5.1 This test method is part of an overall suite of related tests that provide reproducible measures of radio communications for remotely operated robots. It measures the maximum line-of-sight radio communications range between a robot and its remote operator interface using omnidirectional robot maneuvering and visual acuity tasks to evaluate the degradation of essential mission capabilities due to communications latency and loss.5.2 This test method is inexpensive, easy to fabricate, and simple to conduct so it can be replicated widely. This enables comparisons across various testing locations and dates to determine best-in-class system capabilities and remote operator proficiency.5.3 Evaluations—This test method can be conducted in a controlled environment with no radio frequency interference and minimal radio propagation effects to measure baseline capabilities that can be compared widely across robotic systems. It also can be embedded into any operational training scenario as a practical measure of line-of-sight radio communications range with additional degradation due to uncontrolled variables such as radio frequency interference, weather, etc. The results of these scenario tests can be compared across robotic systems only when conducted in the same environment in similar conditions. However, the results cannot be compared reliably to results from other venues or environmental conditions due to the uncontrolled variables.5.4 Procurement—This test method can be used to identify inherent capability trade-offs in systems, make informed purchasing decisions, and verify performance during acceptance testing. This aligns requirement specifications and user expectations with existing capability limits.5.5 Training—This test method can be used to focus operator training as a repeatable practice task or as an embedded task within training scenarios. Operators can learn system behaviors during radio communication degradation and refine techniques to mitigate issues while performing tasks. The resulting measures of remote operator proficiency enable tracking of perishable skills over time, along with comparisons of performance across organizations, regions, or national averages.5.6 Innovation—This test method can be used to inspire technical innovation, demonstrate break-through capabilities, and measure the reliability of systems performing specific tasks within an overall mission sequence. Combining or sequencing multiple tests can guide manufacturers toward implementing the combinations of capabilities necessary to perform essential mission tasks.1.1 This test method is intended for remotely operated ground robots using radio communications to transmit real-time data between a robot and its remote operator interface. This test method measures the maximum line-of-sight radio communications distance at which a robot can maintain omnidirectional steering, speed control, precise stopping, visual acuity, and other functionality. This test method is one of several related radio communication tests that can be used to evaluate overall system capabilities.1.2 A remote operator is in control of all functionality, so an onboard camera and remote operator display are typically required. Assistive features or autonomous behaviors may improve the effectiveness or efficiency of the overall system.1.3 Different user communities can set their own thresholds of acceptable performance within this test method to address various mission requirements.1.4 Performing Location—This test method may be performed anywhere the specified apparatuses and environmental conditions can be implemented.1.5 The International System of Units (a.k.a. SI Units) and U.S. Customary Units (a.k.a. Imperial Units) are used throughout this document. They are not mathematical conversions. Rather, they are approximate equivalents in each system of units to enable the use of readily available materials in different countries. The differences between the stated dimensions in each system of units are insignificant for the purposes of comparing test method results, so each system of units is separately considered standard within this test method.1.6 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.1.7 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.

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4.1 A-UGVs operate in a wide range of indoor and outdoor applications that include many communications challenges that can affect A-UGV control and monitoring. An A-UGV system or A-UGVS as defined in Terminology F3200 includes the A-UGV and all associated components, equipment, software, and communications necessary to make a fully functional system. Communications impairments can cause: (1) changes in A-UGV operation, (2) changes in behavior in system components such as control and scheduling, or (3) changes in operation or timing of infrastructure equipment coordination. This practice is intended to record the task performance of an A-UGV while communications are impaired in a specified and repeatable manner (for example, standard test method).4.2 Communications impairments can occur at a variety of locations within the A-UGVS. The network topology in Fig. 1 shows many of the common communications links that could be impaired. The numbered arrows in Fig. 1 label different places where communications impairments could occur. The box colors (that is, green, red, blue) indicate different types of impairments where the two red boxes are similar to each other. Fig. 1 will be used throughout this practice and included on the test report for use in describing the test setup and results by the test supervisor.FIG. 1 Block Diagram of Communications for Control/Monitoring of A-UGVs and Associated Facility Equipment in which Numbers with Arrows Indicate Examples of Communications Impairment Locations4.3 The requested expected results provide pass/fail reporting criteria along with recorded notes pertinent to the test or results or both. It is possible that the communications impairments used will have no noticeable effect, and this is often the desired