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1. Scope 1.1 This Standard covers the general requirements for hardware used in the construction of communication lines and power lines including distribution and transmission lines. 1.2 Detailed requirements for individual items of hardware as nu

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5.1 A main purpose of using robots in emergency response operations is to enhance the safety and effectiveness of emergency responders operating in hazardous or inaccessible environments. The testing results of the candidate robot shall describe, in a statistically significant way, how reliably the robot is able to perform the specified types of tasks and thus provide emergency responders sufficiently high levels of confidence to determine the applicability of the robot.5.2 This test method addresses robot performance requirements expressed by emergency responders and representatives from other interested organizations. The performance data captured within this test method are indicative of the testing robot’s capabilities. Having available a roster of successfully tested robots with associated capabilities data to guide procurement and deployment decisions for emergency responders is consistent with the guideline of “Governments at all levels have a responsibility to develop detailed, robust, all-hazards response plans” as stated in National Response Framework.5.3 This test method is part of a test suite and is intended to provide a capability baseline for the robotic communications systems based on the identified needs of the emergency response community. Adequate testing performance will not ensure successful operation in all emergency response environments due to possible extreme communications difficulties. Rather, this standard is intended to provide a common comparison that can aid in choosing appropriate systems. This standard is also intended to encourage development of improved and innovative communications systems for use on emergency response robots.5.4 The standard apparatus is specified to be easily fabricated to facilitate self-evaluation by robot developers and provide practice tasks for emergency responders to exercise robot actuators, sensors, and operator interfaces. The standard apparatus can also be used to support operator training to establish operator proficiency.5.5 Although the test method was developed first for emergency response robots, it may be applicable to other operational domains, such as law enforcement and armed services.1.1 Purpose: 1.1.1 The purpose of this test method, as a part of a suite of radio communication test methods, is to quantitatively evaluate a teleoperated robot’s (see Terminology E2521) capability to perform maneuvering and inspection tasks in a non-line-of-sight environment.1.1.2 Robots shall possess a certain set of radio communication capabilities, including performing maneuvering and inspection tasks in a non-line-of-sight environment, to suit critical operations for emergency responses. The capability for a robot to perform these types of tasks in obstructed areas down range is critical for emergency response operations. This test method specifies a standard set of apparatuses, procedures, and metrics to evaluate the robot/operator capabilities for performing these tasks.1.1.3 Emergency response robots shall be able to operate remotely using the equipped radios in line-of-sight environments, in non-line-of-sight environments, and for signal penetration through such impediments as buildings, rubbles, and tunnels. Additional capabilities include operating in the presence of electromagnetic interference and providing link security and data logging. Standard test methods are required to evaluate whether candidate robots meet these requirements.1.1.4 ASTM E54.08.01 Task Group on Robotics specifies a radio communication test suite, which consists of a set of test methods for evaluating these communication capabilities. This non-line-of-sight range test method is a part of the radio communication test suite. The apparatuses associated with the test methods challenge specific robot capabilities in repeatable ways to facilitate comparison of different robot models as well as particular configurations of similar robot models.1.1.5 This test method establishes procedures, apparatuses, and metrics for specifying and testing the capability of radio (wireless) links used between the operator station and the testing robot in a non-line-of-sight environment. These links include the command and control channel(s) and video, audio, and other sensor data