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Last modified by Rosa Van Tuijn on 2026/04/13 12:47
From version 1.4
edited by Tjalling Haije
on 2026/03/23 13:48
Change comment: There is no comment for this version
To version 1.13
edited by Tjalling Haije
on 2026/03/23 15:21
Change comment: There is no comment for this version

Summary

Details

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1 -**~1. Title of the Experiment**
1 +**Experiment title**
2 2  [Short, descriptive title]
3 3  
4 +
4 4  **2. Objective / Research Question**
5 -[What are you trying to learn, test, or compare?]
6 +Do the SYNERGISE technologies together improve the below SYNERGISE [[Objectives>>2\. Specification.Objectives.WebHome]] without negative effects?
6 6  
8 +1. Mission effectiveness
9 +1. Mission efficiency
10 +1. FR Health
11 +1. FR and victim safety
12 +
13 +
7 7  **3. Hypotheses / Expectations (optional)**
8 -[If applicable, what do you expect to observe?]
15 +See the claims from [[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]], being:
9 9  
17 +* CL01: Improve safety for responders
18 +* CL02: Increased SA
19 +* CL03: Improved mission effectiveness
20 +* CL04: acceptable workload
21 +* CL05: trustworthy SA
22 +* CL06: improved FR health
23 +* CL07: degraded mission efficiency
24 +
25 +
10 10  **4. Scenario / Context**
11 -[Short description of the operational or simulated scenario in which the experiment runs]
27 +ASR3: Detailed indoor exploration
12 12  
29 +Preconditions from [[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]] :
30 +
31 +* Structure is flagged as (relatively?) **safe for direct human entry**; sector/ worksite allocated.
32 +* **FRs wearables** distributed, connected, and calibrated.
33 +* Specific to scenario with ANYmal:
34 +** **ANYmal **is mission-ready (battery, controls, and payload checked).
35 +** **C3I is online**, role-based views are configurated (Operator/ Analyst/ Team leader/ Safety officer); **5G pods** are installed for connection.
36 +
37 +
13 13  **5. Participants**
14 14  
15 -* FR team 1:
40 +* FR team ROBOT:
16 16  ** 1x Squad leaders
17 17  ** 1x Robot operator
18 18  ** 1x Robot analyst
19 19  ** 2x First responder
20 -* FR team:
45 +* FR team HUMAN:
21 21  ** 1x Squad leaders
22 22  ** 2x First reponder
23 23  * Base of Operations:
24 -** 1x Safety officer
49 +** 1x Safety officer / medical specialist
25 25  ** Team lead
26 -**
27 -* Number of participants: 9
28 28  
52 +Number of participants: 9 
53 +
54 +
29 29  **6. System(s) Under Test**
30 30  
31 -* Hardware / robot / software: [Describe system(s)]
32 -* Version / configuration: [Describe]
33 -* Relevant capabilities and limitations: [Overview]
57 +|(% style="width:267px" %)Technology|(% style="width:1250px" %)Description
58 +|(% style="width:267px" %)ANYmal|(% style="width:1250px" %)(((
59 +* Robust mobility over uneven terrain (stairs, debris, slopes).
60 +* Multi-sensor payload (video, LIDAR, thermal??)
61 +* Reliable wireless communication/ connection in degraded environments.
62 +* Support for tele‑operation with clear operator feedback.
63 +* Link with C3I, such as adding victims as pin on map.
64 +* NO autonomy.
65 +)))
66 +|(% style="width:267px" %)C3I (BoO and tablet version)|(% style="width:1250px" %)(((
67 +* Interoperability with health and location sensors.
68 +* Robust operation under limited connectivity (sync when possible).
69 +* Usable tablet interface for field conditions (gloves, stress, time pressure).
70 +)))
71 +|(% style="width:267px" %)Health sensors|(% style="width:1250px" %)(((
72 +* Accurate and reliable physiological sensing (e.g. heart rate, exertion proxies).
73 +* Comfortable, non‑intrusive form factor suitable for long missions.
74 +* Secure wireless data transmission to C3I systems.
75 +* Real‑time alerting and trend monitoring.
76 +)))
77 +|(% style="width:267px" %)Location sensors|(% style="width:1250px" %)(((
78 +* Indoor and outdoor localisation capability.
79 +* Sufficient accuracy and update rate for safety‑critical use.
80 +* Integration with C3I and mapping systems.
81 +* Robustness to environmental interference (dust, debris, structures, height differences).
82 +)))
34 34  
84 +
85 +
35 35  **7. Tasks**
36 -[List the tasks participants must perform and their sequence]
37 37  
88 +[[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]]
89 +
90 +[[UC04.4: Detailed indoor exploration without ANYMAL (USAR)>>2\. Specification.b\. Use Cases.UC04\.0\: Detailed indoor exploration.UC04\.3\: Detailed indoor exploration with ANYmal (USAR).WebHome]] 
91 +
92 +
38 38  **8. Experimental Conditions / Variants**
39 -[Condition A vs B, baseline vs intervention, with/without transparency, etc.]
40 40  
95 +Two buildings:
96 +
97 +* Building A: Easier location, obstacles and environmental conditions. (clear visibility, ..)
98 +* Building B: Challenging location, obstacles and environmental conditions for humans and robots (e.g. smoke and obstacles).
