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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 -**Experiment title**
2 -System baseline test
3 -
4 -
5 -**2. Objective / Research Question**
6 -Do the SYNERGISE technologies together improve the SYNERGISE [[Objectives>>2\. Specification.Objectives.WebHome]] (stated below) without negative effects?
7 -
8 -1. Mission effectiveness
9 -1. Mission efficiency
10 -1. FR Health
11 -1. FR and victim safety
12 -
13 -**3. Hypotheses / Expectations (optional)**
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 -
16 -* CL01: Improve safety for responders
17 -* CL02: Increased SA
18 -* CL03: Improved mission effectiveness
19 -* CL04: acceptable workload
20 -* CL05: trustworthy SA
21 -* CL06: improved FR health
22 -* CL07: degraded mission efficiency
23 -
24 -**4. Scenario / Context**
25 -ASR3: Detailed indoor exploration
26 -
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 -
35 -**5. Participants**
36 -
37 -* FR team ROBOT:
38 -** 1x Squad leaders
39 -** 1x Robot operator
40 -** 1x Robot analyst
41 -** 2x First responder
42 -* FR team HUMAN:
43 -** 1x Squad leaders
44 -** 2x First reponder
45 -* Base of Operations:
46 -** 1x Safety officer / medical specialist
47 -** Team lead
48 -
49 -Number of participants: 9 
50 -
51 -
52 -**6. System(s) Under Test**
53 -
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 -)))
80 -
81 -
82 -
83 -**7. Tasks**
84 -
85 -[[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]]
86 -
87 -[[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]] 
88 -
89 -
90 -**8. Experimental Conditions / Variants**
91 -
92 -Two buildings:
93 -
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 -
107 -**9. Measurements**
108 -
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.
110 -
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 -)))
123 -
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 -)))
131 -
132 -|**Claim: Situation Awareness**|**Measurment(s)**|**How to test **
133 -|Before entry |(((
134 -Correctness of reported hazards, victims, layout
135 -)))|(((
136 -* Before entry let squad leader and entry team (seperatly) sketch/map or describe inside of building (harzards, victims, layout) > compare these with the ground-truth
137 -
138 -(((
139 -
140 -)))
141 -)))
142 -|During entry|(((
143 -FR path logs
144 -)))|(((
145 -* Compare plannend vs. executed path (how many or how big were the deviations? and were they acceptable?) and identify detours caused by misjudgment or new information
146 -
147 -(((
148 -
149 -)))
150 -)))
151 -|After mission|(((
152 -Correctness of reported hazards, victims, layout
153 -)))|(((
154 -* Repeat sketching/mapping or descriptive task and compare the outcomes (improvement/ deterioration vs pre-entry)
155 -)))
156 -
157 -|**Claim: Situation Awareness**|**Measurment(s)**|**How to test **
158 -| |(((
159 -
160 -)))|(((
161 -
162 -)))
163 -| |(((
164 -
165 -)))|(((
166 -
167 -)))
168 -| |(((
169 -
170 -)))|
171 -
172 -
173 -
174 -**10. Procedure (Step-by-Step)**
175 -
176 -1. __Team preparation__:
177 -11. FR team ROBOT is trained in operating the robot, analysing the camera stream, and pinning information on C3I
178 -11. Squad leader and BoO are trained for both teams in interpreting the health and location sensor data.
179 -11. Experiment leader knows where hazards and victims are in both buildings.
180 -11. Anymal robot is tested with network in target buildings for experiment (without FR themselves seeing building!)
181 -1. __Experiment preparation:__
182 -11. Building is prepped with victims, hazards, etc.
183 -1. __Briefing:__
184 -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.
185 -11. One person is notified that their health sensor will be triggered during the Building B (difficult building) situation.
186 -1. __Execution:__
187 -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]]
188 -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]]
189 -11. During execution of both teams, performance will be measured by experiment leader:
190 -111. Mission completion time
191 -111. Health indicators stay within acceptable range
192 -111. Time for tackling any health alerts
193 -111. Track FR path
194 -1. __Hotwash__:
195 -11. Questions (specified per role, couple questions per topic) on:
196 -111. Near-incident report
197 -111. Path inside
198 -111. FR location and status of hazards, victims, and layout
199 -111. Mission effectiveness: e.g. self reported effectiveness of decisions
200 -111. Self-reported workload
201 -111. Trust survey
202 -11. Group discussion with feedback
203 -
204 -**~11. Planning:**
205 -
206 -* Team preparation: Day before. 1 hour.
207 -* Trial 1:
208 -** Setup scenario: Test day 1. 09:00 - 09:30
209 -** Setup tech and perform checks: Test day 1. 09:00 - 09:30
210 -** Briefing of each team individually (outside building): Test day 1: 09:00 - 09:30
211 -** Mission execution: Test day 1. 09:30 - 10:30
212 -** Hot wash: Test day 1. 10:30-11:00
213 -** Scenario reset: test day 1. 10:30-11:00
214 -* Teams switch location: Test day 1. 11:00-11:15
215 -* Trial 2: 
216 -** (Setup scenario: Test day 1. 12:30 - 13:00)
217 -** Setup tech and perform checks: Test day 1. 12:30 - 13:00
218 -** Briefing of each team individually (outside building): Test day 1: 12:30 - 13:00
219 -** Mission execution: Test day 1. 13:00 - 14:00
220 -** Hot wash: Test day 1. 14:00-14:30
221 -* Cleanup area and store tech. 14:00-14:30
222 -
223 -
224 -
225 -**12. Materials**
226 -
227 -* For FRs:
228 -** 1x Anymal with teleop setup and networking
229 -** 2x Tablet with C3I for squad leader (one spare)
230 -** 1x Base of Operations with computer with C3I
231 -** 4x Health sensors
232 -** 4x Location sensors
233 -** 8x walky talky with two channels (?) (for FR team and BoO).
234 -* For usecase:
235 -** 2x training building (~~100m2?)
236 -** Enviromental challenges: smoke machine, obstacles, etc.
237 -** ~~8x Actors or dummies for victims.
238 -* 8x Clipboards with papers and pens for hotwash and questionnaires
239 -
240 -**13. Dependencies**
241 -
242 -* Availability of materials
243 -* Availability and functioning of ANYmal robot with teleoperation and network in target buildings
244 -* Availability of functioning network between robot, FRs, and BoO.
245 -* Availability of:
246 -** Experiment participants
247 -** People willing to play victim
248 -** Experiment leaders
249 -
250 -**14. Success Criteria**
251 -When mission(s) completed by both teams, and we can compare their performance using the metrics.
252 -
253 -
254 -