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jobs [2014/08/29 09:33] – [Theses and Jobs] ahaidujobs [2015/03/12 09:28] – [Theses and Jobs] jworch
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 [2] http://www.youtube.com/watch?v=0eIryyzlRwA [2] http://www.youtube.com/watch?v=0eIryyzlRwA
  
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-== Depth-Adaptive Superpixels (BA/MA)== 
- {{ :research:dt_dasp.png?200|}} 
-We are currently investigating a new set of sensors (RGB-D-T), which is a combination of a kinect with a thermal image camera. Within this project we want to enhance the Depth-Adaptive Superpixels (DASP) to make use of the thermal sensor data. Depth-Adaptive Superpixels oversegment an image taking into account the depth value of each pixel. 
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-Since the current implementation of DASP is not very performant for high resolution images, there are several options for doing a project in this field like reimplementing DASP using CUDA, investigating how thermal data can be integrated, ... 
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-Requirements: 
-  * Basic knowledge of image processing 
-  * Good programming skills in C/C++. 
-  * Experience with CUDA is helpful 
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-Contact: [[team:jan-hendrik_worch|Jan-Hendrik Worch]] 
- 
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-== Physical Simulation of Humans (BA/MA)== 
- {{ :research:human_model.png?200|}} 
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-For tracking people, the use of particle filters is a common approach. However, the quality of those filters heavily depends on the way particles are spread. In this thesis, a library for the physical simulation of a human model is to be implemented. 
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-Requirements: 
-  * Good programming skills in C/C++ 
-  * Optional: Experience in working with physics libraries such as Bullet 
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-Contact: [[team:jan-hendrik_worch|Jan-Hendrik Worch]] 
  
 == Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA/HiWi)== == Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA/HiWi)==
  {{ :research:gz_env1.png?200|}}   {{ :research:gz_env1.png?200|}} 
  
-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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  {{ :research:eye_tracker.png?200|}}   {{ :research:eye_tracker.png?200|}} 
  
-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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  {{ :research:leap_motion.jpg?200|}}   {{ :research:leap_motion.jpg?200|}} 
  
-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]]
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 +== Fluid Simulation in Gazebo (BA/MA)==
 + {{ :research:fluid.png?200|}} 
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 +[[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.
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 +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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