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...@@ -6,7 +6,7 @@ In January 2023, a final end user workshop took place, which was attended by the ...@@ -6,7 +6,7 @@ In January 2023, a final end user workshop took place, which was attended by the
Participants of the workshop on-site and online Participants of the workshop on-site and online
After the presentation of the results of the individual modules of the LOKI system, an extensive discussion took place with the end users. Topics such as usability, suggestions for improvement, general feedback, and the future were in the focus (Figure 2). The lively discussion led to the following results (in extracts): After the presentation of the results of the individual modules of the LOKI system, an extensive discussion took place with the end users. Topics such as usability, suggestions for improvement, general feedback, and the future were in the focus. The lively discussion led to the following results (in extracts):
**Applicability** <br> **Applicability** <br>
...@@ -44,7 +44,7 @@ After the presentation of the results of the individual modules of the LOKI syst ...@@ -44,7 +44,7 @@ After the presentation of the results of the individual modules of the LOKI syst
* Internationalisation of the modules * Internationalisation of the modules
* Involvement of international end users and development of suitable feedback methods * Involvement of international end users and development of suitable feedback methods
<center><img src="https://git.gfz-potsdam.de/loki/loki_wiki/-/raw/main/wiki/docs/stories/media/Enduserworkshop_2.png" alt="End user workshop" width="900"> </center> <img src="https://git.gfz-potsdam.de/loki/loki_wiki/-/raw/main/wiki/docs/stories/media/Enduserworkshop_2.png" alt="End user workshop" width="900">
Collected ideas of the participants that served as a basis for the discussion Collected ideas of the participants that served as a basis for the discussion
...@@ -54,17 +54,18 @@ In general, the great interest of the end users was obvious. The workshop enable ...@@ -54,17 +54,18 @@ In general, the great interest of the end users was obvious. The workshop enable
# **Annual LOKI project meeting 2023** # **Annual LOKI project meeting 2023**
In the fourth annual LOKI project meeting (26 January 2023) project partners had a great exchange about the following main topics: In the fourth annual LOKI project meeting (26 January 2023) project partners had a great exchange about the following main topics:
<ul><li>Evaluation of current development status of the individual modules and integrated system prototype</li><li>Discussion of open tasks for finalization of prototype integration, demonstration, and evaluation (milestone 4)</li><li>Further dissemination of project results and future perspectives for joint collaborations and projects</li><Preparation for BMBF status seminar</li><li>Agreement on major next steps in the overall collaboration among project partners</li></ul> <ul><li>Evaluation of current development status of the individual [modules and integrated framework prototype](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/LOKI-Framework)</li><li>Discussion of open tasks for finalization of prototype integration, demonstration, and evaluation [(milestone 4)](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/Project-Milestones)</li><li>Further dissemination of project results and future perspectives for joint collaborations and projects</li><Preparation for BMBF status seminar</li><li>Agreement on major next steps in the overall collaboration among project partners</li></ul>
<img src="https://git.gfz-potsdam.de/loki/loki_wiki/-/raw/main/wiki/docs/stories/media/loki_project_meeting.jpg" width="900"> <img src="https://git.gfz-potsdam.de/loki/loki_wiki/-/raw/main/wiki/docs/stories/media/loki_project_meeting.jpg" width="900">
Discussion of these topics strengthened the focus for the last year of the project and the achieved outcomes will serve as the basis for the further development of the [LOKI framework](/loki_framework/loki_framework.html). Discussion of these topics strengthened the focus for the last year of the project and the achieved outcomes will serve as the basis for the further development of the [LOKI framework](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/LOKI-Framework).
### **Module test with THW Heidelberg: Mission planning module and automatic damage classification module**
# **Module test with THW Heidelberg: Mission planning module and automatic damage classification module**
In the last project year, one major focus is on the demonstration and evaluation of the LOKI framework together with end users. In the last project year, one major focus is on the demonstration and evaluation of the LOKI framework together with end users.