outcome.1.1 This practice considers impairments of communications within an automatic, automated, or autonomous unmanned ground vehicle (A­UGV) system during task execution. An A-UGV system typically uses communications between an A-UGV and fixed system components and resources, such as off-board control, job and fleet scheduling, infrastructure equipment interactions, or cloud-computing programs for tasks. Communications impairments can cause an A-UGV operation to change in various ways that can include delays or failure to complete the task.1.2 This practice is designed for applying known communications impairments to an A-UGV system in conjunction with A-UGV task testing. It is designed to create similar changes in communications that can possibly cause task performance limiting effects that are often experienced by an A-UGV system in different environments.1.3 This practice is intended to simulate impairments that may be present during the operation of an A-UGV system. This practice can be used, for example, by a manufacturer to indicate that system performance was tested to be robust against specific test communications impairments. The tests are not intended to test situations that should be eliminated during system installation, for example, a duplicate internet protocol (IP) address on the network.1.4 This practice only describes communications impairments. It does not specify an A-UGV task. The A-UGV task should be a defined ASTM International test method or task description in similar detail.1.5 This practice defines methods to record communications impairment types and extents while the A-UGV is stationary or performs a task. Temporal or spatial extents in which communications impairments occur include the timing, duration, location within the task, or other triggered events. Examples for implementing common communications impairments are provided.1.6 This practice is not intended for:1.6.1 Communications impairments between onboard components of an A-UGV, for example, onboard sensors-to-onboard computers.1.6.2 Communications or measurement impairments directly affecting external reference or positioning systems, for example, global positioning system (GPS) used for navigation and range/azimuth sensor-to-wall reflectors.1.7 The values stated in SI units are to be regarded as the standard. No other units of measurement are included in this standard.1.8 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. Safety standards for A-UGVs (for example, ITSDF B56.5, ISO 3691-4) should be followed.1.9 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.

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This specification describes a medium access control (MAC) and physical layer (PHY) specification for wireless connectivity using dedicated short-range communications (DSRC) services. This standard is based on and refers to IEEE Standards 802.11, Wireless LAN Medium Access Control and Physical Layer Specifications, and 802.11a, Wireless LAN Medium Access Control and Physical Layer Specifications High-Speed Physical Layer in the 5 GHz Band, with permission from the IEEE society. This specification is meant to be an extension of IEEE 802.11 technology into the high-speed vehicle environment. The difference between IEEE 802.11 and IEEE 802.11a operating parameters required to implement a mostly high-speed data transfer service in the 5.9-GHz Intelligent Transportation Systems Radio Service (ITS-RS) Band is explained. Potential operations within the Unlicensed National Information Infrastructure (UNII) Band are also addressed, as appropriate.1.1 This specification2 describes a medium access control (MAC) and physical layer (PHY) specification for wireless connectivity using dedicated short-range communications (DSRC) services. This standard is based on and refers to IEEE Standards 802.11, “Wireless LAN Medium Access Control and Physical Layer Specifications,” and 802.11a, “Wireless LAN Medium Access Control and Physical Layer Specifications High-Speed Physical Layer in the 5 GHz Band,” with permission from the IEEE Society. This specification is meant to be an extension of IEEE 802.11 technology into the high-speed vehicle environment. As presented here, this specification contains just enough information to explain the difference between IEEE 802.11 and IEEE 802.11a operating parameters required to implement a mostly high-speed data transfer service in the 5.9-GHz Intelligent Transportation Systems Radio Service (ITS-RS) band. Potential operations within the Unlicensed National Information Infrastructure (UNII) band are also addressed, as appropriate.1.2 Purpose—The purpose of this specification is to provide wireless communications over short distances between information sources and transactions stations on the roadside and mobile radio units, between mobile units, and between portable units and mobile units. The communications generally occur over line-of-sight distances of less than 1000 m between roadside units and mostly high-speed, but occasionally stopped and slow-moving, vehicles or between high-speed vehicles. This specification also offers regulatory bodies a means of standardizing access to the 5.9-GHz frequency band for the purpose of interoperable communications to and between vehicles at line-of-sight distances on the roadway.1.3 Specifically, this specification accomplishes the following:1.3.1 Describes the functions and services required by a DSRC and IEEE 802.11-compliant device to operate in a high-speed mobile environment.1.3.2 Refers to IEEE 802.11 MAC procedures.1.3.3 Defines the 5.9-GHz DSRC signaling technique and interface functions that are controlled by the IEEE 802.11 MAC.1.3.4 Permits the operation of a DSRC-conformant device within a DSRC communications zone that may coexist with multiple overlapping DSRC communication zones.1.3.5 Describes the requirements and procedures to provide privacy of user information being transferred over the wireless medium and authentication of the DSRC or IEEE 802.11-conformant devices.1.4 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.

