Standard Practice for Documenting Environmental Conditions for Utilization with Exoskeleton Test Methods

Importancia y uso:

4.1 This section provides a description of the environmental conditions listed in Section 1 and describes the sub-conditions within each condition. Examples provided for many of the conditions and sub-conditions are provided as guidance only. Each of the conditions described should be evaluated and documented as set forth in Sections 5 – 7.

4.2 Environment Consistency: Static, Dynamic, Transitional 

4.2.1 Static is when the environment is similar throughout the test apparatus. For example, there are minor fluctuations in temperature throughout the apparatus as shown in Fig. 1 and Fig. 2. Dynamic is when the environment significantly differs within the test apparatus. For example, when the temperature changes between repetitions as shown in Fig. 3. Transitional is when the environment significantly differs in different areas within the test apparatus as shown in Fig. 4. The intent here is to not give specific guidance, but to provide a high-level classification of a particular set of environmental conditions. If environment consistency is dynamic or transitional, or both, a report form (see Section 7) for each unique set of environmental conditions should be completed.

4.7.5 Lighting Levels: 

4.7.5.1 Level 1—0 lx to 1 lx (for example, dark);

4.7.5.2 Level 2—2 lx to 99 lx (for example, dim);

4.7.5.3 Level 3—100 lx to 1000 lx (for example, office environment);

4.7.5.4 Level 4—1001 lx to 9 999 lx (for example, high intensity work light, spotlight);

4.7.5.5 Level 5—10 000 lx and above (for example, full sunlight).

4.7.6 Spectrum—Identify primary color and peak wavelength.

4.7.7 Polarization—Identify the polarizing source and angle with respect to a known reference (for example, world coordinates).

4.7.8 If more specificity of measurement is required, the following documents and standards may be used:

4.7.8.1 “Recommended Light Levels” by National Optical Astronomy Observatory9, which includes common/recommended indoor/outdoor light levels;

4.7.8.2 British Standard, BS 667:2005;

4.7.8.3 ISO 15469:2004, which defines a set of outdoor daylight conditions linking sunlight and skylight for theoretical and practical purposes; and

4.7.8.4 The Lighting Handbook.10

4.8 Air Flow and Quality: 

4.8.1 Air flow and quality refers to the ability that an exoskeleton or exoskeleton-user, or both, is affected by air particulates or wind, or both, or that onboard exoskeleton sensor(s) are affected by the presence of precipitation or air particulates, or both. Air quality can also affect exoskeleton performance, for example heat transfer characteristics. Air quality may affect the exoskeleton performance in terms of joint motion or electronics and automatic exoskeleton functionality, or both. Air quality depends upon the size and volumetric density of particulates in the air. For relative comparison, the average human eye cannot see particles smaller than 40 µm, fog from water vapor typically includes particle sizes from 5 µm to 50 µm, and dust particles are typically 0.1 µm 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.

4.8.2 Air Velocity and Direction—Document air flow source location and elevation with respect to the exoskeleton (refer to Fig. 6).

4.8.3 Air Particle Density—Optionally, measure the air particle size and volumetric density:

4.8.3.1 Clear (for example, clean room, no visible air particulates);

4.8.3.2 Moderate (for example, visible fog, dust, light to moderate rain/snow/fog);

4.8.3.3 Dense (for example, dust storm, heavy snow/rain/fog).

4.8.4 If more specificity of measurement is required, the following standards may be used:

4.8.4.1 ISO 14644-1:2015 for air particle density (clear), and

4.8.4.2 ANSI/IEC 60529-2004.

4.9 External Sensor Emission: 

4.9.1 External emitters are outside of the exoskeleton (for example, from a nearby equipment source) and can potentially interfere with the exoskeleton sensor or control system. External radiation sources can affect the exoskeleton performance, for example: lasers, ultrasonics.

4.9.2 External Emitter Configuration: 

4.9.2.1 Type of emitter(s);

4.9.2.2 Quantity of emitter(s).

4.9.3 External Emitter Source Location—Document emitter source location and elevation with respect to the vehicle (refer to Fig. 6):