In this context, THW Heidelberg tested the [mission planning](/project_results/mission_planning.html) and [automatic damage classification](../project_results/automatic_damage_clf.html) modules, as part of the [LOKI framework](/loki_framework/loki_framework.html). Following a live demo of the two modules, we jointly discussed current functionalities and how the modules might be integrated in workflows of THW Heidelberg. In this context, THW Heidelberg tested the modules of [UAV mission planning](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/Project-Results:-UAV-Mission-Planning) and [automatic damage classification](../project_results/automatic_damage_clf.html) modules, as part of the [LOKI framework](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/LOKI-Framework). Following a live demo of the two modules, we jointly discussed current functionalities and how the modules might be integrated in workflows of THW Heidelberg.
We also collected valuable feedback on how to further improve the modules so they meet requirements of THW in case of an earthquake event. We also collected valuable feedback on how to further improve the modules so they meet requirements of THW in case of an earthquake event.
Furthermore, we presented the [modular structure](/loki_framework/loki_framework.html) of the LOKI framework, which allows using modules as stand-alone applications and combining them for a specific use case. Furthermore, we presented the [modular structure](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/LOKI-Framework) of the LOKI framework, which allows using modules as stand-alone applications and [combining them](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/Framework-interfaces) for a specific use case.
**We would like to thank THW Heidelberg for their interest and valuable feedback for further development of the modules!** **We would like to thank THW Heidelberg for their interest and valuable feedback for further development of the modules!**
...@@ -74,13 +75,14 @@ Furthermore, we presented the [modular structure](/loki_framework/loki_framework ...@@ -74,13 +75,14 @@ Furthermore, we presented the [modular structure](/loki_framework/loki_framework
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# **Module tests with end users: Micro mapping module and building completeness assessment module** # **Module tests with end users: Micro mapping module and building completeness assessment module**
On October 11, 2022, members of the firefighters and THW Heidelberg as well as the German Red Cross international, joined our online workshop to test the Crowdmap App for earthquake damage classification. We introduced the overall LOKI project and clarified the functionalities of the [Crowdmap App](https://crowdmap.heigit.org/#/). Different tasks were used to test the different project types: the binary mapping aims at identifying if there is any damage at all by the use of overview flight imagery. The multi-class mapping differentiates between five damage grades for detailed building images. The participants tested the tools and finished the project tasks. On October 11, 2022, members of the firefighters and THW Heidelberg as well as the German Red Cross international, joined our online workshop to test the [crowdsouring module](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/Project-Results:-Crowdsourcing) for earthquake damage classification. We introduced the overall LOKI project and the functionalities of the [Crowdmap App](https://crowdmap.heigit.org/#/). Different tasks were used to test the different project types: the binary mapping aims at identifying if there is any damage at all by the use of overview flight imagery. The multi-class mapping differentiates between five damage grades for detailed building images. The participants tested the tools and finished the project tasks.
<center><img src="https://git.gfz-potsdam.de/loki/loki_wiki/-/raw/main/wiki/docs/stories/media/Screenshot_Crowdmap_FinishedTasks.png" alt="MM-Tasks" width="900"> </center> <center><img src="https://git.gfz-potsdam.de/loki/loki_wiki/-/raw/main/wiki/docs/stories/media/Screenshot_Crowdmap_FinishedTasks.png" alt="MM-Tasks" width="900"> </center>
We included a questionnaire in order to evaluate the usability of the app as well as to have insights into the user requirements. We use the results for the continuous improvement of the tool. We got great feedback from the end-users and they are looking forward to apply the LOKI system themselves. We included a questionnaire in order to evaluate the usability of the app as well as to have insights into the user requirements. We use the results for the continuous improvement of the tool. We got great feedback from the end-users and they are looking forward to apply the LOKI system themselves.
**We thank the end-users for the active participation and their helpful feedback.** **We thank the end-users for the active participation and their helpful feedback.**
Further information about the Crowdmap App and how to set up own projects tasks can be found [here](https://git.gfz-potsdam.de/loki/micromapping_client_giscience). Further information about the Crowdmap App and how to set up own projects tasks can be found [here](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/Project-Results:-Crowdsourcing).
