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jobs [2014/02/18 17:01] – tenorthjobs [2021/03/01 09:47] – [Theses and Student Jobs] kording
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 ~~NOTOC~~ ~~NOTOC~~
-=====Theses and Jobs=====+ 
 +=====Open researcher positions===== 
 + 
 +====Digital Twin Knowledge Base for submarine robot inspection/manipulation==== 
 +The Institute for Artificial Intelligence (IAI) investigates methods for cognition-enabled robot control. The research is at the intersection of robotics and Artificial Intelligence and includes methods for intelligent perception, dexterous object manipulation, plan-based robot control, and knowledge representation for robots.  
 + 
 +As a researcher of the IAI, you actively research by applying and extending the elaborated methods and tools of the IAI (e.g., CRAM, KnowRoB, and openEASE) to the uncertainties of limited resources, computation, and sensor data of submarine robots. You develop a Digital Twin that simulates harsh continuously evolving environments and service tasks on real robots. You design a detailed representation of an environment to be inspected, including data coming from past inspections, both similar and different (e.g., transfer learning from an inspection of the interior of an installation). Your research will be especially the environment representation, semantic annotation, and sensor data fusion deal with noisy data and unreliable information in dynamic environments. You work with IAI researchers and engineers of the ROSEN Group, implementing a service for underwater pipeline inspection and maintenance. 
 + 
 +**Prerequisites:** You have a strong background in some of the following fields: 
 +  * Digital Twins  
 +  * Knowledge Representation 
 +  * Data structures 
 +  * Data Stream Representation.  
 + 
 +**Hiring institution:** University of Bremen 
 + 
 +**PhD Enrollment:** PhD position in the Institute for Artificial Intelligence at University of Bremen. The project involves collaboration with ROSEN in Bremen and UiO in Oslo.  
 + 
 +The PhD examination acceptance requires a “Certificate of Equivalence for Foreign Vocational Qualifications”. More information available at [[https://www.kmk.org/zab/central-office-for-foreign-education/certificate-of-equivalence.html]] and [[https://www.uni-bremen.de/fileadmin/user_upload/sites/international/Studieren_in_Bremen/AnerkennungPromotion.pdf]] . Obtaining such a certificate is not necessary for the job application, but it is required later in the recruitment process. 
 + 
 +**Duration of the project:** 36 months 
 + 
 +**Main Academic Supervisor:** Prof. Michael Beetz, contact: beetz@cs.uni-bremen.de 
 + 
 +**Co-supervisors:** prof. Einar Broch Johnsen (UiO, Norway), dr. Peter Kampmann (ROSEN, Germany) 
 +=====Theses and Student Jobs=====
 If you are looking for a bachelor/master thesis or a job as a student research assistant, you may find some interesting opportunities on this page. If you are looking for a bachelor/master thesis or a job as a student research assistant, you may find some interesting opportunities on this page.
  
-====Theses==== 
  
-== Web-based knowledge visualizations (BA/HiWi) == 
  
-{{ :research:knowledge-visualization.png?200}} 
  
-The knowledge base visualization allows to display semantic environment maps, +<html><!-- 
-objects, human poses, trajectories and similar information stored in the +== Knowledge-enabled PID Controller for 3D Hand Movements in Virtual Environments (BA/MA Thesis) == 
-robot's knowledge base. Its [[http://www.ros.org/wiki/mod_vis|current version]] + 
-is written in Java and has grown old over the years. Recently, there has been +Implementing a force-, velocity- and impulse-based PID controller for precise and responsive hand movements in a virtual environment. The virtual environment used in Unreal Engine in combination with Virtual Reality devices. The movements 
-much progress in creating [[http://www.ros.org/wiki/interactive_markers|interactive +of the human user will be mapped to the virtual hands, and controlled via the implemented PID controllers. 
-3D visualizations]] for ROS that can also be accessed with a +The controller should be able to dynamically tune itself depending on the executed actions (opening/closing a drawer or lifting a heavy object) in combination with the physical limitations of the physics engine (dynamic update rates).
-[[http://www.ros.org/wiki/wviz|web browser]]. This project is about creating +
-a web-based version of the visualization using these techniques.+
  
