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jobs [2014/08/29 09:33] – [Theses and Jobs] ahaidujobs [2014/08/29 11:12] – [Theses and Jobs] ahaidu
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-Developing new activities and improving the current simulation framework done under the Gazebo robotic simulator. Creating a custom GUI for the game, in order to launch new scenarios, save logs etc.+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:
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-Integrating the eye tracker in the Gazebo based Kitchen Activity Games framework  +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.
-and logging the gaze of the user during the gameplay. From the information typical activities should be inferred.+
  
 Requirements: Requirements:
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-Improving the skeletal tracking offered by the 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.+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. The tracked hand can then be used as input for the Kitchen Activity Games framework.
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 Contact: [[team:andrei_haidu|Andrei Haidu]] Contact: [[team:andrei_haidu|Andrei Haidu]]
 +
 +== Fluid Simulation in Gazebo (BA/MA)==
 + {{ :research:fluid.png?200|}} 
 +
 +[[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.
 +
 +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.
 +
 +The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present
 +and should be implemented (PCISPH/IISPH).
 +
 +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).
 +
 +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.
 +
 +Here is a [[https://vimeo.com/104629835|video]] example of the current state of the fluid in Gazebo. 
 +
 +Requirements:
 +  * Good programming skills in C/C++
 +  * Interest in Fluid simulation
 +  * Basic physics/rendering engine knowledge
 +  * Gazebo simulator and Fluidix basic tutorials
 +
 +Contact: [[team:andrei_haidu|Andrei Haidu]]
 +
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