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Last modified by Rosa Van Tuijn on 2026/04/13 12:47
From version 2.1
edited by Rosa Van Tuijn
on 2026/03/24 15:44
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To version 1.14
edited by Tjalling Haije
on 2026/03/23 15:22
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Summary

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Title
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1 -h. Test SFT1: System baseline test
1 +h. Test SFT1
Author
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1 -XWiki.RosaVanTuijn
1 +XWiki.TjallingHaije
Content
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1 1  **Experiment title**
2 -System baseline test
2 +[Short, descriptive title]
3 3  
4 4  
5 5  **2. Objective / Research Question**
... ... @@ -10,6 +10,7 @@
10 10  1. FR Health
11 11  1. FR and victim safety
12 12  
13 +
13 13  **3. Hypotheses / Expectations (optional)**
14 14  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:
15 15  
... ... @@ -21,6 +21,7 @@
21 21  * CL06: improved FR health
22 22  * CL07: degraded mission efficiency
23 23  
25 +
24 24  **4. Scenario / Context**
25 25  ASR3: Detailed indoor exploration
26 26  
... ... @@ -32,6 +32,7 @@
32 32  ** **ANYmal **is mission-ready (battery, controls, and payload checked).
33 33  ** **C3I is online**, role-based views are configurated (Operator/ Analyst/ Team leader/ Safety officer); **5G pods** are installed for connection.
34 34  
37 +
35 35  **5. Participants**
36 36  
37 37  * FR team ROBOT:
... ... @@ -93,6 +93,7 @@
93 93  
94 94  * Building A: Easier location, obstacles and environmental conditions. (clear visibility, ..)
95 95  * Building B: Challenging location, obstacles and environmental conditions for humans and robots (e.g. smoke and obstacles).
99 +*
96 96  
97 97  Trial 1:
98 98  
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104 104  * FR Team ROBOT does Building B
105 105  * FR team HUMAN does Building A
106 106  
111 +
107 107  **9. Measurements**
108 108  
109 109  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]]
110 110  
111 -|**Claim: Saftey**|**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 -*
119 -)))
120 -| | |
121 121  
122 -
123 -
124 124  **10. Procedure (Step-by-Step)**
125 125  
126 -1. __Team preparation__:
119 +1. Team preparation:
127 127  11. FR team ROBOT is trained in operating the robot, analysing the camera stream, and pinning information on C3I
128 128  11. Squad leader and BoO are trained for both teams in interpreting the health and location sensor data.
129 129  11. Experiment leader knows where hazards and victims are in both buildings.
130 130  11. Anymal robot is tested with network in target buildings for experiment (without FR themselves seeing building!)
131 -1. __Experiment preparation:__
124 +1. Experiment preparation
132 132  11. Building is prepped with victims, hazards, etc.
133 -1. __Briefing:__
126 +1. Briefing:
134 134  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.
135 135  11. One person is notified that their health sensor will be triggered during the Building B (difficult building) situation.
136 -1. __Execution:__
129 +1. Execution:
137 137  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]]
138 138  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]]
139 139  11. During execution of both teams, performance will be measured by experiment leader:
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141 141  111. Health indicators stay within acceptable range
142 142  111. Time for tackling any health alerts
143 143  111. Track FR path
144 -1. __Hotwash__:
145 -11. Questions (specified per role, couple questions per topic) on:
137 +1. Hotwash:
138 +11. Questions on:
146 146  111. Near-incident report
147 147  111. Path inside
148 148  111. FR location and status of hazards, victims, and layout
149 -111. Mission effectiveness: e.g. self reported effectiveness of decisions
142 +111. Mission effectiveness
150 150  111. Self-reported workload
151 151  111. Trust survey
152 -11. Group discussion with feedback
153 153  
154 -**~11. Planning:**
146 +Planning:
155 155  
156 156  * Team preparation: Day before. 1 hour.
157 157  * Trial 1:
158 -** Setup scenario: Test day 1. 09:00 - 09:30
150 +** Setup usecase: Test day 1. 09:00 - 09:30
159 159  ** Setup tech and perform checks: Test day 1. 09:00 - 09:30
160 160  ** Briefing of each team individually (outside building): Test day 1: 09:00 - 09:30
161 161  ** Mission execution: Test day 1. 09:30 - 10:30
162 162  ** Hot wash: Test day 1. 10:30-11:00
163 -** Scenario reset: test day 1. 10:30-11:00
155 +** Usecase reset: test day 1. 10:30-11:00
164 164  * Teams switch location: Test day 1. 11:00-11:15
165 165  * Trial 2: 
166 -** (Setup scenario: Test day 1. 12:30 - 13:00)
158 +** Setup usecase: Test day 1. 12:30 - 13:00
167 167  ** Setup tech and perform checks: Test day 1. 12:30 - 13:00
168 168  ** Briefing of each team individually (outside building): Test day 1: 12:30 - 13:00
169 169  ** Mission execution: Test day 1. 13:00 - 14:00
170 170  ** Hot wash: Test day 1. 14:00-14:30
171 -* Cleanup area and store tech. 14:00-14:30
163 +** Cleanup area and store tech. 14:00-14:30
172 172  
173 173  
174 174  
175 -**12. Materials**
167 +**~11. Materials**
176 176  
177 177  * For FRs:
178 178  ** 1x Anymal with teleop setup and networking
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187 187  ** ~~8x Actors or dummies for victims.
188 188  * 8x Clipboards with papers and pens for hotwash and questionnaires
189 189  
190 -**13. Dependencies**
191 191  
183 +**14. Dependencies**
184 +
192 192  * Availability of materials
193 -* Availability and functioning of ANYmal robot with teleoperation and network in target buildings
186 +* Availaibility and functioning of ANYmal robot with teleoperation and network in target buildings
194 194  * Availability of functioning network between robot, FRs, and BoO.
195 195  * Availability of:
196 196  ** Experiment participants
... ... @@ -197,8 +197,9 @@
197 197  ** People willing to play victim
198 198  ** Experiment leaders
199 199  
200 -**14. Success Criteria**
201 -When mission(s) completed by both teams, and we can compare their performance using the metrics.
202 202  
194 +**15. Success Criteria**
195 +When mission completed by both teams, and we can compare their performance.
203 203  
197 +
204 204