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jobs [2014/02/18 17:01] – tenorth | jobs [2017/01/24 07:19] – [Theses and Jobs] bartelsg | ||
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If you are looking for a bachelor/ | If you are looking for a bachelor/ | ||
- | ====Theses==== | + | < |
+ | == Lisp / CRAM support assistant (HiWi) | ||
- | == Web-based knowledge visualizations | + | Technical support for the group for Lisp and the CRAM framework. \\ |
+ | 5 hours per week for up to 1 year (paid). | ||
- | {{ :research:knowledge-visualization.png? | + | Requirements: |
+ | * Good programming skills in Common Lisp | ||
+ | * Basic ROS knowledge | ||
- | The knowledge base visualization allows | + | The student will be introduced |
- | objects, human poses, trajectories and similar information stored in the | + | |
- | robot's knowledge base. Its [[http:// | + | |
- | is written in Java and has grown old over the years. Recently, there has been | + | |
- | much progress in creating [[http:// | + | |
- | 3D visualizations]] | + | |
- | [[http:// | + | |
- | a web-based version of the visualization using these techniques. | + | |
- | Requirements: | + | Contact: [[team: |
- | * Good programming skills | + | --> |
- | * Experience with JavaScript development | + | </ |
- | * Knowledge of Web technologies (HTML, XML, OWL) | + | |
- | Contact: [[team: | ||
+ | == Integrating PR2 in the Unreal Game Engine Framework (BA)== | ||
+ | {{ : | ||
- | == Statistical relational models of human activities (MA) == | + | Integrating |
- | + | ||
- | As part of the [[http://cogwatch.eu|CogWatch EU project]], we are working on | + | |
- | the analysis of observations of Apraxia patients. After suffering brain damage, | + | |
- | these patients lack important motor coordination skills that result in various | + | |
- | kinds of errors in performing everyday activities. Based on data from the | + | |
- | extensive patient trials, the student is to learn statistical relational | + | |
- | models that characterize which errors are made in which circumstances. | + | |
Requirements: | Requirements: | ||
- | * Good knowledge | + | * Good programming skills in C/C++ |
- | * Programming skills (Java) | + | * Basic physics/ |
+ | * Basic ROS knowledge | ||
+ | * UE4 basic tutorials | ||
- | Contact: [[team:moritz_tenorth|Moritz Tenorth]] | + | Contact: [[team:andrei_haidu|Andrei Haidu]] |
- | == Tools for knowledge acquisition from the Web (BA/MA/HiWi) == | + | == Realistic Grasping using Unreal Engine |
- | There are several options for doing a project related to the acquisition of | + | {{ : |
- | knowledge from Web sources like online shops, repositories of object models, | + | |
- | recipe databases, etc. | + | |
- | Requirements: | + | The objective |
- | * Programing skills (Java) | + | ious human-like grasping approaches in a game developed using [[https:// |
- | * Experience with Web languages and datamining techniques is helpful | + | |
- | * Depending on the focus of the project, experience with database technology, natural-language processing or computer vision may be helpful | + | |
- | Contact: [[team: | + | The game consist of a household environment where a user has to execute various given tasks, such as cooking a dish, setting the table, cleaning the dishes etc. The interaction is done using various sensors to map the users hands onto the virtual hands in the game. |
+ | In order to improve the ease of manipulating objects the user should | ||
+ | be able to switch during runtime the type of grasp (pinch, power | ||
+ | grasp, precision grip etc.) he/she would like to use. | ||
+ | | ||
+ | Requirements: | ||
+ | * Good programming skills in C++ | ||
+ | * Good knowledge of the Unreal Engine API. | ||
+ | * Experience with skeletal control / animations / 3D models in Unreal Engine. | ||
- | == GPU-based Parallelization of Numerical Optimization Techniques (BA/ | ||
- | In the field of Machine Learning, numerical optimization techniques play a focal role. However, as models grow larger, traditional implementations on single-core CPUs suffer from sequential execution causing a severe slow-down. In this thesis, state-of-the-art GPU frameworks (e.g. CUDA) are to be investigated | + | Contact: [[team/ |
+ | |||
+ | == Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA)== | ||
+ | {{ : | ||
+ | |||
+ | Developing new activities and improving | ||
Requirements: | Requirements: | ||
- | | + | * Good programming skills in C/C++ |
- | | + | * Basic physics/ |
+ | * Gazebo simulator basic tutorials | ||
- | Contact: [[team:daniel_nyga|Daniel Nyga]] | + | Contact: [[team:andrei_haidu|Andrei Haidu]] |
- | == Online Learning of Markov Logic Networks for Natural-Language Understanding (MA)== | ||
