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Last modified by Rosa Van Tuijn on 2026/04/13 12:47
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edited by Rosa Van Tuijn
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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**
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  
... ... @@ -21,6 +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:
... ... @@ -91,198 +91,59 @@
91 91  
92 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).
97 +* Building A: Challenging location, obstacles and environmental conditions for humans and robots (e.g. smoke and obstacles).
98 +* Building B: Easier location, obstacles and environmental conditions. (clear visibility, ..)
96 96  
97 -Trial 1:
98 98  
99 -* FR Team ROBOT does Building A
100 -* FR team HUMAN does Building B
101 101  
102 -Trial 2:
102 +Trial1:
103 103  
104 -* FR Team ROBOT does Building B
105 -* FR team HUMAN does Building A
104 +* FR Team ROBOT does easy
106 106  
107 -**9. Measurements**
106 +Team A does first [[UC04.3>>2\. Specification.b\. Use Cases.UC04\.0\: Detailed indoor exploration.UC04\.3\: Detailed indoor exploration with ANYMAL (USAR).WebHome]]
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.
108 +[Condition A vs B, baseline vs intervention, with/without transparency, etc.]
110 110  
111 -|**Claim: Safety [CL01]**|**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: Situation Awareness [CL02]**|**Measurment(s)**|**How to test **
125 -|Before entry |(((
126 -Correctness of reported hazards, victims, layout
127 -)))|(((
128 -* 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
111 +**9. Measurements**
129 129  
130 -(((
131 -
132 -)))
133 -)))
134 -|During entry|(((
135 -FR path logs
136 -)))|(((
137 -* 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
113 +* Objective measures: [E.g., task completion time, errors, navigation metrics]
114 +* Subjective measures: [E.g., trust, workload, clarity, usability questionnaires]
115 +* Logs / sensors: [E.g., robot logs, video, physiological sensors]
138 138  
139 -(((
140 -
141 -)))
142 -)))
143 -|After mission|(((
144 -Correctness of reported hazards, victims, layout
145 -)))|(((
146 -* Repeat sketching/mapping or descriptive task and compare the outcomes (improvement/ deterioration vs pre-entry)
147 -)))
148 148  
149 -|**Claim: Mission effectiveness [CL03] [CL04] [CL05]**|**Measurment(s)**|**How to test **
150 -|(((
151 -Acceptable workload
152 -)))|(((
153 -
118 +**10. Procedure (Step-by-Step)**
154 154  
155 -NASA-TLX
156 -)))|(((
157 -* Shortened post-trial NASA-TLX questionnaire and analyze score (discuss if these with experts to check if these are "acceptable")
120 +1. [Describe preparation]
121 +1. [Briefing]
122 +1. [Execution]
123 +1. [Debrief / Hotwash]
158 158  
159 -(((
160 -
161 -)))
162 -)))
163 -|(((
164 -Appropriate trust
165 -)))|(((
166 -
167 167  
168 -Trust survey / interviews
169 -)))|(((
170 -*
171 -)))
172 -|(((
173 -Decision confidence
174 -)))|(((
175 -
126 +**~11. Materials / Setup Components**
127 +[List equipment, environment layout, props, simulation assets]
176 176  
177 -Retrospective decision quality rating
178 -)))|
179 179  
180 -|**Claim: Health [CL06]**|**Measurment(s)**|**How to test **
181 -|(((
182 -Health remains acceptable
183 -)))|(((
184 -
130 +**12. Safety & Ethical Considerations**
185 185  
186 -Health indicators
187 -)))|(((
188 -* Define acceptable ranges (e.g. HR, temperature, etc.) beforehand and log these ranges
189 -)))
190 -|(((
191 -Issues handled in time
192 -)))|(((
193 -
132 +* Risks: [Describe]
133 +* Mitigations: [Describe]
134 +* Informed consent: [Yes/No + method]
135 +* Data handling: [Describe]
194 194  
195 -Health issues tackled in acceptable time
196 -)))|(((
197 -* Timestamp when acceptable ranges are breached till moment detection and intervention moment (compare this with predefined response thresholds)
198 -)))
199 199  
200 -|**Claim: Mission Efficiency [CL07]**|**Measurment(s)**|**How to test **
201 -|Faster mission execution|Total mission completion time|(((
202 -* Timestamp of start (after briefing) till all located victims have been extracted
203 -)))
204 -|Faster inside performance|First responder time inside|(((
205 -* Timestamp of entry building till exist building (last located victim is exstracted)
206 -)))
138 +**13. Location & Duration**
207 207  
208 -**10. Procedure (Step-by-Step)**
140 +* Location: [Where does it take place?]
