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jobs [2014/02/18 21:22] – tenorthjobs [2016/02/24 13:16] – gkazhoya
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 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.
  
-== Web-based knowledge visualizations (BA/HiWi) ==+== Lisp / CRAM support assistant (HiWi) ==
  
-{{ :research:knowledge-visualization.png?200}} +Technical support for the group for Lisp and the CRAM framework. \\ 
- +5 hours per week for up to 1 year (paid).
-The knowledge base visualization allows to display semantic environment maps, +
-objects, human poses, trajectories and similar information stored in the +
-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 +
-much progress in creating [[http://www.ros.org/wiki/interactive_markers|interactive +
-3D visualizations]] for ROS that can also be accessed with a +
-[[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 programming skills in Common Lisp 
-  * Experience with JavaScript development +  * Basic ROS knowledge
-  * Knowledge of Web technologies (HTML, XML, OWL)+
  
-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]]
  
-== Tools for knowledge acquisition from the Web (BA/MA/HiWi) == 
  
-There are several options for doing a project related to the acquisition of +== Integrating PR2 in the Unreal Game Engine Framework (BA)== 
-knowledge from Web sources like online shops, repositories of object models, + {{ :research:unreal_ros_pr2.png?200|}}  
-recipe databases, etc.+ 
 +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:
-  * Programing skills (Java) +  * Good programming skills in C/C++ 
-  * Experience with Web languages and datamining techniques is helpful +  * Basic physics/rendering engine knowledge 
-  * Depending on the focus of the project, experience with database technology, natural-language processing or computer vision may be helpful+  * Basic ROS knowledge 
 +  * UE4 basic tutorials
  
-Contact: [[team:moritz_tenorth|Moritz Tenorth]]+Contact: [[team:andrei_haidu|Andrei Haidu]]
  
 +== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA)==
 + {{ :research:gz_env1.png?200|}} 
  
-== GPU-based Parallelization of Numerical Optimization Techniques (BA/MA/HiWi)==+Developing new activities and improving the current simulation framework done under the [[http://gazebosim.org/|Gazebo]] robotic simulator. Creating a custom GUI for the game, in order to launch new scenarios, save logs etc.
  
-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.+Requirements: 
 +  * Good programming skills in C/C++ 
 +  * Basic physics/rendering engine knowledge 
 +  * Gazebo simulator basic tutorials 
 + 
 +Contact: [[team:andrei_haidu|Andrei Haidu]] 
 + 
 +== Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== 
 + {{ :research:eye_tracker.png?200|}}  
 + 
 +Integrating the eye tracker in the [[http://gazebosim.org/|Gazebo]] based Kitchen Activity Games framework and logging the gaze of the user during the gameplay. From the information typical activities should be inferred.
  
 Requirements: Requirements:
-  * Skills in numerical optimization algorithms +  * Good programming skills in C/C++ 
-  * Good programming skills in Python and C/C+++  * 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)==+== Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== 
 + {{ :research:leap_motion.jpg?200|}} 
  
-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.+Improving the skeletal tracking offered by the [[https://developer.leapmotion.com/|Leap Motion SDK]], by using two devices (one tracking vertically the other horizontally) and switching between them to the one that has the best current view of the hand. 
 + 
 +The tracked hand can then be used as input for the Kitchen Activity Games framework.
  
 Requirements: Requirements:
-  * Experience in Machine Learning. +  * Good programming skills in C/C++
-  * Experience with statistical relational learning (e.g. MLNs) is helpful. +
-  * Good programming skills in Python.+
  
-Contact: [[team:daniel_nyga|Daniel Nyga]]+Contact: [[team:andrei_haidu|Andrei Haidu]]
  
 +== Fluid Simulation in Gazebo (BA/MA)==
 + {{ :research:fluid.png?200|}} 
  
-==HiWi-Position: Knowledge Representation & Language Understanding for Intelligent Robots==+[[http://gazebosim.org/|Gazebo]] currently only supports rigid body physics engines (ODE, Bullet etc.), however in some cases fluids are preferred in order to simulate as realistically as possible the given environment.
  
-In the context of the European research project RoboHow.Cog [1,2] we +Currently there is an [[http://gazebosim.org/tutorials?tut=fluids&cat=physics|experimental version]] of fluids  in Gazebo, using the [[http://onezero.ca/fluidix/|Fluidix]] library to run the fluids computation on the GPU.
-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 computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present 
-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.+and should be implemented (PCISPH/IISPH).
  
