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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
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To version 2.2
edited by Rosa Van Tuijn
on 2026/03/24 16:00
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Summary

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Title
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1 -h. Test SFT1
1 +h. Test SFT1: System baseline test
Author
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1 -XWiki.TjallingHaije
1 +XWiki.RosaVanTuijn
Content
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1 1  **Experiment title**
2 -[Short, descriptive title]
2 +System baseline test
3 3  
4 4  
5 5  **2. Objective / Research Question**
6 -Do the SYNERGISE technologies together improve the below SYNERGISE [[Objectives>>2\. Specification.Objectives.WebHome]] without negative effects?
6 +Do the SYNERGISE technologies together improve the SYNERGISE [[Objectives>>2\. Specification.Objectives.WebHome]] (stated below) without negative effects?
7 7  
8 8  1. Mission effectiveness
9 9  1. Mission efficiency
... ... @@ -10,7 +10,6 @@
10 10  1. FR Health
11 11  1. FR and victim safety
12 12  
13 -
14 14  **3. Hypotheses / Expectations (optional)**
15 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:
16 16  
... ... @@ -22,19 +22,25 @@
22 22  * CL06: improved FR health
23 23  * CL07: degraded mission efficiency
24 24  
25 -
26 26  **4. Scenario / Context**
27 -[Short description of the operational or simulated scenario in which the experiment runs]
28 -
25 +ASR3: Detailed indoor exploration
29 29  
27 +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]] :
28 +
29 +* Structure is flagged as (relatively?) **safe for direct human entry**; sector/ worksite allocated.
30 +* **FRs wearables** distributed, connected, and calibrated.
31 +* Specific to scenario with ANYmal:
32 +** **ANYmal **is mission-ready (battery, controls, and payload checked).
33 +** **C3I is online**, role-based views are configurated (Operator/ Analyst/ Team leader/ Safety officer); **5G pods** are installed for connection.
34 +
30 30  **5. Participants**
31 31  
32 -* FR team 1:
37 +* 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:
42 +* 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 -
54 +|(% style="width:267px" %)Technology|(% style="width:1250px" %)Description
55 +|(% style="width:267px" %)ANYmal|(% style="width:1250px" %)(((
56 +* Robust mobility over uneven terrain (stairs, debris, slopes).
57 +* Multi-sensor payload (video, LIDAR, thermal??)
58 +* Reliable wireless communication/ connection in degraded environments.
59 +* Support for tele‑operation with clear operator feedback.
60 +* Link with C3I, such as adding victims as pin on map.
61 +* NO autonomy.
62 +)))
63 +|(% style="width:267px" %)C3I (BoO and tablet version)|(% style="width:1250px" %)(((
64 +* Interoperability with health and location sensors.
65 +* Robust operation under limited connectivity (sync when possible).
66 +* Usable tablet interface for field conditions (gloves, stress, time pressure).
67 +)))
68 +|(% style="width:267px" %)Health sensors|(% style="width:1250px" %)(((
69 +* Accurate and reliable physiological sensing (e.g. heart rate, exertion proxies).
70 +* Comfortable, non‑intrusive form factor suitable for long missions.
71 +* Secure wireless data transmission to C3I systems.
72 +* Real‑time alerting and trend monitoring.
73 +)))
74 +|(% style="width:267px" %)Location sensors|(% style="width:1250px" %)(((
75 +* Indoor and outdoor localisation capability.
76 +* Sufficient accuracy and update rate for safety‑critical use.
77 +* Integration with C3I and mapping systems.
78 +* Robustness to environmental interference (dust, debris, structures, height differences).
79 +)))
53 53  
81 +
82 +
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]]
... ... @@ -59,48 +59,142 @@
59 59  
60 60  
61 61  **8. Experimental Conditions / Variants**
62 -[Condition A vs B, baseline vs intervention, with/without transparency, etc.]
63 63  
92 +Two buildings:
64 64  
94 +* Building A: Easier location, obstacles and environmental conditions. (clear visibility, ..)
95 +* Building B: Challenging location, obstacles and environmental conditions for humans and robots (e.g. smoke and obstacles).
96 +
97 +Trial 1:
98 +
99 +* FR Team ROBOT does Building A
100 +* FR team HUMAN does Building B
101 +
102 +Trial 2:
103 +
104 +* FR Team ROBOT does Building B
105 +* FR team HUMAN does Building A
106 +
65 65  **9. Measurements**
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]
109 +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]]. Compare outcomes between the two conditions teams if applicable.