telemetry.1.1.6 This test method is intended to apply to ground based robotic systems and small unmanned aerial systems (sUAS) capable of hovering to perform maneuvering and inspection tasks down range for emergency response applications.1.1.7 This test method specifies an apparatus that is, first of all, an essentially clear radio frequency channel for testing. In addition, a standard line-of-sight barrier between the testing operator control unit (OCU) and the robot is specified. Fig. 1 provides an illustration.FIG. 1 Test Fabrication at An Air StripLeft: The non-line-of-sight range test method uses an airstrip or flat, paved road with robot test stations placed in front of and behind a wall constructed of stacked 12 m (40 ft) International Standards Organization (ISO) shipping containers. Right: Robot test stations are prototyped behind the wall with targets on the barrels for visual inspection tasks and circular paths for maneuvering tasks.NOTE 1: Frequency coordination and interoperability are not addressed in this standard. These issues should be resolved by the affected agencies (Fire, Police, and Urban Search and Rescue) and written into Standard Operating Procedures (SOPs) that guide the responses to emergency situations.1.1.8 The radio communication test suite quantifies elemental radio communication capabilities necessary for robots intended for emergency response applications. As such, based on their particular capability requirements, users of this test suite can select only the applicable test methods and can individually weight particular test methods or particular metrics within a test method. The testing results should collectively represent an emergency response robot’s overall radio communication capability. These test results can be used to guide procurement specifications and acceptance testing for robots intended for emergency response applications.NOTE 2: As robotic systems are more widely applied, emergency responders might identify additional or advanced robotic radio communication capability requirements to help them respond to emergency situations. They might also desire to use robots with higher levels of autonomy, beyond teleoperate onto help reduce their workload—see NIST Special Publication 1011-II-1.0. Further, emergency responders in expanded emergency response domains might also desire to apply robotic technologies to their situations, a source for new sets of requirements. As a result, additional standards within the suite would be developed. This standard is, nevertheless, standalone and complete.1.2 Performing Location—This test method shall be performed in a testing laboratory or the field where the specified apparatus and environmental conditions are implemented.1.3 Units—The values stated in SI units shall be the standard. The values given in parentheses are not precise mathematical conversions to inch-pound 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 facilitate testing but 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.

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This standard defines communication modes for Near Field Communication Interface and Protocol (NFCIP 1) using inductive coupled devices operating at the centre frequency of 13,56 MHz for interconnection of computer peripherals. It also defines both the Active and the Passive communication modes of Near Field Communication Interface and Protocol (NFCIP-1) to realize a communication network using Near Field Communication devices for networked products and also for consumer equipment. This standard specifies, in particular, modulation schemes, codings, transfer speeds, and frame format of the RF interface, as well as initialization schemes and conditions required for data collision control during initialization. It also defines a transport protocol including protocol activation and data exchange methods.

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ISO/IEC 18092, ISO/IEC 14443 and ISO/IEC 15693 specify the radio frequency signal interface, initialization, anti-collision and protocols for wireless interconnection of closely coupled devices and access to contactless integrated circuit cards operating at 13,56 MHz. This Standard specifies the communication mode selection mechanism, designed not to disturb any ongoing communication at 13,56 MHz, for devices implementing ISO/IEC 18092, ISO/IEC 14443 or ISO/IEC 15693. This Standard requires implementations to enter the selected communication mode as specified in the respective Standard. The communication mode specifications, however, are outside the scope of this Standard.

