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~~NOTOC~~ | ~~NOTOC~~ | ||
- | =====Theses and Jobs===== | ||
- | If you are looking for a bachelor/ | ||
+ | =====Open researcher positions===== | ||
+ | ====Digital Twin Knowledge Base for submarine robot inspection/ | ||
+ | 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, | ||
- | == GPU-based Parallelization | + | As a researcher |
- | 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: |
+ | * Digital Twins | ||
+ | * Knowledge Representation | ||
+ | * Data structures | ||
+ | * Data Stream Representation. | ||
- | Requirements: | + | **Hiring institution:** University of Bremen |
- | | + | |
- | | + | |
- | Contact: [[team: | + | **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 | + | The PhD examination acceptance requires a “Certificate |
- | 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, | + | **Duration |
- | Requirements: | + | **Main Academic Supervisor:** Prof. Michael Beetz, contact: beetz@cs.uni-bremen.de |
- | | + | |
- | | + | |
- | * Good programming skills in Python. | + | |
- | Contact: [[team: | + | **Co-supervisors:** prof. Einar Broch Johnsen (UiO, Norway), dr. Peter Kampmann (ROSEN, Germany) |
+ | =====Theses and Student Jobs===== | ||
+ | If you are looking for a bachelor/ | ||
- | ==HiWi-Position: | ||
- | 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 | + | < |
- | 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' | + | Implementing |
+ | 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/ | ||
- | Tasks: | + | Requirements: |
- | * Implementation of an interface to the Robot Operating System | + | * 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/ |
+ | * Familiar with Unreal Engine API | ||
+ | * Familiar with version-control systems | ||
+ | * Able to work independently with minimal supervision | ||
+ | |||
+ | Contact: [[team: | ||
+ | --></ | ||
+ | |||
+ | == Natural Physics-based Grasping | ||
+ | |||
+ | Implementing physics-based grasping models in virtual environments, | ||
+ | from various devices such as Manus VR or Valve Index. | ||
Requirements: | Requirements: | ||
- | * Studies in Computer Science (Bachelor' | + | * Good C++ programming skills |
- | * Basic skills in Artificial Intelligence | + | * Familiar with skeletal animations |
- | * Optional: basic skills in Probability Theory | + | * Experience with simulators/ |
- | * 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: |
- | Contact: [[team: | + | < |
+ | == Lisp / CRAM support assistant (HiWi) == | ||
- | [1] www.robohow.eu\\ | + | Technical support for the group for Lisp and the CRAM framework. \\ |
- | [2] http:// | + | 8+ hours per week for up to 1 year (paid). |
+ | Requirements: | ||
+ | * Good programming skills in Common Lisp | ||
+ | * Basic ROS knowledge | ||
+ | |||
+ | 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: | ||
+ | --></ | ||
- | == Depth-Adaptive Superpixels | + | < |
- | {{ :research:dt_dasp.png?200|}} | + | == Mesh Editing / Mesh Segmentation/ |
- | 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 | + | |
Requirements: | Requirements: | ||
- | * Basic knowledge | + | * Good knowledge in 3D Modeling |
- | * Good programming skills | + | * Familiar |
- | * Experience | + | |
- | Contact: [[team:jan-hendrik_worch|Jan-Hendrik Worch]] | + | Contact: [[team/mona_abdel-keream|Mona Abdel-Keream]] |
+ | --></ | ||
- | == Physical Simulation of Humans | + | == 3D animation and model developer |
- | {{ :research:human_model.png?200|}} | + | {{ :research:kitchen_unreal.jpg? |
- | For tracking people, | + | Developing and improving existing or new 3D (static/ |
+ | models in Blender / Maya (or other). Further importing and testing | ||
+ | models against Unreal Engine. | ||
+ | |||
+ | Bonus: Working with state of the art 3D Scanners [[https:// | ||
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Experience with Blender |
- | * Optional: Experience in working | + | * Knowledge of Unreal Engine material / lightning development |
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently | ||
- | Contact: [[team:jan-hendrik_worch|Jan-Hendrik Worch]] | + | Contact: [[team:andrei_haidu|Andrei Haidu]] |
- | == Kitchen Activity Games in a Realistic Robotic Simulator (BA/ | ||
- | {{ : | ||
- | Developing new activities and improving | + | < |
