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jobs [2014/02/18 21:22] – tenorthjobs [2016/06/08 10:43] – raider
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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) ==+<html><!-- 
 +== 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]]
 +-->
 +</html>
  
-== 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]]
  
  
-== GPU-based Parallelization of Numerical Optimization Techniques (BA/MA/HiWi)==+== Realistic Grasping using Unreal Engine (BA/MA) ==
  
-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.+{{  :teaching:gsoc:topic2_unreal.png?nolink&150|}}
  
-Requirements: +The objective of the project is to implement var- 
-  * Skills in numerical optimization algorithms +ious human-like grasping approaches in a game developed using [[https://www.unrealengine.com/|Unreal Engine]]. 
-  * Good programming skills in Python and C/C+++
  
-Contact: [[team:daniel_nyga|Daniel Nyga]]+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.
  
-== Online Learning of Markov Logic Networks for Natural-Language Understanding (MA)==+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.
  
-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.+ 
 +Contact: [[team/andrei_haidu|Andrei Haidu]] 
 + 
 +== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA)== 
 + {{ :research:gz_env1.png?200|}}  
 + 
 +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.
  
 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.+  * Gazebo simulator basic tutorials
  
-Contact: [[team:daniel_nyga|Daniel Nyga]]+Contact: [[team:andrei_haidu|Andrei Haidu]]
  
  
-==HiWi-Position: Knowledge Representation & Language Understanding for Intelligent Robots== 
  
-In the context of the European research project RoboHow.Cog [1,2] we 
-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 +== Automated sensor calibration toolkit (BA/MA)==
-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.+
  
-This HiWi-Position can serve as a starting point for future Bachelor's, Master's or Diploma Theses.+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.
  
-Tasks: +The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2.
-  * 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: + {{ :kinect2_calibration_setup_small.jpg?200|}} 
-  * Studies in Computer Science (Bachelor's, Master's or Diploma) +The system should: 
-  * Basic skills in Artificial Intelligence +  * be independent of the camera type 
-  * Optional: basic skills in Probability Theory +  * estimate intrinsic and extrinsic parameters 
-  * Optional: basic skills in Machine Learning +  * calibrate depth images (case of RGB-D) 
-  * Good programming skills in Python and Java+  * integrate capabilities from Halcon [1] 
 +  * operate autonomously
  
-Hours: 10-20 h/week+Requirements:  
 +  * Good programming skills in Python and C/C++ 
 +  * ROS, OpenCV
  
-Contact: [[team:daniel_nyga|Daniel Nyga]]+[1] http://www.halcon.de/
  
-[1] www.robohow.eu\\ +Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]
-[2] http://www.youtube.com/watch?v=0eIryyzlRwA+
  
-== HiWi position: Segmentation and interpretation of 3D object models (HiWi/MA) ==+/* 
 +== On-the-fly 3D CAD model creation (MA)==
  
-{{ :research:cup2-segmented.png?170}}+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.
  
-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://sketchup.google.com/3dwarehouse|3D warehouse]].+  * ROS, OpenCV, PCL
  
-We are looking for a student research assistant to push this topic forward. +Contact: [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]
-In close collaboration with the researchers of the Institute for Artificial +
-Intelligence, the student will work on extending the software for mesh +
-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, +== Simulation of a robots belief state to support perception(MA) ==
-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: +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.  
-  * Good Java programming skills + 
-  * Basic knowledge of 3D geometry calculations +Requirements:  
-  * Experience with working with 3D models is helpful+  * 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]] 
 + 
 +== Semantic Collision Checking for Planning Robot Manipulation Tasks == 
 +{{ :research:boxy_dough_rolling.png?nolink&200|}} 
 +Service robots helping humans at home shall perform manipulation tasks like wiping a table or polishing glass surfaces. To successfully complete these tasks, robots needs to establish the 'right' type of contacts between their tools and the environment while avoiding 'wrong' contact events. The choice of what constitutes a desired or undesired contact event is usually very task- and context-dependent. Unfortunately, standard robot motion planning frameworks either only search for collision-free paths or offer limited interfaces for defining desired and undesired contacts.  
 + 
 +The goal of this project is to interface existing collision checking software from MoveIt! with the robot knowledge base KnowRob to enable semantic collision checking. As a result, the student will extend the KnowRob system by a couple of predicates which employ collision checking from MoveIt! to decide whether a given world state complies with a desired contact state.  
 + 
 +Requirements:  
 +  * basic knowledge of ROS 
 +  * basic knowledge of robotics 
 +  * interest in using KnowRob and MoveIt! 
 + 
 +Contact: [[team:georg_bartels|Georg Bartels]]
  
-Contact: [[team:moritz_tenorth|Moritz Tenorth]] 
  
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