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4.1 Communications Errors and Delays—Communications systems, including their procedures and channels, are subject to errors due to noise, interference, weak signals, mistakes, and other causes. They are also subject to delays due to the necessity to detect and correct these errors. There may also be errors and delays due to the lack of trained and experienced operators.4.2 Error Control—Phonetics enables the control of errors through error detection, and usually prompt correction, for words and characters in speech and printed text. It employs an error correcting system of symbols and procedures that are standardized and easily recognized under adverse or high error communications conditions.4.3 Symbol Characteristics—The phonetic alphabet is an error detecting and correcting code composed of phonetic symbols that are carefully selected to have distinctive sounds or appearances (or other unique characteristics) that improve detection under adverse conditions (such as severe noise or high errors) and enhance differentiation from each other.4.3.1 Phonetics are inherently language-dependent. For English text letters, there are 26 phonetic alphabet symbols, that correspond to the 26 letters (from A to Z) that may be used to compose the words in a message. Additional symbols are used for numerals and punctuations.4.3.2 Phonetic symbols (including an alphabet, numerals, and punctuation) must have unique characteristics as mentioned above, and they should not be restricted to only one communications media.4.4 Procedures for Error Detection and Correction: 4.4.1 Phonetic communications procedures are used to minimize or eliminate information errors and to facilitate the correct transmission of messages using trained operators.4.4.2 The phonetic procedures are carefully structured to enable symbol differentiation and error detection based on simple examination of the received data. Using forward error correction (FEC), in most cases the symbols can be identified, and the errors can be corrected promptly with no additional information.4.4.3 FEC is based on the error detection system, which is usually the more robust of the two. Essentially, in certain poor conditions, it is possible to detect errors even though they may not be correctable (at the moment).4.5 Procedures for Retransmission—In most cases, prompt error detection and correction is achievable through FEC. If this is not possible or acceptable, manual or automatic repeat-request (ARQ) is employed. The process of error detection can be used to initiate the ARQ and therefore the retransmission of the information, such as an additional copy (or copies). The copy(ies) may be received error free or with correctable errors (especially when compared with previous copy(ies)).4.6 Use of Non-standard Systems—This phonetic system is not intended to prohibit the use of non-standard brevity or error control systems that are used only internally within any single organization. It also does not preclude the use of additional methods for clarity.4.7 Use of Standard Systems—This phonetic system is intended to be directly interoperable with the majority of standard phonetic systems presently employed, both internationally and within the United States, as noted in references (1-9). These standard systems actually exhibit many variations among themselves. Some provide no procedures, and none include all of the symbols presented herein. Of all these known documents, this practice is the only one that presents an explanation of the phonetic system in terms of modern communications technology. To achieve interoperability and performance through bona fide standardization, system administrators should consider this comprehensive practice for superseding, or revising, these other standard systems.1.1 Establishment of Phonetics—This practice covers the establishment of phonetics (including an alphabet, numerals, and punctuations), and the procedures for their use, in communications.1.2 Performance—This practice is intended to facilitate the performance of communications personnel and systems under adverse communications conditions. This objective is achieved by employing easily recognized and used symbols and procedures that are highly resistant to errors. This system may be used with speech, print, or other media.1.3 Interoperability—This practice is intended to facilitate the interoperability of communications personnel and systems among different organizations, especially if they use different internal practices. This system is also recommended for use within any organization for improved internal communications and uniformity of operations.1.4 English as Common Language—This practice is intended for use with English. English has been designated by the International Civil Aviation Organization (ICAO) and others as a common interoperability language that is widely used in search and rescue, emergency, and international operations such as aviation, maritime, and military.1.5 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.1.6 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.

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