70 70  
111 +|**Claim: Safety**|**Measurment(s)**|**How to test **
112 +|Safer decision before entry|Safe path chosen|(((
113 +* Define ground-truth safe path(s) beforehand so that they can be compared to chosen entry path during the trial
114 +* Score paths beforehand: safe/ suboptimal/ unsafe
115 +)))
116 +|Better decision overall|"How good were you decisions looking back?"|(((
117 +* Hotwash reflection question (likert + open)
118 +* Observations of errors (e.g. near-incidents, unsafe choices)
119 +)))
120 +|Fewer dangerous situations|Near-incident reports|(((
121 +* Define hazards in buildings beforehand and check (with observations of during hotwash) if these hazards are avoided or not
122 +)))
71 71  
72 -**10. Procedure (Step-by-Step)**
124 +|**Claim: Efficiency**|**Measurment(s)**|**How to test **
125 +|Faster mission execution|Total mission completion time|(((
126 +* Timestamp of start (after briefing) till all located victims have been extracted
127 +)))
128 +|Faster inside performance|First responder time inside|(((
129 +* Timestamp of entry building till exist building (last located victim is exstracted)
130 +)))
73 73  
74 -1. [Describe preparation]
75 -1. [Briefing]
76 -1. [Execution]
77 -1. [Debrief / Hotwash]
132 +|**Claim: Situation Awareness**|**Measurment(s)**|**How to test **
133 +|Before entry |(((
134 +Correctness of reported hazards, victims, layout
135 +)))|(((
136 +
137 +)))
138 +|During entry|(((
139 +FR path logs
140 +)))|(((
141 +
142 +)))
143 +|After mission|(((
144 +Correctness of reported hazards, victims, layout
145 +)))|
78 78  
79 79  
80 -**~11. Materials / Setup Components**
81 -[List equipment, environment layout, props, simulation assets]
82 82  
149 +**10. Procedure (Step-by-Step)**
83 83  
84 -**12. Safety & Ethical Considerations**
151 +1. __Team preparation__:
152 +11. FR team ROBOT is trained in operating the robot, analysing the camera stream, and pinning information on C3I
153 +11. Squad leader and BoO are trained for both teams in interpreting the health and location sensor data.
154 +11. Experiment leader knows where hazards and victims are in both buildings.
155 +11. Anymal robot is tested with network in target buildings for experiment (without FR themselves seeing building!)
156 +1. __Experiment preparation:__
157 +11. Building is prepped with victims, hazards, etc.
158 +1. __Briefing:__
159 +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.
160 +11. One person is notified that their health sensor will be triggered during the Building B (difficult building) situation.
161 +1. __Execution:__
162 +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]]
163 +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]]
164 +11. During execution of both teams, performance will be measured by experiment leader:
165 +111. Mission completion time
166 +111. Health indicators stay within acceptable range
167 +111. Time for tackling any health alerts
168 +111. Track FR path
169 +1. __Hotwash__:
170 +11. Questions (specified per role, couple questions per topic) on:
171 +111. Near-incident report
172 +111. Path inside
173 +111. FR location and status of hazards, victims, and layout
174 +111. Mission effectiveness: e.g. self reported effectiveness of decisions
175 +111. Self-reported workload
176 +111. Trust survey
177 +11. Group discussion with feedback
85 85  
86 -* Risks: [Describe]
87 -* Mitigations: [Describe]
88 -* Informed consent: [Yes/No + method]
89 -* Data handling: [Describe]
179 +**~11. Planning:**
90 90  
181 +* Team preparation: Day before. 1 hour.
182 +* Trial 1:
183 +** Setup scenario: Test day 1. 09:00 - 09:30
184 +** Setup tech and perform checks: Test day 1. 09:00 - 09:30
185 +** Briefing of each team individually (outside building): Test day 1: 09:00 - 09:30
186 +** Mission execution: Test day 1. 09:30 - 10:30
187 +** Hot wash: Test day 1. 10:30-11:00
188 +** Scenario reset: test day 1. 10:30-11:00
189 +* Teams switch location: Test day 1. 11:00-11:15
190 +* Trial 2: 
191 +** (Setup scenario: Test day 1. 12:30 - 13:00)
192 +** Setup tech and perform checks: Test day 1. 12:30 - 13:00
193 +** Briefing of each team individually (outside building): Test day 1: 12:30 - 13:00
194 +** Mission execution: Test day 1. 13:00 - 14:00
195 +** Hot wash: Test day 1. 14:00-14:30
196 +* Cleanup area and store tech. 14:00-14:30
91 91  
92 -**13. Location & Duration**
93 93  
94 -* Location: [Where does it take place?]
95 -* Duration: [Total time per run + preparation]
96 96  
200 +**12. Materials**
97 97  
98 -**14. Dependencies**
99 -[Other WPs, required assets, system availability, permissions]
202 +* For FRs:
203 +** 1x Anymal with teleop setup and networking
204 +** 2x Tablet with C3I for squad leader (one spare)
205 +** 1x Base of Operations with computer with C3I
206 +** 4x Health sensors
207 +** 4x Location sensors
208 +** 8x walky talky with two channels (?) (for FR team and BoO).
209 +* For usecase:
210 +** 2x training building (~~100m2?)
211 +** Enviromental challenges: smoke machine, obstacles, etc.
212 +** ~~8x Actors or dummies for victims.
213 +* 8x Clipboards with papers and pens for hotwash and questionnaires
100 100  
215 +**13. Dependencies**
101 101  
102 -**15. Success Criteria**
103 -[How do you know the experiment worked as intended?]
217 +* Availability of materials
218 +* Availability and functioning of ANYmal robot with teleoperation and network in target buildings
219 +* Availability of functioning network between robot, FRs, and BoO.
220 +* Availability of:
221 +** Experiment participants
222 +** People willing to play victim
223 +** Experiment leaders
104 104  
225 +**14. Success Criteria**
226 +When mission(s) completed by both teams, and we can compare their performance using the metrics.
105 105  
228 +
106 106