4.9.3.1 Elevation with respect to exoskeleton or exoskeleton path;

4.9.3.2 Location with respect to the exoskeleton or exoskeleton path.

4.9.4 Spectrum—Identify primary color and peak wavelength.

4.9.5 Electrical shock or arc flash, or both.

4.9.6 Sound: 

4.9.6.1 Source (for example, gun, CNC machine),

4.9.6.2 Type (for example, gunshot, machinery),

4.9.6.3 Duration/Frequency (for example, steady, intermittent, percussive),

4.9.6.4 Intensity (for example, soft, loud), and

4.9.6.5 Pitch (for example, high, low Hz).

4.10 Proximity to Potential Hazards: 

4.10.1 Moving mechanical systems.

4.11 Electrical Interference: 

4.11.1 Some surfaces are not conductive enough to provide adequate grounding for an exoskeleton. Exoskeletons have a floating ground. As static builds up on the exoskeleton and the voltage drop from the positive lead of the battery and the chassis changes, the electronic components of the exoskeleton are negatively impacted. Strong magnetic fields can impact the onboard electrical components, in particular any data storage within an onboard computer. Exoskeletons may require wireless connections for full functionality and monitoring. Radio frequency (RF) interference can degrade these networks and exoskeleton capability.

4.11.2 For electro-magnetic compatibility issues, refer to:

4.11.2.1 BS EN 12895,

4.11.2.2 Mil-Stnd-462,

4.11.2.3 IEC 61000-4-1, and

4.11.2.4 IEC 61000-6.

4.12 Vibration: 

4.12.1 Source (for example, engines, electric motors, or mechanical device),

4.12.2 Source location (for example, below floor, above test area, in-front of test area), and

4.12.3 Frequency (for example, periodic, random).

4.13 Contaminants (chemical, biological or radiological substance or matter that may affect the exo): 

4.13.1 Type (for example, oil, paint spray),

4.13.2 Location (for example, floor, boundary), and

4.13.3 Toxicity.

4.14 Boundaries: 

4.14.1 Boundaries refer to the defining apparatus, existing structure, or ground anomalies, or combinations thereof, within which the exoskeleton is tested.

4.14.2 The characteristics for boundaries include:

4.14.3 Opaque Walls (for example, white drywall, opaque plastic, reflective or flat black test boundaries, corrugated metal, curb from the road);

4.14.4 Semi-Transparent Walls (for example, clear glass, frosted glass, translucent plastic);

4.14.5 Negative Obstacles (for example, cliff, curb from the sidewalk, loading dock, drainage channel);

4.14.6 Virtual Walls (for example, exoskeleton prohibited areas mapped within the exoskeleton controller at stairs, restricted areas);

4.14.7 Porous Walls (for example, wire mesh fencing, chain-link fencing);

4.14.8 Elevated Dividers (for example, racking, post and beam fencing, retractable-belt dividers);

4.14.9 Building Infrastructure (for example, machinery, equipment, exoskeleton chargers);

4.14.10 Floor Markings (for example, tape, paint);

4.14.11 Mixture of the Above Boundaries (for example, railing and kickplate in front of a negative drop-off at edge of a platform, post and beam fencing with wire mesh covering);

4.14.12 Moving Boundaries (for example, moving sliding or hinged doors, moving curtains); the environment should be labeled as static unless the boundary moves during a test, in which case the environment should be labeled as dynamic, for example: an exoskeleton moves past a soft partition that moves or an exoskeleton moves through a soft partition that causes it to move.

4.14.13 Depending on the type of boundary, it may also have an acoustic effect on the exoskeleton being tested. Describe acoustic properties of boundaries (for example, absorb sound, reflect sound/echo, amplify sound). If more specificity of measurement is required, the following standards and references may be used:

4.14.13.1 Automotive Industry Action Group (AIAG) Occupational Health and Safety OH-2, Pedestrian and Vehicle Safety Guideline, 3/17/2004 – includes description and marking depictions.

4.14.13.2 V. Kakkar, V. S. Dalal, V. Choraria, A. S. Pareta, A. Bhatia, “Implementation Of 5S Quality Tool In Manufacturing Company: A Case Study,” International Journal of Scientific and Technology Research, Vol. 4, Issue 02, February 2015, ISSN 2277-8616.

Subcomité:

F48.03

Referida por:

F3540-21, F3578-22, F3585-25, F3750-25, F3749-25, F3323-24, F3527-24, F3773-25, F3584-22, F3747-25, F3528-21, F3443-20R25, F3612-24, F3772-25, F3474-25, F3582-22, F3580-24, F3748-25, F3581-22, F3517-21, F3523-21, F3688-25, F3583-22

Volúmen:

15.13

Número ICS:

11.180.01 (Aids for disabled and handicapped persons in general), 25.040.30 (Industrial robots. Manipulators)

Palabras clave:

air quality; boundaries; electrical interference; floor and ground surface; humidity; lighting; temperature;