NIST SUAS Test Methods - Introduction

Standard Test Methods for Small Unmanned Aircraft Systems
ASTM International Standards Committee on Homeland Security Applications;

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov
Measuring and Comparing Small Unmanned Aircraft

System Capabilities and Remote Pilot Proficiency
Version 2020B1
A RD TEST MET
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Test Director: ER P Sponsor:
Adam Jacoff O B OT
Adam Jacoff Phil Mattson CA
Intelligent Systems DivisionIntelligent Systems Division
Science and Technology Directorate
NATIONAL INSTITUTE OF STANDARDS AND TECHNOLOGY
National Institute of Standards and Technology
U.S. Department of Homeland Security
U.S. Department of Commerce
Internet Email
RobotTestMethods.nist.gov RobotTestMethods@nist.gov
1
Acknowledgements
Acknowledgements Collaborators
This work was sponsored by Philip Mattson and Kai-Dee Chu from the Satoshi Tadokoro, Tohoku University, Sendai, Japan
Department of Homeland Security, Science and Technology Directorate, Tom Haus, Los Angeles Fire Dept. & CA-TF1, CA
through an interagency agreement with the National Institute of Tetsuya Kimura, Nagoaka Univ. of Technology, Nagoaka, Japan
Parry Boogard, Valley Regional Fire Authority & WA-TF1, WA
Standards and Technology (NIST). Bob Gann, CDPS COE for Aerial Technology Fire Fighting, CO
Clint Arnett, TEEX/Disaster City & TX-TF1, TX
The NIST Team includes: Andy Olesen, Canadian Explosives Technicians Assoc., Canada
George Hough, Fire Dept. of New York City & NY-TF1, NY
Adam Jacoff, Raymond Sheh, Kamel Saidi, Tom Prentice, Reveille Peak Ranch, Burnet, TX
Kenny Kimble, and Ann Virts. Jim Ingledue, Virginia Beach Fire Dept. & VA-TF2, VA
Michael Leo, Fire Department of New York City, NY
Mark Hundley, Virginia Beach Fire Dept. & VA-TF2, WA
Dozens more people have contributed to the development and Luke Bergan, New South Whales Police Dept., Sydney, Australia
validation of these test methods. They include FEMA urban search and Michael O’Shea, FAA UAS Integration Office (formerly U.S. DOJ)
rescue task force teams, firefighters, law enforcement, collaborating Katie Thielmeyer, Woodlawn Fire Dept. OH
Martin Hutchings, Sacramento Sheriff & IAB, CA
test facilities, other civilian and military organizations, and commercial Oliver Huke, RACE Test Facility, UKAEA, Oxfordshire, United Kingdom
manufacturers. There are far too many to mention, but some of the John Delaney, Arlington County Fire, Dept., & IAB, VA
ongoing (non-commercial) collaborators are listed below, roughly in
Mike Marino, Prince George’s County Fire Dept. & IAB, MD
order of their involvement:
Coitt Kessler, Austin Fire Dept., TX
Disclaimer Chris Sadler, York County Fire Dept., VA
Commercial equipment shown in this document are for illustrative
Andy Moore, Southwest Research Institute, San Antonio, TX
purposes only. This does not imply recommendation or endorsement by
the National Institute of Standards and Technology, nor does it imply Al Frazier, Grand Forks County Sheriff’s Dept., ND
that the products identified are necessarily the best available for the
Ben Miller, CDPS COE for Aerial Technology Fire Fighting, CO
purpose.
Mark Blanks, Virginia Tech University, VA
Measurement Units Daniele Nardi, Sapienza Universita di Roma, Italy
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. Max Delo, ESF-13, U.S. Marshals Service, DOJ
Approximate equivalents in each system of units enable use of readily Bryan Gillespy, ESF-13, U.S. Marshals Service, DOJ
available materials in different countries. This avoids excessive
purchasing and fabrication costs. The differences between the stated Gabriele Ferri, NATO CMRE, Italy
unit dimensions are insignificant for comparison of test method results, Howie Stockhowe, Virginia Beach Fire Dept, Virginia Beach, VA
so each set of units are considered standard for the purposes of these
test methods. Tony Galladora, Montgomery County Police, MD
2
Table of Contents
Test Method Introduction Open Test Lane Usage Open Test Lane Fabrication
• Project Overview…………………. 4 • Omni Bucket Stands ……….… 52 • Stowing and Transport …. 79
• Ground Robot Tests ………..…. 8 • Bucket Alignments ………….… 53 • Omni Bucket Stands ……… 81
• Underwater ROV Tests ..……. 13 • Visual Acuity Targets ………… 54 • Washer Head Screws ……. 82
• Related Awards …………..……. 16 • Conduct Tests Two Ways …… 55 • White/Black Buckets ……… 83
• sUAS Open Test Lane…………. 17 • Easy Set Up ……………………… 57 • Sticker Acuity Targets ……. 84
• Fabrication & Stowing……. 21 • Choose Lane Spacing ………… 61 • Disk Inserts …………………… 85
• Circuit Training with Scores 24 • Various Flight Altitudes …… 62 • Leveling Feet …………..….… 86
• Concurrent Evaluations…. 29 • Position Test ……………………. 63 • Leg Extensions .……….….… 87
• sUAS Obstructed Test Lane …32 • Traverse Test ……………………. 64 • Launch/Land Platform …… 78
• sUAS Confined Test Lane …. 38 • Orbit Test …………………………. 65 • Sensor Panels …………….…. 91
• Sensor, Latency, Comms …… 40 • Spiral Test …………………………. 66 • Miscellaneous Items ……… 93
• Repeatable Scenarios ….…… 45 • Recon Test ………………………… 67 • Helpful Tools ………………… 94
• Comparing Scores……………... 46 • Point and Zoom Cameras ….. 68
• Minimum Thresholds…. 35 • Concurrent Lanes ……………… 69
• Standards Committees..36 • Related Scenarios ……………… 71
• Credentialing ……………. 37
3
S (A,B,C,D)
These test methods are primarily intended for 10
ft (
3 m)
Standard Test Methods for Small Unmannedvertical Aircraft Systems

takeoff and landing systems with an
ASTM International Standards Committee on Homeland Security Applications; Launch/Land FLIGHT LINE
onboard camera and remote pilot display. Some

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov 12in (30cm) Radius Center SIGHT LINE
are also applicable to fixed wing systems when the
Project Overview lane dimensions are extended to accommodate

the orbit radius of forward flying systems.
TRAVERSE TEST
Right and Left Ovals Around All Three Bucket Stands
AERIAL
Safety | Capabilities | Proficiency POST 10 FT (3 M)
Fl
kn
Objectives: 4x4x24in (10x10x60cm) ALTITUDE
LEGS te
Develop the measurements and standards infrastructure necessary to ALIGNED  2x4x20in (5x10x50cm)
with 45° opposing ends re
LAUNCH
LAND
Bucket Stand #3
T-TOP
WHEN RING IS
Bucket Stand #2
(I,J,K,L)
no
quantitatively evaluate robotic system capabilities and remote pilot proficiency. 2x4x12in (5x10x30cm) T-TOP
COMPLETELY
VISIBLE 10ft (3
m) Spa
ci ngs
Bucket Stand #1
(A,B,C,D)
(E,F,G,H)
de
BUCKETS Launch/Land FLIGHT LINE
2 or 5 gal (7 or 19 liter) 12in (30cm) Radius Center SIGHT LINE
POST Th
Outcomes: GROUND Test Director
re
LEGS pi
Test methods, performance metrics, and data collection tools to facilitate Adam Jacoff 
Intelligent Systems Division 
pr
gr
integration of emerging technologies for hazardous and essential missions. Nat’l Institute of Standards and Technology
U.S. Dept. of Commerce ai
RobotTestMethods@nist.gov | 301-975-4235 in
Impacts: Sponsor
Philip Mattson 
• Objective test methods help researchers and manufacturers push the state Bucket stands on a level surfaces ensure the top bucket is Science and Technology Directorate
AQUATIC
vertical and the angled buckets are 45 degrees. U.S. Dept. of Homeland Security
of the science by measuring progress and highlighting breakthroughs.
• Resulting quantitative performance data helps compare systems, specify

purchases, and train with measures of remote operator/pilot proficiency.
4
S (A,B,C,D)
These test methods are primarily intended for 10
ft (
3 m)
Standard Test Methods for Small Unmannedvertical Aircraft Systems

takeoff and landing systems with an
ASTM International Standards Committee on Homeland Security Applications; Launch/Land FLIGHT LINE
onboard camera and remote pilot display. Some

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov 12in (30cm) Radius Center SIGHT LINE
are also applicable to fixed wing systems when the
Project Approach lane dimensions are extended to accommodate

the orbit radius of forward flying systems.
TRAVERSE TEST
Right and Left Ovals Around All Three Bucket Stands
AERIAL
Safety | Capabilities | Proficiency POST
4x4x24in (10x10x60cm)
10 FT (3 M)
ALTITUDE
Fl
kn
LEGS te
• Develop reproducible test methods that are cheap and easy to conduct. 2x4x20in (5x10x50cm)
with 45° opposing ends re
LAUNCH
ALIGNED 
LAND
Bucket Stand #3
T-TOP
WHEN RING IS
COMPLETELY
Bucket Stand #2
(I,J,K,L)
no
ci ngs (E,F,G,H)
2x4x12in (5x10x30cm) T-TOP m) Spa Bucket Stand #1
VISIBLE 10ft (3
(A,B,C,D)
de
• Measure combinations of existing capabilities and emerging technologies. BUCKETS
2 or 5 gal (7 or 19 liter)
Launch/Land
12in (30cm) Radius Center
FLIGHT LINE
SIGHT LINE
POST Th
re
GROUND Test Director
• Inspire innovation using tests to communicate operational needs and gaps. LEGS
Adam Jacoff 
pi
REPEAT
pr
Intelligent Systems Division 
Nat’l Institute of Standards and Technology gr
• Guide purchasing and deployment decisions with objective data. U.S. Dept. of Commerce
RobotTestMethods@nist.gov | 301-975-4235
ai
in
Sponsor
• Focus training with repeatable tasks to measure and compare proficiency. Philip Mattson 
Bucket stands on a level surfaces ensure the top bucket is Science and Technology Directorate
vertical and the angled buckets are 45 degrees.
AQUATIC
U.S. Dept. of Homeland Security
• Identify readiness issues with equipment and/or training through
comparisons with local, regional, or national averages.
5
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Spectrum
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Ground Tested
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Tests Must
Safety Measure All Sizes
| Capabilities Effectively
| Proficiency
iRobot 110 FirstLook Qinetiq Dragon Runner 10 iRobot 310 SUGV ICOR Caliber Mini Remotec Titus
2.4kg (5.2lbs) 4.5kg (10lbs) 13.2kg (29lbs) 27kg (65lbs) 61kg (135lbs)
ICOR Caliber T5 Cobham Telemax ICOR Caliber MK3 Remotec HD-SEL iRobot 710 Kobra
64kg (140lbs) 80kg (175lbs) 84kg (185lbs) 111kg (245lb) 166.5kg (367lbs)
Remotec F6B WM Robotics Knight Remotec Mark 5-A1 Remotec Wolverine

220kg (485lb) 249kg (550lbs) 358kg (790lbs) 367kg (810lbs)
120cm (4ft) Lateral

Ground Robot Clearance Apparatuses
Validation Exercises
30 Test Methods: 10 Basic Skills, 15 IED/PBIED/VBIED, 5 Building Access
60cm (24in) Apparatuses

Lateral Clearance for Confined
Scale to Intended Environments
Environments
Safety
Increasing | Capabilities
Complexity with Same|Procedure
Proficiency
and Metric
Scale: 60 cm (24 in) Lateral Clearance
Trains, Busses, Planes, Dwellings, Parked Cars, etc.
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Four nested lanes contain 20

test methods and fit into one
ISO container.
Parking Lot ISO Container

“Standard Facilities
Test Methods (Rent or Buy)
in a Box”
SafetyIdea for ISO Container
| Capabilities Facility
| Proficiency
• 4 lanes inside ISOs have easy lights out testing, radio attenuated, all weather.
• 3 lanes between ISOs have higher arched canvas tarp covers secured to ISOs, good for
stairs, doors, taller dexterity test methods.
Parking Lot ISO Container

“Standard Facilities
Test Methods (Rent or Buy)
in a Box”
SafetyIdea for ISO Container
| Capabilities Facility
| Proficiency
• ISOs have easy lights out testing, radio attenuated, all weather.
• Lanes between ISOs have higher arched canvas tarp covers
secured to ISOs, good for stairs, doors, taller dexterity test
methods.
Robot Capabilities Data to Support Procurement/Deployment
MOBILITY TEST METHODS Standard Test Methods for Small Unmanned Aircraft Systems
Example
MOBILITY: Confined Area Terrains (figure-8 path, Compare Capabilities and Proficiency
of Quantitative Performance
minimum 150 meters) Comparisons
Average rate of advance comparison of robots on increasingly complex terrains:
SafetyOperator
Robots Capabilities, | Capabilities
Proficiency,|and/or
Proficiency
Autonomous Behaviors
Sand Gravel Flat Line Following Continuous Ramps Crossing Ramps Stepfields
80 75
70 64
(meters per minute)
60
50
41
40 38 38 38 38 38 38 38 38
30 30 30 30 30 32 30
30 25 25
21 19 19 19 19
20 15 13 17 17
14 11 12 14
11 8 11 9
10 6 7
0 0 3 0 0 8 4
0
ReconScout
ROBOT A FirstLook
ROBOT B Armad-Base
ROBOT C SandFlea
ROBOT D DR10-Base
ROBOT E Armad-Manip
ROBOT F DR10-SCK
ROBOT G Pointman
ROBOT H
Average Rate of Advance on Terrain for At Least 100m

(meters/minute)
Underwater ROV Test Methods

Aquatic

Aquatic

Related Awards Our same process originally applied to

Project Recognition ground robots will work similarly for
sUAS and remote pilots.
2020 Presidential Gears of Government Award
Recognizing people across the Federal workforce whose dedication supports exceptional delivery of key outcomes for the
American people, specifically around mission results, customer service, and accountable stewardship.
For developing the first ever comprehensive suite of emergency response robot test methods and data collection tools
to evaluate and improve bomb-disposal robots and operators. These efforts led to enhanced testing and use of
advanced robot capabilities that enable emergency responders to perform extremely hazardous missions from safer
standoff distances.
2019 Secretary Ron Brown Excellence in Innovation Award, U.S. Department of Commerce
The most prestigious singular honor given by the Department, chosen from among the Gold Medal Awards each year.
2019 Gold Medal Award, U.S. Department of Commerce

