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Tjalling Haije 1.6 1 **Experiment title**
Tjalling Haije 1.16 2 System baseline test
Tjalling Haije 1.2 3
Tjalling Haije 1.6 4
Tjalling Haije 1.2 5 **2. Objective / Research Question**
Tjalling Haije 1.14 6 Do the SYNERGISE technologies together improve the SYNERGISE [[Objectives>>2\. Specification.Objectives.WebHome]] (stated below) without negative effects?
Tjalling Haije 1.2 7
Tjalling Haije 1.6 8 1. Mission effectiveness
9 1. Mission efficiency
10 1. FR Health
11 1. FR and victim safety
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Tjalling Haije 1.2 14 **3. Hypotheses / Expectations (optional)**
Tjalling Haije 1.6 15 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:
Tjalling Haije 1.2 16
Tjalling Haije 1.6 17 * CL01: Improve safety for responders
18 * CL02: Increased SA
19 * CL03: Improved mission effectiveness
20 * CL04: acceptable workload
21 * CL05: trustworthy SA
22 * CL06: improved FR health
23 * CL07: degraded mission efficiency
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Tjalling Haije 1.2 26 **4. Scenario / Context**
Tjalling Haije 1.7 27 ASR3: Detailed indoor exploration
Tjalling Haije 1.2 28
Tjalling Haije 1.7 29 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]] :
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31 * Structure is flagged as (relatively?) **safe for direct human entry**; sector/ worksite allocated.
32 * **FRs wearables** distributed, connected, and calibrated.
33 * Specific to scenario with ANYmal:
34 ** **ANYmal **is mission-ready (battery, controls, and payload checked).
35 ** **C3I is online**, role-based views are configurated (Operator/ Analyst/ Team leader/ Safety officer); **5G pods** are installed for connection.
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Tjalling Haije 1.2 38 **5. Participants**
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Tjalling Haije 1.7 40 * FR team ROBOT:
Tjalling Haije 1.3 41 ** 1x Squad leaders
42 ** 1x Robot operator
43 ** 1x Robot analyst
44 ** 2x First responder
Tjalling Haije 1.7 45 * FR team HUMAN:
Tjalling Haije 1.3 46 ** 1x Squad leaders
47 ** 2x First reponder
48 * Base of Operations:
Tjalling Haije 1.6 49 ** 1x Safety officer / medical specialist
Tjalling Haije 1.3 50 ** Team lead
Tjalling Haije 1.2 51
Tjalling Haije 1.6 52 Number of participants: 9 
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Tjalling Haije 1.5 54
Tjalling Haije 1.2 55 **6. System(s) Under Test**
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Tjalling Haije 1.7 57 |(% style="width:267px" %)Technology|(% style="width:1250px" %)Description
58 |(% style="width:267px" %)ANYmal|(% style="width:1250px" %)(((
59 * Robust mobility over uneven terrain (stairs, debris, slopes).
60 * Multi-sensor payload (video, LIDAR, thermal??)
61 * Reliable wireless communication/ connection in degraded environments.
62 * Support for tele‑operation with clear operator feedback.
63 * Link with C3I, such as adding victims as pin on map.
64 * NO autonomy.
65 )))
66 |(% style="width:267px" %)C3I (BoO and tablet version)|(% style="width:1250px" %)(((
67 * Interoperability with health and location sensors.
68 * Robust operation under limited connectivity (sync when possible).
69 * Usable tablet interface for field conditions (gloves, stress, time pressure).
70 )))
71 |(% style="width:267px" %)Health sensors|(% style="width:1250px" %)(((
72 * Accurate and reliable physiological sensing (e.g. heart rate, exertion proxies).
73 * Comfortable, non‑intrusive form factor suitable for long missions.
74 * Secure wireless data transmission to C3I systems.
75 * Real‑time alerting and trend monitoring.
76 )))
77 |(% style="width:267px" %)Location sensors|(% style="width:1250px" %)(((
78 * Indoor and outdoor localisation capability.
79 * Sufficient accuracy and update rate for safety‑critical use.
80 * Integration with C3I and mapping systems.
81 * Robustness to environmental interference (dust, debris, structures, height differences).
82 )))
Tjalling Haije 1.2 83
Tjalling Haije 1.7 84
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Tjalling Haije 1.2 86 **7. Tasks**
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Tjalling Haije 1.6 88 [[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]]
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90 [[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]] 
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Tjalling Haije 1.2 93 **8. Experimental Conditions / Variants**
Tjalling Haije 1.7 94
95 Two buildings:
96
Tjalling Haije 1.8 97 * Building A: Easier location, obstacles and environmental conditions. (clear visibility, ..)
98 * Building B: Challenging location, obstacles and environmental conditions for humans and robots (e.g. smoke and obstacles).
