UC04.2: Detailed indoor exploration (USAR)

Version 8.1 by Tjalling Haije on 2025/07/14 11:40

Objective	OB01: Increase effectiveness through exploration, sensing and communication means OB04: Improve safety by providing overviews and warnings of environment conditions
Description	Use a walking robot with an articulated inspection camera to scout ahead of first responders, detect hazards, and inspect hard-to-reach spaces for victims.
TDP	TDP2, TDP5, TDP7
IDP	IDP1, IDP3
Actors	Robot Operator, Team Leader, USAR Rescuers
Pre-Condition	Structure has inaccessible or dangerous zones; ANYMAL with SNAKE arm is operational.
Post-Condition	Health alerts handled; intervention performed if needed.
Status	Hazards marked and/or victims detected; team proceeds with increased safety.

Deployment and Startup
a. Team leader identifies inaccessible zone and requests robot.
b. Operator performs checks and calibrates sensors and SNAKE arm.
c. Robot is deployed at building entry or breach location.
Navigation and Area Scan
    a. Robot operator starts ANYMAL in autonomous navigation mode, or manually controlled.
    b. Analyst next to operator monitors livestream and robot detections
    c. Detected hazards or victims are reported by the analyst next to the operator (and briefs teamlead)
Detailed Look Upon Request
    a. On request of the analyst, the robot operator switches ANYMAL to manual mode.
    b. SNAKE arm inspects voids or small spaces.
    c. Robot operator switches ANYMAL back to autonomous navigation
Situation Update and Handover
a. Operator confirms findings and updates the map.
b. Team is briefed based on robot data.
c. Robot is either repositioned or retrieved > the robot and human first responders are never in the same room.

Claims (title)	Function	Effect(s)	Action Sequence Step(s)
CL1 Improve safety for responders	Robot enters unsafe or blocked zones	EFXX: Improves safety of responder by having robot explore unsafe or blocked zones instead → Measured with FR path logs or near-incident reports.	2a
CL2 Improved FR SA	SNAKE camera visual confirmation	EFXX: Improves SA of FR by inspecting small spaces → Measure with NASA TLX?	4b
CL2 Improved victim detection rate in small spaces	SNAKE camera visual confirmation	EFXX: Victim discovery rate increased → Measured with number of victims detected & time to victim detection, compared to manual entry.	2b, 2c
CL3 Safer responder routing	Hazard identification via robot	EFXX: First responder safety increased → Measured with map updates and avoided hazards.	2c, 3a
CL4 Trustworthy SA	Operator-validated visuals	EFXX: Trust in robot findings increased by operator confirmation → Measured with trust survey or follow-up interviews.	4a
CL5 More efficient room clearing	Robot scouts ahead of team	EFXX: Operational speed improved → Measured with time-per-room or time-to-rescue metrics.	2a, 3c