+ | == Integrating PR2 in the Unreal Game Engine Framework (BA/ | ||
+ | {{ : | ||
+ | |||
+ | Integrating | ||
Requirements: | Requirements: | ||
* Good programming skills in C/C++ | * Good programming skills in C/C++ | ||
* Basic physics/ | * Basic physics/ | ||
- | * Gazebo simulator | + | * Basic ROS knowledge |
+ | * UE4 basic tutorials | ||
Contact: [[team: | Contact: [[team: | ||
- | == Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== | ||
- | {{ : | ||
- | Integrating | + | == Realistic Grasping using Unreal Engine (BA/ |
- | and logging | + | |
+ | {{ : | ||
+ | |||
+ | The objective of the project is to implement var- | ||
+ | ious human-like grasping approaches | ||
+ | |||
+ | The game consist of a household environment where a user has to execute various given tasks, such as cooking a dish, setting | ||
+ | |||
+ | In order to improve | ||
+ | be able to switch | ||
+ | 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/ | ||
+ | --></ | ||
+ | |||
+ | < | ||
+ | == Unreal Engine Editor Developer (Student Job / HiWi)== | ||
+ | {{ : | ||
+ | |||
+ | Creating new user interfaces (panel customization) for various internal plugins using the Unreal C++ framework [[https:// | ||
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Good C++ programming skills |
- | * Gazebo simulator basic tutorials | + | * Familiar with the [[https:// |
+ | * Familiar with Unreal Engine API | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
Contact: [[team: | Contact: [[team: | ||
- | == Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== | ||
- | {{ : | ||
- | 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:// | ||
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:// | ||
+ | * Familiar with basic ROS communication | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
Contact: [[team: | Contact: [[team: | ||
+ | |||
+ | < | ||
+ | == Knowledge-enabled PID Controller for 3D Hand Movements in Virtual Environments (BA/MA Thesis) == | ||
+ | |||
+ | 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/ | ||
+ | |||
+ | Requirements: | ||
+ | * Good C++ programming skills | ||
+ | * Familiar with PID controllers and control theory | ||
+ | * Experience with simulators/ | ||
+ | * Familiar with Unreal Engine API | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
+ | |||
+ | Contact: [[team: | ||
+ | --></ | ||
+ | |||
+ | == Mülltrennungs-App mit Wissensgraph-Anbindung (BA Thesis) == | ||
+ | |||
+ | Entwicklung einer Mülltrennungs-App für Smartphones (Android) basierend auf Objekterkennung und Anbindung an Wissensgraphen. | ||
+ | Dabei wird auf bestehende Objekterkennungs-Apps aufgebaut und eine Smartphone App entwickelt, die Objekte erkennt und auf einen Wissensgraphen zugreift, um weitere Informationen zu diesen Produkten zu erhalten. | ||
+ | Eine Aufgabe der Arbeit ist es, den bestehenden Wissengraphen um Wissen über Produktverpackungen und deren Entsorgungsmöglichkeiten zu erweitern. | ||
+ | |||
+ | Aufgaben: | ||
+ | * App Entwicklung mit der Unity game engine | ||
+ | * Objekterkennung mittels Vuforia | ||
+ | * Arbeit mit Wissensrepräsentation und Wissensgraphen | ||
+ | * Erweiterung von .owl Dateien im Wissensgraphen | ||
+ | |||
+ | |||
+ | Contact: [[team: | ||
+ | |||
+ | == Situational awareness in kitchen environments (MA Thesis) == | ||
+ | |||
+ | This is a knowledge representation topic including knowledge graphs. The idea is so link external Web-knowledge to an existing knowledge framework in order to include situational awareness so that a robot acting in a household environment can infer what an object is used for in a given situation. | ||
+ | |||
+ | A result would be that a spoon next to a bowl with cereal would be used for eating while a spoon on a stove next to a pot would be used for stirring. | ||
+ | |||
+ | requirements: | ||
+ | * Work with KnowRob knowledge processing framework | ||
+ | * Work with knowledge graphs and Linked Data to create a situational awareness knowledge graph that can be linked to KnowRob | ||
+ | * Implement reasoning about situations (based on perceived environment) and object use | ||
+ | |||
+ | |||
+ | Contact: [[team: | ||
+ | |||
+ |
Prof. Dr. hc. Michael Beetz PhD
Head of Institute
Contact via
Andrea Cowley
assistant to Prof. Beetz
ai-office@cs.uni-bremen.de
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