Tjalling Haije 1.7 99
Tjalling Haije 1.8 100 Trial 1:
Tjalling Haije 1.7 101
Tjalling Haije 1.8 102 * FR Team ROBOT does Building A
103 * FR team HUMAN does Building B
Tjalling Haije 1.7 104
Tjalling Haije 1.8 105 Trial 2:
Tjalling Haije 1.7 106
Tjalling Haije 1.8 107 * FR Team ROBOT does Building B
108 * FR team HUMAN does Building A
Tjalling Haije 1.7 109
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Tjalling Haije 1.2 111 **9. Measurements**
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Tjalling Haije 1.8 113 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]]
Tjalling Haije 1.2 114
Tjalling Haije 1.6 115
Tjalling Haije 1.2 116 **10. Procedure (Step-by-Step)**
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Tjalling Haije 1.15 118 1. __Team preparation__:
Tjalling Haije 1.8 119 11. FR team ROBOT is trained in operating the robot, analysing the camera stream, and pinning information on C3I
120 11. Squad leader and BoO are trained for both teams in interpreting the health and location sensor data.
121 11. Experiment leader knows where hazards and victims are in both buildings.
Tjalling Haije 1.13 122 11. Anymal robot is tested with network in target buildings for experiment (without FR themselves seeing building!)
Tjalling Haije 1.15 123 1. __Experiment preparation:__
Tjalling Haije 1.11 124 11. Building is prepped with victims, hazards, etc.
Tjalling Haije 1.15 125 1. __Briefing:__
Tjalling Haije 1.8 126 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.
127 11. One person is notified that their health sensor will be triggered during the Building B (difficult building) situation.
Tjalling Haije 1.15 128 1. __Execution:__
Tjalling Haije 1.8 129 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]]
130 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]]
131 11. During execution of both teams, performance will be measured by experiment leader:
132 111. Mission completion time
133 111. Health indicators stay within acceptable range
134 111. Time for tackling any health alerts
135 111. Track FR path
Tjalling Haije 1.15 136 1. __Hotwash__:
Tjalling Haije 1.8 137 11. Questions on:
138 111. Near-incident report
139 111. Path inside
140 111. FR location and status of hazards, victims, and layout
141 111. Mission effectiveness
142 111. Self-reported workload
143 111. Trust survey
Tjalling Haije 1.2 144
Tjalling Haije 1.15 145 **~11. Planning:**
Tjalling Haije 1.6 146
Tjalling Haije 1.13 147 * Team preparation: Day before. 1 hour.
Tjalling Haije 1.11 148 * Trial 1:
149 ** Setup usecase: Test day 1. 09:00 - 09:30
150 ** Setup tech and perform checks: Test day 1. 09:00 - 09:30
151 ** Briefing of each team individually (outside building): Test day 1: 09:00 - 09:30
152 ** Mission execution: Test day 1. 09:30 - 10:30
153 ** Hot wash: Test day 1. 10:30-11:00
154 ** Usecase reset: test day 1. 10:30-11:00
155 * Teams switch location: Test day 1. 11:00-11:15
156 * Trial 2: 
157 ** Setup usecase: Test day 1. 12:30 - 13:00
158 ** Setup tech and perform checks: Test day 1. 12:30 - 13:00
159 ** Briefing of each team individually (outside building): Test day 1: 12:30 - 13:00
160 ** Mission execution: Test day 1. 13:00 - 14:00
161 ** Hot wash: Test day 1. 14:00-14:30
162 ** Cleanup area and store tech. 14:00-14:30
Tjalling Haije 1.2 163
Tjalling Haije 1.6 164
Tjalling Haije 1.2 165
Tjalling Haije 1.15 166 **12. Materials**
Tjalling Haije 1.2 167
Tjalling Haije 1.12 168 * For FRs:
169 ** 1x Anymal with teleop setup and networking
170 ** 2x Tablet with C3I for squad leader (one spare)
171 ** 1x Base of Operations with computer with C3I
172 ** 4x Health sensors
173 ** 4x Location sensors
174 ** 8x walky talky with two channels (?) (for FR team and BoO).
175 * For usecase:
176 ** 2x training building (~~100m2?)
177 ** Enviromental challenges: smoke machine, obstacles, etc.
178 ** ~~8x Actors or dummies for victims.
179 * 8x Clipboards with papers and pens for hotwash and questionnaires
Tjalling Haije 1.6 180
Tjalling Haije 1.10 181
Tjalling Haije 1.15 182 **13. Dependencies**
Tjalling Haije 1.2 183
Tjalling Haije 1.13 184 * Availability of materials
Tjalling Haije 1.15 185 * Availability and functioning of ANYmal robot with teleoperation and network in target buildings
Tjalling Haije 1.13 186 * Availability of functioning network between robot, FRs, and BoO.
187 * Availability of:
188 ** Experiment participants
189 ** People willing to play victim
190 ** Experiment leaders
Tjalling Haije 1.6 191
Tjalling Haije 1.12 192
Tjalling Haije 1.15 193 **14. Success Criteria**
194 When mission(s) completed by both teams, and we can compare their performance using the metrics.
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