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1.1 This provisional specification defines the Open Systems Interconnection (ISO7498 : 1984) Layer 2 data link layer for dedicated short-range communication (DSRC) equipment operating in half-duplex mode.1.1.1 This provisional specification defines the Data Link Layer irrespective of the physical medium to be used. However, it is expected that the standard will be used in accordance with a three layer stack as defined by Subcommittee E17.51 and IEEE P1455 and illustrated in . A critical implication of the use of the Data Link Layer standard with PS 111 is the assumption that the data rate will be 500 Kbps on both the uplink and downlink.1.1.2 This provisional specification specifies dedicated short range communications between fixed equipment at the roadside, called a beacon or Road Side Equipment (RSE) and Mobile Equipment in vehicles, called a Transponder or On-Board Equipment (OBE). This standard does not address vehicle-to-vehicle communication or communication between different instances of RSE.1.1.3 This provisional specification adheres to the general DSRC architecture in which the RSE controls the medium, allocating its use to OBEs within range of the RSE.1.1.4 This provisional specification supports a variety of RSE configurations. It supports configurations where one RSE communicates with one OBE, as well as configurations where one RSE can communicate with several OBEs. It does not define any specific configuration or layout of the communication zone.1.1.5 This provisional specification does not define to what extent different instances of RSE, operating in the vicinity of each other, need to be synchronised with each other.1.1.6 This provisional specification defines parameters to be used in negotiation procedures taking place between RSE and OBE.1.1.7 This provisional specification defines the following:Medium access control (MAC) procedures for the shared physical medium,Addressing rules and conventions,Data flow control procedures,Acknowledgement procedures,Error control procedures,Services provided to data link user(s), andFragmentation.1.1.8 There are two primary MAC modes, synchronous and asynchronous. Both modes support time-division multiple access half-duplex communications combined with a slotted aloha protocol for activation. The synchronous mode is characterized by a contiguous set of slots which is transmitted continuously and has fixed polling, data communications and activation phases. The asynchronous mode can vary the transmission of polling sequences, activation attempts or data communications.1.1.9 This provisional specification assumes that each RSE covers a limited part of the road (the communication zone) and that the OBE communicates with the RSE while passing through the communication zone.1.1.10 This provisional specification specifies the services required of the data link layer by the DSRC data link layer user, as viewed from the data link layer user, to allow a data link layer user entity to exchange packets with remote peer data link layer user entities. The services do not imply any particular implementation or any exposed interface.1.1.11 Not discussed in this provisional specification are signals that must be passed through the Data Link Layer from the Physical Layer to the Application Layer or vice versa in the OBE. These signals include indications of exceeding the wake-up threshold level (to control the OBE response in a small zone) and no carrier (to permit graceful shut down of the OBE if the OBE unexpectedly loses communications). It will be necessary to consider the implementation of these signals in OBE design.1.2 Overview1.2.1 All transmissions by either the RSE or OBE shall consist of a preamble and a frame. A preamble is an eight-bit sequence used for bit synchronization and is specified in Layer 1. A frame is a data link layer entity, which is the result of encapsulation of an application protocol data unit. The generic encapsulation process is shown in .1.2.2 An APDU is delivered from the application layer to the data link layer. If the APDU cannot be sent in a single transmission, then it is subdivided into multiple packets. Each packet is then converted into an LPDU by appending a byte count, fragmentation and logical link control and status field to the beginning of each packet. The frame is then formed by appending a link address field, and media access control field to the beginning and a error detection check field to the end of each LPDU. Each frame is then sent to the physical layer, which appends the preamble and then transmits the data.1.2.3 The frames can be transmitted in one of two modes: synchronous or asynchronous. In the synchronous mode, frames are transmitted in one of three types of slots: frame control message, message data or activation. The slots are combined to form a continuously repeated TDMA frame, as shown in . Each TDMA frame begins with a frame control message slot (FCMS). The FCMS only contains a frame control frame which is a broadcast message from the RSE indicating the number of slots, the type of each slot and the size of the slots that compose the rest of the TDMA frame. For example, in , the frame control frame defines a TDMA frame composed of three additional slots, two slots for data transmission and the other slot for activation. The message data slot (MDS) contains a data message frame transmitted over either the downlink to a specific OBE or uplink from a specific OBE. In addition, there is an acknowledgement transmitted immediately after the data message frame in the opposite direction. The activation slot (ACTS) consists of activation