 Requirements: Requirements:
-  * Good programming skills +  * Good C++ programming skills 
-  * Experience with JavaScript development +  * Familiar with PID controllers and control theory 
-  * Knowledge of Web technologies (HTML, XML, OWL)+  * Experience with simulators/physics-/game- engines 
 +  * Familiar with Unreal Engine API 
 +  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision
  
-Contact: [[team:moritz_tenorth|Moritz Tenorth]]+Contact: [[team:andrei_haidu|Andrei Haidu]] 
 +--></html>
  
 +== Natural Physics-based Grasping in Virtual Environments (BA/MA Thesis) ==
  
-== Statistical relational models of human activities (MA) ==+Implementing physics-based grasping models in virtual environments, taking input 
 +from various devices such as Manus VR or Valve Index.
  
-As part of the [[http://cogwatch.eu|CogWatch EU project]], we are working on +Requirements: 
-the analysis of observations of Apraxia patients. After suffering brain damage, +  * Good C++ programming skills 
-these patients lack important motor coordination skills that result in various +  * Familiar with skeletal animations 
-kinds of errors in performing everyday activities. Based on data from the +  * Experience with simulators/physics-/game- engines 
-extensive patient trials, the student is to learn statistical relational +  * Familiar with Unreal Engine API 
-models that characterize which errors are made in which circumstances.+  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision 
 + 
 +Contact: [[team:andrei_haidu|Andrei Haidu]] 
 + 
 +<html><!-- 
 +== Lisp / CRAM support assistant (HiWi) == 
 + 
 +Technical support for the group for Lisp and the CRAM framework. \\ 
 +8+ hours per week for up to 1 year (paid).
  
 Requirements: Requirements:
-  * Good knowledge of machine learning (Bayesian networks, statistical relational models) +  * Good programming skills in Common Lisp 
-  * Programming skills (Java)+  * Basic ROS knowledge
  
-Contact: [[team:moritz_tenorth|Moritz Tenorth]]+The student will be introduced to the CRAM framework at the beginning of the job, which is a robot programming framework written in Lisp. The student will then be responsible for assisting not familiar with the framework people, explaining them the parts they don't understand and pointing them to the relevant documentation sources.
  
 +Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]]
 +--></html>
  
-== Tools for knowledge acquisition from the Web (BA/MA/HiWi) ==+<html><!-- 
 +== Mesh Editing / Mesh Segmentation/Cutting (Student Job / HiWi)== 
 + {{ :research:human_hand_cutting.png?150|}}
  
-There are several options for doing a project related to the acquisition of + Editing and cutting a human mesh into different parts in Blender / Maya (or other).
-knowledge from Web sources like online shops, repositories of object models, +
-recipe databases, etc.+
  
 Requirements: Requirements:
-  * Programing skills (Java) +  * Good knowledge in 3D Modeling 
-  * Experience with Web languages and datamining techniques is helpful +  * Familiar with Blender / Maya (or other)
-  * Depending on the focus of the project, experience with database technology, natural-language processing or computer vision may be helpful+
  
-Contact: [[team:moritz_tenorth|Moritz Tenorth]]+Contact: [[team/mona_abdel-keream|Mona Abdel-Keream]] 
 +--></html>
  
  
-== GPU-based Parallelization of Numerical Optimization Techniques (BA/MA/HiWi)==+== 3D animation and model developer (Student Job / HiWi)== 
 + {{ :research:kitchen_unreal.jpg?200|}} 
  
-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 in order implement numerical optimizers that substantially profit from parallel execution.+Developing and improving existing or new 3D (static/skeletal) 
 +models in Blender / Maya (or other). Further importing and testing the 
 +models against Unreal Engine. 
 + 
 +Bonus: Working with state of the art 3D Scanners [[https://www.goscan3d.com/|Go!SCAN]] for creating sketching new models.
  