The highest award given by the Department for extraordinary contributions that impact key mission objectives.
16
Test Methods for sUAS

Small Unmanned Aircraft Systems (sUAS)
Initial focus is VTOL, but some tests apply to forward flying aircraft when scaled up to the appropriate orbit radius.17
Test Methods Being Developed

Sensing Purpose 20 FT (6 M)
Radio Communications
POSITION TEST ALTITUDE
 
• Hold Position and Rotate
• Visual Acuity • Line-of-Sight Range

These test methods for small unmanned aircraft • Fly Straight and Level
systems can be used to quantitatively evaluate • Climb and Descend ALIGNED 
Standard Test
WHEN RING IS
various system capabilities and remote pilot • Move and Rotate COMPLETELY
• Color Acuity • Non-Line-of-Sight Range

VISIBLE
• Land Accurately
proficiency. They are being standardized through
Methods for
the ASTM International Standards Committee on
10 FT (3 M)
Homeland Security Applications; Response Robots ALTITUDE
• Motion Acuity (E54.09). They are also referenced as Job

Performance Requirements in the National Fire
Small Unmanned • Interference/Attenuation
CH
Thermal Acuity
Protection Association Standard for Small
UN
•
LAND
LA
Aircraft Systems
Bucket Stand #3
Unmanned Aircraft Systems Used For Public (I,J,K,L)
Safety Operations (NFPA 2400). Bucket Stand #2
Safety
(E,F,G,H)
• Latency (Video/Control) These test methods are primarily intended for
Indoor Outdoor
ft (3
m)
Spa
gs
cin Bucket Stand #1
(A,B,C,D)
Embedded
10
vertical takeoff and landing systems with an
onboard camera and remote pilot display. Some Launch/Land
12in (30cm) Radius Center
FLIGHT LINE
SIGHT LINE
PRACTICAL SKILLS
tests are also applicable to fixed wing systems
Basic Pilot Proficiency Tests

when the lane dimensions are extended to
accommodate the orbit radius of forward flying
TRAVERSE TEST
BASIC MANEUVERING
• Impact Forces
• Lights and Sounds
Sideways Ovals (Rightward and Leftward)
aircraft. Flying safely in our national air space requires
Maneuvering & Payload Functionality Maneuvering & Payload Funct. (cont.)

10 FT (3 M)
ALTITUDE knowledge and skill. The FAA’s Part 107 written
test ensures remote pilots understand air space
Prop Guards
Lane features include:
restrictions and safety precautions. But there is

•
LAUNCH
• Pilot flight line for safety (A-frame as lane marker).
LAND
Bucket Stand #3
gs
Bucket Stand #2
(E,F,G,H)
(I,J,K,L)
no practical skills test for remote pilots to
• Centerline using 100ft (30m) measuring tape. Spacin
1. Position
) Bucket Stand #1
10ft (3m
Lost Power Behaviors

demonstrate “positive aircraft control” at all times.
•
(A,B,C,D)
Avoid Obstacles
• Launch/Land platform to measure accuracy. Launch/Land FLIGHT LINE
•
12in (30cm) Radius Center SIGHT LINE
• Bucket stands with vertical and angled white These standard test methods provide a
• Hold Position and Rotate Lost Comms Behaviors

reproducible way to train and measure remote
•
buckets that can be stowed and transported . Test Director
• Ground, Post, Wall Tasks

pilot proficiency for hobbyists and licensed
• Optional outriggers that enable bucket stands to Adam Jacoff 
Intelligent Systems Division  professionals. This improves the safety of ground
• Climb and Descend be leveled on uneven terrain.

• Apparatus spacing is 10ft (3m).
•
Nat’l Institute of Standards and Technology
Pass Through Doors and Windows

U.S. Dept. of Commerce
personnel and reduces risk to manned aircraft as
small unmanned aircraft systems are integrated
Durability
RobotTestMethods@nist.gov | 301-975-4235
into our national airspace.
• Fly Straight and Level

• Flight altitudes are 10ft (3m) and 20ft (6m).
• Map Wide Areas (Stitched Images)

• Overall length is 50ft (15m). DHS Point of Contact
• Fits on a basketball or tennis court Science and Technology Directorate

Website: RobotTestMethods.nist.gov
• Move and Rotate • Indoor or outdoor use.
U.S. Dept. of Homeland Security
• Survey Acuity • Rain Tolerance

standards@hq.dhs.gov Version: 2019J
• Land Accurately • Deliver Payload

2. Traverse Logistics
3. Orbit Energy/Power
4. Spiral • Configuration Identification,
5. Recon • Endurance (Mixed Use, High Speed) Packaging & Setup Time
• Perch Time (Landed with Sensors On)
18
vely evaluate
ncy to align Standard Test Methods for Small Unmanned Aircraft Systems
e safety and ASTM International Standards Committee on Homeland Security Applications;
ey save lives Response Robots (E54.09) | Website: RobotTestMethods.nist.gov
INSIDE EACH BUCKET

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EVALUATE SENSORS MANEUVERING OMNI BUCKETS
19
Easy Fabrication and Stowing

Open Test Lane
2 Gallon Buckets – Printed Stickers – Transportable
1–4
FLUSH WITH TOP
LEFT 1B TOP
HANDLE
1C BACK
POST
FRONT 1A 1D RIGHT
A
A
(4) OMNI STANDS
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20
Scalable for Indoor/Outdoor Venues

Open Test Lane
SPACING = S ALTITUDES = S, 2(S), 5(S) LENGTH = 10(S)

(S)
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1–4
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S = 3 m (10 ft) 3, 6, 15 m (10, 20, 50 ft) 30 m (100 ft)
HANDLE
FRONT 1A 1D RIGHT (4) OMNI BUCKET STANDS

(4) OMNI STANDS
“A” BUCKET
ALWAYS POINTING
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S = 6 m (20 ft) 6, 12, 30 m (20, 40, 100 ft) 60 m (200 ft)

PLATFORM
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LIN
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WHITEBOARD CAPTURES DIGITAL CLOCK CAPTURES
WHITEBOARD INFO MAKE | MODEL
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21
Evaluate Sensors
Precise Distance to Targets
Omni Bucket Stands

Open Test Lane
1
TOP
WHITE BUCKETS & GREEN RINGS BLACK BUCKETS & COLOR RINGS
IN STANDARD TEST LANES LEFT 1B HANDLE
1C BACK EMBEDDED INTO SCENARIOS
FRONT 1A 1D RIGHT BROKEN INNER BLACK EDGE

IS THE JUDGEMENT POINT
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S
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SHOWN NOT ALIGNED SHOWN ALIGNED
23
[4] Slotted leg extensions PIL ME
[8] ¼-20 x 2in hanger bolts and wing nutsStandard
for theTest Methods for Small Unmanned Aircraft Systems
leg extensions to slide on and tighten Response Robots (E54.09) | Website: RobotTestMethods.nist.gov
[15] 8in diameter weatherproof stickers

(see website to download the sticker files) Conduct Tests Two Ways
[4] Big numbers 1-1-1-1 inside the top bucket
[4] Big letters A-B-C-D around the top bucket Open Test Lane
[5] Acuity targets A-B-C-D inside bottom of all
Basic
[2] Perch acuity targets Maneuvering
insideBasic of A (MAN)
Maneuvering
and bottom Payload Functionality
Payload Functionality(PAY) ITH
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AD enough
to capture enough
a singletoimage (NO ZOOM) showing to capture
capturea single
a single image UAzoom
(FULL ER ZOOM)
showingshowing a
a continuous greena ring
zoom showing continuous C
capture a single image with no
inside green
each ring.
bucket.
The
to
continuousgreen
continuous green
image
ringring
at full
ANDAND
INthe
Q T
S increasingly
N
CEthe increasingly
a
small small
8
4 (up N
I up5 to
The numbersnumbers and letters
and letters areare bucketidentifiers.
bucket identifiers. Concentric
ConcentricC gap directions
C gap 12 to
directions deep).
5 deep.
AD 1 point100-300 FT MEASURING
gap shown inTAPE
A 1 point per successfully aligned image
SCORE UP TO 20 POINTS
per correct
the image
D
CO
CO
CH
TOP
BR
M
P E R IT Y
M
P1
O
PL
(T)
PL
KE
1A
ET
TOP LEFT ( TL ) ( TR ) TOP RIGHT
ET
ACU
N
E
Standard Test Methods for Response Robots
1A
E
1A
Operational Equipment; Robots (E54.08.01)
BL
1A
Nested Landolt C Vision Test Chart
GR
BL
NO
AC
CH A
EE
AC
1A 1A
N
KE
N
U
TA
KE
P1
AL
( R ) RIGHT
LA
LEFT ( L )
RI
DG
DG
IG
LIG
NG
E
NE
E
LEAVE CARRY HANDLE ON TOP BUCKET
NE
D
BOTTOM LEFT ( BL ) ( BR ) BOTTOM RIGHT

D
Gap size (mm) Gap size (inches) Equivalent Avg. Human vision at 6 m (20 ft)
40 mm 1.58 in 4.5 %
16 mm 0.63 in 11 %
6.4 mm 0.25 in 28 %
2.6 mm 0.10 in 70 %
#3
1.0 mm 0.04 in 180 %
0.41 mm 0.016 in 440 %
For accurate calibration, the outer diameter of the largest Landolt C optotype should be 200 mm (7.9 in).
(B)
tickers inside each bucket have a GREEN
OMNI INSCRIBED RING
BUCKETS ALIGNED ALIGNED NOT ALIGNED BOTTOM
(PERFECTLY) (BARELY) 24
ASTM International Standards Committee on Homeland Security Applications; 18
Standard Test Methods for Small Unmanned Aircraft Systems Response Robots (E54.09) | Website: RobotTestMethods.nist.gov
Standard Test Methods14 for Small Unmanned Aircraft Systems


Traverse
Position Response Robots (E54.09) | Website: RobotTestMethods.nist.gov
(MAN 2 | PAY 2)
(MAN 1 | PAY 1)
Positive Aircraft Control (Part 107 Skills Test?)

Open Test Lane
Position S
Traverse 4
S
2(S)
4
MAN/PAY 1 MAN /PAY 2
DE
ITU
ALT
5(S)
z 5(S)
• Hover stably • Fly sideways along a line
z
S
3
S
z S
3 ITU
DE
• Basic maneuvers • Left and right directions

ALT
S S
ALT
ITU
DE
S
2 2
S
1
• Land accurately 1
• Land accurately
S
END
ND S RT |
S R T|E STA
STA FL
IG
• 20 Buckets in 1 lap • 20 Buckets in 2 laps

FL HT
IG LIN
HT E
LIN
E
25
Circuit Training with Scores

Open Test Lane
BASIC MANEUVERING MAN 1-5 PAY 1-5 PAYLOAD FUNCTIONALITY
ALIGN WITH BUCKETS Standard Test Methods for Small Unmanned Aircraft Systems
ASTM International Standards Committee on Homeland Security Applications; 18 IDENTIFY VISUAL ACUITY TARGETS
1A
Align with 20 buckets long enough to capture a single

14
1A 1A
Align with 20 buckets long enough to capture a single
Traverse green ring
Positionimage (NO ZOOM) showing a continuous
(MAN 2 | PAY 2) image (FULL ZOOM) showing a continuous green ring
(MAN 1 | PAY 1) inside to determine successful alignment. The AND the increasingly small Concentric C gap directions
numbers/letters are bucket identifiers. NOT ALIGNED BARELY ALIGNED ALIGNED up to 5 deep in 8 different orientations. z CCW
z
CCW
ALIGN
NO
N-S
TO
NE P
ERLI
ENT
NE C
S z CW S
VER
THE
LA S
TOP
S EL O
LEV
4
-S
4
S
z CCW ND
4 HT A
NON
P
AIG
4
-STO
STR NO
2(S)
4 z CW FLY
NON
N -S
DE 5(S)
ITU DE S CW TO
5(S)
z
TOP
ALT
5(S) ITU P
ALT NO
-S
z
N
-ST
NON
5(S) OP
S
z
T UDE
IGH
E FL z ALT
IT z 3
AL
3
S S S
IG
S S
3 3 FRE
N
DE
z
LAND
ITU
S
3 ALT
ITU
DE
S
S
S
2
S
2
S
2
S
2
ALT
2
S
1 END
S
1
S
1
S
1 S
1
S RT | S END S SS T| END
S RT |
END STA
STAR
T| STAR
STA FL
IG
HT FL FL FL
FL IG IG IG
IG LIN HT HT HT
HT E LIN LIN
LIN LIN
E
E E E
Position Traverse Orbit Spiral Recon

MAN/PAY 1 MAN/PAY 2 MAN/PAY 3 MAN/PAY 4 MAN/PAY 5
• Hover stably • Fly sideways along a line • Orbit to identify objects • Fly freely to inspect objects • Sustain speed over a line
• Basic maneuvers • Left and right directions • Left and right directions • Any proximity (use zooms) • Establish hovers over objects
• Landing accuracy • Landing accuracy • S and 2(S) altitudes • Any altitude • S altitude, 160(S) distance
• 20 Buckets in 1 lap • 20 Buckets in 2 laps • 20 Buckets in 4 laps • 20 Buckets in 1 lap • 20 buckets in 10 laps
MAN: Align only MAN: Align only MAN: Align only MAN: Align only MAN: Align only
5 minutes / 20 points 5 minutes / 20 points 5 minutes / 20 points 5 minutes / 20 points 5 minutes / 20 points 100 PTS
PAY: Align and Identify PAY: Align and Identify PAY: Align and Identify PAY: Align and Identify PAY: Align and Identify
10 minutes / 100 points 10 minutes / 100 points 10 minutes / 100 points 10 minutes / 100 points 10 minutes / 100 points
500 PTS
*If your training aircraft has only a fixed camera, or limited range of motion, align with as many buckets as possible. Proficiency is compared using similar aircraft. 26
Standard Test Methods for Small Unmanned Aircraft Systems Position
(MAN 1 | PAY 1)
Circuit Training with Scores ion

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov S
18
Posit
DE
2(S)
4
Traverse
ITU
ALT
Open Test Lane

z 5(S)
z
(MAN 2 | PAY 2)
S
z S
3
DE
ITU S
ALT
2
S
1
END
• Test lanes are inexpensive and easy to replicate. Conduct alone or in groups with
S RT |
STA
FL
IG
HT
LIN
E
concurrent lanes. Compare results on similar aircraft in similar size lanes.

rse
S
e
4
Trav 5(S)
• Maneuvering and Payload functionality tests are all conducted in the same lane.
ALT
ITU
DE
S S
3
S
2
END
S
1
S RT |
STA
FL
IG
HT
LIN
E
• Maneuvering Tests (MAN): Align with 20 buckets along the flight paths. 5 minutes 4
S
per test in 30 minutes total time. Score up to 20 points each, 100 points total. Orbi
t ALT
ITU
DE S
S
5(S)
S
3
S
2
1
• Payload Functionality Tests (PAY): Align with 20 buckets and identify up to 5

S | END
START
FL
IG
CCW
HT zz
LIN
E CCW
increasingly small Concentric C visual acuity gaps. 10 minutes per test in 60 minutes zz CW
CW
total time. Score up to 100 points each, 500 points total.

SS
CCW
zz
CCW
l
44
Spira
zz CW
CW
T
IGHHT
FREEE
FR
FLIG
EFL
zz SS
33
LAND
LAND
• Twenty tests are being standardized through ASTM International (E54.09). They’ve
SS
22
SS
11
SS
z
CCW
been adopted in the NFPA 2400 Standards to evaluate Job Performance

FLFLIG
IG H
HT T L
LININE
E
ALIGN
NO
Requirements and the ASTM F38 Standard for Remote Pilot Endorsement.
N-S
TO
LINE P
TER
E CEN S
LAN
THE
VER
TOP
EL O
Reco
LEV
4
-S
ND
HT A
NON
P
AIG
-STO
STR N
FLY ON
z CW
NON
-S
TO 5(S)
TOP
NO P
-S
N
-ST
NON
OP
DE X
z
• Replicated internationally to support training and evaluations. Currently being

ITU
3
AL
ALT S
IG
N
S
2
S
1
END
validated as a quantitative scoring basis for remote pilot credentialing.

SS |
START
12
FL
IG
HT
LIN
E
27
(MAN 1 | PAY 1)
Track Scores Over Time ion

18
Posit
DE
2(S)
4
Traverse
ITU
ALT
Open Test Lane

z 5(S)
z
(MAN 2 | PAY 2)
S
z S
3
DE
ITU S
ALT
2
Download Forms Books Here

S
1
END
S RT |
STA
FL
IG
HT
LIN
E
rse
S
e
4
Trav 5(S)
ALT
ITU
DE
S S
3
S
2
END
S
1
S RT |
STA
FL
IG
HT
LIN
E
4
t
Orbi
DE S 5(S)
ITU
ALT
S
3
S
2
1
S | END
START
FL
IG
CCW
HT zz
LIN
E CCW
zz CW
CW SS
CCW
zz
CCW
l
44
Spira
zz CW
CW
T
IGHHT
FREEE
FR
FLIG
EFL
zz SS
33
LAND
LAND
SS
22
SS
11
SS
z
FLFLIG
CCW
IG H
HT T L
LININE
E
ALIGN
NO
N-S
TO
LINE P
TER
E CEN S
LAN
THE
VER
TOP
EL O
Reco
LEV
4
-S
ND
HT A
NON
P
AIG
-STO
STR N
FLY ON
z CW
NON
-S
TO 5(S)
TOP
NO P
-S
N
-ST
NON
OP
DE X
ITU
z 3
AL
ALT S
IG
N
S
2
S
1
SS | END
START
12
FL
IG
HT
LIN
E
28
(MAN 1 | PAY 1)
Indoor Layout –Basketball/Tennis Courts ion

18
Posit
DE
2(S)
4
Traverse
ITU
ALT
Open Test Lane

z 5(S)
z
(MAN 2 | PAY 2)
S
z S
3
DE
ITU S
ALT
2
S
1
END
S RT |
STA
FL
IG
HT
LIN
E
rse
S
e
4
Trav 5(S)
ALT
ITU
DE
S S
3
S
2
END
S
1
S RT |
STA
FL
IG
HT
LIN
E
4
t
Orbi
DE S 5(S)
ITU
ALT
S
3
S
2
1
S | END
START
FL
IG
CCW
HT zz
LIN
E CCW
zz CW
CW SS
CCW
zz
CCW
l
44
Spira
zz CW
CW
T
IGHHT
FREEE
FR
FLIG
EFL
zz SS
33
LAND
LAND
SS
22
SS
11
SS
z
FLFLIG
CCW
IG H
HT T L
LININE
E
ALIGN
NO
N-S
TO
LINE P
TER
E CEN S
LAN
THE
VER
TOP
EL O
Reco
LEV
4
-S
ND
HT A
NON
P
AIG
-STO
STR N
FLY ON
z CW
NON
-S
TO 5(S)
TOP
NO P
-S
N
-ST
NON
OP
DE X
ITU
z 3
AL
ALT S
IG
N
S
2
S
1
SS | END
START
12
FL
IG
HT
LIN
E
29
(MAN 1 | PAY 1)
Football Field Layout ion

18
Posit
DE
2(S)
4
Traverse
ITU
ALT
Open Test Lane

z 5(S)
z
(MAN 2 | PAY 2)
S
z S
3
DE
ITU S
ALT
2
S
1
END
S RT |
STA
BOUNDARY: ±15 m (45 ft) or +50% ERROR ALLOWED FL

IG
HT
LIN
E
BOUNDARY
RADIUS: 10 m (30 ft)
LANE SPACING
rse
S
e
4
10 m (30 ft)
Trav 5(S)
DE
S S
3
BOUNDARY (+50%)
ITU
ALT
S
2
S
1
± 15 m (45 ft) END
LANE 6
S RT |
STA
FL
IG
HT
LIN
E
ORBIT LANE LENGTH

TRAVERSE 100 m (300 ft) S
BOUNDARY 4
t
Orbi
DE S 5(S)
ITU
ALT
S
3
BOUNDARY
BOUNDARY
BOUNDARY
BOUNDARY
BOUNDARY
S
S
2
LANE SPACING S
START
| END
1
3 m (10 ft)
FL
IG
CCW
HT zz
CCW
BUFFER ZONE
BUFFER ZONE
BUFFER ZONE
BUFFER ZONE
BUFFER ZONE
BUFFER ZONE
LIN
E
BOUDARY (+50%) zz CW
CW SS
±5 m (15 ft) CCW

zz
CCW
l
44
Spira
zz CW
CW
LANE LENGTH IGHHT

T
FREEE
FLIG
EFL
zz SS
33
30 m (100 ft)
FR
LAND
LAND
SS
22
SS
11
SS
z
FLFLIG
CCW
IG H
HT T L
LININE
E
ALIGN
NO
N-S
TO
LINE P
TER
LANE 1 LANE 2 LANE 3 LANE 4 LANE 5 VER

THE
LAN
E CEN S
TOP
EL O
Reco
LEV
4
-S
ND
HT A
NON
P
AIG
-STO
STR N
PROCTOR TABLE / POWER / CHARGING / WATER FLY ON
z CW
NON
-S
TO 5(S)
TOP
NO P
-S
N
-ST
NON
OP
DE X
ITU
z 3
AL
ALT S
IG
N
S
2
S
1
SS | END
START
12
FL
ORBIT PATH AND PILOT, VISUAL OBSERVER,

IG
HT
SENSOR PANELS LAUNCH/LAND OMNI BUCKET STANDS

LIN
E
TRAVERSE PATH AND FORM FILLER

& FLIGHT LINES PLATFORM #1, #2, #3, #4 30
(MAN 1 | PAY 1)
Evaluate Various Flight Paths and Sensors ion

18
Posit
DE
2(S)
4
Traverse
ITU
ALT
Open Test Lane

z 5(S)
z
(MAN 2 | PAY 2)
S
z S
3
DE
ITU S
ALT
2
S
1
END
S RT |
STA
FL
5 Different Orbits in Every Lane Spacing

IG
HT
LIN
E
(S) = 10ft, 20ft, 30ft, or other rse

S
e
4
v
1–4
LEFT 1B TOP
HANDLE
1C BACK
Tra 5(S)
FRONT 1A 1D RIGHT DE
S S
3
(4) OMNI STANDS
“A” BUCKET ITU
ALWAYS POINTING
ALT
S
TOWARD THE
2
(4) OMNI
LAUNCH/LAND
PLATFORM
END
S
1
LIN
E S RT |
TER STA
BUCKET STANDS
7(S)
CEN FL
IG
HT
LIN
E
6(S) t
4
Orbi
WHITEBOARD INFO DIGITAL CLOCK ALT
ITU
DE S 5(S)
DE
DATE TITIME
T CO PILO M E 5(S) S
S
3
S
2
1
S | END
START
FL
IG
CCW
HT zz
LIN
E CCW
(S)
DE 7
ALT
ITU
zz CW
CW SS
CCW
zz
CCW
l
(S)
44
Spira
DE 6
ALT
ITU zz CW
CW
(S)
DE 5
ITU
ALT
T
IGHHT
FREEE
FR
FLIG
EFL
zz SS
33
LAND
LAND
LA
SS
22
UN
H SS
11
IT
W GET 2(S) • 7(S) altitude
SS
z
CH
FLFLIG
CCW
G R
IG H
HT T L
LININE
/L
IN TA
E
D
6(S) altitude
AN
S
•
ALIGN
N
LA DIU
NO
(S) N-S
D
DE 2
TO
LINE P
ITU TER
E
ALT
4 E CEN
A
PL
LAN S
THE
AR R R
VER
TOP
EL O
Reco
AT
5(S) altitude
LEV
4
•
-S
ND
HT A
NON
U DE S 50FT
P
E
AIG
-STO
ITU STR N
ALT
SQ NT
FO
FLY ON
z CW
NON
-S
TO 5(S)
TOP
P
IN CE
NO
RM
-S
N
-ST
NON
OP
8
2(S) altitude
10FT
•
4 2IN 3 ITU
DE X
z 3
AL
ALT S
IG
N
10FT
CENTERLINE
1 2 2
S
10FT
1 S
1
MEASURING
• S altitude
END
10FT T| END SS
START
|
STAR
12
FL
FL IG
HT
IG LIN
HT E
LIN
E
31
Evaluate Tasks in Proximity to Obstacles

Obstructed Test Lane
20 FT SPACING
(VARIABLE)
32
Evaluate Tasks in Proximity to Obstacles

SKS
• MAN/PAY 6 Avoid Obstacles or Pass Thru Doors/Windows
1A–HighFigure8–1A, 1B–LowFigure8–1B, REPEAT…
POST TA
KS
5 Laps – 10 Positions – 20 Buckets WALL TAS
4A 2A (HIGH) 2D 2C (HIGH)
4D 45
• MAN/PAY 7 Post Tasks °D
IA
GO
2A–2B–2C–2D, REPEAT… KET 1A
NA
DUAL BUC
L W
2.5 Laps – 10 Positions – 20 Buckets NT
IR
ALIGNME
E TO
SAFE PROXIMITY
2D (LOW) 2B (LOW)
AV
OI
D
• MAN/PAY 8 Ground Tasks
3A–3B–3C–3D, REPEAT… 4B N D TASKS
2.5 Laps – 10 Positions – 20 Buckets GROU 3B
3A
4C
• MAN/PAY 9 Wall Tasks UA L B UCKET 1B 3C
D ENT
4A–4B–4C–4D, REPEAT… ALIGNM 3D
2.5 Laps – 10 Positions – 20 Buckets T
20 F
• MAN/PAY 10 Sequence Tasks (Wall, Ground, Post)
1A–4A–4B-3A–3B–2A–2B–2C–2D–3C–3D–4C–4D Shown here set up in open space but can
10 Positions – 20 Buckets
be up against a structure to fly through
T doors/windows in a scenario as well.
20 F 33
Advanced Outdoor and Indoor Lane Apparatuses

34
D
S | LAN
NCH
LAU
FL
IG
HT
LIN
EASTM International Standards Committee on Homeland Security Applications;
Response
An appropriate lane spacing is when a 2(S) hoverRobots
allows(E54.09)
reading| at
Website: RobotTestMethods.nist.gov
least the outer concentric C target two stands away.
Ground Task Apparatus

1
• Performing detailed inspection tasks near obstacles requires precision movements at low altitude.
• The DUAL BUCKET ALIGNMENTS guide the aircraft to safe positions around the obstacles that the pilot can trust.
• These apparatuses are used as objects of interest or to evaluate degradation of maneuvering and payload functionality
in proximity to structures due
LEFT) This is close totolatency,
enough be certain ofloss of radio
a completely comms,
inscribed GREEN ringfewer GPSvisual
and the largest satellites, etc.
acuity gap orientation.
CENTER) The gaps can be in 1 of 8 directions and are randomized. RIGHT) The bucket target should appear to be at least
1/10 of the overall display width or larger.
7FT
DUAL BUCKET ALIGNMENTS:
• Simultaneous alignment of perpendicular and
angled bucket pairs.
LL
• Both point to a 2m (6ft) stand-off from apparatus. O WA
TT
7FT 5F
7FT 7FT
7FT
6 FT
CENTER TO CENTER
5 FT TO GROUND
Verging bucket apparatuses can be vertical and horizontal too. Each set of 4 buckets on a rail define 2 points in space about 35
Post Task Apparatus

C
10 FT
(HIGH) A
(HIGH)
MODULAR POST WITH
START DUAL BUCKET ALIGNMENTS
ALTERNATING HIGH AND LOW
SHORT (24 INCH) LEVELING

STAND FOR INDOOR OR RELATIVELY
FLAT GROUND AND SMALL sUAS.
4 FT
D LOWER HOVERS AT 2 FT AGL.
B (LOW)
(LOW)
ALL TERRAIN (HEAVY DUTY) LEVELING BASE
WITH 2 x 4 x 48 INCH LEGS AND OUTRIGGERS
ALL TERRAIN (LIGHTWEIGHT) LEVELING
BASE WITH 2 x 2 x 36-48 INCH
LEGS AND OUTRIGGERS
36
Wall Task Apparatus

FRONT VIEW SIDE VIEW
STRUCTURE
DUAL BUCKET ALIGNMENTS
1.5 M (5 FT)
ADJUSTABLE
1.5 M (5 FT)
ADJUSTABLE
F T)
20
6 M(
POOL NOODLES ADD CONTRAST/BUMBERS

TO WALL AND REQUIRE SIMILAR OBSTACLE
AVOIDANCE WHEN SET UP IN A FIELD.
37
Indoor Environments
Confined Test Lane
• Exact same Obstructed Test Lane at half scale. Uses 10 cm
(4 in) diameter, 1-quart cups fitted with stickers.
• The DUAL BUCKET ALIGNMENTS provide half the stand-off

distance at 1 m (3 ft) from the apparatus.
• They lead pilots to safe proximities from walls, ceiling, and

floor to help understand distortions in their views, prop
wash effects, and generally get comfortable operating in
confined spaces.
• Practice in open areas, evaluate inside shipping containers

within defined 2.4 m (8 ft) rooms.
38
Indoor Environments
Confined Test Lane
SAFE DUAL BUCKET GPS DENIED DOOR/WINDOWS

ALIGNMENT POSITIONS PASS THROUGHS (POOL NOODLES)
39
Indoor Environments
METAL BUCKETS
BLEND INTO THE ENVIRONMENT Confined Test Lane
Standard Disaster Response Robot Challenge and Plant Disaster Prevention Challenge, World Robot Summit, Japan
40
Evaluate Sensors
DIFFERENT LEVELS OF ACUITY
Visual, Color, Motion, Thermal Acuity Interface Streamed Recovered
Measured as Interface (live), Streamed (delayed), and Recovered (removable media) LIVE BETTER BEST
ALIGN ALL THREE BUCKETS SIMULTANEOUSLY AND

YOU’RE AT EXACTLY THE RIGHT RANGE TO TARGET FOR
MEASUREMENT AND COMPARISON OF CAPABILITY
41
Evaluate Sensors
Heated reptile pads or hand warmers behind laser cut or drilled facades
(Indoor or outdoor use – typical sticker targets warmed by the sun also work)
An array of Concentric C thermal targets Concentric Cs laser cut into MDF with a reptile Drill Holes (1in, 1/2in, 1/4in) through plastic disks
placed throughout a scenario (needs power). heater. A metal backing helps diffuse the heat. with hand warmers heating a metal disk backing.
42
Evaluate Latency, Radio Comms Degradation, 3D Mapping

Repeatable Tasks Embedded Into Various Environments
Latency test with flashing “SOS” beacon or other light 3D Range Imager (LIDAR/LADAR)
(High speed phone camera video captures field and display views simultaneously) Resolution and Mapping
LIGHTED IN FIELD
ROOTOP
OBSTACLE / SUNNY
RECESSED
OPEN / SHADY
FLUSH
NOT LIGHTED YET CONFINED

ON DISPLAY
OPEN / SUNNY
43
Evaluate Night Operations

WHITE OR RED HEADLAMPS Precise Distance to Targets
WRAPPED AROUND BUCKETS POINTED INWARD
Thermal Acuity
Inside Buckets
Position accuracy for range to target Inspect objects of interest Identify objects Measure additional
using lighted buckets (red or white) using lighted buckets (red or white) lighted from the aircraft sensor capabilities
44
Compare Repeatable Scenarios

Focus Training and Evaluate Proficiency for Credentialing
ROOTOP
OBSTACLE / SUNNY
RECESSED
OPEN / SHADY
FLUSH
CONFINED
OPEN / SUNNY
20 OMNI TARGETS = 100 PTS 20 EXTERIOR/INTERIOR = 100 PTS 20 DOWNWARD 20 FORWARD
WIDE AREA SEARCH VEHICLE INSPECTION BUILDING EXTERIOR SEARCH

DHS Responder Familiarization Exercise
45
Simple Rules for Comparing Scores

• Compare scores for similar aircraft in the same size lanes or embedded scenarios
Use ALL tests and scenarios that apply to that aircraft or to the intended missions.
• Compare scores with the same trial times

Trial time limits for MAN = 5 minutes and PAY = 10 minutes to help normalize fatigue across several tests, so
novices don’t get worn out unnecessarily. They provide enough time for an “expert” to perform a complete
trial with 20 tasks. Longer times can be used for scenarios with embedded test apparatuses.
• Compare scores to “average” or “best-in-class” pilots across organizations or regions

• ”Expert” pilots designated by the manufacturer are used to capture the system’s best possible
performance in each test. Those scores are considered the 100th percentile of remote pilot proficiency for
that system. Your score is some percentage of that “expert” score (1-100%).
• For training, use the entire time limit and track your scores. When they become repeatable, your learning
phase is over. The best indicator of your proficiency in each test is the average of your last 5 trials.
• We will post “average” and ”expert” scores and rates for each aircraft in each test as we collect them.
46
Set Your Minimum Thresholds for Pass/Fail

• Organizations can set their own threshold for pass/fail in these tests based on their tolerance for reliability
and/or efficiency. Complete trials are assumed.
• Measure everybody repeatedly over time and graph the results to help people understand their strengths and
weaknesses. Then set minimum thresholds relative to the average or “expert” scores. Or adopt other
organization’s thresholds as a central credentialing reference.
• At deployment time, each organization needs to consider their airspace restrictions, environmental variables,
and mission complexity (night ops, BVLOS, etc.) to select a pilot and aircraft that’s likely to succeed.
Average Military 66%

Average Civilian 55%
Example proficiency data shown from bomb squads in ground robot tests
47
Supporting NFPA 2400 and ASTM F38 Practical Skills Requirements

“Standard Guide for Training for Remote Pilot in Command of UAS Endorsement”
Qualitative Task Performance Levels: Quantitative Measures Thresholds Set By Any Organization
Possible Examples Based on Airspace, Mission Complexity, Environment, etc.)
4) PROFICIENT
• Can do the complete task quickly and accurately. Organization or Mission “A” Pass/Fail
• Can tell or show others how to do the task. 80-100%
(maybe populated, obstructed area, windy, night, etc.)
3) COMPETENT
• Can do all parts of the task. Organization or Mission “B” Pass/Fail
• Needs only a spot check of completed work. 60-79% (maybe populated, open area, windy, daytime, etc.)
2) PARTIALLY PROFICIENT
• Can do most parts of the task. Organization or Mission “C” Pass/Fail
• Needs only help on hardest parts.
40-59% (maybe rural, open area, calm, daytime, etc.)
1) LIMITED
• Can do simple parts of task.
• Needs to be told or shown how to do most of task.
20-39%
48
Select Trial Settings for Different Flight Credentials

1) Select the test lane and scenarios based on the CREDENTIALS Daylight/LOS BVLOS Night Ops
intended environment and aircraft capabilities:
Standard Lane Pilot’s Eyes On Pilot’s Back Turned Lights Out, Buckets Lit
– Open, Obstructed, or Indoor (Indoor or Outdoor) (Available) (Interface Only)
Embedded Scenario Pilot’s Eyes On Pilot’s Back Turned

DAYLIGHT / LOS
Lights Out, Buckets Lit

(Available) (Interface Only)
2) Select the test procedure and time limit based (Indoor or Outdoor)
on the intended mission:

– MAN (5 min. each) or PAY (10 min. each)
BVLOS OR EYES ON
BACK TURNED AVAILABLE
3) Select the minimum proficiency based on
average or “expert” scores in the same trials:
– Example: 40%, 60%, 80% of “expert”
4) Select pilot view for BVLOS credentials:

– Eyes On or BVLOS
ADDITIONAL
5) Select lighting (indoor or outdoor) for daylight or

THE PILOT’S BACK TURNED TO THE LANE FORCES ILLUMINATED BUCKETS PROVIDE
night credentials: RELIANCE ON THE INTERFACE POSITIONING AIDS LIKE STRUCTURE
(VISUAL OBSERVER REQUIRED) WINDOWS OR STREET LIGHTS
– Lighted/Daylight or Dark 49
Open Test Lane and Embedded Scenarios

Usage Overview
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50
Open Test Lane

Purpose
S = SPACING 10(S) LENGTH S, 2(S), 5(S) ALTITUDES 20 FT (6 M)
LEFT 1B
1–4
TOP
HANDLE
1C BACK POSITION TEST ALTITUDE
FRONT 1A
“A” BUCKET
ALWAYS POINTING
TOWARD THE
1D RIGHT
(4) OMNI STANDS   S = 3 m (10 ft) 30 m (100 FT) 3, 6, 15 m (10, 20, 50 ft)
• Hold Position and Rotate
(4) OMNI
LAUNCH/LAND
These testft) methods

60 m (200for
FT) small
6, 12,unmanned aircraft • Fly Straight and Level
PLATFORM
TER
LIN
E
S = 6 m (20 30 m (20, 40, 100 ft)
BUCKET STANDS
CEN
• Climb and Descend ALIGNED 

systems
S = 9 m (30 can
ft) 90 bem used
(300 FT)to 9,quantitatively
18, 45 m (30, 60,evaluate
150 ft) WHEN RING IS
• Move and Rotate COMPLETELY
various system capabilities and remote pilot • Land Accurately VISIBLE
WHITEBOARD INFO DIGITAL CLOCK
T CO
DE
DATE TITIME
M proficiency. They are being standardized through
PILO E
the ASTM International Standards Committee on 10 FT (3 M)
• Designated hover
Homeland Security altitudes
Applications; are scalable
Response Robots
ALTITUDE
to the optics
(E54.09). They of
arethe
alsodrone.
referenced as Job
Performance Requirements in the National Fire
• Altitudes are equal to the ground
CH
LAND
UN
Protection Association Standard for Small
LA
distance between bucket stands.
LA
Bucket Stand #3
STAND 3
UN
IT
H Unmanned Aircraft Systems Used For Public (I,J,K,L)
W GET Bucket Stand #2(A, B, C, D)

CH
G R STAND 2
Safety Operations (NFPAstands
2400). apart to any
/L
• Move the bucket

(E,F,G,H)
D IN TA
AN
N S (A, B, C, D)
LA DIU
D
s Bucket Stand #1
Spacing
These test(S) to scale
are the entire lane.for
g
E STAND
(A,B,C,D) 1
A
PL
cin
AR R R Spa
AT
U E methods primarily intended ft (

3 m)
(A, B, C, D)
SQ NT
FO
10
IN CE
RM
8
4 2IN vertical takeoff
• Supports and landing
several systems
different flightwith an
paths.
CENTERLINE
1 Launch/Land FLIGHT LINE

MEASURING onboard camera and remote pilot display. Some 12in (30cm) Radius Center SIGHT LINE
are also applicable to fixed wing systems when the 51

Omni-Directional Bucket Stands

Open Test Lane
1
TOP
WHITE BUCKETS & GREEN RINGS BLACK BUCKETS & COLOR RINGS
IN STANDARD TEST LANES LEFT 1B HANDLE
1C BACK EMBEDDED INTO SCENARIOS
FRONT 1A 1D RIGHT BROKEN INNER BLACK EDGE

IS THE JUDGEMENT POINT
TS
CKE HE
LL
A TO W
BU
C
T
“A” ARD AND
H/L NE
ONLY THE NUMBERS
CHANGE FOR EACH 1A
IN T U N TERLI OMNI BUCKET STAND
PO LA CEN
FLUSH WITH TOP POST

S
LEG
SHOWN NOT ALIGNED SHOWN ALIGNED
52
Bucket Alignments Define Points of View

Open Test Lane
COMPLETE GREEN RING PARTIAL GREEN RING BROKEN GREEN RING

ALIGNED (PERFECTLY) ALIGNED (BARELY) NOT ALIGNED
THE INNER BLACK EDGE IS

THE EVALUATON POINT
1A
CO
1A 1A
BR
M
OK
PL
ET
EN
EE
ED
DG
G E
E
53
IN CE
48 2IN
1
Visual Acuity Targets
100-300
OpenFT MEASURING
Test Lane TAPE
ALIGN THE GREEN OR COLORED RING FIRST “CONCENTRIC C” GAP DIRECTIONS

Then Read the “Concentric C” Gap Directions 5 Increasingly Small Sizes (1 point each)
TOP
(T)
1A
A
LEFT ( L ) ( R ) RIGHT
UCKET BOTTOM LEFT ( BL )

Gap size (mm)
40 mm
16 mm
6.4 mm
2.6 mm
1.0 mm
0.41 mm
Gap size (inches)
1.58 in
0.63 in
0.25 in
0.10 in
0.04 in
0.016 in
Equivalent Avg. Human vision at 6 m (20 ft)
4.5 %
11 %
28 %
70 %
180 %
440 %
For accurate calibration, the outer diameter of the largest Landolt C optotype should be 200 mm (7.9 in). #3 ( BR ) BOTTOM RIGHT
(B)
NG BOTTOM
54
[4] Slotted leg extensions PIL ME
[8] ¼-20 x 2in hanger bolts and wing nutsStandard
for theTest Methods for Small Unmanned Aircraft Systems
leg extensions to slide on and tighten Response Robots (E54.09) | Website: RobotTestMethods.nist.gov
[15] 8in diameter weatherproof stickers

(see website to download the sticker files) Conduct Tests Two Ways
[4] Big numbers 1-1-1-1 inside the top bucket
[4] Big letters A-B-C-D around the top bucket Open Test Lane
[5] Acuity targets A-B-C-D inside bottom of all
Basic
[2] Perch acuity targets Maneuvering
insideBasic of A (MAN)
Maneuvering
and bottom Payload Functionality
Payload Functionality(PAY) ITH
W GET
NG TAR
1, 2, 3, 4 ALIGN WITH BUCKETS ALIGN AND IDENTIFY TARGETS I
ND IUS
.
B
Align with theAlign
20 designated buckets long
with the 20 designated enough
buckets long Alignwith
Align withthe
the
2020 designated
designated
A
buckets
E L Rlong
buckets
R
long enough
AD enough
to capture enough
a singletoimage (NO ZOOM) showing to capture
capturea single
a single image UAzoom
(FULL ER ZOOM)
showingshowing a
a continuous greena ring
zoom showing continuous C
capture a single image with no
inside green
each ring.
bucket.
The
to
continuousgreen
continuous green
image
ringring
at full
ANDAND
INthe
Q T
S increasingly
N
CEthe increasingly
a
small small
8
4 (up N
I up5 to
The numbersnumbers and letters
and letters areare bucketidentifiers.
bucket identifiers. Concentric
ConcentricC gap directions
C gap 12 to
directions deep).
5 deep.
AD 1 point100-300 FT MEASURING
gap shown inTAPE
A 1 point per successfully aligned image
per correct
the image
D
CO
CO
CH
TOP
BR
M
P E R IT Y
M
P1
O
PL
(T)
PL
KE
1A
ET
ET
ACU
N
E
1A
E
1A
BL
1A
GR
BL
NO
AC
CH A
EE
AC
1A 1A
N
KE
N
U
TA
KE
P1
AL
( R ) RIGHT
LA
LEFT ( L )
RI
DG
DG
IG
LIG
NG
E
NE
E
LEAVE CARRY HANDLE ON TOP BUCKET
NE
D
BOTTOM LEFT ( BL ) ( BR ) BOTTOM RIGHT

