ASTM F3427-20

4.3.2.1 Approximate type similar to the following examples where multiple floor types may be present and shall be indicated on the report form (for example, concrete, linoleum tile, carpet, dirt, grass, asphalt, wood plank, etc.).

4.3.2.2 Indicate floor anomalies within the test space (for example, floor grate, manhole cover, undetectable (by vehicle sensors) divots, transparent flooring, etc.).

4.3.3.1 High (for example, brushed concrete, asphalt),

4.3.3.2 Moderate (for example, polished/sealed concrete, steel plates, packed dirt), and

4.3.3.3 Low (for example, icy, wet, lubricated, dry sand).

4.3.4.1 Gap—Length, width, depth, and angle of gap with respect to a reference frame.

4.3.4.2 Step—Length, width, depth, and angle of step with respect to a reference frame.

4.3.4.3 For each gap/step, a description of the gap/step should also be documented. Examples: sharp gap (between loading dock and truck) vs. rounded gap (pothole, floor divot); sharp step (square channel metal) vs. rounded step (cable or cable cover, speed bump/hump). A sharp gap and a rounded step are exemplified in Fig. 5.

4.3.5.1 Rigid (for example, concrete, asphalt);

4.3.5.2 Semi-rigid (for example, compacted dirt or gravel, wet sand, industrial carpet);

4.3.5.3 Soft—Malleable (for example, snow, mud, dry sand, padded carpet).

4.3.6.1 Level 1—0 % to 3 % (for example, nominally flat floor);

4.3.6.2 Level 2—4 % to 7 % (for example, transitional ramp in factories);

4.3.6.3 Level 3—8 % to 10 % (for example, yard ramp = 8 % to 9 %);

4.3.6.4 Level 4—11 % to 15 % (for example, steep road grade);

4.3.6.5 Level 5—16 % and above.

4.3.7.1 Flat—0 mm to 6 mm variation over 3 m;

4.3.7.2 Moderately flat—More than 6 mm to 12 mm variation over 3 m;

4.3.7.3 Non-flat—More than 12 mm to 51 mm variation over 3 m;

4.3.7.4 Outdoor—More than 51 mm variation over 3 m.

4.3.8.1 None (for example, dry, clean);

4.3.8.2 Fine (for example, cardboard dust, concrete dust);

4.3.8.3 Coarse (for example, sand, pebbles).

4.3.9.1 Deformability—See Test Method E1274-18.

4.3.9.2 Undulation—See Test Method E1155M-14.

4.3.9.3 Coefficient of Friction—See ANSI B101.3 - 2012 which specifies use of a BOT-3000 drag-sled meter.

4.4.2.1 Level 1—Below 0° (for example, freezer);

4.4.2.2 Level 2—0° to 15° (for example, perishable storage);

4.4.2.3 Level 3—16° to 26° (for example, office, warehouse);

4.4.2.4 Level 4—27° to 49° (for example, warehouse);

4.4.2.5 Level 5—Above 49° (for example, foundries, forges).

4.5.2.1 Low—Less than 30 %;

4.5.2.2 Moderately Low—31 % to 55 %;

4.5.2.3 Moderately High—56 % to 75 %;

4.5.2.4 High—Greater than 75 %.

4.7.2.1 Exposed bulb (for example, fluorescent, can lights);

4.7.2.2 Spotlight (for example, directed away from the exoskeleton);

4.7.2.3 Sunlight (for example, the exoskeleton is tested in bright sunlight);

4.7.2.4 Reflected (for example, bulb directed at the ceiling);

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

4.7.3.1 Exposed bulb (that is, no bulb cover);

4.7.3.2 Spotlight;

4.7.3.3 Sunlight (for example, the exoskeleton faces/moves towards low sun position);

4.7.3.4 Reflected;

4.7.3.5 Filtered;

4.7.3.6 Laser;

4.7.3.7 Light from another vehicle.

4.7.4.1 Elevation with respect to the exoskeleton or exoskeleton path.

4.7.4.2 Location with respect to the exoskeleton (add a light symbol on the test method drawing; for directional lighting only).

4.7.5.1 Level 1—0 lx to 1 lx (for example, dark);

4.7.5.2 Level 2—2 lx to 99 lx (for example, dim);

4.7.5.3 Level 3—100 lx to 1000 lx (for example, office environment);

4.7.5.4 Level 4—1001 lx to 9 999 lx (for example, high intensity work light, spotlight);

4.7.5.5 Level 5—10 000 lx and above (for example, full sunlight).

4.8.1 Air flow and quality refers to the ability that an exoskeleton or exoskeleton-user, or both, is affected by air particulates or wind, or both, or that onboard exoskeleton sensor(s) are affected by the presence of precipitation or air particulates, or both. Air quality can also affect exoskeleton performance, for example heat transfer characteristics. Air quality may affect the exoskeleton performance in terms of joint motion or electronics and automatic exoskeleton functionality, or both. 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 exoskeleton (refer to Fig. 6).

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: ISO 14644-1:2015 for air particle density (clear), and ANSI/IEC 60529-2004.

4.9.1 External emitters are outside of the exoskeleton (for example, from a nearby equipment source) and can potentially interfere with the exoskeleton sensor or control system. External radiation sources can affect the exoskeleton performance, for example: lasers, ultrasonics.

4.9.2 External Emitter Configuration: 

4.9.3 External Emitter Source Location—Document emitter source location and elevation with respect to the vehicle (refer to Fig. 6):

4.9.4 Spectrum—Identify primary color and peak wavelength.

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

4.10.2 For electro-magnetic compatibility issues, refer to: BS EN 12895, Mil-Stnd-462, IEC 61000-4-1, and IEC 61000-6.

4.11.1 Boundaries refer to the defining apparatus, existing structure, or ground anomalies, or combinations thereof, within which the exoskeleton is tested. The characteristics for boundaries include:

4.11.2 Opaque Walls (for example, white drywall, opaque plastic, reflective or flat black test boundaries, corrugated metal, curb from the road);

4.11.3 Semi-Transparent Walls (for example, clear glass, frosted glass, translucent plastic);

4.11.4 Negative Obstacles (for example, cliff, curb from the sidewalk, loading dock, drainage channel);

4.11.5 Virtual Walls (for example, exoskeleton prohibited areas mapped within the exoskeleton controller at stairs, restricted areas);

4.11.6 Porous Walls (for example, wire mesh fencing, chain-link fencing);

4.11.7 Elevated Dividers (for example, racking, post and beam fencing, retractable-belt dividers);

4.11.8 Building Infrastructure (for example, machinery, equipment, exoskeleton chargers);

4.11.9 Floor Markings (for example, tape, paint);

4.11.10 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);

4.11.11 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 exoskeleton moves past a soft partition that moves or an exoskeleton moves through a soft partition that causes it to move. If more specificity of measurement is required, the following standards and references may be used: