ASTM F3218-17

4.2.1 When emitters are outside of the A-UGV (for example, from another A-UGV, the environment) that can potentially interfere with the A-UGV sensor system. External, unnatural radiation sources can affect the A-UGV performance, for example: multiple time-of-flight cameras, fork-lift pedestrian lights, 3D structured light sensors, light detection and ranging sensors (LIDAR).

4.2.2 External Emitter Configuration: 

4.2.3 External Emitter Source Location—Record emitter source location and elevation with respect to the vehicle (refer to Fig. 1).

4.3.1 Temperature variability and extremes can affect the A-UGV performance. The temperature exposure on the A-UGV can be continuous or transitional while the vehicle is stationary or moving. Temperature ranges span from low to high extremes expressed in five categories. Temperature variations can affect onboard electronics, create condensation, cause hydraulic fluid viscosity, reduce battery life and recharge rate.

4.3.2 Temperature Exposure: 

4.3.3 Temperature Levels (in °C): 

4.4.1 Humidity refers to the amount of water vapor contained in the air around the vehicle. High humidity combined with dew point temperature causes condensation that can short electronics and affect lenses and other A-UGV components. Greater than 60 % humidity causes a large increase in corrosion of metallic parts. Low humidity, on the other hand, will see a dramatic rise in static electricity and the need for adequate discharge.

4.4.2 Relative Humidity Level: 

4.4.3 Dew Point Temperature—The highest temperature at which airborne water vapor will condense to form liquid dew.

4.5.1 Some surfaces are not conductive enough to provide adequate grounding for an A-UGV. Most ground vehicles have a floating ground and all electronics are typically grounded to the vehicle chassis. As static builds up causing the voltage difference between the positive lead of the battery and the chassis to change, the performance of the electronic components of the vehicle may be negatively impacted. Strong magnetic fields can impact the onboard electrical components, in particular any data storage within the onboard computer. Many A-UGVs require wireless network connections for full functionality. Radio frequency (RF) interference can degrade these networks and A-UGV capability.

4.5.2 For Electro-magnetic compatibility issues, refer to:

4.6.1 A-UGV mobility is affected by ground surface conditions including surface: consistency and texture/roughness, gaps or step changes to elevation, deformability, grade (ramp) or undulation (lack of flatness), friction and particulates.

4.6.2 Ground Surface Consistency: 

4.6.3 Ground Surface Type (record ‘Smooth’ or ‘Rough’ and the surface type): 

4.6.4 Elevation Change: 

4.6.5 Deformability: 

4.6.6 Grade (Ramp): 

4.6.7 Undulation (Lack of Flatness): 

4.6.8 Coefficient of Friction: 

4.6.9 Ground Surface Particulates (record category and the type): 

4.7.1 Air quality refers to the ability that an A-UGV can discern an object or light in the presence of precipitation or air particulates, or both. Air quality can affect the A-UGV performance in terms of object detection, navigation, and docking. Air quality depends upon the size and volumetric density of particulates in the air. For relative comparison, the average human eye cannot see particulates smaller than 40 μm, fog from water vapor typically includes particle sizes from 5 to 50 μm, and dust particles are typically 0.1 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. (See ISO 14644-1 and Footnote 64.7.2 Visibility Continuity: 

4.7.3 Air Particle Density—Optionally, measure the air particle size and volumetric density.

4.7.4 Air Velocity/Direction—Refer to Fig. 1 (a and b) for direction.