D
40 mm 1.58 in 4.5 %
16 mm 0.63 in 11 %
6.4 mm 0.25 in 28 %
2.6 mm 0.10 in 70 %
#3
1.0 mm 0.04 in 180 %
0.41 mm 0.016 in 440 %
(B)
tickers inside each bucket have a GREEN
OMNI INSCRIBED RING
BUCKETS ALIGNED ALIGNED NOT ALIGNED BOTTOM
(PERFECTLY) (BARELY) 55
Easy Fabrication
Open Test Lane
2 Gallon Buckets – Printed Stickers – Stowable and Transportable
1–41
FLUSH WITH TOP
POST
TOP
LEFT 1B TOP
HANDLE
1C BACK
LEFT 1B HANDLE
1C BACK
FRONT 1A 1D RIGHT
A
A
1A (4) OMNI STANDS
“A” BUCKET
FRONT
ALWAYS POINTING
TOWARD THE 1D RIGHT
(4)(4) OMNI
LAUNCH/LAND
OMNI BUCKET STANDS

PLATFORM
E
TS RLIN
CKE HETE
INT UN
PO LA
BU CTEN
“A” ARD ND
ALL TOW H/LA
C
CEN
TER
LIN
E
ONLY THE NUMBERS
CHANGE FOR EACH
OMNI BUCKET STAND BUCKET STANDS
WHITEBOARD
WHITEBOARD INFO
CAPTURES DIGITAL
DIGITAL CLOCK
CLOCK CAPTURES 1A
MAKEPILOT E
& AIRCRAFT DA|TTIME
DATEE/& TIME
| MODEL |C D
CONFIG
O DATE (SYNCED)
TIME
PILOT
S
LEG
ACUITY TARGET
FOR ALIGNMENT 2A
LA

UN
ITH
12 INCH RADIUS W GET
CH
G R
/L
CIRCLE FOR ACCURACY IN TA 3A
D
AN
N S
LA DIU
D
E A
PL
24 INCH 0R 48 INCH R R
AT
LAUNCH / LAND UA TER

FO
Q
S N
IN CE
RM
PLATFORM 8
4 2IN
CENTERLINE
1
CENTERLINE
MEASURING
MEASURING
100-300 FT MEASURING TAPE
TAPETAPE PRINT TARGET STICKERS PERCH ACUITY TARGETS STOW LANES IN STACKS TRANSPORT IN GOLF BAGS
56
Easy Set Up – Step 1 ITUDE

5(S)
T
Open Test Lane
AL

1–4
LEFT 1B TOP
HANDLE
1C BACK S = 3 m (10 ft) 3, 6, 15 m (10, 20, 50 ft) 30 m (100 ft)
FRONT 1A 1D RIGHT
(4) OMNI STANDS
“A” BUCKET
S = 6 m (20 ft) 6, 12, 30 m (20, 40, 100 ft) 60 m (200 ft)

ALWAYS POINTING
TOWARD THE
(4) OMNI
LAUNCH/LAND
PLATFORM
E
LIN
TER
BUCKET STANDS
CEN
S = 9 m (30 ft) 9, 18, 45 m (30, 60, 150 ft) 90 m (300 ft)
WHITEBOARD INFO
DE
PILOT & AIRCRAFT
DIGITAL CLOCK
DATE/&
DATE TITIME L INES
T CO PILO M E
LIG HT
DE 2
(S)
N F
WEE
TU S
I
ALT
BET
TAPE 4
U R ING
M E AS 5(S)
RLIN
E
LINE
D E S T E
ITU CEN )
ALT
ER APE 300 FT
NT
T
LA
G M(
C E RIN
UN
H ASU TO 90
z TCH A
IT
W GET E
CH
M UP
G R
E
S
3
/L
D IN TA
STR
AN
N S S
LA DIU S
2 KET STAND
D
E A
PL
AR R R
AT
UC
U
SQ NT
E S
1 NI B -B-C-D
)
( S )
FO
IN CE OM (A
10
RM
8
4 2IN S
CENTERLINE
1 ND
H /L A
MEASURING C
FL
N M
LAU ATFOR
IG
HT
LIN
E PL
57

5(S)
T
Open Test Lane
AL

1–4
LEFT 1B TOP
HANDLE
FRONT 1A 1D RIGHT
(4) OMNI STANDS
“A” BUCKET
S = 6 m (20 ft) 6, 12, 30 m (20, 40, 100 ft) 60 m (200 ft)

ALWAYS POINTING
TOWARD THE
(4) OMNI
LAUNCH/LAND
PLATFORM
E
LIN
TER
BUCKET STANDS
CEN
S = 9 m (30 ft) 9, 18, 45 m (30, 60, 150 ft) 90 m (300 ft)

T CO
DE
DATE TITIME
M UD ES
PILO T
ALTI
E
(S)
ALT
ITUDE 2
) AND SS
(S
AC ING 4
P
D ED S
INTEN 55((SS))
RLIN
E
ALT
ITU
DE S
S FOR T
CEN )
E
N APE 300 FT
ATIO
T
LA
G M(
RIN
C
UN
H ASU TO 90
zOTE LO
IT
W GET E
CH
M UP
G R
N
SS
3
/L
D IN TA
AN
N S
LA DIU DS
SS
2
D
E A S TAN
PL
T
AR R R CKE
AT
U
SQ NT
E SS
1 I BU B-C-D)
( S )
FO
N
IN CE OM (A-
10
RM
8
4 2IN SS
CENTERLINE
1 ND
H /L A
MEASURING C
FL
N M
LAU ATFOR
IG
HT
LIN
E PL
58

5(S)
T
Open Test Lane
AL

1–4
LEFT 1B TOP
HANDLE
FRONT 1A 1D RIGHT
(4) OMNI STANDS
“A” BUCKET
S = 6 m (20 ft) 6, 12, 30 m (20, 40, 100 ft) 60 m (200 ft)

ALWAYS POINTING
TOWARD THE
(4) OMNI
LAUNCH/LAND
PLATFORM
E
LIN
TER
BUCKET STANDS
CEN
S = 9 m (30 ft) 9, 18, 45 m (30, 60, 150 ft) 90 m (300 ft)
WHITEBOARD INFO
DE
DIGITAL CLOCK
A NDS
T ST
DATE TITIME
T CO PILO M E
K E
ITUDE 2
(S)
I B UC SS
MN
ALT
d O
M an 4
R
L ATFO
P 55((SS))
LINE
ALT
ITU
DE S
ND ING C
ER
ENT T)
/L A
E
TAP 00 F
LA
NCH RING 0 M (3
UN
H ASU 9
IT
W GET z E LAU ME UP TO
CH
G R
C
SS
3
/L
PLA
D IN TA
AN
N S
LA DIU DS
SS
2
D
E A S TAN
PL
T
AR R R CKE
AT
U I BU B-C-D)
SQ NT
E SS
1
FO
N
IN CE OM (A-
RM
8
4 2IN SS
CENTERLINE
1 ND
H /L A
MEASURING C
FL
N M
LAU ATFOR
IG
HT
LIN
E PL
59
Align To Buckets TITUDE

5(S)
AL
Open Test Lane
1–4
LEFT 1B TOP
HANDLE
FRONT 1A 1D RIGHT
(4) OMNI STANDS
“A” BUCKET
S = 6 m (20 ft) 6, 12, 30 m (20, 40, 100 ft) 60 m (200 ft)

ALWAYS POINTING
TOWARD THE
(4) OMNI
LAUNCH/LAND
PLATFORM
E
LIN
TER
BUCKET STANDS
CEN
S = 9 m (30 ft) 9, 18, 45 m (30, 60, 150 ft) 90 m (300 ft)

DE
DATE TITIME
T CO PILO M E
(S)
TUDE 2 S
I
ALT
4
5(S) E
DE S T E RLIN
ALT
ITU CEN )
T APE 300 FT
LA
G M(
RIN
UN
H ASU TO 90
IT
W GET z E
CH
M UP
G R S
3
/L
D IN TA
AN
N S
LA DIU DS
S
2
D
E A S TAN
PL
T
AR R R CKE
AT
U I BU B-C-D)
SQ NT
E S
1
FO
N
IN CE OM (A-
RM
8
4 2IN S
CENTERLINE
1 ND
/L A
MEASURING FL
IG
HT
N C H
LAU ATFOR
M Altitudes = Ground Distance Between Stands
PL
LIN
E
60
Choose Lane Spacing for Onboard Cameras

Open Test Lane
Alignments should be so S
obvious that a quick look at the DE 2

(S) 4
ITU
ALT
captured image thumbnails 5(S)
z TOP
show success or failure. (T)
( TR ) TOP RIGHT
TOP LEFT ( TL ) Standard Test Methods for Response Robots
3
S
A
S LEFT ( L ) ( R ) RIGHT
2
S
ND
1 BOTTOM LEFT ( BL )
Gap size (mm)
40 mm
16 mm
6.4 mm
Gap size (inches)
1.58 in
0.63 in
0.25 in
Equivalent Avg. Human vision at 6 m (20 ft)
4.5 %
11 %
28 %
( BR ) BOTTOM RIGHT
| LA
2.6 mm 0.10 in 70 %
#3
1.0 mm 0.04 in 180 %
0.41 mm 0.016 in 440 %
S
NCH (B)
LAU
FL
IG
HT
BOTTOM
LIN
E
An appropriate lane spacing is when a 2(S) hover allows reading at least the outer concentric C target two stands away.
EXCELLENT VIEW OKAY VIEW USE SHORTER LANE

61
(MAN 1 | PAY 1)
Evaluate Various Flight Paths and Sensors ion

18
Posit
DE
2(S)
4
Traverse
ITU
ALT
Open Test Lane

z 5(S)
z
(MAN 2 | PAY 2)
S
z S
3
DE
ITU S
ALT
2
S
1
END
S RT |
STA
FL
5 Different Orbits in Every Lane Spacing

IG
HT
LIN
E
(S) = 10ft, 20ft, 30ft, or other rse

S
e
4
v
1–4
LEFT 1B TOP
HANDLE
1C BACK
Tra 5(S)
FRONT 1A 1D RIGHT DE
S S
3
(4) OMNI STANDS
“A” BUCKET ITU
ALWAYS POINTING
ALT
S
TOWARD THE
2
(4) OMNI
LAUNCH/LAND
PLATFORM
END
S
1
LIN
E S RT |
TER STA
BUCKET STANDS
7(S)
CEN FL
IG
HT
LIN
E
6(S) t
4
Orbi
WHITEBOARD INFO DIGITAL CLOCK ALT
ITU
DE S 5(S)
DE
DATE TITIME
T CO PILO M E 5(S) S
S
3
S
2
1
S | END
START
FL
IG
CCW
HT zz
LIN
E CCW
(S)
DE 7
ALT
ITU zz CW
CW SS
CCW
zz
CCW
l
44
Spira
(S)
ALT
ITU
DE 6 zz CW
CW
(S)
DE 5
ITU
ALT T
IGHHT
FREEE
FR
FLIG
EFL
zz SS
33
LAND
LAND
LA
SS
22
UN
H SS
11
IT
W GET • 7(S) altitude
SS
z
2(S)
CH
FLFLIG
CCW
G R
IG H
HT T L
LININE
/L
IN TA
E
D
6(S) altitude
AN
S
•
ALIGN
N
LA DIU
NO
N-S
D
(S) LINE
TO
DE 2
P
TER
ITU E CEN
E A
ALT
4
PL
LAN S
THE
AR R R
VER
TOP
EL O
Reco
AT
5(S) altitude
LEV
4
•
-S
ND
HT A
NON
U
P
E
AIG
DE S 50FT
-STO
STR N
SQ NT
ITU
FO
FLY ON
ALT
z CW
NON
-S
TO 5(S)
TOP
P
IN CE
NO
RM
-S
N
-ST
NON
OP
8
• 2(S) altitude
DE X
4 2IN
10FT
3 ITU
z 3
AL
ALT S
IG
N
CENTERLINE
1 10FT
2 2
S
10FT
1
S
1
MEASURING
• S altitude
SS | END
END START
10FT T|
STAR
12
FL
IG
HT
FL LIN
IG E
HT
LIN
E
62
Position Standard Test Methods for Small Unmanned Aircraft Systems
(MAN 1 | PAY 1)
Position Test
MAN/PAY 1
• Hover stably in designated positions and orientations 1A
• Align with two buckets simultaneously at each position 1A 1A
CO
BR
NT
O
KE
IN
UO
N
• Basic maneuvers between positions
US
• Altitude S and 2(S) ALIGNED ALIGNED NOT ALIGNED
• Landing accuracy counts

• 20 alignments and targets in 1 lap MAN 1-5 BASIC MANEUVERING
S
ALIGN WITH BUCKETS
Align with 20 buckets long enough to
AL TITUDE
2(S)
4 capture a single image (NO ZOOM)
showing a continuous green ring inside
z 5(S) to determine successful alignment. The
z
numbers/letters are bucket identifiers.
zS S
3 PAY 1-5 PAYLOAD FUNCTIONALITY
ITU
DE
S
IDENTIFY VISUAL ACUITY TARGETS
ALT
2 Align with 20 buckets long enough to
capture a single image (FULL ZOOM)
ND
S
1 showing a continuous green ring AND
S R T|E
STA the increasingly small Concentric C gap
FL
IG
HT directions up to 5 deep in 8 different
LIN
E orientations.
63
TraverseStandard Test Methods for Small Unmanned Aircraft Systems
(MAN 2 | PAY 2)
Traverse Test
MAN/PAY 2
• Fly sideways along a line or object 1A
• Leftward and rightward directions to align with angled buckets 1A 1A
CO
BR
NT
O
KE
IN
UO
N
• Altitude S throughout
US
• Landing accuracy counts ALIGNED ALIGNED NOT ALIGNED
• 20 alignments and targets 2 laps

MAN 1-5 BASIC MANEUVERING
S ALIGN WITH BUCKETS
5(S) to determine successful alignment. The
PAY 1-5 PAYLOAD FUNCTIONALITY

AL TITUDE
S S
3 IDENTIFY VISUAL ACUITY TARGETS
S
ND
S
S R T|E
STA the increasingly small Concentric C gap
FL
IG
HT directions up to 5 deep in 8 different
LIN
E orientations.
64
Orbit Test
MAN/PAY 3
• Orbit around a designated point 1A
• Leftward and rightward directions to align with angled buckets 1A 1A
CO
BR
NT
O
KE
IN
UO
N
• Downward radius checks at start of each orbit
US
• Altitude S throughout ALIGNED ALIGNED NOT ALIGNED
• 20 alignments and targets in 4 laps

DE S 5(S) to determine successful alignment. The
L TITU
A
S PAY 1-5 PAYLOAD FUNCTIONALITY

