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jobs [2014/08/29 09:33] – [Theses and Jobs] ahaidujobs [2022/12/05 08:02] – [Open researcher positions] pmania
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-~~NOTOC~~ 
-=====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=====
 +
 +We currently don't have any open positions for researchers.
 +=====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.
  
  
-== GPU-based Parallelization of Numerical Optimization Techniques (BA/MA/HiWi)==+<html><!-- 
 +== Physics-based grasping in VR with finger tracking(Student Job / 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.+Implementing physics-based grasping models in virtual environments, 
 +using Manus VR.
  
 Requirements: Requirements:
-  * Skills in numerical optimization algorithms +  * Good C++ programming skills 
-  * Good programming skills in Python and C/C+++  * Familiar with skeletal animations 
 +  * 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>
  
-Contact: [[team:daniel_nyga|Daniel Nyga]] 
  
-== Online Learning of Markov Logic Networks for Natural-Language Understanding (MA)==+<html><!-- 
 +== Lisp / CRAM support assistant (HiWi) ==
  
-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.+Technical support for the group for Lisp and the CRAM framework. \\ 
 +8+ hours per week for up to 1 year (paid).
  
 Requirements: Requirements:
-  * Experience in Machine Learning. +  * Good programming skills in Common Lisp 
-  * Experience with statistical relational learning (e.g. MLNs) is helpful. +  * Basic ROS knowledge
-  * Good programming skills in Python.+
  
-Contact: [[team:daniel_nyga|Daniel Nyga]]+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>
  
-==HiWi-Position: Knowledge Representation & Language Understanding for Intelligent Robots==+<html><!-- 
 +== Mesh Editing / Mesh Segmentation/Cutting (Student Job / HiWi)== 
 + {{ :research:human_hand_cutting.png?150|}}
  
-In the context of the European research project RoboHow.Cog [1,2] we + Editing and cutting a human mesh into different parts in Blender / Maya (or other).
-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 +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 knowledge in 3D Modeling 
 +  * Familiar with Blender / Maya (or other) 
 + 
 +Contact: [[team/mona_abdel-keream|Mona Abdel-Keream]] 
 +--></html> 
 + 
 + 
 +<html><!-- 
 +== 3D Animation and Modeling (Student Job / HiWi)== 
 + {{ :research:kitchen_unreal.jpg?200|}} 
  
-This HiWi-Position can serve as a starting point for future Bachelor's, Master's or Diploma Theses.+Developing and improving existing or new 3D (static/skeletal) 
 +models in Blender / Maya (or other). Further importing and testing the 
 +models against Unreal Engine.
  
-Tasks: +Bonus: Working with state of the art 3D Scanners [[https://www.goscan3d.com/|Go!SCAN]] for creating sketching new models.
-  * 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) +  * Experience with Blender / Maya (or other) 
-  * Basic skills in Artificial Intelligence +  * Knowledge of Unreal Engine material / lightning development 
-  * Optional: basic skills in Probability Theory +  * Familiar with version-control systems (git) 
-  * Optional: basic skills in Machine Learning +  * Able to work independently with minimal supervision
-  * Good programming skills in Python and Java+
  
-Hours: 10-20 h/week+Contact: [[team:andrei_haidu|Andrei Haidu]] 
 +--></html>
  
-Contact: [[team:daniel_nyga|Daniel Nyga]]+== Representing knowledge in a robot-agnostic ontology system for assistive robotics (MA Thesis) ==
  
-[1] www.robohow.eu\\ +The thesis will be jointly supervised by German Aerospace Center (DLR) in Munich and the Institute for Artificial Intelligence (IAI) at the University of Bremen.
-[2] http://www.youtube.com/watch?v=0eIryyzlRwA+
  
 +Summary:
 +  * Investigate about existing ontologies, like the Socio-physical Model of Activities (SOMA) from the University of Bremen.
 +  * Refactor an existing knowledge database (known as the Object DataBase, ODB) used by the DLR into an ontology.
 +  * Use the ontology to design tasks in the assistive robotics domain using assistive robots provided by the DLR
  
-== Depth-Adaptive Superpixels (BA/MA)== +Full offer:
- {{ :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.+
  
-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, ...+{{ :teaching:offer_2020-01_op2_wedanjustin.pdf |}}
  
-Requirements: +Contact: [[team:daniel_bessler|Daniel Beßler]]
-  * Basic knowledge of image processing +
-  * Good programming skills in C/C++. +
-  * Experience with CUDA is helpful+
  
-Contact: [[team:jan-hendrik_worch|Jan-Hendrik Worch]]+== Linking saref to SOMA (BA Thesis) ==
  
 +Wissensrepräsentation: Semantische Integration der saref Ontology (https://ontology.tno.nl/saref/) für smart devices in SOMA (https://ease-crc.github.io/soma/). Ziel dabei ist es, dass Roboter anhand von ein paar Beispielszenarien (z.B. Zubereitung von Popcorn/ Pizza) Fehler autonom finden können (z.B. Electricity ist aus -> deswegen wird der Herd nicht warm und Popcorn poppt nicht).
  
