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Last modified by Tjalling Haije on 2026/07/27 16:18
From version 3.1
edited by Tjalling Haije
on 2026/07/27 13:37
Change comment: There is no comment for this version
To version 5.1
edited by Tjalling Haije
on 2026/07/27 16:18
Change comment: There is no comment for this version

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65 65  === 2. Incident 2 tech evaluation ===
66 66  
67 67  |(% style="width:247px" %)**Tech**|(% style="width:319px" %)**How was it used**|(% style="width:329px" %)**Issues**|(% style="width:329px" %)**Did it work sufficiently?**
68 -|(% style="width:247px" %)[[ASTRAL RTK Drone>>Main.c\. Technology.ASTRAL RTK Drone.WebHome]] (outdoor)|(% style="width:319px" %)Baseline & Run 1-3: The drone team conducts an aerial assessment of the collapsed buildings, identifying structural risks, access points, and possible victim locations. |(% style="width:329px" %)Run 1 USAR 1: Drone had connection issues which delayed its deployment.|(% style="width:329px" %)Yes
68 +|(% style="width:247px" %)[[ASTRAL RTK Drone>>Main.c\. Technology.ASTRAL RTK Drone.WebHome]] (outdoor)|(% style="width:319px" %)Baseline & Run 1-3: The drone team conducts an aerial assessment of the collapsed buildings, identifying structural risks, access points, and possible victim locations. |(% style="width:329px" %)(((
69 +Run 1 USAR 1: Drone had connection issues which delayed its deployment.
70 +
71 +{{warning}}
72 +TODO: expand these issues with questionnaire answers
73 +{{/warning}}
74 +)))|(% style="width:329px" %)Yes
69 69  |(% style="width:247px" %)[[OWL Indoor Drone>>Main.c\. Technology.OWL Indoor Drone.WebHome]] |(% style="width:319px" %)(((
70 70  Run 2 USAR 2: used to explore building and search for objects and victims
71 71  
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73 73  )))|(% style="width:329px" %)(((
74 74  Run 2 USAR 1: OWL missed victim and entire floor. Object detection initially disabled.
75 75  
76 -
82 +{{warning}}
83 +TODO: expand these issues with questionnaire answers
84 +{{/warning}}
77 77  )))|(% style="width:329px" %)Unreliable
78 78  |(% style="width:247px" %)[[ANYmal Robot>>Main.c\. Technology.Humanoid Robot.WebHome]] with [[Robot Arm (for ANYmal)>>Main.c\. Technology.Robot Arm (for ANYmal).WebHome]] |(% style="width:319px" %)(((
79 79  Run 1 USAR 1: remove beam blocking door
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81 81  Run 3 USAR 1: Used to close a valve
82 82  
83 83  
84 -)))|(% style="width:329px" %) |(% style="width:329px" %)Yes
85 -|(% style="width:247px" %)[[ANYmal Robot>>Main.c\. Technology.Humanoid Robot.WebHome]] with [[SNAKE>>Main.c\. Technology.SNAKE.WebHome]] |(% style="width:319px" %)Run 3 USAR 1: Used to search for victims in a narrow space|(% style="width:329px" %) |(% style="width:329px" %)?
92 +)))|(% style="width:329px" %){{warning}}TODO: expand these issues with questionnaire answers{{/warning}}(((
93 +
94 +)))|(% style="width:329px" %)Yes
95 +|(% style="width:247px" %)[[ANYmal Robot>>Main.c\. Technology.Humanoid Robot.WebHome]] with [[SNAKE>>Main.c\. Technology.SNAKE.WebHome]] |(% style="width:319px" %)Run 3 USAR 1: Used to search for victims in a narrow space|(% style="width:329px" %){{warning}}TODO: expand these issues with questionnaire answers{{/warning}}|(% style="width:329px" %)?
86 86  
87 87  === 3. Incident 2 way of working ===
88 88  
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101 101  
102 102  == 4. Raw results ==
103 103  
104 -**Results for Incident 2, Run 1, USAR team 1**
114 +=== Results for Incident 2, Run 3, USAR team 1 VS baseline USAR team 1 ===
105 105  
116 +Analysis of questionnaire results for members with ID: UT13, UT11, UT12, UTL1
117 +
118 +
119 +|=Scenario|=Role|=Participants
120 +|Baseline|USAR Team Member|3
121 +|Baseline|USAR Team Leader|1
122 +|Run 3|USAR Team Member|3
123 +|Run 3|USAR Team Leader|1
124 +|Run 1|USAR Team Member|3
125 +|Run 1|USAR Team Leader|1
126 +
127 +
128 +
129 +[[image:1785167968429-388.png||height="390" width="821"]]
130 +
131 +[[image:1785167981571-844.png||height="419" width="815"]]
132 +
133 +[[image:1785167994552-876.png||height="329" width="767"]]
134 +
135 +
136 +These results show that in run 1 workload, trust and situation awareness were significantly lower compared to the baseline, with decision making and safety confidence differing only slightly from the baseline. 
137 +Run 3 showed an improvement in decision making (specified as right info was available and decisions were timely) compared to the baseline and run 1.
138 +
139 +On average both runs had a lower workload (-25%), trust (-33%), situation awareness (-11%), slightly lower safety confidence (-4%) and improved decision making (+8%).
140 +
141 +Note: Run 3 also functioned as a demonstration, which increased speed of decisions and the scenario as a whole. Also, participants performed incident 2 in 3 runs in the same teamcomposition and building layout, such that participants giving them an unfair advantage. These factors might have influenced the results.