141 +* Duration: [Total time per run + preparation]
209 209  
210 -1. __Team preparation__:
211 -11. FR team ROBOT is trained in operating the robot, analysing the camera stream, and pinning information on C3I
212 -11. Squad leader and BoO are trained for both teams in interpreting the health and location sensor data.
213 -11. Experiment leader knows where hazards and victims are in both buildings.
214 -11. Anymal robot is tested with network in target buildings for experiment (without FR themselves seeing building!)
215 -1. __Experiment preparation:__
216 -11. Building is prepped with victims, hazards, etc.
217 -1. __Briefing:__
218 -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.
219 -11. One person is notified that their health sensor will be triggered during the Building B (difficult building) situation.
220 -1. __Execution:__
221 -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]]
222 -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]]
223 -11. During execution of both teams, performance will be measured by experiment leader:
224 -111. Mission completion time
225 -111. Health indicators stay within acceptable range
226 -111. Time for tackling any health alerts
227 -111. Track FR path
228 -1. __Hotwash__:
229 -11. Questions (specified per role, couple questions per topic) on:
230 -111. Near-incident report
231 -111. Path inside
232 -111. FR location and status of hazards, victims, and layout
233 -111. Mission effectiveness: e.g. self reported effectiveness of decisions
234 -111. Self-reported workload
235 -111. Trust survey
236 -11. Group discussion with feedback
237 237  
238 -**~11. Planning:**
144 +**14. Dependencies**
145 +[Other WPs, required assets, system availability, permissions]
239 239  
240 -* Team preparation: Day before. 1 hour.
241 -* Trial 1:
242 -** Setup scenario: Test day 1. 09:00 - 09:30
243 -** Setup tech and perform checks: Test day 1. 09:00 - 09:30
244 -** Briefing of each team individually (outside building): Test day 1: 09:00 - 09:30
245 -** Mission execution: Test day 1. 09:30 - 10:30
246 -** Hot wash: Test day 1. 10:30-11:00
247 -** Scenario reset: test day 1. 10:30-11:00
248 -* Teams switch location: Test day 1. 11:00-11:15
249 -* Trial 2: 
250 -** (Setup scenario: Test day 1. 12:30 - 13:00)
251 -** Setup tech and perform checks: Test day 1. 12:30 - 13:00
252 -** Briefing of each team individually (outside building): Test day 1: 12:30 - 13:00
253 -** Mission execution: Test day 1. 13:00 - 14:00
254 -** Hot wash: Test day 1. 14:00-14:30
255 -* Cleanup area and store tech. 14:00-14:30
256 256  
148 +**15. Success Criteria**
149 +[How do you know the experiment worked as intended?]
257 257  
258 258  
259 -**12. Materials**
260 -
261 -* For FRs:
262 -** 1x Anymal with teleop setup and networking
263 -** 2x Tablet with C3I for squad leader (one spare)
264 -** 1x Base of Operations with computer with C3I
265 -** 4x Health sensors
266 -** 4x Location sensors
267 -** 8x walky talky with two channels (?) (for FR team and BoO).
268 -* For usecase:
269 -** 2x training building (~~100m2?)
270 -** Enviromental challenges: smoke machine, obstacles, etc.
271 -** ~~8x Actors or dummies for victims.
272 -* 8x Clipboards with papers and pens for hotwash and questionnaires
273 -
274 -**13. Dependencies**
275 -
276 -* Availability of materials
277 -* Availability and functioning of ANYmal robot with teleoperation and network in target buildings
278 -* Availability of functioning network between robot, FRs, and BoO.
279 -* Availability of:
280 -** Experiment participants
281 -** People willing to play victim
282 -** Experiment leaders
283 -
284 -**14. Success Criteria**
285 -When mission(s) completed by both teams, and we can compare their performance using the metrics.
286 -
287 -
288 288