Project homeWiki source code of UC04.2: Detailed indoor exploration (USAR)
Last modified by Tjalling Haije on 2025/09/15 09:25
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8.1 | 1 | |=**Objective**|=[[OB01: Increase effectiveness through exploration, sensing and communication means>>path:#]] |
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6.1 | 2 | [[OB04: Improve safety by providing overviews and warnings of environment conditions>>path:#]] |
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8.1 | 3 | |=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. |
| 4 | |**TDP**|TDP2, TDP5, TDP7 | ||
| 5 | |**IDP**|IDP1, IDP3 | ||
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10.1 | 6 | |**Actors**|Robot Operator, Team Leader, USAR Rescuers (described at [[4. Personas & Problem Scenarios>>path:/bin/view/Main/sdf/4.%20Scenarios%20%26%20Personas/]] and [[Direct Stakeholders>>path:/bin/view/Main/sdf/Stakeholders/Direct/]]) |
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8.1 | 7 | |**Pre-Condition**|Structure has inaccessible or dangerous zones; ANYMAL with SNAKE arm is operational. |
| 8 | |**Post-Condition**|Health alerts handled; intervention performed if needed. | ||
| 9 | |**Status**|Hazards marked and/or victims detected; team proceeds with increased safety. | ||
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1.1 | 10 | |
| 11 | === **Action Sequence** === | ||
| 12 | |||
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6.1 | 13 | 1. **Deployment and Startup** |
| 14 | a. Team leader identifies inaccessible zone and requests robot. | ||
| 15 | b. Operator performs checks and calibrates sensors and SNAKE arm. | ||
| 16 | c. Robot is deployed at building entry or breach location. | ||
| 17 | 1. **Navigation and Area Scan** | ||
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6.3 | 18 | a. Robot operator starts ANYMAL in autonomous navigation mode, or manually controlled. |
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6.2 | 19 | b. Analyst next to operator monitors livestream and robot detections |
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7.1 | 20 | c. Detected hazards or victims are reported by the analyst next to the operator (and briefs teamlead) |
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6.3 | 21 | 1. **Detailed Look Upon Request** |
| 22 | a. On request of the analyst, the robot operator switches ANYMAL to manual mode. | ||
| 23 | b. SNAKE arm inspects voids or small spaces. | ||
| 24 | c. Robot operator switches ANYMAL back to autonomous navigation | ||
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6.1 | 25 | 1. **Situation Update and Handover** |
| 26 | a. Operator confirms findings and updates the map. | ||
| 27 | b. Team is briefed based on robot data. | ||
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7.1 | 28 | c. Robot is either repositioned or retrieved > the robot and human first responders are never in the same room. |
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1.1 | 29 | |
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6.1 | 30 | === === |
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1.1 | 31 | |
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6.1 | 32 | |=Claims (title)|=Function|=Effect(s)|=Action Sequence Step(s) |
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7.1 | 33 | |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 |
| 34 | → Measured with FR path logs or near-incident reports.|2a | ||
| 35 | |CL2 Improved FR SA |SNAKE camera visual confirmation|EFXX: Improves SA of FR by inspecting small spaces | ||
| 36 | → Measure with NASA TLX? |4b | ||
| 37 | |CL2 Improved victim detection rate in small spaces|SNAKE camera visual confirmation|EFXX: Victim discovery rate increased | ||
| 38 | → Measured with number of victims detected & time to victim detection, compared to manual entry.|2b, 2c | ||
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6.2 | 39 | |CL3 Safer responder routing|Hazard identification via robot|EFXX: First responder safety increased |
| 40 | → Measured with map updates and avoided hazards.|2c, 3a | ||
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7.1 | 41 | |CL4 Trustworthy SA|Operator-validated visuals|EFXX: Trust in robot findings increased by operator confirmation |
| 42 | → Measured with trust survey or follow-up interviews.|4a | ||
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9.1 | 43 | |CL5 Operational speed improved|Robot scouts ahead of team|EFXX: Operational speed improved |
| 44 | → Measured with time-per-room metrics.|2a, 3c | ||
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6.1 | 45 | |
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1.1 | 46 |