S
S
S ND
T|E the increasingly small Concentric C gap
STAR
FL
IG
HT
directions up to 5 deep in 8 different
LIN
E orientations.
65
Spiral Test
MAN/PAY 4
• Fly freely to align all around downward objects
CCW
z 1A
• Rotate leftward and rightward directions alternately 1A 1A
CO
BR
NT
O
KE
IN
UO
N
• Any proximity is allowed
US
• Any altitude is allowed ALIGNED ALIGNED NOT ALIGNED
• 20 alignments and targets in 1 lap

z CW S ALIGN WITH BUCKETS
CCW
z Align with 20 buckets long enough to
z CW 4 capture a single image (NO ZOOM)
to determine successful alignment. The
T
FLIGH
z PAY 1-5 PAYLOAD FUNCTIONALITY
FRE
E S
LAND
S
S
S
the increasingly small Concentric C gap
orientations.
66
Recon Test
MAN/PAY 5
z
• Sustain speed over a line to establish stable hovers over objects CCW 1A
1A 1A
Downward and angled alignments at each end
CO
•
BR
NT
O
KE
IN
UO
N
• S altitude throughout
US
• 8(S) distance each way for 10 lengths
ALIGN
ALIGNED ALIGNED NOT ALIGNED
NO
• 80(S) total distance for trial N-S
TO
LINE P MAN 1-5 BASIC MANEUVERING
TER
• 20 alignments and targets in 5 laps LAN
EC EN
E
R TH
OVE
TOP
EL Align with 20 buckets long enough to
LEV
4
-S
D
T AN capture a single image (NO ZOOM)
NON
P
IGH
-STO
RA
ST NO showing a continuous green ring inside
FLY
z CW
N -S NON
TO 5(S) to determine successful alignment. The
TOP
NO P
-S
N
-ST
NON
OP
DE X
ITU
z 3
PAY 1-5 PAYLOAD FUNCTIONALITY
AL
AL T S
IG
N
IDENTIFY VISUAL ACUITY TARGETS

S
ND
S
SS T|E
STAR the increasingly small Concentric C gap
FL
IG
HT
LIN
E orientations.
67
Procedure: Complete 20 targets from a single postion at 2X over Bucket 3, with 180° rotations between every
target identification. Start at 2X altitude centered overStandard
Stand 3 facing down range.
Test Methods Alternate
for Small rotating
Unmanned 180° Systems
Aircraft up-
range and down-range to identify each designated target at 2X (below, near), 4X (up-range, mid), and 6X
(down-range, far). When facing up-range, simultaneously align with BOTH Bucket 3 and Bucket 1C to ensure
the correct location and altitude. Identify as many concentric C gap orientations as possible on each designated
Add Sensor Panels for Cameral Pointing and Zooming Test
target or the key features of the other targets. Stopping at each bucket alignment is expected. A single image of
each bucket alignment and landing should be captured for verification if necessary. Continue until the trial is
complete or the timer expires.
Training and Evaluation VIS
UA
L&
Form Fill-in: Circle the number, letter, or word (shown in green) for each successfully aligned bucket and CO
LOR
accurate landing, or strike through if missed. Circle a concentric C gap direction (shown in blue) for each ACU
successfully identified target, or strike through if missed. Circle a FAULT (shown in red) and strike through the ITY
entire lap if there is any contact with an apparatus or the ground, or if the drone leaves the lane for any reason.
M
z DE OT
TE IO
1. Visual Acuity
TUDE
2( S) D CT N
IO
2. Color Acuity TI N
AL LIC
) HA E
3. Hazmat Label Identification
= 6(S LA ZMA
P LA NSE
4. Motion Detection ANGE BE T TE
S
ALIGN
R LS
5. Thermal Acuity FAR OB
J
TH
E
IN ECT AC RM
B
N
3
IG
TE S
A
UI AL
AL
RE OF TY
ST
2
= 2(S)
NGE
1 1C R RA
NEA
TOP
(T)
( TR ) TOP RIGHT
C A
( R ) RIGHT
LICENSE OBJECTS OF THERMAL
LEFT ( L )
PLATES INTEREST HAND WARMER
= 4(S) BOTTOM LEFT ( BL ) ( BR ) BOTTOM RIGHT

40 mm 1.58 in 4.5 %
16 mm 0.63 in 11 %
6.4 mm 0.25 in 28 %
GE
2.6 mm 0.10 in 70 %
#3
1.0 mm 0.04 in 180 %
0.41 mm 0.016 in 440 %
(B)
RAN BOTTOM
MID
*If your training aircraft camera has a limited range of motion, align with as many buckets as possible.
Pilot proficiency should only be compared using similar systems.
68
Evaluate Sensors
Indoor Layout on Basketball/Tennis Courts

Training and Evaluation
Ceiling height determines maximum safe hover altitude (2X)
Canadian Police College, London, Ontario, Canada 70

(MAN 1 | PAY 1)
Football Field Layout for Concurrent Lanes ion

18
Posit
DE
2(S)
4
Traverse
ITU
ALT

z 5(S)
z
(MAN 2 | PAY 2)
S
z S
3
DE
ITU S
ALT
2
S
1
END
S RT |
STA
BOUNDARY: ±15 m (45 ft) or +50% ERROR ALLOWED FL

IG
HT
LIN
E
BOUNDARY
RADIUS: 10 m (30 ft)
LANE SPACING
rse
S
e
4
10 m (30 ft)
Trav 5(S)
DE
S S
3
BOUNDARY (+50%)
ITU
ALT
S
2
S
1
± 15 m (45 ft) END
LANE 6
S RT |
STA
FL
IG
HT
LIN
E
ORBIT LANE LENGTH

TRAVERSE 100 m (300 ft) S
BOUNDARY 4
t
Orbi
DE S 5(S)
ITU
ALT
S
3
BOUNDARY
BOUNDARY
BOUNDARY
BOUNDARY
BOUNDARY
S
S
2
LANE SPACING S
START
| END
1
3 m (10 ft)
FL
IG
CCW
HT zz
CCW
BUFFER ZONE
BUFFER ZONE
BUFFER ZONE
BUFFER ZONE
BUFFER ZONE
BUFFER ZONE
LIN
E
BOUDARY (+50%) zz CW
CW SS
±5 m (15 ft) CCW

zz
CCW
l
44
Spira
zz CW
CW
LANE LENGTH IGHHT

T
FREEE
FLIG
EFL
zz SS
33
30 m (100 ft)
FR
LAND
LAND
SS
22
SS
11
SS
z
FLFLIG
CCW
IG H
HT T L
LININE
E
ALIGN
NO
N-S
TO
LINE P
TER
LANE 1 LANE 2 LANE 3 LANE 4 LANE 5 VER

THE
LAN
E CEN S
TOP
EL O
Reco
LEV
4
-S
ND
HT A
NON
P
AIG
-STO
STR N
PROCTOR TABLE / POWER / CHARGING / WATER FLY ON
z CW
NON
-S
TO 5(S)
TOP
NO P
-S
N
-ST
NON
OP
DE X
ITU
z 3
AL
ALT S
IG
N
S
2
S
1
SS | END
START
12
FL
ORBIT PATH AND PILOT, VISUAL OBSERVER,

IG
HT
SENSOR PANELS LAUNCH/LAND OMNI BUCKET STANDS

LIN
E
TRAVERSE PATH AND FORM FILLER

& FLIGHT LINES PLATFORM #1, #2, #3, #4 71
Open Area Scenarios with Directed Points of View

ROOTOP
OBSTACLE / SUNNY
RECESSED
OPEN / SHADY
FLUSH
CONFINED
OPEN / SUNNY
WIDE AREA SEARCH VEHICLE INSPECTION BUILDING EXTERIOR

DHS Responder SEARCH
Familiarization Exercise
(DOWNWARD OBJECTS) (EXTERIOR AND INTERIOR) (DOWNWARD OBJECTS)
72
Wide Area Search

Conducted at Multiple Exercise Locations 73

Vehicle Inspection
Establish a hover aligned directly over 20 VISUAL / COLOR ACUITY TARGETS INTERIOR UNDERBODY
top of the omni bucket stand on the (100 POINTS)
roof. The top bucket contains a number,
visual acuity target, hazmat label, or DOWNWARD
other operationally significant object. ANGLE VIEWS
Based on that initial target determine if

further inspection is warranted. There
VIN #
could be several vehicles in the scenario. SUSPICIOUS FEATURES
LICENSE PLATES
Inspect the A-B-C-D sides of the vehicle

in order starting with the front (A) side
to identify 20 targets with 5 levels of
WHEELWELL OBJECTS
acuity (1 point each up to 100 points). LISCENSE PLATES
Each side has a rooftop angled bucket,
UNDERBODY OBJECTS
exterior, interior, and underbody
locations to identify targets.
Perch on the ground to identity A Side Targets (Front): Rooftop Omni, License, VIN#, Interior, Interior
B Side Targets (Pass): Rooftop Omni, Exterior Feature, Underbody, Interior, Interior
underbody targets if necessary. This C Side Targets (Rear): Rooftop Omni, License, Exterior feature, Interior, Interior
demonstrates ability to maintain the D Side Targets (Driver): Rooftop Omni, Exterior Feature, Underbody, Interior, Interior THROUGH WINDOW GLARE
view and assist ground robots coming
down range to deal with the object. Canadian Police College, London, Ontario, Canada 74
Box Truck Inspection

Establish a hover aligned directly over VIN NUMBER UNDERBODY
top of the omni bucket stand on the
visual acuity target, hazmat label, or
other operationally significant object.

could be several vehicles in the scenario.
LICENSE PLATES
acuity (1 point each up to 100 points).
B Side Targets (Pass): Rooftop Omni, Exterior Feature, Underbody, Interior, Interior
underbody targets if necessary. This C Side Targets (Rear): Rooftop Omni, License, Exterior feature, Interior, Interior
demonstrates ability to maintain the D Side Targets (Driver): Rooftop Omni, Exterior Feature, Underbody, Interior, Interior REAR CARGO EXTRA 10 TARGETS (50 PTS)
down range to deal with the object. NIST, Gaithersburg, MD 75
Fuel Truck / Rail Car Inspection

Establish a hover aligned directly over INTERIOR OBSTRUCTIONS
VIN NUMBER, INTERIOR
top of the omni bucket stand on the
visual acuity target, hazmat label, or
other operationally significant object.

could be several vehicles in the scenario.
TOP VALVES

acuity (1 point each up to 100 points).
B Side Targets (Pass): Rooftop Omni, Exterior Feature, Underbody, Interior, Interior UNDERBODY EXTRA 10 TARGETS
underbody targets if necessary. This C Side Targets (Rear): Rooftop Omni, License, Exterior feature, Interior, Interior (50 POINTS)
demonstrates ability to maintain the D Side Targets (Driver): Rooftop Omni, Exterior Feature, Underbody, Interior, Interior
down range to deal with the object. Safety and Emergency Response Training Center (SERTC), Pueblo, CO 76
Exterior Structure Search

DOWNWARD TARGETS
• 4 OMNI STANDS ROOTOP
• 20 BUCKETS
• 100 POINTS
FORWARD TARGETS OBSTACLE / SUNNY

• 4 OMNI STANDS
• 20 BUCKETS RECESSED SHADY
• 100 POINTS
FLUSH
CONFINED
OPEN SIDE OF BUILDING
OPEN / SUNNY
20 DOWNWARD = 100 PTS 20 FORWARD = 100 PTS
DHS Responder Familiarization Exercise 77

Open Test Lane

Fabrication Overview
VERSION 2020B
A RD TEST MET
OD S • SAFET
A
OB
ST
M
M
S
• TRAIN • E
Y•
GE VA
EN
• ENERG
LL
S
LU
C TURER
DM
CHA
ATE
INIST
RA
Y•
FA
MANU TO R S
SENSO
TY
BILI
IC
AE
PONDER
ES
AT
AL
RI
S
U
ES
• G Q
ROUND • A
RA
RS
RE
DU
UT
IT I
•A
•
O
SP
ON C Y
NS OM IE N
IL
AB
Y • P R O FIC
Adam Jacoff O B OT
Internet Email
78
Open Test Lane ITUDE

5(S)
T
AL
S = SPACING 10(S) LENGTH S, 2(S), 5(S) ALTITUDES

1–4
LEFT 1B TOP
HANDLE
1C BACK S = 3 m (10 ft) 30 m (100 FT) 3, 6, 15 m (10, 20, 50 ft)
FRONT 1A 1D RIGHT
(4) OMNI STANDS
“A” BUCKET
S = 6 m (20 ft) 60 m (200 FT) 6, 12, 30 m (20, 40, 100 ft)

ALWAYS POINTING
TOWARD THE
(4) OMNI
LAUNCH/LAND
PLATFORM
E
LIN
TER
BUCKET STANDS
CEN
S = 9 m (30 ft) 90 m (300 FT) 9, 18, 45 m (30, 60, 150 ft)

DE
DATE TITIME
T CO PILO M E
(S)
TUDE 2 S
I
ALT
4
5(S) E
DE S T E RLIN
ALT
ITU CEN )
T APE 300 FT
LA
G M(
RIN
UN
H ASU TO 90
IT
W GET z E
CH
M UP
G R S
3
/L
D IN TA
AN
N S
LA DIU DS
S
2
D
E A S TAN
PL
T
AR R R CKE
AT
U I BU B-C-D)
SQ NT
E S
1
FO
N
IN CE OM (A-
RM
8
4 2IN S
CENTERLINE
1 ND
H /L A
MEASURING C
FL
N M
LAU ATFOR
IG
HT
LIN
E PL
79
Open Test Lane

1–4
FLUSH WITH TOP
LEFT 1B TOP
HANDLE
1C BACK
POST
FRONT 1A 1D RIGHT
A
A
(4) OMNI STANDS
“A” BUCKET
ALWAYS POINTING
TOWARD THE
(4) OMNI
LAUNCH/LAND
PLATFORM
E
LIN
TER
BUCKET STANDS
CEN
WHITEBOARD INFO DIGITAL CLOCK 1A
DE
DATE TITIME
T CO PILO M E
S
LEG 2A
LA

UN
H
IT
W GET
CH
G R
/L
D IN TA 3A
AN
N S
LA DIU
D
E A
PL
AR R R
AT
U E
SQ NT
FO
IN CE
RM
8
4 2IN
CENTERLINE
1
MEASURING PRINT TARGET STICKERS PERCH ACUITY TARGETS STOW LANES IN STACKS TRANSPORT IN GOLF BAGS
Stowing and Transport

Stacking Lanes and Scenarios in Sets Transporting Multiple Lanes Hinged Stands Fold Into Buckets for Golf Bag Storage and Transport
(Top Bucket Handles Ready to Grab) (Stands and Buckets Stacked Separately) (2 Golf Bags per Lane)
STAND CADDIES FOR TRANSPORT ONLY GATE HINGES
A
A
1A
2A
3A
ALUMINUM LEG (2) GOLF BAGS NEEDED PER LANE