-This HiWi-Position can serve as a starting point for future Bachelor's, Master's or Diploma Theses.+The interaction between the fluid and the rigid objects is a naive one, the forces and torques are applied only from the particle collisions (not taking into account pressure and other forces).
  
-Tasks: +Another topic would be the visualization of the fluid, currently is done by rendering every particle. For the rendering engine [[http://www.ogre3d.org/|OGRE]] is used. 
-  * Implementation of an interface to the Robot Operating System (ROS). + 
-  * Linkage of the knowledge base to the executive of the robot. +Here is a [[https://vimeo.com/104629835|video]] example of the current state of the fluid in Gazebo. 
-  * 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 programming skills in C/C++ 
-  * Basic skills in Artificial Intelligence +  * Interest in Fluid simulation 
-  * Optional: basic skills in Probability Theory +  * Basic physics/rendering engine knowledge 
-  * Optional: basic skills in Machine Learning +  * Gazebo simulator and Fluidix basic tutorials
-  * Good programming skills in Python and Java+
  
-Hours: 10-20 h/week+Contact: [[team:andrei_haidu|Andrei Haidu]]
  
-Contact: [[team:daniel_nyga|Daniel Nyga]] 
  
-[1] www.robohow.eu\\ +== Automated sensor calibration toolkit (BA/MA)==
-[2] http://www.youtube.com/watch?v=0eIryyzlRwA+
  
-== HiWi position: Segmentation and interpretation of 3D object models (HiWi/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, it is important that the parameters for the cameras in use are well known. The calibration of a camera is a time consuming task, and the result depends highly on the chosen setup and the accuracy of the operator.
  
-{{ :research:cup2-segmented.png?170}}+The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2.
  
-Competent object interaction requires knowledge about the structure and + {{ :kinect2_calibration_setup_small.jpg?200|}} 
-composition of objects. In an ongoing research project, we are investigating +The system should: 
-how part-based object models can automatically be extracted from CAD models +  * be independent of the camera type 
-found on the Web, e.g. on the [[http://sketchup.google.com/3dwarehouse|3D warehouse]].+  * estimate intrinsic and extrinsic parameters 
 +  * calibrate depth images (case of RGB-D) 
 +  * integrate capabilities from Halcon [1] 
 +  * operate autonomously
  
-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 programming skills in Python and C/C++ 
-Intelligence, the student will work on extending the software for mesh +  * ROS, OpenCV
-segmentation, implement novel algorithms, improve the integration of the +
-methods into the robot's knowledge base, and update the modules for visualizing +
-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's, +[1] http://www.halcon.de/
-Master's or Diploma Theses. Alternatively, we could extract a research +
-project that could be worked on as a Master's or Diploma Thesis.+
  
-Requirements: +Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]] 
-  * Good Java programming skills + 
-  * Basic knowledge of 3D geometry calculations +== On-the-fly 3D CAD model creation (MA)== 
-  * Experience with working with 3D models is helpful+ 
 +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, completing it's 3D model from multiple views improving redetection. Using the robots manipulator pick up the object and complete the model by viewing it from multiple viewpoints. 
 + 
 +Requirements:  
 +  * Good programming skills in C/C++ 
 +  * strong background in computer vision  
 +  * ROS, OpenCV, PCL 
 + 
 +Contact: [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]] 
 + 
 +== Simulation of a robots belief state to support perception(MA) == 
 + 
 +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, detection and tracking of these in the real world.  
 + 
 +Requirements:  
 +  * Good programming skills in C/C++ 
 +  * strong background in computer vision  
 +  * Gazebo, OpenCV, PCL 
 + 
 +Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]] 
 + 
 +== Multi-expert segmentation of cluttered and occluded scenes == 
 + 
 +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, combining the results of multiple segmentation algorithms in order to come up with more reliable object hypotheses. 
 + 
 +Requirements:  
 +  * Good programming skills in C/C++ 
 +  * strong background in 3D vision  
 +  * basic knowledge of ROS, OpenCV, PCL 
 + 
 +Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]
  
-Contact: [[team:moritz_tenorth|Moritz Tenorth]] 
  
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