 Requirements: Requirements:
-  * Skills in numerical optimization algorithms +  * Experience with Blender / Maya (or other) 
-  * Good programming skills in Python and C/C+++  * Knowledge of Unreal Engine material / lightning development 
 +  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision
  
-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, which allow incremental learning, when new examples come in one-by-one.+<html><!-- 
 +== Integrating PR2 in the Unreal Game Engine Framework (BA/MA/HiWi)== 
 + {{ :research:unreal_ros_pr2.png?100|}}  
 + 
 +Integrating the [[https://www.willowgarage.com/pages/pr2/overview|PR2]] robot with [[http://www.ros.org/|ROS]] support in the [[https://www.unrealengine.com|Unreal Engine 4]] Framework.
  
 Requirements: Requirements:
-  * Experience in Machine Learning. +  * Good programming skills in C/C++ 
-  * Experience with statistical relational learning (e.g. MLNs) is helpful. +  * Basic physics/rendering engine knowledge 
-  * Good programming skills in Python.+  * Basic ROS knowledge 
 +  * UE4 basic tutorials
  
-Contact: [[team:daniel_nyga|Daniel Nyga]]+Contact: [[team:andrei_haidu|Andrei Haidu]]
  
  
-<html> <br> </br/> </br/> </html> +== Realistic Grasping using Unreal Engine (BA/MA/HiWi) ==
-====Open Positions==== +
-==HiWi-Position: Knowledge Representation & Language Understanding for Intelligent Robots==+
  
-In the context of the European research project RoboHow.Cog [1,2] we +{{  :teaching:gsoc:topic2_unreal.png?nolink&150|}}
-are investigating methods for combining multimodal sources of knowledge (e.g. video, natural-language recipes or computer games), in order to enable mobile robots to autonomously acquire new high level skills like cooking meals or straightening up rooms.  +
  
-The Institute for Artificial Intelligence is hiring a student researcher for the +The objective of the project is to implement var- 
-development and the integration of probabilistic methods in AI, which enable intelligent robots to understand, interpret and execute natural-language instructions from recipes from the World Wide Web.+ious human-like grasping approaches in a game developed using [[https://www.unrealengine.com/|Unreal Engine]]. 
  
-This HiWi-Position can serve as a starting point for future Bachelor's, Master's or Diploma Theses.+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. 
 +  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision 
 + 
 + 
 +Contact: [[team/andrei_haidu|Andrei Haidu]] 
 +--></html> 
 + 
 +<html><!-- 
 +== Unreal Engine Editor Developer (Student Job / HiWi)== 
 + {{ :research:unreal_editor.png?150|}}  
 + 
 +Creating new user interfaces (panel customization) for various internal plugins using the Unreal C++ framework [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]].
  
-Tasks: 
-  * 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 and integrating components onto the robot platform PR2. 
  
 Requirements: Requirements:
-  * Studies in Computer Science (Bachelor's, Master's or Diploma) +  * Good C++ programming skills 
-  * Basic skills in Artificial Intelligence +  * Familiar with the [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]] framework 
-  * Optional: basic skills in Probability Theory +  * Familiar with Unreal Engine API 
-  * Optional: basic skills in Machine Learning +  * Familiar with version-control systems (git) 
-  * Good programming skills in Python and Java+  * Able to work independently with minimal supervision
  
-Hours: 10-20 h/week+Contact: [[team:andrei_haidu|Andrei Haidu]]
  
-Contact: [[team:daniel_nyga|Daniel Nyga]] 
  
-[1] www.robohow.eu\\ 
-[2] http://www.youtube.com/watch?v=0eIryyzlRwA 
  
-== HiWi position: Segmentation and interpretation of 3D object models (HiWi/MA) ==+== OpenEASE rendering in Unreal Engine (BA/MA Thesis, Student Job / HiWi)==
  
-{{ :research:cup2-segmented.png?170}} 
  
-Competent object interaction requires knowledge about the structure and +Implmenting the rendering of the [[https://data.open-ease.org/|OpenEASE]] knowledge base visualization in Unreal Engine. This will have to be packaged as a HTML5 executable and inserted into the website.
-composition of objects. In an ongoing research project, we are investigating +
-how part-based object models can automatically be extracted from CAD models +
-found on the Web, e.g. on the [[http://sketchup.google.com/3dwarehouse|3D warehouse]].+
  