EXTENSIONS
81
Omni Bucket Stands

Fabricate Stand:
[1] POST 10 x 10 x 15cm (4 x 4 x 6in) FLUSH WITH TOP
POST
[4] LEGS 5 x 10 x 30cm (2 x 4 x 12) with 45-degree tapers on both ends 1
cut tall on the miter saw with opposing tapers. TOP
[8] 7.5cm (3in) screws to affix the legs flush with the top of the POST.
Use 2 screws per leg through the tapered top end.
LEFT 1B HANDLE
1C BACK
Sticker Buckets: (download the sticker files here) FRONT 1A 1D RIGHT
[5] White buckets 7.5-liter (2-gallon) or 20cm (8in) diameter.
S
LEG
[15] 8in diameter matte weatherproof polyester stickers.
[4] Big numbers inside each top bucket 1111 , 2222, 3333, 4444. TS
CKE E
[4] Big letters around each top bucket ABCD, ABCD, ABCD, ABCD. ” BU D TH
“A AR ND
ONLY THE NUMBERS
[5] Acuity targets inside all bottoms 1-1A-1B-1C-1D, 2-2A-2B-2C-2D, etc. ALL TOW H/LA E
CHANGE FOR EACH
INT UNC TER
LIN OMNI BUCKET STAND
PO LA CEN
[2]Perch acuity targets inside and under bucket 1A only (see picture).
Affix Buckets to Stand

• Leave the carry handle on top numbered buckets.
• Remove the handles from all angled lettered buckets.
[2] 7.5cm (3 in) screws with washer heads attach top buckets into the post end grain.
This enables the handled bucket to carry the entire weight of the stand.
Both screws should go through the largest Concentric C in the target.
[10] 4cm (1-1/2in) screws with washer heads to affix the angled buckets.
Angled buckets should be touching the top bucket to support stacking.
Both screws should go through the green inscribed alignment ring.
82
Washer Head Star/Torx Bit Screws

LIGHT DUTY – IF BUILDING ONLY SHORT OMNI-STANDS HEAVY DUTY – TALLER/LARGER/HINGING APPARATUS FABRICATION
AND SHORT OMNI-STANDS TO KEEP THE TOOL BITS THE SAME (PREFERRED)
(100) #8 x 1-1/2in screws with WASHER HEADS
FOR ATTACHING BUCKETS (WASHER HEADS ARE ESSENTIAL) (100) 1/4in x 1-1/2in screws (T25 BIT) with WASHER HEADS – FOR ATTACHING BUCKETS
$10 per 175 count box (WASHER HEADS ARE ESSENTIAL)
https://www.homedepot.com/p/SPAX-8-x-1-1-2-in-T-Star-Plus-Drive-Washer-Wafer- http://www.screwsolutions.com/CCTX- 14150100-14-x-1-12-Bronze-Star-ACQ-
Head-Partial-Thread-Yellow-Zinc-Coated-Cabinet-Screw-175-Box- Compatible-Star-Drive-Exterior- Construction-Lag-Screws--100- count_p_364.html
4281020400406/204403038
(100) 1/4in x 2-1/2in screws (T25 BIT) with WASHER HEADS – FOR ASSEMBLY OF LEGS TO
(100) #10 x 2-1/2in screws with WASHER HEADS POSTS
FOR ASSEMBLY OF LEGS TO POSTS (NON WASHER HEADS WORK) https://www.screwsolutions.com/CCTX-14250100-14-x-2-12-Bronze-Star-ACQ-
10 per omni-stand – $10 per 75 count box Compatible-Star-Drive-Exterior-Construction-Lag-Screws--100-count_p_368.html
https://www.homedepot.com/p/SPAX-10-x-2-1-2-in-T-Star-Drive-Washer-Wafer-
Head-Partial-Thread-Yellow-Zinc-Coated-Cabinet-Screw-75-per-Box- (100) 1/4in x 4in screws (T25 BIT) with WASHER HEADS – FOR ALL HINGE JOINTS IN
4281020050606/206870578?MERCH=REC-_-pipinstock-_-204403038-_-206870578- STOWABLE APPARATUSES
_-N http://www.screwsolutions.com/CCTX- 14400100-14-x-4-Bronze-Star-ACQ- Compatible-
Star-Drive-Exterior- Construction-Lag-Screws--100- count_p_372.html
or
https://www.homedepot.com/p/SPAX-1-4-in-x-4-in-T-Star-Washer-Head-Exterior-HCR-
PowerLag-Screw-4581820701007/206680927
or
https://www.amazon.com/4581820701555-T-Star-Washer-Exterior-
Powerlag/dp/B018JQFDLM/ref=sr_1_2?crid=3REZPBUZV1C5T&dchild=1&keywords=spax
+washer+head+screws&qid=1585935770&sprefix=spax+washer+head%2Caps%2C251&s
r=8-2#customerReviews
Disclaimer: Commercial equipment shown in this document are for illustrative purposes only. This does not imply recommendation or endorsement by the National Institute of Standards and
Technology, nor does it imply that the products identified are necessarily the best available for the purpose. 83
White/Black Buckets
• Any 7.5-liter (2-gallon) or 20cm (8in) diameter buckets fit the printed stickers and disk
inserts perfectly
• White buckets for standard lanes (using white printed sticker target files) and embedding
into scenarios as s more obvious scoring system among operational tasks.
• Black buckets for embedding into scenarios (using black printed sticker target files) to hid
better in shadows.
ULINE 7.5-liter (2-gallon) Pail, $3 each, Need 20 per standard lane or scenario
Part# S-9941W (WHITE) for standard test lanes or S-9941B (BLACK)
WHITE: https://www.uline.com/Product/Detail/S-9941W/Pails/Plastic-Pail-2-Gallon-White
BLACK: https://www.uline.com/Product/Detail/S-9941BL/Pails/Plastic-Pail-2-Gallon-Black
Stickers for Acuity Targets and Others

• Any 20cm (8in) round sticker can work.
• Polyester waterproof stickers are very forgivable at first placement. They

can be easily removed and placed again if not quite centered or oriented
correctly.
• They are also waterproof so can last a long time outdoors in rain and sun.
• 50 stickers needed for a basic Open Area Lane lane or scenario. More if you DOWNLOAD WHITE OMNI BUCKET
want to Disk Inserts with operational sticker targets to randomize. STICKERS FILE HERE
• See POINTERS to download various sticker files to print for standard lanes
and scenarios.
ONLINE LABELS – 20cm (8in) round, waterproof polyester/matte 1A

100 sheets, $50, 50 sheets needed for a basic open lane or scenario
Part#: OL3033LP for Waterproof Polyester for Laser Printers (preferred)

https://www.onlinelabels.com/products/OL3033
Part#: OL3033WJ for Waterproof Matte for Inkjet Printers

https://www.onlinelabels.com/products/OL3033
DOWNLOAD BLACK OMNI BUCKET

STICKER FILE HERE
Disk Inserts
• Any 20cm (8in) round disk insert can work.
• Affix the visual acuity target stickers permanently inside the buckets at fabrication
time. Then use disk inserts to enable randomization of various operationally
significant objects of interest. Make your own too.
• Wood disks appear to be cheapest, easiest, and durable enough even though they
are relatively thin. PVC foam, plastic and metal are options may also work. TEMPORARY EASY TO
RANDOMIZE
DROP-IN
DISK INSERT IN SCENARIOS
• Affix different types on BOTH sides of the disks to change themes easily.
DOWNLOAD VEHICLE SCENARIO STICKER FILE
• Use one disk per stand. So 10 per lane/scenario (20 stickers) is plenty.
Wood 8in round disk x 0.1in thick (preferred)

Amazon, Juvale Unfinished Wood 8" Circle 10-Pack for DIY Crafts, Item# B07C49QVWK, 10-pack, $13
https://www.amazon.com/dp/B07C49QVWK/?coliid=IR5XU8X86ES5T&colid=24KBO1BGJ06L5&psc=1&ref_=lv_ov_lig_dp_it
Wood 8in round disk x 1/8in thick

Amazon, Craft Parts Direct, Item# PC080010, 10-pack, $17.
https://www.amazon.com/Natural-Unfinished-Round-Circle-Cutout/dp/B00YYCVBS0
Aluminum 8in round disk

American Metalcraft, Item#18908. 24 pack, $2.30 each, 6lbs total
https://www.amnow.com/product-category/pizza-supplies/separators/round-separators/
https://www.amnow.com/product/18908/
DOWNLOAD SEARCH SCENARIO DISK INSERTS

Leveling Feet (Optional)

Optional:
[4] Adjustable foot inserts (plastic/felt)
- Can level to 5-10 degrees in uneven ABOUT 10 DEGREES OF VARIABILITY

parking areas or clump grass fields.
- Can protect improved flooring like

basketball or tennis courts.
- Can protect the roof of a rented vehicle

scenario.
PROTECTS FLOORS OR CAR ROOF IF NECESSARY
Swivel Furniture Leg

Levelers - Adjustable
Leveling Feet Glide
for Tables Chairs
Cabinets Workbench
DRILL HOLE NEAR INNER EDGE
Shelving Rack
https://www.amazon.com/
dp/B07RXHRKB7/ref=dp_ce
rb_3
Leg Extensions for Uneven Terrain (Optional)

Technology, nor does it imply that the products identified are necessarily the best available for the purpose.
Leg Extensions for Uneven Terrain (Optional)

2.5 x 10 x 30cm (1 x 4 x 12in) wood
leg extensions can level in any terrain
A) WIDE VELCRO STRIPS STAPLED to the OPTIONAL

underside of the legs and one face of the ALUMINUM DRILL HOLE AT
EXTRUSION LEG CENTER OF LEG FIRST
extensions can provide enough strength
EXTENSIONS
and adjustment to level in ANY TERRAIN.
B) SLOTS can slide on hanger bolts twice as

thick as the wood extension and tighten
wing nuts on underside of legs. DRILL HOLE AT CENTER OF LEG FIRST
THEN DRAW CENTERLIN

https://www.amazon.com/d
p/B001DT4T9A/?coliid=I1XL8
PHSYIOJ1U&colid=24KBO1BG
J06L5&psc=1&ref_=lv_ov_lig
_dp_it_im
E TO ONE EDGE
https://www.amazon.com/ WASHER HEAD SCREWS CAN BE
dp/B00GAEOHHM/?coliid= QUICK AND EASY AND BIND TO
IWB7Y6WN997EB&colid=2
4KBO1BGJ06L5&psc=1&ref HOLD THE LEVEL POSITION.
_=lv_ov_lig_dp_it
BUT HANGER BOLTS AND WING
NUTS ALLOW TIGHTENING TOO. CUT BOTH SIDES OF LINE FROM EDGE TO HOLE
Launch/Land Platform
Any thin panel of PVC or wood laminates can be used. Need 2 sheets for
landing.
24 INCH PLATFORM FOR SMALLER DRONES 1) Use a long straight
Home Depot, 1/4 in x 24 in x 4 ft White PVC Trim, 1 per, $16 each edge across both
https://www.homedepot.com/p/1-4-in-x-24-in-x-4-ft-White-PVC-Trim-1506278/301230763
diagonals to mark the
(4) OMNI STANDS panel center.
Amazon, Online Metal Supply, Expanded PVC Sheet 3mm x 24" x 48", White (3-Pack), $48,
https://www.amazon.com/dp/B07Y4495LS/?coliid=I39TE4NX5CNOQC&colid=24KBO1BGJ06L5&psc=1&ref_=lv_ov
IUS
_lig_dp_it_im H RAD SCREW
12 INC 2) Insert a short screw
[1] ROLL WHITE 2 IN WIDE DUCT TAPE FOR HINGE ON BOTH SIDES OF PANELS &
CABLE TIES at the intersection and
https://www.amazon.com/Gorilla-6025302-White-Tough-
Wide/dp/B07LFZF9KN/ref=sr_1_6?dchild=1&keywords=white+3in+duct+tape&qid=1585934432&sr=8-6 mark the 12 inch radius.
WHITEBOARD SYNCED
ATE/TI CLOCK
[1] ¼ IN DRILL BIT FOR ROPE HOLES IN FOLDING SENSOR PANEL A-FRAMES
CODE D
3) Loop and adjust a
https://www.amazon.com/DEWALT-DW1354-14-Piece-Titanium- PILOT ME
Yellow/dp/B0045PQ762/ref=sr_1_5?dchild=1&keywords=drill+bit+set&qid=1585934827&sr=8-5 series of cable ties
[1] ¼ IN POLY ROPE x 100 FT FOR A-FRAME BOTTOM TO LIMIT 90 DEGREE OPEN ANGLE (TIE around the screw while
KNOTS OUTSIDE HOLES) pulling the loop tight
https://www.amazon.com/Lehigh-Group-DF4100W-P-Df4100Hd-
Braided/dp/B000SKZND6/ref=sr_1_13?dchild=1&keywords=1.4in+poly+rope+100ft&qid=1585934671&sr=8-13 with the tip of the thick
ACUITY TARGET marker at the 12 inch
[1] SCISSOR TO CUT EXCESS POLY ROPE AND EXCESS DUCT TAPE
https://www.amazon.com/Acelone-Stainless-Multi-function-Scissors- radius.
Vegetables/dp/B07K72PHLS/ref=sr_1_8?dchild=1&keywords=scissors&qid=1588007052&s=industrial&sr=1-8
FOLDING 48 INCH LANDING
[1] 1-1/2 IN PADDLE BIT FOR CARRY THUMB HOLES ON TOP PLATFORM CAN BE CONSTRUCTED 4) Rotate the marker tip
https://www.amazon.com/DEWALT-DW1586-2-Inch-6-Inch- H to mark the thickest
12 INCH RADIUS CIRCLE IT SAME AS SENSOR PANEL A-FRAME
Spade/dp/B0001LQYIU/ref=sr_1_5?dchild=1&keywords=paddle+bit+large&qid=1585935081&sr=8-5
W GET possible dimension.
ON G R BUT WITHOUT THE BOTTOM ROPE
[1] SHARPIE MAGNUM MARKER FOR 12IN RADIUS CENTER CIRCLE (USE A CENTER SCREW AND D IN TA
48 INCH PLATFORM N S CONSTRAINTS.
ADJUSTABLE LOOP OF CABLE TIES)
E LA DIU 5) Kneel on the landing
https://www.amazon.com/SNF44001-Sharpie-Magnum-Permanent- R R A
Marker/dp/B003WPC3NC/ref=sr_1_6?dchild=1&keywords=sharpie+magnum&qid=1588084926&sr=8-6
QUA TER FOLD WITH STICKERS ON INSIDE as a counter-weight and
S N ACROSS THE TAPE HINGE SEAM push away from your
[1] WHITEBOARD AND THICK MARKERS
8IN CE
https://www.amazon.com/gp/product/B06VVBW9BQ/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&psc=1 4 2IN TO PROTECT THEM DURING body to ensure a
1
STOWING AND TRANSPORT circular mark all the
[1] DIGITAL CLOCK SYNCED TO NIST TIME 100-300 FT MEASURING TAPE
https://www.amazon.com/Marathon-Temperature-Humidity-Color-Graphite-SKU- way around.
CL030062GG/dp/B01M11AJTN/ref=sr_1_12?dchild=1&keywords=synced+clock&qid=1588085468&sr=8-12
(down-range, far). When facing up-range, simultaneously align with BOTH Bucket 3 and Bucket 1C to ensure
Standard
the correct location and altitude. Identify as many concentric Test orientations
C gap Methods for as Small Unmanned
possible on eachAircraft Systems
designated
target or the key features of the other targets. Stopping at each bucket
Response Robotsalignment is expected.
(E54.09) | Website: A single image of
RobotTestMethods.nist.gov
each bucket alignment and landing should be captured for verification if necessary. Continue until the trial is
complete or the timer expires.
Sensor Panels for Point and Zoom Camera Tests
Form Fill-in: Circle the number, letter, or word (shown in green) for each successfully aligned bucket and
accurate landing, or strike through if missed. Circle a concentric C gap direction (shown in blue) for each VIS
UA
successfully identified target, or strike through if missed. Circle a FAULT (shown in red) and strike through the L&
entire lap if there is any contact with an apparatus or the ground, or if the drone leaves the lane for any reason. CO
LOR
ACU
z ITY
1. Visual Acuity
TUDE 2
( S) D
2. Color Acuity I
ALT M
DE OT
)
3. Hazmat Label Identification 6(S TE IO
E= CT N
4. Motion Detection ANG IO
ALIGN
R N
5. Thermal Acuity FAR HA
LA ZMA LI
B
N
3
IG
BE T P CEN
A
AL
LS L S
OB ATE E TH
2 JE S E
AC RM
2(S)
IN CT
= TE S UI AL
RE OF
NGE ST TY
1 1C R RA
NEA
TOP
(T)
( TR ) TOP RIGHT
C LEFT ( L )
A
( R ) RIGHT LICENSE OBJECTS OF THERMAL
PLATES INTEREST HAND WARMER
S)
= 4( BOTTOM LEFT ( BL ) ( BR ) BOTTOM RIGHT
40 mm 1.58 in 4.5 %
16 mm 0.63 in 11 %
6.4 mm 0.25 in 28 %
E
2.6 mm 0.10 in 70 %
#3
1.0 mm 0.04 in 180 %
0.41 mm 0.016 in 440 %
G (B)
RAN BOTTOM
MID
*If your training aircraft camera has a limited range of motion, align with as many buckets as possible.
Pilot proficiency should only be compared using similar systems.

