## 3 Performance Test
\begin{table}
\begin{tabular}{c c c c} \hline \hline
**Samples** & **Name** & **Mass** & **Volume** \\ \hline Sample A & The deformable robot for searching ruins & 20 kg & 520 \(\times\) 420 \(\times\) 250 mm\({}^{3}\) \\ Sample B & The wheel-track composite exploration robot & 15 kg & 360 \(\times\) 320 \(\times\) 280 mm\({}^{3}\) \\ Sample C & The intelligent life detection robot & 25 kg & 520 \(\times\) 420 \(\times\) 250 mm\({}^{3}\) \\ \hline \hline \end{tabular}
\end{table} 
Table 5: The related parameters of three robots. from 15\({}^{\circ}\) to 16\({}^{\circ}\). Additionally, the module allows for variation in the slope material to assess the climbing ability under different friction conditions. 2. The adjustable cross-cone turning module is designed with a 90\({}^{\circ}\) turning angle, allowing for an adjustable cone slope and automatic twisting of the guide frame on both sides to adapt to the cone. The flexibility of turning and lateral balance ability at different speeds can be tested. 3. The adjustable ridge side slope module consists of multiple plates joined together by twisted plates. The slope can be adjusted, and the complexity of the side slope can be modified by altering the direction in which the plates are joined, allowing for testing of both passing ability and balance capability. 4. The complex pavement interspersed construction module consists of a grid and multiple wooden piles. By adjusting the interspersed positions of wooden piles, it is possible to simulate intricate terrains and assess flexibility and passing capacity. 5. The test module of the pipeline consists of torsional splicing techniques. Rotating the entire pipeline simulates complex pipelines and tests their ability to pass through narrow spaces by adjusting the vertical position. 6. The adjustable wave pavement module is constructed by combining multiple plate strands to form a collapsible fan shape. The handle allows for modification of the wave spacing, while one end of the simulated staircase can be elevated to assess the performance on uneven road surfaces and steps. 7. The adjustable slope-crossing module consists of two sets of independent slopes connected face to face, and the spacing can be adjusted according to the need to test the ability to cross the gully. 8. The test module consists of multiple depressions that can be filled with various materials (such as sand and stone columns) to simulate different road conditions. 9. The re-configurable terrain test module consists of a vertical arrangement of hundreds of wooden cubes, forming a rectangular, square matrix. Each individual cube is equipped with an independent lifting and locking device, enabling adjustable height settings. This design allows for the simulation of various complex terrain structures and facilitates the testing of irregular pavement traversal capabilities. Figure 3: The real arrangement of each module. The test environment is equipped with real-time monitoring functions. It includes a total of 11 monitoring cameras, a temperature and humidity sensor, six fixed installation wireless nodes, and six randomly scattered wireless nodes. By utilizing the multi-source wireless environment sensing network, remote monitoring of the testing process and environmental information are achieved, as depicted in Figure 4.  
In this paper, the test standard for each criterion shown in Figure 2 is based on the General specifications of ground robots for search and rescue in ruins (GB/T 37703-2019) [65]. The index test methods are derived from the existing methods [66] used at the national earthquake emergency rescue training base. The performance indexes test results are presented in Table 6. All tests for performance indexes were conducted three times, and the average value was considered as the test result. Additionally, a list of test methods for some important indexes is provided as follows:  
1. Testing the values of continuous working time with an independent power supply.