5.1 This test method is part of an overall suite of related test methods that provide repeatable measures of robotic system maneuvering and remote operator proficiency. The align ground contacts with parallel rails test challenges robotic system locomotion, operator control, effective camera positioning, chassis shape variability (if available), and remote situational awareness by the operator. As such, the align ground contacts with parallel rails test can be used to represent situations where hazards must be avoided by the robot (for example, debris, puddles) surrounding a path in the environment, highlighting situational awareness demands on the operator while controlling the robot.5.2 The scale of the apparatus can vary to provide different constraints representative of typical intended deployment environments. For example, the three configurations can be representative of repeatable complexity for unobstructed environments (open configuration), relatively open parking lots with spaces between cars (rectangular confinement configuration), or within bus, train, or plane aisles, or dwellings with hallways and doorways (square confinement configuration).5.3 The test apparatuses are low cost and easy to fabricate so they can be widely replicated. The procedure is also simple to conduct. This eases comparisons across various testing locations and dates to determine best-in-class systems and operators.5.4 Evaluation—This test method can be used in a controlled environment to measure baseline capabilities. The parallel rails apparatus can also be embedded into operational training scenarios to measure degradation due to uncontrolled variables in lighting, weather, radio communications, GPS accuracy, etc.5.5 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.5.6 Training—This test method can be used to focus operator training as a repeatable practice task or as an embedded task within training scenarios. The resulting measures of remote operator proficiency enable tracking of perishable skills over time, along with comparisons of performance across squads, regions, or national averages.5.7 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 test methods 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 operating in complex, unstructured, and often hazardous environments. It specifies the apparatuses, procedures, and performance metrics necessary to measure the capability of a robot to align its ground contacts while maneuvering across parallel rails. This test method is one of several related maneuvering tests that can be used to evaluate overall system capabilities.1.2 The robotic system includes a remote operator in control of most functionality, so an onboard camera and remote operator display are typically required. This test method can be used to evaluate assistive or autonomous behaviors intended to improve the effectiveness or efficiency of remotely operated systems.1.3 Different user communities can set their own thresholds of acceptable performance within this test method for 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 Units—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 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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5.1 This test method is part of an overall suite of related test methods that provide repeatable measures of robotic system mobility and remote operator proficiency. The variable height rail obstacle challenges robotic system locomotion, suspension systems to maintain traction, rollover tendencies, high-centering tendencies, self-righting (if necessary), chassis shape variability (if available), and remote situational awareness by the operator. As such, the variable height rail obstacle can be used to represent obstacles in the environment, such as railroad tracks, curbs, and debris.5.2 The scale of the apparatus can vary to provide different constraints representative of typical obstacle spacing in the intended deployment environment. For example, the three configurations can be representative of repeatable complexity for unobstructed obstacles (open configuration), relatively open parking lots with spaces between cars (rectangular confinement configuration), or within bus, train, or plane aisles, or dwellings with hallways and doorways (square confinement configuration).5.3 The test apparatuses are low cost and easy to fabricate so they can be widely replicated. The procedure is also simple to conduct. This eases comparisons across various testing locations and dates to determine best-in-class systems and operators.5.4 Evaluation—This test method can be used in a controlled environment to measure baseline capabilities. The variable height rail obstacle can also be embedded into operational training scenarios to measure degradation due to uncontrolled variables in lighting, weather, radio communications, GPS accuracy, etc.5.5 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.5.6 Training—This test method can be used to focus operator training as a repeatable practice task or as an embedded task within training scenarios. The resulting measures of remote operator proficiency enable tracking of perishable skills over time, along with comparisons of performance across squads, regions, or national averages.5.7 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 test methods 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 operating in complex, unstructured, and often hazardous environments. It specifies the apparatuses, procedures, and performance metrics necessary to measure the capability of a robot to negotiate an obstacle in the form of variable height rail. This test method is one of several related obstacle tests that can be used to evaluate overall system capabilities.1.2 The robotic system includes a remote operator in control of most functionality, so an onboard camera and remote operator display are typically required. This test method can be used to evaluate assistive or autonomous behaviors intended to improve the effectiveness or efficiency of remotely operated systems.1.3 Different user communities can set their own thresholds of acceptable performance within this test method for 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 Units—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 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 Ionizing environments will affect the performance of optical fibers/cables being used to transmit spectroscopic information from a remote location. Determination of the type and magnitude of the spectral attenuation or interferences, or both, produced by the ionizing radiation in the fiber is necessary for evaluating the performance of an optical fiber sensor system.4.2 The results of the test can be utilized as a selection criteria for optical fibers used in optical fiber spectroscopic sensor systems.NOTE 1: The attenuation of optical fibers generally increases when exposed to ionizing radiation. This is due primarily to the trapping of radiolytic electrons and holes at defect sites in the optical materials, that is, the formation of color centers. The depopulation of these color centers by thermal and/or optical (photobleaching) processes, or both, causes recovery, usually resulting in a decrease in radiation-induced attenuation. Recovery of the attenuation after irradiation depends on many variables, including the temperature of the test sample, the composition of the sample, the spectrum and type of radiation employed, the total dose applied to the test sample, the light level used to measure the attenuation, and the operating spectrum. Under some continuous conditions, recovery is never complete.1.1 This guide covers a method for measuring the real time, in situ radiation-induced spectral attenuation of multimode, step index, silica optical fibers transmitting unpolarized light. This procedure specifically addresses steady-state ionizing radiation (that is, alpha, beta, gamma, protons, etc.) with appropriate changes in dosimetry, and shielding considerations, depending upon the irradiation source.1.2 This test procedure is not intended to test the balance of the optical and non-optical components of an optical fiber-based system, but may be modified to test other components in a continuous irradiation environment.1.3 The values stated in SI units are to be regarded as standard. No other units of measurement are included in this 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.