*** ***
# **3ECEES - Third European Conference on Earthquake Engineering and Seismology - 2022 in Bucharest** # **3ECEES - Third European Conference on Earthquake Engineering and Seismology - 2022 in Bucharest**
...@@ -103,15 +105,15 @@ More details can be found in the related publications: ...@@ -103,15 +105,15 @@ More details can be found in the related publications:
# **LOKI framework test: Detection and detailed assessment of building damage on a test site in Mosbach (DE)** # **LOKI framework test: Detection and detailed assessment of building damage on a test site in Mosbach (DE)**
One major focus of the third project year is to test the LOKI framework and all its modules in a realistic scenario. We therefore developed a scenario and workflow for a realistic use case and tested interfaces and functionalities of all LOKI modules for the detection and detailed assessment of building damage on a [training field in Mosbach](https://www.tcrh.de/tcrh-training-center-retten-und-helfen-mosbach/). One major focus of the third project year is to test the [LOKI framework and all its modules](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/LOKI-Framework) in a realistic scenario. We therefore developed a scenario and workflow for a realistic use case and tested interfaces and functionalities of all LOKI modules for the detection and detailed assessment of building damage on a [training field in Mosbach](https://www.tcrh.de/tcrh-training-center-retten-und-helfen-mosbach/).
A detailed description of the use case can be found [on our use case page](/loki_framework/framework_use_cases.html). A detailed description of the use case can be found [here](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/Framework-and-Module-Tests-and-Use-Cases#loki-framework-test-detection-and-detailed-assessment-of-building-damage-on-a-test-site-in-mosbach-de).
<img src="https://git.gfz-potsdam.de/loki/loki_wiki/-/raw/main/wiki/docs/stories/media/mosbach_test1.PNG" alt="LOKI System" width="900"> <img src="https://git.gfz-potsdam.de/loki/loki_wiki/-/raw/main/wiki/docs/stories/media/mosbach_test1.PNG" alt="LOKI System" width="900">
<img src="https://git.gfz-potsdam.de/loki/loki_wiki/-/raw/main/wiki/docs/stories/media/mosbach_test2.PNG" alt="LOKI System" width="900"> <img src="https://git.gfz-potsdam.de/loki/loki_wiki/-/raw/main/wiki/docs/stories/media/mosbach_test2.PNG" alt="LOKI System" width="900">
*** ***
# **Tool for time-optimal routing** # **Tool for time-optimal routing**
We developed a new tool for time-optimal UAV routing considering the entire physical properties of a UAV by means of a maximum allowed velocity and acceleration in any direction. Our tool is based on a combinatorial optimization procedure, which combines time-optimal trajectories between locations to entire tours starting and ending at specific locations. Since this method is based on millions of single trajectories connecting locations, which must be known to the optimization a-priori, state-of-the-art method for trajectory generation are not suitable anymore, because they would imply hours of computation time just for trajectory generation. Further, during our research, we found that commonly accepted assumptions for time-optimal trajectory generation are not generally correct and sometimes resulting in trajectories that are not trackable by multirotor UAVs. Hence, we developed a new time-optimal trajectory generation approach that overcomes this false assumption and additionally is capable of generating the trajectories within a nanosecond scale. This reduces the computation time compared to state-of-the-art approaches by a factor of approximately 1000 while still ensuring the traceability of these trajectories by modern multirotor UAVs. With this new kind of trajectory generation, we were able to decrease the total time consumption of a UAV mission without a maximum flight time restrictions up to 15% compared with the latest state-of-the-art methods and increased the quality of visiting prioritized waypoints for UAVs with limited flight time up to 20%. Hence, in a post earthquake scenario, our method has the potential to provide rescue teams with the information they need much faster. More details can be found in the related publication: As part of the [UAV mission planning module](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/Project-Results:-UAV-Mission-Planning) we developed a new tool for time-optimal UAV routing considering the entire physical properties of a UAV by means of a maximum allowed velocity and acceleration in any direction. Our tool is based on a combinatorial optimization procedure, which combines time-optimal trajectories between locations to entire tours starting and ending at specific locations. Since this method is based on millions of single trajectories connecting locations, which must be known to the optimization a-priori, state-of-the-art method for trajectory generation are not suitable anymore, because they would imply hours of computation time just for trajectory generation. Further, during our research, we found that commonly accepted assumptions for time-optimal trajectory generation