-== Physical Simulation of Humans (BA/MA)== +Aufgaben: 
- {{ :research:human_model.png?200|}}+  * Arbeit mit Wissensrepräsentation und Wissensgraphen 
 +  * Wissensakquisition aus web-Quellen 
 +  * Abfrage mit KnowRob (Prolog) für autonome Roboter
  
-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.+Contact: [[team:michaela_kümpel|Michaela Kümpel]]
  
-Requirements: +== Case Study: Wissen zu Produkt-Aufbewahrungsorten aus dem Internet beziehen (BA Thesis) ==
-  * Good programming skills in C/C++ +
-  * Optional: Experience in working with physics libraries such as Bullet+
  
-Contact: [[team:jan-hendrik_worch|Jan-Hendrik Worch]]+In dieser Thesis soll untersucht werden, ob die Autonomie von Robotern durch Integration von Wissen zu Aufbewahrungsorten von Produkten aus dem Internet erhöht werden kann. Es gibt verschiedene websites, die Wissen dazu bereitstellen. Dieses Wissen soll von den websites abgefragt und anschließend sinnvoll ontologisiert werden. Anhand verschiedener Fragen werden die Ergebnisse evaluiert (Menge der erworbenen Informationen/ Nutzen der Information, v.a. für autonome Roboter...)
  
-== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA/HiWi)== +Aufgaben: 
- {{ :research:gz_env1.png?200|}} +  * Wissensakquise aus dem Internet 
 +  * Wissensrepräsentation/ Modellierung: Ontologisierung des Wissens 
 +  * Vergleich mit bestehenden Ontologien/ Arbeiten und manuell erstellten Ontologien 
 +  * Sinnvolle, automatisierte Abfrage des neu gewonnenen Wissens
  
-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. 
  
-Requirements: +Contact: [[team:michaela_kümpel|Michaela Kümpel]]
-  * Good programming skills in C/C++ +
-  * Basic physics/rendering engine knowledge +
-  * Gazebo simulator basic tutorials+
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+== Integration of novel objects into Digital Twin Knowledge Bases (MA Thesis) ==
  
-== Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== +In this thesis, the goal is to make a robotic system learn new objects automatically. 
- {{ :research:eye_tracker.png?200|}} +The system should be able to generate the necessary models required for re-detecting it again and also consult online information sources to automatically acquire knowledge about it. 
 + 
 +The focus of the thesis would be two-fold: 
 +  * Develop methods to automatically infer the object class of new objects. This would include perceiving it with state of the art sensors, constructing a 3d model of it and then infer the object class from online information sources. 
 +  * In the second step the system should also infer factual knowledge about the object from the internet and assert it into a robotic knowledgebase. Such knowledge could for example include the category of this product, typical object properties like its weight or typical location and much more.
  
-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. 
  
 Requirements: Requirements:
-  * Good programming skills in C/C++ +  * Knowledge about sensor data processing 
-  * Gazebo simulator basic tutorials+  * Interest in model construction from sensory data 
 +  * Work with KnowRob knowledge processing framework
  
-Contact: [[team:andrei_haidu|Andrei Haidu]] 
  
-== Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== +Contact: [[team:patrick_mania|Patrick Mania]]
- {{ :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.+<html><!-- 
 +== Development of Modules for Robot Perception (Student Job / HiWi) == 
 +In our research group, we focus on the development of modern robots that can make use of the potential of game engines. One particular research direction, is the combination of computer vision with game engines. 
 +In this context, we are currently offering multiple Hiwi positions / student jobs for the following tasks: 
 +  * Software development to create Interfaces between ROS and Unreal Engine 4 (mainly C++) 
 +  * Software development for our Robot Perception framework [[http://robosherlock.org/|RoboSherlock]] which contains many algorithms for computer vision problems (mainly C++)
  
-The tracked hand can then be used as input for the Kitchen Activity Games framework.+Requirements: 
 +  * Experience in C++. 
 +  * Basic understanding of the ROS middleware and Linux. 
 +The spoken language in this job is german or english, based on your preference. 
 + 
 +Contact: [[team:patrick_mania|Patrick Mania]] 
 +--></html> 
 + 
 +== Game Engine Developer and 3D-Modelling  (Student Job / HiWi) == 
 +A recent development in the field of AI is the usage of photorealistic simulations, for example to create Digital Twins of environments like households or  [[https://iottechnews.com/news/2021/apr/13/bentley-systems-nvidia-omniverse-create-real-time-digital-twins/|factories]]. 
 +In our research group, we focus on the development of modern robots that can make use of the potential of game engines. This requires a high degree of specialized game engine plugins that can simulate certain aspects of our research. Another important task is the creation of 3d models. 
 + 
 +Therefore, we are currently offering multiple Hiwi positions / student jobs for the following tasks: 
 +  * Modelling of objects for the use in Unreal Engine 4. 
 +  * Creation of specific simulation aspects in Unreal Engine 4. For example the development of interactable objects.
  
 Requirements: Requirements:
-  * Good programming skills in C/C+++  * Knowledge of 3D-Modelling tools. Blender would be highly preferred. 
 +  * Experience in Game Engine development. Ideally Unreal Engine 4 and C++.
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+The spoken language in this job is german or english, based on your preference. 
 + 
 +Contact: [[team:patrick_mania|Patrick Mania]]
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