F45.01 - Environmental Conditions and Effects

SIGNIFICANCE AND USE
4.1 This section provides a description of the environmental conditions listed in Section 1 and describes the sub-conditions within each condition. Examples provided for many of the conditions and sub-conditions are provided as guidance only. Each of the conditions described should be evaluated and documented as set forth in Sections 5, 6, and 7.  
4.2 Environmental Consistency: Static, Dynamic, Transitional:  
4.2.1 Static is when the environment is similar throughout the test apparatus. For example, there are minor fluctuations in temperature throughout the apparatus as shown in Fig. 1 and Fig. 2. Dynamic is when the environment significantly differs within the test apparatus. For example, when the temperature changes between repetitions as shown in Fig. 3. Transitional is when the environment significantly differs in different areas within the test apparatus as shown in Fig. 4. The intent here is to not give specific guidance, but to provide a high-level classification of a particular set of environmental conditions. If environment consistency is dynamic or transitional, or both, a report form (see Section 7) for each unique set of environmental conditions should be completed.
FIG. 1 Example of Static Environment using Temperature
FIG. 2 Example of Static Environment using Temperature and Showing a Transition between Two Static Environments
FIG. 3 Example of Dynamic Environment using Temperature and Showing that the Environment Changed during the Test
FIG. 4 Example of Transitional Environment using Temperature; Portions of the Environment May Remain Static or May Be Dynamic (for example, Cold to Colder)  
4.3 Lighting:  
4.3.1 Various lighting conditions can potentially affect A-UGV optical sensor performance by affecting sensor and in turn, A-UGV responsiveness. Lighting sources can include ambient lighting as well as light emitters associated A-UGV operation. Two setups for lighting include direct or ambient source(s) applied to the A-UGV. Direct...
SCOPE
1.1 When conducting test methods, it is important to consider the role that the environmental conditions play in the Automatic through Autonomous – Unmanned Ground Vehicle (A-UGV) performance. Various A-UGVs are designed to be operated both indoors and outdoors under conditions specified by the manufacturer. Likewise, end users of the A-UGV will be operating these vehicles in a variety of environmental conditions. When conducting and replicating F45 test methods by vehicle manufacturers and users, it is important to specify and document the environmental conditions under which the A-UGV is to be tested as there will be variations in vehicle performance caused by the conditions, especially when comparing and replicating sets of test results. It is also important to consider changes in environmental conditions during the course of operations (for example, transitions between conditions). As such, environmental conditions specified in this practice are static, dynamic, or transitional, or combinations thereof; with the A-UGV stationary or in motion. This practice provides brief introduction to the following list of environmental conditions that can affect performance of the A-UGV: Lighting, External sensor emission, Temperature, Humidity, Electrical Interference, Air quality, Ground Surface, and Boundaries. This practice then breaks down each condition into sub-categories so that the user can document the various aspects associated with the category prior to A-UGV tests defined in ASTM F45 Test Methods (for example, F3244). It is recommended that salient environment conditions be documented when conducting F45 test methods.  
1.2 The environmental conditions listed in 1.1 to be documented for A-UGV(s) being tested are described and parameterized in Section 4 and allow a basis for performance comparison in test methods. The approach is to divide the list of environmental conditions into sub-conditions that represent the var...

SIGNIFICANCE AND USE
4.1 Lighting:  
4.1.1 Various lighting conditions can potentially affect A-UGV optical sensor performance by affecting sensor and in turn, A-UGV responsiveness. Lighting sources can include ambient lighting as well as light emitters associated A-UGV operation. Two setups for lighting include direct and indirect source applied to the A-UGV. Direct lighting can also include reflected light from a highly reflective surface and implies that the source is directed at the light-affected components of the A-UGV (for example, sensors). Indirect or ambient light includes lighting where the source is not directly applied to the light-affected components of the A-UGV. Lighting exposure is either continuous light applied to the A-UGV or transitional in which the vehicle passes through various lighting conditions and levels. Light intensity is divided into five levels exemplified through dark, typical indoor lighting, and full sunlight.  
4.1.2 Ambient Lighting Type:  
4.1.2.1 Exposed bulb,
4.1.2.2 Spotlight,
4.1.2.3 Sunlight,
4.1.2.4 Reflected,
4.1.2.5 Light from another vehicle,
4.1.2.6 Laser,
4.1.2.7 Filtered.  
4.1.3 Ambient Lighting Source:  
4.1.3.1 Direct Highly-Concentrated, Directional Lighting,
4.1.3.2 Indirect and Diffused.  
4.1.4 Ambient Lighting Source Location—Record light source location and elevation with respect to the vehicle (refer to Fig. 1).
FIG. 1 Lighting and Air Velocity (see 4.7.4) Direction (a) Top View and (b) Side View and (c) Light Source Elevation Side View with Respect to the A-UGV; The “front” of the A-UGV is defined by vehicle manufacturer
FIG. 1 Lighting and Air Velocity (see 4.7.4) Direction (a) Top View and (b) Side View and (c) Light Source Elevation Side View with Respect to the A-UGV; The “front” of the A-UGV is defined by vehicle manufacturer (continued)
4.1.4.1 Elevation with respect to A-UGV path.
4.1.4.2 Location with respect to the A-UGV (indicate light source on the test method drawing; for directional li...
SCOPE
1.1 This practice describes a means to record the following environmental conditions that may affect the performance of A-UGVs: lighting, external sensor emission, temperature, ground surface, air quality, humidity, and electrical interference.  
1.2 The A-UGV operating ranges for each of the conditions listed in 1.1 are described and parameterized in Section 4 and allow a basis for performance comparison in test methods. The approach is to divide the list of environmental conditions into sub-conditions that represent the various aspects of the major category (for example, sunlight within ambient lighting). Where necessary, this practice also provides guidelines (for example, lighting direction) to record environmental conditions in an existing environment.  
1.3 The values stated in SI units are to be regarded as the standard. The values given in parentheses are not precise mathematical conversion to imperial units. They are close approximate equivalents for the purpose of specifying material dimensions or quantities that are readily available to avoid excessive fabrication costs of test apparatuses while maintaining repeatability and reproducibility of the test method results. These values given in parentheses are provided for information only and are not considered standard.  
1.4 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use.  
1.5 This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.