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jobs [2014/08/29 09:33] – [Theses and Jobs] ahaidujobs [2020/10/22 08:28] – [Open researcher positions] dkastens
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-=====Theses and 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. 
  
 +=====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. 
  
-== GPU-based Parallelization of Numerical Optimization Techniques (BA/MA/HiWi)==+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.
  
-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.+**Prerequisites:** You have a strong background in some of the following fields: 
 +  * Digital Twins  
 +  * Knowledge Representation 
 +  * Data structures 
 +  * Data Stream Representation. 
  
-Requirements: +**Hiring institution:** University of Bremen
-  * Skills in numerical optimization algorithms +
-  * Good programming skills in Python and C/C+++
  
-Contact: [[team:daniel_nyga|Daniel Nyga]]+**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. 
  
-== Online Learning of Markov Logic Networks for Natural-Language Understanding (MA)==+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.
  
-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.+**Duration of the project:** 36 months
  
-Requirements: +**Main Academic Supervisor:** Prof. Michael Beetz, contact: beetz@cs.uni-bremen.de
-  * Experience in Machine Learning. +
-  * Experience with statistical relational learning (e.g. MLNs) is helpful. +
-  * Good programming skills in Python.+
  
-Contact: [[team:daniel_nyga|Daniel Nyga]]+**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.
  
  
-==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 +<html><!-- 
-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.+== Knowledge-enabled PID Controller for 3D Hand Movements in Virtual Environments (BA/MA Thesis) ==
  
-This HiWi-Position can serve as a starting point for future Bachelor's, Master's or Diploma Theses.+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).
  
-Tasks: +Requirements: 
-  * Implementation of an interface to the Robot Operating System (ROS). +  * Good C++ programming skills 
-  * Linkage of the knowledge base to the executive of the robot. +  * Familiar with PID controllers and control theory 
-  * Support for the scientific staff in extending and integrating components onto the robot platform PR2.+  * 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> 
 + 
 +== Natural Physics-based Grasping in Virtual Environments (BA/MA Thesis) == 
 + 
 +Implementing physics-based grasping models in virtual environments, taking input 
 +from various devices such as Manus VR or Valve Index.
  
 Requirements: Requirements:
-  * Studies in Computer Science (Bachelor's, Master's or Diploma) +  * Good C++ programming skills 
-  * Basic skills in Artificial Intelligence +  * Familiar with skeletal animations 
-  * Optional: basic skills in Probability Theory +  * Experience with simulators/physics-/game- engines 
-  * Optional: basic skills in Machine Learning +  * Familiar with Unreal Engine API 
-  * Good programming skills in Python and Java+  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision
  
-Hours: 10-20 h/week+Contact: [[team:andrei_haidu|Andrei Haidu]]
  
-Contact: [[team:daniel_nyga|Daniel Nyga]]+<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: 
 +  * Good programming skills in Common Lisp 
 +  * Basic ROS knowledge
  
-[1] www.robohow.eu\\ +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.
-[2] http://www.youtube.com/watch?v=0eIryyzlRwA+
  
 +Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]]
 +--></html>
  
-== Depth-Adaptive Superpixels (BA/MA)== +<html><!-- 
- {{ :research:dt_dasp.png?200|}} +== Mesh Editing / Mesh Segmentation/Cutting (Student Job / HiWi)== 
-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.+ {{ :research:human_hand_cutting.png?150|}}
  
-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, ...+ Editing and cutting a human mesh into different parts in Blender / Maya (or other).
  
 Requirements: Requirements:
-  * Basic knowledge of image processing +  * Good knowledge in 3D Modeling 
-  * Good programming skills in C/C++. +  * Familiar with Blender / Maya (or other)
-  * Experience with CUDA is helpful+
  
-Contact: [[team:jan-hendrik_worch|Jan-Hendrik Worch]]+Contact: [[team/mona_abdel-keream|Mona Abdel-Keream]] 
 +--></html>
  
  
-== Physical Simulation of Humans (BA/MA)== +== 3D animation and model developer (Student Job / HiWi)== 
- {{ :research:human_model.png?200|}}+ {{ :research:kitchen_unreal.jpg?200|}} 
  
-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.+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:
-  * Good programming skills in C/C++ +  * Experience with Blender / Maya (or other) 
-  * Optional: Experience in working with physics libraries such as Bullet+  * Knowledge of Unreal Engine material / lightning development 
 +  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision 
 + 
 +Contact: [[team:andrei_haidu|Andrei Haidu]]
  
-Contact: [[team:jan-hendrik_worch|Jan-Hendrik Worch]] 
  
-== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA/HiWi)== +<html><!-- 
- {{ :research:gz_env1.png?200|}} +== Integrating PR2 in the Unreal Game Engine Framework (BA/MA/HiWi)== 
 + {{ :research:unreal_ros_pr2.png?100|}} 
  
-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.+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:
   * Good programming skills in C/C++   * Good programming skills in C/C++
   * Basic physics/rendering engine knowledge   * Basic physics/rendering engine knowledge
-  * Gazebo simulator basic tutorials+  * Basic ROS knowledge 
 +  * UE4 basic tutorials
  
 Contact: [[team:andrei_haidu|Andrei Haidu]] 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 Gazebo based Kitchen Activity Games framework  +== Realistic Grasping using Unreal Engine (BA/MA/HiWi) == 
-and logging the gaze of the user during the gameplay. From the information typical activities should be inferred.+ 
 +{{  :teaching:gsoc:topic2_unreal.png?nolink&150|}} 
 + 
 +The objective of the project is to implement var- 
 +ious human-like grasping approaches in a game developed using [[https://www.unrealengine.com/|Unreal Engine]].  
 + 
 +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]]. 
  
 Requirements: Requirements:
-  * Good programming skills in C/C++ +  * Good C++ programming skills 
-  * Gazebo simulator basic tutorials+  * Familiar with the [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]] framework 
 +  * Familiar with Unreal Engine API 
 +  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision
  
 Contact: [[team:andrei_haidu|Andrei Haidu]] Contact: [[team:andrei_haidu|Andrei Haidu]]
  
-== Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== 
- {{ :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. 
  
-The tracked hand can then be used as input for the Kitchen Activity Games framework.+== OpenEASE rendering in Unreal Engine (BA/MA Thesis, Student Job / HiWi)== 
 + 
 + 
 +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.
  
 Requirements: Requirements:
-  * Good programming skills in C/C+++  * Good C++ programming skills 
 +  * Familiar with Unreal Engine API 
 +  * Familiar with HTML5 and JavaScript 
 +  * Familiar with the [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]] framework 
 +  * Familiar with basic ROS communication 
 +  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision
  
 Contact: [[team:andrei_haidu|Andrei Haidu]] Contact: [[team:andrei_haidu|Andrei Haidu]]
 +--></html>
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