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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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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:
... ... @@ -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  
... ... @@ -104,120 +104,25 @@
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 -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. See [[j. SFT1 evaluation templates >>3\. Evaluation.g\. Prototype .WebHome]] for more details about the measurements during a test.
114 +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: 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
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
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 -
149 -|**Claim: Mission effectiveness [CL03] [CL04] [CL05]**|**Measurment(s)**|**How to test **
150 -|(((
151 -Acceptable workload
152 -)))|(((
153 -
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")
158 -
159 -(((
160 -
161 -)))
162 -)))
163 -|(((
164 -Appropriate trust
165 -)))|(((
166 -
167 -
168 -Trust survey / interviews
169 -)))|(((
170 -*
171 -)))
172 -|(((
173 -Decision confidence
174 -)))|(((
175 -
176 -
177 -Retrospective decision quality rating
178 -)))|
179 -
180 -|**Claim: Health [CL06]**|**Measurment(s)**|**How to test **
181 -|(((
182 -Health remains acceptable
183 -)))|(((
184 -
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 -
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 -
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 -)))
207 -
208 208  **10. Procedure (Step-by-Step)**
209 209  
210 -1. __Team preparation__:
119 +1. Team preparation:
211 211  11. FR team ROBOT is trained in operating the robot, analysing the camera stream, and pinning information on C3I
212 212  11. Squad leader and BoO are trained for both teams in interpreting the health and location sensor data.
213 213  11. Experiment leader knows where hazards and victims are in both buildings.
214 214  11. Anymal robot is tested with network in target buildings for experiment (without FR themselves seeing building!)
215 -1. __Experiment preparation:__
124 +1. Experiment preparation
216 216  11. Building is prepped with victims, hazards, etc.
217 -1. __Briefing:__
126 +1. Briefing:
218 218  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.
219 219  11. One person is notified that their health sensor will be triggered during the Building B (difficult building) situation.
220 -1. __Execution:__
129 +1. Execution:
221 221  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]]
222 222  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]]
223 223  11. During execution of both teams, performance will be measured by experiment leader:
... ... @@ -225,38 +225,37 @@
225 225  111. Health indicators stay within acceptable range
226 226  111. Time for tackling any health alerts
227 227  111. Track FR path
228 -1. __Hotwash__:
229 -11. Questions (specified per role, couple questions per topic) on:
137 +1. Hotwash:
138 +11. Questions on:
230 230  111. Near-incident report
231 231  111. Path inside
232 232  111. FR location and status of hazards, victims, and layout
233 -111. Mission effectiveness: e.g. self reported effectiveness of decisions
142 +111. Mission effectiveness
234 234  111. Self-reported workload
235 235  111. Trust survey
236 -11. Group discussion with feedback
237 237  
238 -**~11. Planning:**
146 +Planning:
239 239  
240 240  * Team preparation: Day before. 1 hour.
241 241  * Trial 1:
242 -** Setup scenario: Test day 1. 09:00 - 09:30
150 +** Setup usecase: Test day 1. 09:00 - 09:30
243 243  ** Setup tech and perform checks: Test day 1. 09:00 - 09:30
244 244  ** Briefing of each team individually (outside building): Test day 1: 09:00 - 09:30
245 245  ** Mission execution: Test day 1. 09:30 - 10:30
246 246  ** Hot wash: Test day 1. 10:30-11:00
247 -** Scenario reset: test day 1. 10:30-11:00
155 +** Usecase reset: test day 1. 10:30-11:00
248 248  * Teams switch location: Test day 1. 11:00-11:15
249 249  * Trial 2: 
250 -** (Setup scenario: Test day 1. 12:30 - 13:00)
158 +** Setup usecase: Test day 1. 12:30 - 13:00
251 251  ** Setup tech and perform checks: Test day 1. 12:30 - 13:00
252 252  ** Briefing of each team individually (outside building): Test day 1: 12:30 - 13:00
253 253  ** Mission execution: Test day 1. 13:00 - 14:00
254 254  ** Hot wash: Test day 1. 14:00-14:30
255 -* Cleanup area and store tech. 14:00-14:30
163 +** Cleanup area and store tech. 14:00-14:30
256 256  
257 257  
258 258  
259 -**12. Materials**
167 +**~11. Materials**
260 260  
261 261  * For FRs:
262 262  ** 1x Anymal with teleop setup and networking
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271 271  ** ~~8x Actors or dummies for victims.
272 272  * 8x Clipboards with papers and pens for hotwash and questionnaires
273 273  
274 -**13. Dependencies**
275 275  
183 +**14. Dependencies**
184 +
276 276  * Availability of materials
277 -* 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
278 278  * Availability of functioning network between robot, FRs, and BoO.
279 279  * Availability of:
280 280  ** Experiment participants
... ... @@ -281,8 +281,9 @@
281 281  ** People willing to play victim
282 282  ** Experiment leaders
283 283  
284 -**14. Success Criteria**
285 -When mission(s) completed by both teams, and we can compare their performance using the metrics.
286 286  
194 +**15. Success Criteria**
195 +[How do you know the experiment worked as intended?]
287 287  
197 +
288 288