windows which are time periods when any OBE is allowed to transmit in contention with other OBEs in order to attempt to activate. It is not necessary to have an activation slot in a TDMA frame.1.2.4 Assuming link establishment requires the transmission of a beacon service table (BST) from the RSE and negotiation of link parameters using a vehicle service table (VST), provides an example of a full link negotiation followed by a read/write operation in synchronous mode. (Note that the full link negotiation can be shortened to reduce the number of TDMA frames needed to complete a transaction.) In TDMA Frame #1, the OBE receives a BST from the RSE and decides to activate. The activation is also transmitted in TDMA Frame #1. In TDMA Frame #2, the frame control frame designates a downlink message data slot to obtain the VST. After the OBE transmits the VST in TDMA Frame #2, the RSE commands the OBE to support a read in TDMA Frame #3. In TDMA Frame #4, the frame control frame designates an uplink message data slot to read the data. In TDMA Frame #5, the frame control frame designates a downlink message data slot to write data to the OBE. A corresponding acknowledgement is transmitted by the OBE.1.2.5 In the asynchronous mode, communications with an OBE is always initiated with a frame control frame which is regularly broadcast by the RSE. Immediately following the frame control frame are a series of activation windows. The timing and structure of the frame control frame and activation windows can be made common to both synchronous and asynchronous operations (to minimize the differences between the two modes). It is expected that the frame control frame and the activation windows will be transmitted (or time allocated) periodically so that the RSE can poll its read zone for OBEs. When an OBE successfully activates, the RSE discontinues transmissions of the frame control frame to establish private communications with the OBE. These communications can occur asynchronously, that is, without a TDMA frame dividing time into slots. In addition, the specific sequence of frames transmitted is dependent entirely on the application layer. Once the private communications is completed, the RSE would then continue to poll using the frame control frame and activation windows. Note that opportunities to transmit on the downlink and uplink in the asynchronous mode are defined by windows which provide constraints on the start and end times for any frame transmissions. An activation window is a special case of an uplink window.1.2.6 As above, assuming link establishment requires the transmission of a beacon service table (BST) from the RSE and negotiation of link parameters using a vehicle service table (VST), provides an example of a typical read/write operation in asynchronous operation.1.2.7 Like the synchronous mode, the OBE receives the BST from the RSE and attempts to activate. The activation frame is transmitted in activation windows that immediately follow the frame control frame. Once the activation is established, the RSE commands the OBE to transmit a VST and allocates an uplink window for the OBE to transmit the VST. After the VST is received, the RSE commands the OBE to support a read and allocates an uplink window for the OBE to transmit the read response. The OBE transmits the data. Then, the RSE writes data to the OBE and receives a reply that the write was successfully completed.Note 1Provisional Standards require only subcommittee consensus and are published for a limited time of two years. The provisional process was used because it is anticipated that the United States Department of Transportation will be referring to this provisional specification in their rule making.

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5.1 Personnel that are responsible for the transfer of NDE data between systems will use this standard. This practice will define a set of NDE information object definitions that along with the DICOM standard will provide a standard means to organize image data. Once conformance statements have been generated, the NDE image data may be displayed on any imaging/analysis device that conforms to the standard. This process of developing conformance statements with both the NDE specific object definitions and the DICOM accepted definitions, will provide a means to automatically and transparently communicate between compliant equipment without loss of information.NOTE 1: Knowledge and understanding of the existing DICOM standard will be required to generate conformance statements and thereby facilitate the data transfer.1.1 This practice facilitates the interoperability of NDE imaging and data acquisition equipment by specifying the image data in commonly accepted terms. This practice represents a harmonization of NDE imaging systems, or modalities, with the NEMA Standards Publication titled Digital Imaging and Communications in Medicine (DICOM, see http://medical.nema.org), an international standard for image data acquisition, review, storage and archival. In addition, this practice will provide a standard set of industrial NDE specific information object definitions, which travel beyond the scope of standard DICOM modalities. The goal of this practice is to provide a standard by which NDE image/signal data may be displayed on by any system conforming to the ASTM DICONDE format, regardless of which NDE modality was used to acquire the data.1.2 This practice has been developed to overcome the issues that arise when archiving or analyzing the data from a variety of NDE techniques, each using proprietary data acquisition systems. As data acquisition modalities evolve, data