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Last modified by Rosa Van Tuijn on 2026/04/13 12:47
From version 1.6
edited by Tjalling Haije
on 2026/03/23 13:57
Change comment: There is no comment for this version
To version 1.11
edited by Tjalling Haije
on 2026/03/23 15:10
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -24,17 +24,25 @@
24 24  
25 25  
26 26  **4. Scenario / Context**
27 -[Short description of the operational or simulated scenario in which the experiment runs]
28 -
27 +ASR3: Detailed indoor exploration
29 29  
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 +
30 30  **5. Participants**
31 31  
32 -* FR team 1:
40 +* FR team ROBOT:
33 33  ** 1x Squad leaders
34 34  ** 1x Robot operator
35 35  ** 1x Robot analyst
36 36  ** 2x First responder
37 -* FR team 2:
45 +* FR team HUMAN:
38 38  ** 1x Squad leaders
39 39  ** 2x First reponder
40 40  * Base of Operations:
... ... @@ -46,11 +46,35 @@
46 46  
47 47  **6. System(s) Under Test**
48 48  
49 -* Hardware / robot / software: [Describe system(s)]
50 -* Version / configuration: [Describe]
51 -* Relevant capabilities and limitations: [Overview]
52 -
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 +)))
53 53  
84 +
85 +
54 54  **7. Tasks**
55 55  
56 56  [[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]]
... ... @@ -59,42 +59,83 @@
59 59  
60 60  
61 61  **8. Experimental Conditions / Variants**
62 -[Condition A vs B, baseline vs intervention, with/without transparency, etc.]
63 63  
95 +Two buildings:
64 64  
65 -**9. Measurements**
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 +*
66 66  
67 -* Objective measures: [E.g., task completion time, errors, navigation metrics]
68 -* Subjective measures: [E.g., trust, workload, clarity, usability questionnaires]
69 -* Logs / sensors: [E.g., robot logs, video, physiological sensors]
101 +Trial 1:
70 70  
103 +* FR Team ROBOT does Building A
104 +* FR team HUMAN does Building B
71 71  
72 -**10. Procedure (Step-by-Step)**
106 +Trial 2:
73 73  
74 -1. [Describe preparation]
75 -1. [Briefing]
76 -1. [Execution]
77 -1. [Debrief / Hotwash]
108 +* FR Team ROBOT does Building B
109 +* FR team HUMAN does Building A
78 78  
79 79  
80 -**~11. Materials / Setup Components**
81 -[List equipment, environment layout, props, simulation assets]
112 +**9. Measurements**
82 82  
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]]
83 83  
84 -**12. Safety & Ethical Considerations**
85 85  
86 -* Risks: [Describe]
87 -* Mitigations: [Describe]
88 -* Informed consent: [Yes/No + method]
89 -* Data handling: [Describe]
117 +**10. Procedure (Step-by-Step)**
90 90  
119 +1. Team training:
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 +1. Usecase preparation
124 +11. Building is prepped with victims, hazards, etc.
125 +1. Briefing:
126 +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.
127 +11. One person is notified that their health sensor will be triggered during the Building B (difficult building) situation.
128 +1. Execution:
129 +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]]
130 +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]]
131 +11. During execution of both teams, performance will be measured by experiment leader:
132 +111. Mission completion time
133 +111. Health indicators stay within acceptable range
134 +111. Time for tackling any health alerts
135 +111. Track FR path
136 +1. Hotwash:
137 +11. Questions on:
138 +111. Near-incident report
139 +111. Path inside
140 +111. FR location and status of hazards, victims, and layout
141 +111. Mission effectiveness
142 +111. Self-reported workload
143 +111. Trust survey
91 91  
92 -**13. Location & Duration**
145 +Planning:
93 93  
94 -* Location: [Where does it take place?]
95 -* Duration: [Total time per run + preparation]
147 +* Team training:  Day before. 1 hour.
148 +* Trial 1:
149 +** Setup usecase: Test day 1. 09:00 - 09:30
150 +** Setup tech and perform checks: Test day 1. 09:00 - 09:30
151 +** Briefing of each team individually (outside building): Test day 1: 09:00 - 09:30
152 +** Mission execution: Test day 1. 09:30 - 10:30
153 +** Hot wash: Test day 1. 10:30-11:00
154 +** Usecase reset: test day 1. 10:30-11:00
155 +* Teams switch location: Test day 1. 11:00-11:15
156 +* Trial 2: 
157 +** Setup usecase: Test day 1. 12:30 - 13:00
158 +** Setup tech and perform checks: Test day 1. 12:30 - 13:00
159 +** Briefing of each team individually (outside building): Test day 1: 12:30 - 13:00
160 +** Mission execution: Test day 1. 13:00 - 14:00
161 +** Hot wash: Test day 1. 14:00-14:30
162 +** Cleanup area and store tech. 14:00-14:30
96 96  
97 97  
165 +
166 +
167 +**~11. Materials / Setup Components**
168 +[List equipment, environment layout, props, simulation assets]
169 +
170 +
98 98  **14. Dependencies**
99 99  [Other WPs, required assets, system availability, permissions]
100 100