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4.1 Ionizing environments will affect the performance of optical fibers/cables being used to transmit spectroscopic information from a remote location. Determination of the type and magnitude of the spectral variations or interferences produced by the ionizing radiation in the fiber, or both, is necessary for evaluating the performance of an optical fiber sensor system.4.2 The results of the test can be utilized as a selection criteria for optical fibers used in optical fiber Raman spectroscopic sensor systems.NOTE 1: The attenuation of optical fibers generally increases when they are exposed to ionizing radiation. This is due primarily to the trapping of radiolytic electrons and holes at defect sites in the optical materials, that is, the formation of color centers. The depopulation of these color centers by thermal or optical (photobleaching) processes, or both, causes recovery, usually resulting in a decrease in radiationinduced attenuation. Recovery of the attenuation after irradiation depends on many variables, including the temperature of the test sample, the composition of the sample, the spectrum and type of radiation employed, the total dose applied to the test sample, the light level used to measure the attenuation, and the operating spectrum. Under some continuous conditions, recovery is never complete.1.1 This guide covers the method for measuring the real time, in situ radiation-induced alterations to the Raman spectral signal transmitted by a multimode, step index, silica optical fiber. This guide specifically addresses steady-state ionizing radiation (that is, alpha, beta, gamma, protons, etc.) with appropriate changes in dosimetry, and shielding considerations, depending upon the irradiation source.1.2 The test procedure given in this guide is not intended to test the other optical and non-optical components of an optical fiber-based Raman sensor system, but may be modified to test other components in a continuous irradiation environment.1.3 The values stated in SI units are to be regarded as standard. No other units of measurement are included in this 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.

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5.1 This test method is part of an overall suite of related test methods that provide repeatable measures of robotic system mobility and remote operator proficiency. This k-rail terrain specifically challenges robotic system locomotion, suspension systems to maintain traction, rollover tendencies, self-righting in complex terrain (if necessary), chassis shape variability (if available), and remote situational awareness by the operator. As such, it can be used to represent modest to challenging (when the cross-over slope configuration is used) outdoor terrain complexity or indoor debris within confined areas.5.2 The overall size of the terrain apparatus can vary to provide different constraints depending on the typical obstacle spacing of the intended deployment environment. For example, the terrain with containment walls can be sized to represent repeatable complexity within bus, train, or plane aisles; dwellings with hallways and doorways; relatively open parking lots with spaces between cars; or unobstructed terrains.5.3 The test apparatuses are low cost and easy to fabricate so they can be widely replicated. The procedure is also simple to conduct. This eases comparisons across various testing locations and dates to determine best-in-class systems and operators.5.4 Evaluation—This test method can be used in a controlled environment to measure baseline capabilities. It can also be embedded into operational training scenarios to measure degradation due to uncontrolled variables in lighting, weather, radio communications, GPS accuracy, etc.5.5 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.5.6 Training—This test method can be used to focus operator training as a repeatable practice task or as an embedded task within training scenarios. The resulting measures of remote operator proficiency enable tracking of perishable skills over time, along with comparisons of performance across squads, regions, or national averages.5.7 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 test methods 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 operating in complex, unstructured, and often hazardous environments. It specifies the apparatuses, procedures, and performance metrics necessary to measure the capability of a robot to traverse complex terrains in the form of k-rails. This test method is one of several related Terrain tests that can be used to evaluate overall system capabilities.1.2 The robotic system includes a remote operator in control of all functionality, so an onboard camera and remote operator display are typically required. Assistive features or autonomous behaviors that improve the effectiveness or efficiency of the overall system are encouraged.1.3 Different user communities can set their own thresholds of acceptable performance within this test method for 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 Units—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 use of readily available materials in different countries. This avoids excessive purchasing and fabrication costs. 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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