142 +
143 +
144 +=== 5. Results connected to Design Pattern measures ===
145 +
106 106  Note: The measures are defined in [[UC04.3: Detailed indoor exploration with ANYMAL (USAR)>>2\. Specification.b\. Use Cases.UC04\.0\: Detailed indoor exploration.UC04\.3\: Detailed indoor exploration with ANYMAL (USAR).WebHome]]  and [[x. Measures>>3\. Evaluation.Measures.WebHome]]
107 107  
108 108  |(% style="width:376px" %)**Measure**|(% style="width:225px" %)**Results**|**Connected Claim**|**Claim proven?**
109 -|(% style="width:376px" %)Safe path chosen|(% style="width:225px" %) |CL01 Improve safety for responders |
110 -|(% style="width:376px" %)Decision quality|(% style="width:225px" %) |CL01 Improve safety for responders |
111 -|(% style="width:376px" %)Near-incident and incident reports|(% style="width:225px" %) |CL01 Improve safety for responders |
112 -|(% style="width:376px" %)Reported hazards, victims, layout correctness, based on robot intel before FR entry|(% style="width:225px" %) |CL02 Increased SA|
113 -|(% style="width:376px" %)How optimal was the FR path|(% style="width:225px" %) |CL02 Increased SA|
114 -|(% style="width:376px" %)Reported hazards, victims, layout correctness, after FR entry|(% style="width:225px" %) |CL02 Increased SA|
115 -|(% style="width:376px" %)Workload: e.g. NASA-TLX|(% style="width:225px" %) |CL03 improved mission effectiveness|
116 -|(% style="width:376px" %)Appropriate trust in technology: e.g. trust survey|(% style="width:225px" %) |CL04 acceptable workload|
117 -|(% style="width:376px" %)Decision confidence: e.g. Retrospective decision quality rating|(% style="width:225px" %) |CL04 acceptable workload|
118 -|(% style="width:376px" %)?|(% style="width:225px" %) |CL05 Trustworthy SA|
119 -|(% style="width:376px" %)Health indicators such as HR, temperature, etc.|(% style="width:225px" %) |CL06 Improved FR health|
120 -|(% style="width:376px" %)Health issues tackled in acceptable time|(% style="width:225px" %) |CL06 Improved FR health|
121 -|(% style="width:376px" %)Total mission completion time|(% style="width:225px" %) |CL07 Degraded mission efficiency|
122 -|(% style="width:376px" %)First responder time inside|(% style="width:225px" %) |CL07 Degraded mission efficiency|
149 +|(% style="width:376px" %)Safe path chosen|(% style="width:225px" %)No FR path data available.|CL01 Improve safety for responders |Unknown
150 +|(% style="width:376px" %)Decision quality|(% style="width:225px" %)Can we use decision making questions from questionnaire for this?  |CL01 Improve safety for responders |Unknown
151 +|(% style="width:376px" %)Near-incident and incident reports|(% style="width:225px" %)No incidents in baseline or run. 
152 +No near-incidents data available.|CL01 Improve safety for responders |Unknown
153 +|(% style="width:376px" %)Reported hazards, victims, layout correctness, based on robot intel before FR entry|(% style="width:225px" %)No ground truth data available.|CL02 Increased SA|Unknown
154 +|(% style="width:376px" %)How optimal was the FR path|(% style="width:225px" %)No FR path or ground truth data available.|CL02 Increased SA|Unknown
155 +|(% style="width:376px" %)Reported hazards, victims, layout correctness, after FR entry|(% style="width:225px" %)No FR path or ground truth data available.|CL02 Increased SA|Unknown
156 +|(% style="width:376px" %)Workload: e.g. NASA-TLX|(% style="width:225px" %)Questionnaire indicates increased workload of 25%. But not literature reviewed questionnaire and runs not clean. |CL03 improved mission effectiveness|Indication says strong no, but data unreliable.
157 +|(% style="width:376px" %)Appropriate trust in technology: e.g. trust survey|(% style="width:225px" %)Can we use trust questions from questionnaire for this? They did not target robots specifically.|CL04 acceptable workload|Unknown
158 +|(% style="width:376px" %)Decision confidence: e.g. Retrospective decision quality rating|(% style="width:225px" %)Can we use decision making questions from questionnaire for this?  |CL04 acceptable workload|Unknown
159 +|(% style="width:376px" %)Trust in SA|(% style="width:225px" %)Questionnaire indicates decreased trust of -33%. But not literature reviewed questionnaire and runs not clean|CL05 Trustworthy SA|Indication says strong no, but data unreliable.
160 +|(% style="width:376px" %)Health indicators such as HR, temperature, etc.|(% style="width:225px" %)No health data available.|CL06 Improved FR health|Unknown
161 +|(% style="width:376px" %)Health issues tackled in acceptable time|(% style="width:225px" %)Do we have this?|CL06 Improved FR health|Unknown
162 +|(% style="width:376px" %)Total mission completion time|(% style="width:225px" %)Do we have this? Compared to baseline?|CL07 Degraded mission efficiency|Unknown
163 +|(% style="width:376px" %)First responder time inside|(% style="width:225px" %)Do we have this? Compared to baseline?|CL07 Degraded mission efficiency|Unknown
123 123  
165 +(% class="wikigeneratedid" %)
166 +(Reliable) data missing to evaluate all claims for the usecase and as such team design pattern.
167 +
168 +
124 124  === 5. Pros and cons for TDP ===
125 125  
126 126  [[TDP2 — Robots First, Then Humans Protocol>>2\. Specification.Requirements.TDP2 — Robots First, Then Humans Protocol.WebHome]]
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