-We are looking for a student research assistant to push this topic forward. +Requirements: 
-In close collaboration with the researchers of the Institute for Artificial +  * Good C++ programming skills 
-Intelligence, the student will work on extending the software for mesh +  * Familiar with Unreal Engine API 
-segmentation, implement novel algorithms, improve the integration of the +  * Familiar with HTML5 and JavaScript 
-methods into the robot's knowledge base, and update the modules for visualizing +  * Familiar with the [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]] framework 
-the segmentation results. Depending on the results, cooperation on joint  +  * Familiar with basic ROS communication 
-publications may be possible.+  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision
  
-This HiWi position can serve as a starting point for future Bachelor's, +Contact: [[team:andrei_haidu|Andrei Haidu]] 
-Master's or Diploma Theses. Alternatively, we could extract a research + 
-project that could be worked on as a Master's or Diploma Thesis.+<html><!-- 
 +== Knowledge-enabled PID Controller for 3D Hand Movements in Virtual Environments (BA/MA Thesis) == 
 + 
 +Implementing a force-, velocity- and impulse-based PID controller for precise and responsive hand movements in a virtual environment. The virtual environment used in Unreal Engine in combination with Virtual Reality devices. The movements 
 +of the human user will be mapped to the virtual hands, and controlled via the implemented PID controllers. 
 +The controller should be able to dynamically tune itself depending on the executed actions (opening/closing a drawer or lifting a heavy object) in combination with the physical limitations of the physics engine (dynamic update rates).
  
 Requirements: Requirements:
-  * Good Java programming skills +  * Good C++ programming skills 
-  * Basic knowledge of 3D geometry calculations +  * Familiar with PID controllers and control theory 
-  * Experience with working with 3D models is helpful+  * Experience with simulators/physics-/game- engines 
 +  * Familiar with Unreal Engine API 
 +  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision 
 + 
 +Contact: [[team:andrei_haidu|Andrei Haidu]] 
 +--></html> 
 + 
 +== Mülltrennungs-App mit Wissensgraph-Anbindung (BA Thesis) == 
 + 
 +Entwicklung einer Mülltrennungs-App für Smartphones (Android) basierend auf Objekterkennung und Anbindung an Wissensgraphen. 
 +Dabei wird auf bestehende Objekterkennungs-Apps aufgebaut und eine Smartphone App entwickelt, die Objekte erkennt und auf einen Wissensgraphen zugreift, um weitere Informationen zu diesen Produkten zu erhalten. 
 +Eine Aufgabe der Arbeit ist es, den bestehenden Wissengraphen um Wissen über Produktverpackungen und deren Entsorgungsmöglichkeiten zu erweitern. 
 + 
 +Aufgaben: 
 +  * App Entwicklung mit der Unity game engine 
 +  * Objekterkennung mittels Vuforia 
 +  * Arbeit mit Wissensrepräsentation und Wissensgraphen 
 +  * Erweiterung von .owl Dateien im Wissensgraphen 
 + 
 + 
 +Contact: [[team:michaela_kümpel|Michaela Kümpel]] 
 + 
 +== Situational awareness in kitchen environments (MA Thesis) == 
 + 
 +This is a knowledge representation topic including knowledge graphs. The idea is so link external Web-knowledge to an existing knowledge framework in order to include situational awareness so that a robot acting in a household environment can infer what an object is used for in a given situation. 
 + 
 +A result would be that a spoon next to a bowl with cereal would be used for eating while a spoon on a stove next to a pot would be used for stirring. 
 + 
 +requirements: 
 +  * Work with KnowRob knowledge processing framework 
 +  * Work with knowledge graphs and Linked Data to create a situational awareness knowledge graph that can be linked to KnowRob 
 +  * Implement reasoning about situations (based on perceived environment) and object use 
 + 
 + 
 +Contact: [[team:michaela_kümpel|Michaela Kümpel]]
  
-Contact: [[team:moritz_tenorth|Moritz Tenorth]] 
  
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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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