Fabrication Overview WATCH MOVIE OF ASSEMBLY PROCESS HERE
Any thin panel of PVC or wood laminates can be used, although the PVC will last longer.
CENTERS OF 8 IN
Home Depot, 1/4 in x 24 in x 4 ft White PVC Trim (the picture isn’t quite reflective of the product), $16 each CIRCLE STICKERS
Need 6 sheets for Sensor panels and 2 sheets for foldable 4ft landing per lane.
https://www.homedepot.com/p/1-4-in-x-24-in-x-4-ft-White-PVC-Trim-1506278/301230763
Amazon, Online Metal Supply, Online Metal Supply Expanded PVC Sheet 3mm x 24" x 48", White, 3-pack, $48, 8 in
7 in
Need 6 sheets for Sensor panels and 2 sheets for foldable 4ft landing per lane. LAY FLAT TO TAPE HINGE Diam
https://www.amazon.com/dp/B07Y4495LS/?coliid=I39TE4NX5CNOQC&colid=24KBO1BGJ06L5&psc=1&ref_=lv_ov_lig_dp_it_im ON UNDER SIDE FIRST. i n
42
THEN FOLD AND TAPE i n
10
AGAIN ON TOP EDGES. 33
in
[1] ROLL WHITE 2 IN WIDE DUCT TAPE FOR HINGE ON BOTH SIDES OF PANELS i n
https://www.amazon.com/Gorilla-6025302-White-Tough- 24
Wide/dp/B07LFZF9KN/ref=sr_1_6?dchild=1&keywords=white+3in+duct+tape&qid=1585934432&sr=8-6 in
15 LEAVES 3 INCH TOP AND
7 in
[1] ¼ IN DRILL BIT FOR ROPE HOLES IN FOLDING SENSOR PANEL A-FRAMES n
https://www.amazon.com/DEWALT-DW1354-14-Piece-Titanium- 6i BOTTOM BORDERS FOR
Yellow/dp/B0045PQ762/ref=sr_1_5?dchild=1&keywords=drill+bit+set&qid=1585934827&sr=8-5 TAPE AND GRASS
[1] ¼ IN POLY ROPE x 100 FT FOR A-FRAME BOTTOM TO LIMIT 90 DEGREE OPEN ANGLE (TIE KNOTS OUTSIDE HOLES)
https://www.amazon.com/Lehigh-Group-DF4100W-P-Df4100Hd-
Braided/dp/B000SKZND6/ref=sr_1_13?dchild=1&keywords=1.4in+poly+rope+100ft&qid=1585934671&sr=8-13 ROPES LIMIT TO 90 DEGREES
THROUGH HOLES WITH
[1] SCISSOR TO CUT EXCESS POLY ROPE AND EXCESS DUCT TAPE KNOTS ON BOTH ENDS
https://www.amazon.com/Acelone-Stainless-Multi-function-Scissors-
Vegetables/dp/B07K72PHLS/ref=sr_1_8?dchild=1&keywords=scissors&qid=1588007052&s=industrial&sr=1-8
ROUTE ROPES THROUGH
[1] 1-1/2 IN PADDLE BIT FOR CARRY THUMB HOLES ON TOP TOP THUMB HOLE TO
https://www.amazon.com/DEWALT-DW1586-2-Inch-6-Inch- CARRY SEVERAL
Spade/dp/B0001LQYIU/ref=sr_1_5?dchild=1&keywords=paddle+bit+large&qid=1585935081&sr=8-5
[40] CHEMICAL HAND WARMERS 4X5IN (FOLD IN HALF TO MAKE THINNER TARGET)
https://www.uline.com/Product/Detail/S-14298B/Hand-and-Foot-Warmers/Super-HotHands-Hand-and-Body-Warmers-Bulk-Pack
OR MAKE IT ONE LONG ROPE WITH 4
[1] STAPLE GUN AND STAPLERS TO ATTACH THE THERMAL TARGETS TO THE PVC PANELS
https://www.amazon.com/Staple-Manual-Nail-1800-
KNOTS TO FUCNTION AS A CARRY
Staples/dp/B07HMY19D1/ref=sr_1_6?dchild=1&keywords=staple+gun&qid=1585942220&sr=8-6 HANDLE THROUGH THE THUMB HOLE

Thermal acuity circular hole patterns. The large holes are 1 inch
diameter and small holes are 1/2 inch diameter. One of the 8
directions is missing, like the gap on the visual acuity targets.
There is a sticker template to drill through in the Disk Insert file.
A simpler approach is to fold a hand warmer into roughly a line

and staple it to the panel vertical, horizontal, or diagonal
Miscellaneous Items
[1] 90M (300FT) MEASURING TAPE CENTERLINE - $30
https://www.homedepot.com/p/Stanley-300-ft-Tape-Measure-34-
762/100318954?mtc=Shopping-VF-F_D25T-G-D25T-25_90_Hand_Tools- S
Stanley_Tools-NA-Feed-PLA-NA-NA-HandTools&cm_mmc=Shopping-VF- DE 2
(S) 4
ITU
ALT
F_D25T-G-D25T-25_90_Hand_Tools-Stanley_Tools-NA-Feed-PLA-NA-NA- 5(S)
z
HandTools-71700000058470929-58700005391956982- TAP
E
RING S
92700048951171413&gclid=EAIaIQobChMI- SU G
E MEA SPACIN ENDS
3
S
Oqf_9zM6AIVBIbICh0rEAcrEAQYASABEgLCv_D_BwE&gclsrc=aw.ds%20%20or L IN IN BOTH
TER ITY
CEN LEXIBIL TS AT
S
or 2 R
HO F IGH
https://www.amazon.com/Measuring-Tape-Open-300-Ft/dp/B000FNB4AC
S
1 D ANC ft) FOR OR WE
N
| LA
ND
H A m (300 NAILS,
ETC
S
NCH
0
S TR P TO 9 , L ON G
LAU
FL
U K S
IG
[10] TENT STAKES or 60 PENNY 6IN NAILS - $2-8 HT
LIN
E
S TA
E
S E
Used to STRETCH AND PULL TIGHT the measuring tape centerline from end U
to end to ensure a straight line. These are also used to hold down the Sensor
A-Frame ropes, landing or banners.
https://www.amazon.com/Hikemax-7075-Aluminum-Tent-
Stakes/dp/B07H2WTZT5/ref=sr_1_1_sspa?crid=1JW6IEQDW4IG7&dchild=1& S = SPACING 10(S) LENGTH S, 2(S), 5(S) ALTITUDES
keywords=tent+stakes+lightweight&qid=1585935504&sprefix=tent+stakes%
2Caps%2C413&sr=8-1- S = 3 m (10 ft) 30 m (100 FT) 3, 6, 15 m (10, 20, 50 ft)
spons&psc=1&spLa=ZW5jcnlwdGVkUXVhbGlmaWVyPUEyUklJNVRTUFg2UUx
S = 6 m (20 ft) 60 m (200 FT) 6, 12, 30 m (20, 40, 100 ft)
LJmVuY3J5cHRlZElkPUEwNjQ3MzcwMktNT1Y2Q1ZWWDJTSSZlbmNyeXB0ZW
RBZElkPUEwNjQwMDc1MjgzTEFWWFlYMEM5TiZ3aWRnZXROYW1lPXNwX2F S = 9 m (30 ft) 90 m (300 FT) 9, 18, 45 m (30, 60, 150 ft)
0ZiZhY3Rpb249Y2xpY2tSZWRpcmVjdCZkb05vdExvZ0NsaWNrPXRydWU=
Helpful Tools
A miter saw with physical guides (2x4s or 4x4s) placed at the most used lengths (12in, 24in, 48in at least) provides quick and precise replication of cuts. Also, MEASURE AND MARK THE
MITER SAW to replicate the 45-degree taper cuts to coincide with the end cuts exactly. Cut blunt lengths then taper. When the tool is marked, its easier. Foldable table and wheels for
mobility are bonus features. The frame is screwed up from under the table. The strap shown stows the legs when folded for rolling. For several lanes, this is worth the effort.
FOR FASTENING BUCKETS
MISC TOOL CASE MISC TOOL CASE ROLLER BOX SQUARE 8-10 INCH BIT EXTENDER
A RD TEST MET
OD S • SAFET
A
OB
ST
M
M
S
• TRAIN • E
Y•
GE VA
EN
• ENERG
LL
S
LU
C TURER
DM
CHA
ATE
INIST
RA
Y•
FA
MANU TO R S
SENSO
TY
BILI
IC
AE
PONDER
ES
AT
AL
RI
S
U
ES
• G Q
ROUND • A
RA
RS
RE
DU
UT
IT I
•A
•
O
SP
ON C Y
NS OM IE N
IL
AB
Y • P R O FIC
Adam Jacoff O B OT
Internet Email
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NIST SUAS Test Methods - Introduction

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NIST SUAS Test Methods - Introduction

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Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications;

Measuring and Comparing Small Unmanned Aircraft

DOWNLOAD STICKER FILES, FORMS AND WATCH FABRICATION VIDEOS

Standard Test Methods for Small Unmannedvertical Aircraft Systems

onboard camera and remote pilot display. Some

are also applicable to fixed wing systems when the

Project Overview lane dimensions are extended to accommodate

• Resulting quantitative performance data helps compare systems, specify

Standard Test Methods for Small Unmannedvertical Aircraft Systems

onboard camera and remote pilot display. Some

are also applicable to fixed wing systems when the

Project Approach lane dimensions are extended to accommodate

ity Dexterity Dexterity Dexterity

Remotec F6B WM Robotics Knight Remotec Mark 5-A1 Remotec Wolverine

120cm (4ft) Lateral

60cm (24in) Apparatuses

Four nested lanes contain 20

Parking Lot ISO Container

Parking Lot ISO Container

Average Rate of Advance on Terrain for At Least 100m

Underwater ROV Test Methods

Underwater ROV Test Methods

Underwater ROV Test Methods

Related Awards Our same process originally applied to

2019 Gold Medal Award, U.S. Department of Commerce

Test Methods for sUAS

Small Unmanned Aircraft Systems (sUAS)

Test Methods Being Developed

• Visual Acuity • Line-of-Sight Range

• Color Acuity • Non-Line-of-Sight Range

• Motion Acuity (E54.09). They are also referenced as Job

Safety Operations (NFPA 2400). Bucket Stand #2

• Latency (Video/Control) These test methods are primarily intended for

Basic Pilot Proficiency Tests

Maneuvering & Payload Functionality Maneuvering & Payload Funct. (cont.)

restrictions and safety precautions. But there is

Lost Power Behaviors

• Hold Position and Rotate Lost Comms Behaviors

• Ground, Post, Wall Tasks

• Climb and Descend be leveled on uneven terrain.

Pass Through Doors and Windows

• Fly Straight and Level

• Map Wide Areas (Stitched Images)

• Fits on a basketball or tennis court Science and Technology Directorate

• Survey Acuity • Rain Tolerance

• Land Accurately • Deliver Payload

INSIDE EACH BUCKET

e common INTERFACES PROCEDURES

Easy Fabrication and Stowing

WHITEBOARD INFO DIGITAL CLOCK 1A

EASY AND INEXPENSIVE TO FABRICATE

Scalable for Indoor/Outdoor Venues

SPACING = S ALTITUDES = S, 2(S), 5(S) LENGTH = 10(S)

FRONT 1A 1D RIGHT (4) OMNI BUCKET STANDS

S = 6 m (20 ft) 6, 12, 30 m (20, 40, 100 ft) 60 m (200 ft)

S = 9 m (30 ft) 9, 18, 45 m (30, 60, 150 ft) 90 m (300 ft)

CIRCLEWFOR G ACCURACY IN TA TAP (300 F

Omni Bucket Stands

FRONT 1A 1D RIGHT BROKEN INNER BLACK EDGE

FLUSH WITH TOP POST

SHOWN NOT ALIGNED SHOWN ALIGNED

[15] 8in diameter weatherproof stickers

TOP LEFT ( TL ) ( TR ) TOP RIGHT