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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**
6 -Do the SYNERGISE technologies together improve the SYNERGISE [[Objectives>>2\. Specification.Objectives.WebHome]] (stated below) without negative effects?
6 +Do the SYNERGISE technologies together improve the below SYNERGISE [[Objectives>>2\. Specification.Objectives.WebHome]] without negative effects?
7 7  
8 8  1. Mission effectiveness
9 9  1. Mission efficiency
... ... @@ -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  
... ... @@ -21,25 +21,19 @@
21 21  * CL06: improved FR health
22 22  * CL07: degraded mission efficiency
23 23  
25 +
24 24  **4. Scenario / Context**
25 -ASR3: Detailed indoor exploration
27 +[Short description of the operational or simulated scenario in which the experiment runs]
28 +
26 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 35  **5. Participants**
36 36  
37 -* FR team ROBOT:
32 +* FR team 1:
38 38  ** 1x Squad leaders
39 39  ** 1x Robot operator
40 40  ** 1x Robot analyst
41 41  ** 2x First responder
42 -* FR team HUMAN:
37 +* FR team 2:
43 43  ** 1x Squad leaders
44 44  ** 2x First reponder
45 45  * Base of Operations:
... ... @@ -51,35 +51,11 @@
51 51  
52 52  **6. System(s) Under Test**
53 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 -)))
49 +* Hardware / robot / software: [Describe system(s)]
50 +* Version / configuration: [Describe]
51 +* Relevant capabilities and limitations: [Overview]
52 +
80 80  
81 -
82 -
83 83  **7. Tasks**
84 84  
85 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]]
... ... @@ -88,167 +88,48 @@
88 88  
89 89  
90 90  **8. Experimental Conditions / Variants**
62 +[Condition A vs B, baseline vs intervention, with/without transparency, etc.]
91 91  
92 -Two buildings:
93 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 -
107 107  **9. Measurements**
108 108  
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.
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]
110 110  
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 -)))
123 123  
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 -)))
72 +**10. Procedure (Step-by-Step)**
131 131  
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
74 +1. [Describe preparation]
75 +1. [Briefing]
76 +1. [Execution]
77 +1. [Debrief / Hotwash]
137 137  
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
146 146  
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 -)))
80 +**~11. Materials / Setup Components**
81 +[List equipment, environment layout, props, simulation assets]
156 156  
157 -|**Claim: Situation Awareness**|**Measurment(s)**|**How to test **
158 -| |(((
159 -
160 -)))|(((
161 -
162 -)))
163 -| |(((
164 -
165 -)))|(((
166 -
167 -)))
168 -| |(((
169 -
170 -)))|
171 171  
84 +**12. Safety & Ethical Considerations**
172 172  
86 +* Risks: [Describe]
87 +* Mitigations: [Describe]
88 +* Informed consent: [Yes/No + method]
89 +* Data handling: [Describe]
173 173  
174 -**10. Procedure (Step-by-Step)**
175 175  
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
92 +**13. Location & Duration**
203 203  
204 -**~11. Planning:**
94 +* Location: [Where does it take place?]
95 +* Duration: [Total time per run + preparation]
205 205  
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
222 222  
98 +**14. Dependencies**
99 +[Other WPs, required assets, system availability, permissions]
223 223  
224 224  
225 -**12. Materials**
102 +**15. Success Criteria**
103 +[How do you know the experiment worked as intended?]
226 226  
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
239 239  
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 -
254 254