- | Markov Logic Networks (MLNs) combine the expressive power of first-order logic and probabilistic graphical models. In the past, they have been successfully applied to the problem of semantically interpreting and completing natural-language instructions from the web. State-of-the-art learning techniques mostly operate in batch mode, i.e. all training instances need to be known in the beginning of the learning process. In context of this thesis, online learning methods for MLNs are to be investigated, | ||
- | Requirements: | ||
- | * Experience in Machine Learning. | ||
- | * Experience with statistical relational learning (e.g. MLNs) is helpful. | ||
- | * Good programming skills in Python. | ||
- | Contact: [[team: | + | == Automated sensor calibration toolkit (BA/MA)== |
+ | Computer vision is an important part of autonomous robots. For robots the image sensors are the main source of information of the surrounding world. Each camera is different, even if they are from the same production line. For computer vision, especially for robots manipulating their environment, | ||
- | < | + | The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2. |
- | ====Open Positions==== | + | |
- | ==HiWi-Position: | + | |
- | In the context of the European research project RoboHow.Cog [1,2] we | + | {{ : |
- | are investigating methods for combining multimodal sources | + | The system should: |
+ | * be independent | ||
+ | * estimate intrinsic and extrinsic parameters | ||
+ | * calibrate depth images | ||
+ | * integrate capabilities from Halcon [1] | ||
+ | * operate autonomously | ||
- | The Institute for Artificial Intelligence is hiring a student researcher for the | + | Requirements: |
- | development | + | * Good programming skills in Python |
+ | * ROS, OpenCV | ||
- | This HiWi-Position can serve as a starting point for future Bachelor' | + | [1] http://www.halcon.de/ |
- | Tasks: | + | Contact: [[team: |
- | * Implementation of an interface to the Robot Operating System (ROS). | + | |
- | * Linkage of the knowledge base to the executive of the robot. | + | |
- | * Support for the scientific staff in extending | + | |
- | Requirements: | + | /* |
- | * Studies in Computer Science | + | == On-the-fly 3D CAD model creation |
- | * Basic skills in Artificial Intelligence | + | |
- | * Optional: basic skills in Probability Theory | + | |
- | * Optional: basic skills in Machine Learning | + | |
- | * Good programming skills in Python and Java | + | |
- | Hours: 10-20 h/week | + | Create models during runtime for unknown textured objets based on depth and color information. Track the object and update the model with more detailed information, |
- | Contact: [[team: | + | Requirements: |
+ | * Good programming skills in C/C++ | ||
+ | * strong background in computer vision | ||
+ | * ROS, OpenCV, PCL | ||
- | [1] www.robohow.eu\\ | + | Contact: |
- | [2] http:// | + | |
- | == HiWi position: Segmentation and interpretation | + | == Simulation |
- | {{ : | + | Create a simulation environment that represents the robots current belief state and can be updated frequently. Use off-screen rendering to investigate the affordances these objects possess, in order to support segmentation, |
- | Competent object interaction requires knowledge about the structure and | + | Requirements: |
- | composition of objects. In an ongoing research project, we are investigating | + | * Good programming skills in C/C++ |
- | how part-based object models can automatically be extracted from CAD models | + | * strong background in computer vision |
- | found on the Web, e.g. on the [[http:// | + | * Gazebo, OpenCV, PCL |
- | We are looking for a student research assistant to push this topic forward. | + | Contact: [[team: |
- | In close collaboration with the researchers of the Institute for Artificial | + | */ |
- | Intelligence, | + | |
- | segmentation, | + | |
- | methods into the robot' | + | |
- | the segmentation results. Depending on the results, cooperation on joint | + | |
- | publications may be possible. | + | |
- | This HiWi position can serve as a starting point for future Bachelor' | + | == Multi-expert segmentation of cluttered and occluded scenes == |
- | Master' | + | |
- | project that could be worked on as a Master' | + | |
- | Requirements: | + | Objects in a human environment are usually found in challenging scenes. They can be stacked upon eachother, touching or occluding, can be found in drawers, cupboards, refrigerators and so on. A personal robot assistant in order to execute a task, needs to detect these objects and recognize them. In this thesis a multi-modal approach to interpreting cluttered scenes is going to be investigated, |
- | * Good Java programming skills | + | |
- | * Basic knowledge | + | |
- | * Experience | + | |
- | Contact: [[team: | + | Requirements: |
+ | * Good programming skills in C/C++ | ||
+ | * strong background in 3D vision | ||
+ | * basic knowledge of ROS, OpenCV, PCL | ||
+ | Contact: [[team: |
Prof. Dr. hc. Michael Beetz PhD
Head of Institute
Contact via
Andrea Cowley
assistant to Prof. Beetz
ai-office@cs.uni-bremen.de
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