acquired in the past must remain decipherable. This practice proposes an image data file format in such a way that all the technique parameters, along with the image file, are preserved, regardless of changes in NDE technology. This practice will also permit the viewing of a variety of image types (CT, CR, Ultrasonic, Infrared, and Eddy Current) on a single workstation, maintaining all of the pertinent technique parameters along with the image file. This practice addresses the exchange of digital information between NDE imaging equipment.1.3 This practice does not specify:1.3.1 A complete description of all the information necessary to implement the DICONDE standard for an imaging modality. This document must be used in conjunction with one of the method-specific DICONDE Standard Practice documents and the DICOM Standard to completely describe all the requirements necessary to implement the DICONDE standard for an imaging modality. See 2.1 of this document for a current list of the method-specific standard practice documents.1.3.2 A testing or validation procedure to assess an implementation's conformance to the standard. Best practices for demonstrating conformance can be found in Practice E3147.1.3.3 The implementation details of any features of the standard on a device claiming conformance.1.3.4 The overall set of features and functions to be expected from a system implemented by integrating a group of devices each claiming DICONDE or DICOM conformance.1.4 Units—Although this practice contains no values that require units, it does describe methods to store and communicate data that do require units to be properly interpreted. The SI units required by this practice are to be regarded as standard. No other units of measurement are included in this standard.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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4.1 Because of the many unique requirements of permit-required confined space rescue operations and the specific construction and composition of some confined spaces, hardline communications systems may be the only type that will meet the requirements for working within these spaces. Some of these requirements are set forth in Federal Regulation and some by safe operating procedures developed for working in confined spaces by industry.4.2 This guide is not meant to preclude the use of other types of communication systems in confined-space rescue.1.1 This guide covers recommended criteria for the selection of hardwire communication systems for use in permit-required confined-space rescue operations.1.2 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.1.3 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 Personnel that are responsible for the creation, transfer, and storage of eddy current NDE test results will use this standard. This practice defines a set of information modules that, along with Practice E2339 and the DICOM standard, provide a standard means to organize eddy current test parameters and results. The eddy current examination results may be displayed or analyzed on any device that conforms to the standard. Personnel wishing to view any eddy current examination data stored according to Practice E2339 may use this document to help them decode and display the data contained in the DICONDE compliant inspection record.1.1 This practice covers the interoperability of eddy current imaging and data acquisition equipment by specifying the image data transfer and archival storage in commonly accepted terms. This document is intended to be used in conjunction with Practice E2339 on Digital Imaging and Communication in Nondestructive Evaluation (DICONDE). Practice E2339 defines an industrial adaptation of NEMA PS3 / ISO 12052, an international standard for image data acquisition, review, storage, and archival storage. The goal of Practice E2339, commonly referred to as DICONDE, is to provide a standard that facilitates the display and analysis of NDE results on any system conforming to the DICONDE standard. Toward that end, Practice E2339 provides a data dictionary and a set of information modules that are applicable to all NDE modalities. This practice supplements Practice E2339 by providing information object definitions, information modules, and a data dictionary that are specific to eddy current test methods.1.2 This practice has been developed to overcome the issues that arise when analyzing or archiving data from eddy current test equipment using proprietary data transfer and storage methods. As digital technologies evolve, data must remain decipherable through the use of open, industry-wide methods for data transfer and archival storage. This practice defines a method where all the eddy current technique parameters and inspection data are communicated and stored in a standard manner regardless of changes in digital technology.1.3 This practice does not specify:1.3.1 A testing or validation procedure to assess an implementation's conformance to the standard,1.3.2 The implementation details of any features of the standard on a device claiming conformance, or1.3.3 The overall set of features and functions to be expected from a system implemented by integrating a group of devices each claiming DICONDE conformance.1.4 Units—Although this practice contains no values that require units, it does describe methods to store and communicate data that do require units to be properly interpreted. The values stated in SI units are to be regarded as standard. No other units of measurement are included in this standard.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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