Q1: What do you think the differences between moral value elicitation and direct control?

Direct control is better at achieving the goals the rescuer wants to save, but the rescuer needs to be highly focused and inefficient at all times. This type of rescue is generally done by relying on emotion, a difficult rescue of a 10 year old child with low vital signs or an easy rescue of a 90 year old.
For your design, setting up the ethics in advance provides some improvement in terms of efficiency, but consistency for both robot and human targets depends on the accuracy in the setup. The settings used for the actual operation must be more specific.

Q2: What information do you think is important for the team leader to know in the rescue task?
The information you listed here is very important to the rescue team. Difficulty to rescue and level of injury can help with rescue decisions. However, the distance may not reflect the real rescue information. Instead, I would recommend to use difficulty to reach.
I saw that you used different measurements for the difficulty and vital sign. I would say unified measurement is better for the team leader.
Q3:Do these explanations cover the information?
Yes. They basically cover the information above.

Q4: Which type of explanation do you think is better to help increase the subjective experience of human control? Why?
I think example E cover the most information. And it can provide me a perspective from another situation. So example E is better.

Q5: What do you think is the proper explanation time? Why?
Compared to show the explanations in the end, presenting them during the task would be better. The team leader will have a better understanding of the whole task during rescuing. 

