【英文标准名称】:StandardGuideforUnmannedUnderseaVehicles(UUV)AutonomyandControl
【原文标准名称】:无人潜水器(UUV)自治和控制的标准指导
【标准号】:ASTMF2541-2006
【标准状态】:现行
【国别】:
【发布日期】:2006
【实施或试行日期】:
【发布单位】:美国材料与试验协会(US-ASTM)
【起草单位】:F41.01
【标准类型】:(Guide)
【标准水平】:()
【中文主题词】:
【英文主题词】:autonomousvehicle;autonomy;controlarchitecture;unmannedunderseavehicle
【摘要】:1.1ThisguidecoverstheneedforUUVstooperateautonomously,withoutconstanthumanintervention,andwithflexibilitybasedontheirpayloadsandmissionsplacesuniquerequirementsonUUVdevelopers.BecausetheUUVcommunityisexpectedtoexpandbothitsdeveloperbaseanditsuserbaseinthenextseveralyears,itrecognizesthatsuccessreliesuponawell-writtenstandard.Thestandardmustencouragecompatibilityandreconfigurability,provideacommonlanguagetodescribefunctionalcapabilities,andenablemeaningfulquantitativeperformanceevaluation.1.2ThescopeofthisguideincludesthosecharacteristicsinaUUVsystemwhich,whenimplementedinadetaileddesign,resultinaUUVthatiscapableofoperatingforextendedperiodsoftimewithoutexternalintervention.ImplicitinthisstatementistherequirementthattheUUVexecuteitsdesignatedsortieplan.Non-expendableUUVsmustalsoreturntoarendezvouspointforrecovery.ThetoplevelconceptofsuchanautonomoussystemispresentedinFig3.ThefunctionalrelationshipsidentifiedinthisblockdiagramwillbediscussedfurtherinSection4.1.3Thisguidecontainsatableofterminologysothatautonomyandcontrolcanbedescribedwithinthecontextofacommonlanguage,wherealltermshaveconsistentandclearlydefinedmeaning.AsintroducedinFig3,thisguidedefineshighlevelfunctionalcapabilitiesoftheautonomycontroller,thevehiclecontroller,andthepayloadcontroller.Correspondinglyhighlevelinterfacesarealsodefined.1.4Sectionpresentsthecapabilitiesthatanautonomoussystemisrequiredtohave.Thetableinthissectionconcentratesonthefunctionalcapabilitiesofthetotalsystem,asopposedtothecapabilitiesofthecomponentcontrollers.Amethodforverificationofthecapabilityisalsopresented.1.5Sectionpresentsasetoftablesthatindexthesystemautonomycapabilitiesaccordingtothreecriteria:SituationalAwareness,Decision-making,Planning,andControl,andExternalInteractions.SuchasetofqualifiersdeterminesaLevelofAutonomy(LOA)measurementforeachofthethreecriteria.Noattemptismadetocombinethesedisparatemeasuresintoasingleindex.1.6Thefollowingareoutsidethescopeofthisguideandnopartofthisguideshouldbeconstruedtoprescriberequirementsassociatedwiththeseareas.Payloads-outsideofthegenericfunctionsofthePayloadcontrollerandthetoplevelinterfaces,thedesignandimplementationofpayloadsubsystemsarenotaddressedinthisguide.Vehicles-outsideofthegenericfunctionoftheVehiclecontrollerandthetoplevelinterfaces,thedesignandimplementationofthevehiclesubsystemsarenotaddressedinthisguide.Safety-thisguidedoesnotaddresssafetyconcerns,ifany,associatedwiththeuseoftheUUVsystem.Itistheresponsibilityofthesystemdesignertoestablishappropriatesafetyandhealthpracticesanddeterminetheapplicabilityoftheregulatorylimitationspriortouse.Security-thisguidedoesnotaddresssecurityconcerns.ItistheresponsibilityoftheprogramreferencingthisguidetoestablishsecuritymechanismsthatareappropriatefortheintendeduseoftheUUVsystemandtherequirementsoftheend-userofthesystemdata.1.7Thesestandardsareintendedtosupportthedecisionprocessfortheacquisitionanddevelopmentofnon-specificUUVsystems.TotheextentthatUUVsystemsarespecified,procured,anddevelopedunderamodularopensystemdesignapproach,theautonomystandardspresentedhereinwillfosterinteroperabilityandreusabilitywithintheUUVcommunity.Thisstandarddoesnotpurporttoaddressallofthesafetyconcerns,ifany,associatedwithitsuse.Itistheresponsibilityoftheuserofthisstandardtoestablishappropriatesafetyandhealthpracticesanddeterminetheapplicabilityofregulatorylimitationspriortouse.
【中国标准分类号】:U18
【国际标准分类号】:47_080
【页数】:24P.;A4
【正文语种】: