light detection and ranging sensors (LIDAR).

4.4.2 External Emitter Configuration: 

4.4.3 External Emitter Source Location—Document emitter source location and elevation with respect to the A-UGV (refer to Fig. 5); add an external emitter symbol on the test method drawing in the appropriate location.

4.4.4 Spectrum—Identify primary color and peak wavelength.

4.5.1 Temperature variability and extremes can affect the A-UGV performance. Temperature ranges span from low to high extremes expressed in five levels. Temperature variations can affect onboard electronics, create condensation, cause hydraulic fluid viscosity, reduce battery life and recharge rate.

4.5.2 Temperature Levels (in °C): 

4.6.1 Humidity refers to the amount of water vapor contained in the air around the vehicle. High humidity combined with dew point temperature causes condensation that can short electronics and affect lenses and other A-UGV components. Greater than 60 % humidity causes a large increase in corrosion of metallic parts. Low humidity, on the other hand, will see a dramatic rise in static electricity and the need for adequate discharge.

4.6.2 Relative Humidity Level: 

4.6.3 Dew Point Temperature—The highest temperature at which airborne water vapor will condense to form liquid dew.

4.7.1 Some surfaces are not conductive enough to provide adequate grounding for an A-UGV. Ground vehicles have a floating electrical ground. As static builds up on the vehicle and the voltage drop from the positive lead of the battery and the chassis changes, the electronic components of the vehicle are negatively impacted. Strong magnetic fields can impact the onboard electrical components, and in particular, any data storage within the onboard computer. Many A-UGVs require wireless network connections for full functionality. Radio frequency (RF) interference can degrade these networks and A-UGV capability.

4.7.2 For Electro-magnetic compatibility issues, refer to:

4.8.1 Air flow and quality refers to the ability that an A-UGV can discern an object or light in the presence of air particulates or wind, or both. Air quality can affect the A-UGV performance in terms of object detection, navigation, and docking. Air quality depends upon the size and volumetric density of particulates in the air. For relative comparison, the average human eye cannot see particles smaller than 40 μm, fog from water vapor typically includes particle sizes from 5 μm to 50 μm, and dust particles are typically 0.1 μm to 100 μm. An ISO Class 1 cleanroom has no more than 10 particles larger than 0.1 μm in a cubic meter of air. Fog (water vapor) particle density of 1 amg allows human visibility of about 125 m at ground level.

4.8.2 Air Velocity and Direction—Document air flow source location and elevation with respect to the A-UGV (refer to Fig. 5).

4.8.3 Air Particle Density—Optionally, measure the air particle size and volumetric density.

4.8.4 If more specificity of measurement is required, the following standards may be used:

4.9.1 A-UGV mobility is affected by ground surface conditions including: surface texture/roughness, deformability, sloped (ramp) or undulation (lack of flatness). Ground surface conditions can affect A-UGV: traction, vibration affecting the electronics integrity, positioning, and stability.

4.9.2 Type(s): 

4.9.3 Coefficient of Friction: 

4.9.4 Gap/Step—Known infrastructure that could be a part of the A-UGV map (see Fig. 6).

4.9.5 Deformability: 

4.9.6 Grade (Ramp)—Known infrastructure that could be a part of the A-UGV map.

4.9.7 Undulation (Lack of Flatness on the Apparatus Ground Surface): 

4.9.8 Particulates (document type and describe): 

4.9.9 If more specificity of measurement is required, the following standards may be used:

4.10.1 Boundaries refer to the defining apparatus, existing structure, or ground anomalies, or combinations thereof, within which the A-UGV navigates. The characteristics for boundaries include:

4.10.2 Opaque walls (for example, white drywall, opaque plastic, reflective or flat black test boundaries, corrugated metal, curb from the road).

4.10.3 Semi-transparent walls – (for example, clear glass, frosted glass, translucent plastic).

4.10.4 Negative obstacles (for example, cliff, curb from the sidewalk, loading dock, drainage channel).

4.10.5 Virtual walls (for example, A-UGV prohibited areas mapped within the vehicle controller at edges of pedestrian walkways, edges of negative obstacles, restricted areas).

4.10.6 Porous walls (for example, wire mesh fencing, chain-link fencing).

4.10.7 Elevated dividers (for example, racking, post and beam fencing, retractable-belt dividers).

4.10.8 Building infrastructure (for example, machinery, equipment, A-UGV chargers).

4.10.9 Floor markings (for example, tape, paint).

4.10.10 Mixture of the above boundaries (for example, railing and kickplate in front of a negative drop-off at edge of a platform, post and beam fencing with wire mesh covering).

4.10.11 Moving boundaries (for example, moving sliding or hinged doors, moving curtains); the environment should be labeled as static unless the boundary moves during a test, in which case the environment should be labeled as dynamic, for example, an A-UGV drives past a soft partition that moves or an A-UGV drives through a soft partition that causes it to move.

4.10.12 If more specificity of measurement is required, the following standards and references may be used: