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jobs [2014/08/29 09:33] – [Theses and Jobs] ahaidujobs [2021/04/16 08:41] – [Theses and Student Jobs] kording
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 ~~NOTOC~~ ~~NOTOC~~
-=====Theses and Jobs=====+ 
 +=====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.  
 + 
 +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. 
 + 
 +**Prerequisites:** You have a strong background in some of the following fields: 
 +  * Digital Twins  
 +  * Knowledge Representation 
 +  * Data structures 
 +  * Data Stream Representation.  
 + 
 +**Hiring institution:** University of Bremen 
 + 
 +**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.  
 + 
 +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. 
 + 
 +**Duration of the project:** 36 months 
 + 
 +**Main Academic Supervisor:** Prof. Michael Beetz, contact: beetz@cs.uni-bremen.de 
 + 
 +**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. 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.
  
  
  
-== GPU-based Parallelization of Numerical Optimization Techniques (BA/MA/HiWi)== 
  
-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.+<html><!-- 
 +== 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/closing a drawer or lifting a heavy object) in combination with the physical limitations of the physics engine (dynamic update rates).
  
 Requirements: Requirements:
-  * Skills in numerical optimization algorithms +  * Good C++ programming skills 
-  * Good programming skills in Python and C/C+++  * Familiar with PID controllers and control theory 
 +  * 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:daniel_nyga|Daniel Nyga]]+Contact: [[team:andrei_haidu|Andrei Haidu]] 
 +--></html>
  
-== Online Learning of Markov Logic Networks for Natural-Language Understanding (MA)== 
  
-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.+ 
 +<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:
-  * Experience in Machine Learning. +  * Good C++ programming skills 
-  * Experience with statistical relational learning (e.g. MLNs) is helpful. +  * Familiar with skeletal animations 
-  * Good programming skills in Python.+  * 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:daniel_nyga|Daniel Nyga]]+Contact: [[team:andrei_haidu|Andrei Haidu]] 
 +--></html>
  
  
-==HiWi-Position: Knowledge Representation & Language Understanding for Intelligent Robots==+<html><!-- 
 +== Lisp / CRAM support assistant (HiWi) ==
  
-In the context of the European research project RoboHow.Cog [1,2] we +Technical support for the group for Lisp and the CRAM framework. \\ 
-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.  +8+ hours per week for up to 1 year (paid).
  
-The Institute for Artificial Intelligence is hiring a student researcher for the +Requirements: 
-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.+  * 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:gayane_kazhoyan|Gayane Kazhoyan]] 
 +--></html>
  
-This HiWi-Position can serve as a starting point for future Bachelor's, Master's or Diploma Theses.+<html><!-- 
 +== Mesh Editing / Mesh Segmentation/Cutting (Student Job / HiWi)== 
 + {{ :research:human_hand_cutting.png?150|}}
  
-Tasks: + Editing and cutting a human mesh into different parts in Blender / Maya (or other).
-  * 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: Requirements:
-  * Studies in Computer Science (Bachelor's, Master's or Diploma) +  * Good knowledge in 3D Modeling 
-  * Basic skills in Artificial Intelligence +  * Familiar with Blender / Maya (or other)
-  * Optional: basic skills in Probability Theory +
-  * Optional: basic skills in Machine Learning +
-  * Good programming skills in Python and Java+
  
-Hours: 10-20 h/week+Contact: [[team/mona_abdel-keream|Mona Abdel-Keream]] 
 +--></html>
  
-Contact: [[team:daniel_nyga|Daniel Nyga]] 
  
-[1] www.robohow.eu\\ 
-[2] http://www.youtube.com/watch?v=0eIryyzlRwA 
  
 +<html><!--
 +== 3D animation and model developer (Student Job / HiWi)==
 + {{ :research:kitchen_unreal.jpg?200|}} 
  
-== Depth-Adaptive Superpixels (BA/MA)== +Developing and improving existing or new 3D (static/skeletal) 
- {{ :research:dt_dasp.png?200|}} +models in Blender / Maya (or other). Further importing and testing the 
-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.+models against Unreal Engine.
  