are not generally correct and sometimes resulting in trajectories that are not trackable by multirotor UAVs. Hence, we developed a new time-optimal trajectory generation approach that overcomes this false assumption and additionally is capable of generating the trajectories within a nanosecond scale. This reduces the computation time compared to state-of-the-art approaches by a factor of approximately 1000 while still ensuring the traceability of these trajectories by modern multirotor UAVs. With this new kind of trajectory generation, we were able to decrease the total time consumption of a UAV mission without a maximum flight time restrictions up to 15% compared with the latest state-of-the-art methods and increased the quality of visiting prioritized waypoints for UAVs with limited flight time up to 20%. Hence, in a post earthquake scenario, our method has the potential to provide rescue teams with the information they need much faster. More details can be found in the related publication:
> Meyer, F., & Glock, K. (2021): [Trajectory-based Traveling Salesman Problem for Multirotor UAVs.](https://ieeexplore.ieee.org/abstract/document/9600053) 17th International Conference on Distributed Computing in Sensor Systems (DCOSS), 2021, pp. 335-342. doi: 10.1109/DCOSS52077.2021.00061. > Meyer, F., & Glock, K. (2021): [Trajectory-based Traveling Salesman Problem for Multirotor UAVs.](https://ieeexplore.ieee.org/abstract/document/9600053) 17th International Conference on Distributed Computing in Sensor Systems (DCOSS), 2021, pp. 335-342. doi: 10.1109/DCOSS52077.2021.00061.
<center><img src="https://git.gfz-potsdam.de/loki/loki_wiki/-/raw/main/wiki/docs/stories/media/TBTSP.jpg" alt="LOKI System" width="900"> </center> <center><img src="https://git.gfz-potsdam.de/loki/loki_wiki/-/raw/main/wiki/docs/stories/media/TBTSP.jpg" alt="LOKI System" width="900"> </center>
...@@ -120,9 +122,9 @@ We developed a new tool for time-optimal UAV routing considering the entire phys ...@@ -120,9 +122,9 @@ We developed a new tool for time-optimal UAV routing considering the entire phys
*** ***
# **Annual LOKI project meeting 2022** # **Annual LOKI project meeting 2022**
In the third annual LOKI project meeting (3rd and 4th February 2022) project partners had a great exchange about the following main topics: In the third annual LOKI project meeting (3rd and 4th February 2022) project partners had a great exchange about the following main topics:
<ul><li>Evaluation of current development status of the individual modules</li><li>Discussion of open issues along interfaces of the modules</li><li>Next steps for completion of module development</li><li> Completion of module development</li><li>Next steps for integration of individual modules to prototype (milestone 3)</li><li>Next steps for demonstration, deployment, piloting and evaluation of the prototype (milestone 4) </li><li>Agreement on major next steps in the overall collaboration among project partners</li></ul> <ul><li>Evaluation of current development status of the [individual modules](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/LOKI-Framework)</li><li>Discussion of open issues along interfaces of the modules</li><li>Next steps for completion of module development</li><li> Completion of module development</li><li>Next steps for integration of individual modules to prototype [(milestone 3)](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/Project-Milestones)</li><li>Next steps for demonstration, deployment, piloting and evaluation of the prototype [(milestone 4)](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/Project-Milestones) </li><li>Agreement on major next steps in the overall collaboration among project partners</li></ul>
Discussion of these topics strengthened the focus for the last year of the project and the achieved outcomes will serve as the basis for the further development of the [LOKI framework](/loki_framework/loki_framework.html). Discussion of these topics strengthened the focus for the last year of the project and the achieved outcomes will serve as the basis for the further development of the [LOKI framework](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/LOKI-Framework) and its [interfaces](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/Framework-interfaces).
*** ***
# **BMBF Annual Status Meeting 2022** # **BMBF Annual Status Meeting 2022**
...@@ -134,7 +136,7 @@ It was very interesting to see what each of the projects has achieved so far, an ...@@ -134,7 +136,7 @@ It was very interesting to see what each of the projects has achieved so far, an
# **Stakeholder workshops with Branddirektion Karlsruhe, Arbeiter-Samariter-Bund Mannheim and Technisches Hilfswerk Heidelberg** # **Stakeholder workshops with Branddirektion Karlsruhe, Arbeiter-Samariter-Bund Mannheim and Technisches Hilfswerk Heidelberg**
During 2021 several stakeholder workshops took place with the objective of exchanging different experiences and perspectives on earthquake response. During 2021 several stakeholder workshops took place with the objective of exchanging different experiences and perspectives on earthquake response.
The workshops help to further develop our approach of how the LOKI framework can meet the requirements in case of a large-scale emergency, such as earthquakes. The workshops help to further develop our approach of how the [LOKI framework](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/LOKI-Framework) can meet the requirements in case of a large-scale emergency, such as earthquakes.
* [Branddirektion Karlsruhe](https://www.karlsruhe.de/stadt-rathaus/verwaltung-stadtpolitik/aemter-dienststellen/detailseite/65-branddirektion) is engaged as control center which coordinates the different rescue teams on site for immediate rescue and could provide valuable insights into coordination procedures in case of large-scale emergencies. * [Branddirektion Karlsruhe](https://www.karlsruhe.de/stadt-rathaus/verwaltung-stadtpolitik/aemter-dienststellen/detailseite/65-branddirektion) is engaged as control center which coordinates the different rescue teams on site for immediate rescue and could provide valuable insights into coordination procedures in case of large-scale emergencies.
* [THW Heidelberg](https://ov-heidelberg.thw.de/) is engaged both in immediate and longer-term response actions. Moreover, THW Heidelberg already makes use of UAV-supported emergency response (e.g. in terms of inspection of damaged buildings) which is already providing a good link to the LOKI framework. * [THW Heidelberg](https://ov-heidelberg.thw.de/) is engaged both in immediate and longer-term response actions. Moreover, THW Heidelberg already makes use of UAV-supported emergency response (e.g. in terms of inspection of damaged buildings) which is already providing a good link to the LOKI framework.
...@@ -148,7 +150,7 @@ Moreover, ASB Mannheim was among the first relief organizations in germany with ...@@ -148,7 +150,7 @@ Moreover, ASB Mannheim was among the first relief organizations in germany with
Major topics that were discussed: Major topics that were discussed:
<ul><li>Current role and challenges for deployment of UAVs in emergency response</li><li>Potential improvements of current situation though information provided by LOKI framework</li><li>Temporal constraints for information obtained from LOKI framework</li><li>Integration of LOKI framework into existing workflows of emergency response</li></ul> <ul><li>Current role and challenges for deployment of UAVs in emergency response</li><li>Potential improvements of current situation though information provided by LOKI framework</li><li>Temporal constraints for information obtained from LOKI framework</li><li>Integration of LOKI framework into existing workflows of emergency response</li></ul>
__Outcomes of the workshops__ are included in the further development and iterative improvement of the LOKI framework. Moreover, stakeholders and LOKI partners agreed on a continuous exchange on the progress of the framework and to plan joint tests and evaluations of the LOKI framework, as soon as a first prototype will be available. __Outcomes of the workshops__ are included in the further development and iterative improvement of the LOKI [framework](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/LOKI-Framework). Moreover, stakeholders and LOKI partners agreed on a continuous exchange on the progress of the framework and to plan [joint tests and evaluations of the LOKI framework](https://git.gfz-potsdam.de/loki/loki_wiki/-/wikis/Framework-and-Module-Tests-and-Use-Cases), as soon as a first prototype will be available.
This form of collaboration will enable us to develop a framework that provides good support for rescue teams and enables fast and reliable airborne situation assessments following an earthquake. This form of collaboration will enable us to develop a framework that provides good support for rescue teams and enables fast and reliable airborne situation assessments following an earthquake.
__We would like to thank__ ASB Mannheim (Steffen Schmid and Herwin Hadameck), Branddirektion Karlsruhe (Frank Humpfer) and THW Heidelberg (Sven Latki and Malte Freund) for providing insights into their valuable work and their interest in collaboration with the LOKI project. __We would like to thank__ ASB Mannheim (Steffen Schmid and Herwin Hadameck), Branddirektion Karlsruhe (Frank Humpfer) and THW Heidelberg (Sven Latki and Malte Freund) for providing insights into their valuable work and their interest in collaboration with the LOKI project.
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