99 +*
100 +
101 +Trial 1:
102 +
103 +* FR Team ROBOT does Building A
104 +* FR team HUMAN does Building B
105 +
106 +Trial 2:
107 +
108 +* FR Team ROBOT does Building B
109 +* FR team HUMAN does Building A
110 +
111 +
41 41  **9. Measurements**
42 42  
43 -* Objective measures: [E.g., task completion time, errors, navigation metrics]
44 -* Subjective measures: [E.g., trust, workload, clarity, usability questionnaires]
45 -* Logs / sensors: [E.g., robot logs, video, physiological sensors]
114 +See the measurements from [[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]]
46 46  
116 +
47 47  **10. Procedure (Step-by-Step)**
48 48  
49 -1. [Describe preparation]
50 -1. [Briefing]
51 -1. [Execution]
52 -1. [Debrief / Hotwash]
119 +1. Team preparation:
120 +11. FR team ROBOT is trained in operating the robot, analysing the camera stream, and pinning information on C3I
121 +11. Squad leader and BoO are trained for both teams in interpreting the health and location sensor data.
122 +11. Experiment leader knows where hazards and victims are in both buildings.
123 +11. Anymal robot is tested with network in target buildings for experiment (without FR themselves seeing building!)
124 +1. Experiment preparation
125 +11. Building is prepped with victims, hazards, etc.
126 +1. Briefing:
127 +11. Same for both teams for both building types: Building has been inspected from outside and is estimated safe for entry. Situation inside unknown. Victims possibly present. Goal: find, assess, and extract victims while avoiding and mapping hazards.
128 +11. One person is notified that their health sensor will be triggered during the Building B (difficult building) situation.
129 +1. Execution:
130 +11. For FR team ROBOT, see: [[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]]
131 +11. For FR team HUMAN, see: [[UC04.4: Detailed indoor exploration without ANYMAL (USAR)>>2\. Specification.b\. Use Cases.UC04\.0\: Detailed indoor exploration.UC04\.3\: Detailed indoor exploration with ANYmal (USAR).WebHome]]
132 +11. During execution of both teams, performance will be measured by experiment leader:
133 +111. Mission completion time
134 +111. Health indicators stay within acceptable range
135 +111. Time for tackling any health alerts
136 +111. Track FR path
137 +1. Hotwash:
138 +11. Questions on:
139 +111. Near-incident report
140 +111. Path inside
141 +111. FR location and status of hazards, victims, and layout
142 +111. Mission effectiveness
143 +111. Self-reported workload
144 +111. Trust survey
53 53  
54 -**~11. Materials / Setup Components**
55 -[List equipment, environment layout, props, simulation assets]
146 +Planning:
56 56  
57 -**12. Safety & Ethical Considerations**
148 +* Team preparation: Day before. 1 hour.
149 +* Trial 1:
150 +** Setup usecase: Test day 1. 09:00 - 09:30
151 +** Setup tech and perform checks: Test day 1. 09:00 - 09:30
152 +** Briefing of each team individually (outside building): Test day 1: 09:00 - 09:30
153 +** Mission execution: Test day 1. 09:30 - 10:30
154 +** Hot wash: Test day 1. 10:30-11:00
155 +** Usecase reset: test day 1. 10:30-11:00
156 +* Teams switch location: Test day 1. 11:00-11:15
157 +* Trial 2: 
158 +** Setup usecase: Test day 1. 12:30 - 13:00
159 +** Setup tech and perform checks: Test day 1. 12:30 - 13:00
160 +** Briefing of each team individually (outside building): Test day 1: 12:30 - 13:00
161 +** Mission execution: Test day 1. 13:00 - 14:00
162 +** Hot wash: Test day 1. 14:00-14:30
163 +** Cleanup area and store tech. 14:00-14:30
58 58  
59 -* Risks: [Describe]
60 -* Mitigations: [Describe]
61 -* Informed consent: [Yes/No + method]
62 -* Data handling: [Describe]
63 63  
64 -**13. Location & Duration**
65 65  
66 -* Location: [Where does it take place?]
67 -* Duration: [Total time per run + preparation]
167 +**~11. Materials**
68 68  
169 +* For FRs:
170 +** 1x Anymal with teleop setup and networking
171 +** 2x Tablet with C3I for squad leader (one spare)
172 +** 1x Base of Operations with computer with C3I
173 +** 4x Health sensors
174 +** 4x Location sensors
175 +** 8x walky talky with two channels (?) (for FR team and BoO).
176 +* For usecase:
177 +** 2x training building (~~100m2?)
178 +** Enviromental challenges: smoke machine, obstacles, etc.
179 +** ~~8x Actors or dummies for victims.
180 +* 8x Clipboards with papers and pens for hotwash and questionnaires
181 +
182 +
69 69  **14. Dependencies**
70 -[Other WPs, required assets, system availability, permissions]
71 71  
185 +* Availability of materials
186 +* Availaibility and functioning of ANYmal robot with teleoperation and network in target buildings
187 +* Availability of functioning network between robot, FRs, and BoO.
188 +* Availability of:
189 +** Experiment participants
190 +** People willing to play victim
191 +** Experiment leaders
192 +
193 +
72 72  **15. Success Criteria**
73 73  [How do you know the experiment worked as intended?]
74 74