-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, ...+Bonus: Working with state of the art 3D Scanners [[https://www.goscan3d.com/|Go!SCAN]] for creating sketching new models.
  
 Requirements: Requirements:
-  * Basic knowledge of image processing +  * Experience with Blender / Maya (or other) 
-  * Good programming skills in C/C++. +  * Knowledge of Unreal Engine material / lightning development 
-  * Experience with CUDA is helpful+  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision
  
-Contact: [[team:jan-hendrik_worch|Jan-Hendrik Worch]]+Contact: [[team:andrei_haidu|Andrei Haidu]] 
 +--></html>
  
  
-== Physical Simulation of Humans (BA/MA)== +<html><!-- 
- {{ :research:human_model.png?200|}}+== Integrating PR2 in the Unreal Game Engine Framework (BA/MA/HiWi)== 
 + {{ :research:unreal_ros_pr2.png?100|}} 
  
-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.+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++
-  * Optional: Experience in working with physics libraries such as Bullet+  * Basic physics/rendering engine knowledge 
 +  * Basic ROS knowledge 
 +  * UE4 basic tutorials
  
-Contact: [[team:jan-hendrik_worch|Jan-Hendrik Worch]]+Contact: [[team:andrei_haidu|Andrei Haidu]]
  
-== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA/HiWi)== 
- {{ :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.+== Realistic Grasping using Unreal Engine (BA/MA/HiWi) == 
 + 
 +{{  :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 
-  * Basic physics/rendering engine knowledge +  * Familiar with the [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]] framework 
-  * Gazebo simulator basic tutorials+  * 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]]
  
-== 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  + 
-and logging the gaze of the user during the gameplay. From the information typical activities should be inferred.+== 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 
-  * Gazebo simulator basic tutorials+  * 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]]
  
-== Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== +<html><!-- 
- {{ :research:leap_motion.jpg?200|}} +== Knowledge-enabled PID Controller for 3D Hand Movements in Virtual Environments (BA/MA Thesis) ==
  
-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. +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 tracked hand can then be used as input for the Kitchen Activity Games framework.+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).
  
 Requirements: Requirements:
-  * Good programming skills in C/C+++  * Good C++ programming skills 
 +  * Familiar with PID controllers and control theory 
 +  * 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]] Contact: [[team:andrei_haidu|Andrei Haidu]]
 +--></html>
 +
 +== Sprachgesteuertes Leitsystem (BA Thesis) ==
 +
 +Weiterentwicklung eines sprachgesteuerten Leitsystems zu gesuchten Produkten im Einzelhandel für Smartphones (Android) basierend auf Ankerpunkten und einer Anbindung an Wissensgraphen.
 +Dabei wird auf bestehende Apps aufgebaut. 
 +
 +Aufgaben:
 +  * App Entwicklung mit der Unity game engine und Flutter 
 +  * Erweiterung der Sprachsteuerung
 +  * Arbeit mit Wissensrepräsentation und Wissensgraphen für die Sprachsteuerung
 +
 +
 +Contact: [[team:michaela_kümpel|Michaela Kümpel]]
 +
 +== Sprachauswahl für Shopping Assistenten (BA Thesis) ==
 +
 +Weiterentwicklung eines Produktinformationssystems im Einzelhandel für Smartphones (Android) um eine Sprachauswahl. Anzeige der jeweiligen Informationen in der gewünschten Sprache.
 +Dabei wird auf bestehende Apps aufgebaut. 
 +
 +Aufgaben:
 +  * App Entwicklung mit der Unity game engine und Flutter 
 +  * Erweiterung der App um eine Sprachauswahl
 +  * Arbeit mit Wissensrepräsentation und Wissensgraphen für Sprachmodellierung
 +
 +
 +Contact: [[team:michaela_kümpel|Michaela Kümpel]]
 +
 +== 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:michaela_kümpel|Michaela Kümpel]]
 +
 +
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Prof. Dr. hc. Michael Beetz PhD
Head of Institute

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Andrea Cowley
assistant to Prof. Beetz
ai-office@cs.uni-bremen.de

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