Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
Next revisionBoth sides next revision
jobs [2014/08/29 11:12] – [Theses and Jobs] ahaidujobs [2019/08/30 13:41] – [Theses and Student Jobs] nyga
Line 1: Line 1:
 ~~NOTOC~~ ~~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=====
  
 +=====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)== 
  
-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.+== PhD Student Position in Machine Learning for Robotic Systems==
  
-Requirements: +The position is part of the research project „PIPE – Probabilistic Models of Instructions, Perception and Experience – Representation, Learning and Reasoning“.
-  * Skills in numerical optimization algorithms +
-  * Good programming skills in Python and C/C+++
  
-Contact: [[team:daniel_nyga|Daniel Nyga]]+The project investigates methods in the field of machine learning and data mining for cognitive robotic systems, which aim at combining the humans‘ capability of understanding natural language, perceiving objects in the environment and learning from experience. In particular, we want to equip robots with the ability to autonomously acquire knowledge in order to proficiently act in human environments and competently and successfully achieve their goals.
  
-== Online Learning of Markov Logic Networks for Natural-Language Understanding (MA)==+Tasks:
  
-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.+    * Develop and implement machine learning models and algorithms for the learning of and reasoning about complex relations among data sources relevant for intelligent autonomous robots 
 +    * Create documentation and presentations of research results at international scientific conferences 
 +    * Work independently and enthusiastically in close collaboration with project partners 
 +    * Contribute to research fund proposals and public relation activities
  
 Requirements: Requirements:
-  * 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]]+    * Excellent Master‘s degree in computer science with major in artificial intelligence and/or machine learning (or equivalent). 
 +    * Excellent skills in theory and practice of machine learning/data mining methods, ideally experience with probabilistic graphical models. 
 +    * Excellent programming skills in the Python programming language, C/C++ is beneficial 
 +    * Experience in software development under Linux 
 +    * Excellent oral and written level in English, especially in technical English. Skills in German is beneficial. 
 +    * Very good organizational skills and team spirit
  
 +We are searching for an enthusiastic and dynamic colleague who is interested in joining a multidisciplinary research team. Applicants should have distinct profiles that show their potential to substantially contribute to research programme of the project. This can be demonstrated through experience in the realization of machine learning and data mining systems, expressive github profiles, being a key member of programming teams participating in competitions, etc.
  
-==HiWi-Position: Knowledge Representation & Language Understanding for Intelligent Robots==+More information can be found at: 
  
-In the context of the European research project RoboHow.Cog [1,2] we +[[https://www.uni-bremen.de/en/university/the-university-as-an-employer/job-vacancies/details-job-vacancies/joblist/Job/show/1-x-10-wissenschaftlicher-mitarbeiterin-wmd-5907/]]
-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. 
  
-This HiWi-Position can serve as a starting point for future Bachelor's, Master's or Diploma Theses.+== Visualization support assistant (HiWi) ==
  
-Tasks: +Implementing a visualization web page for a project using a custom framework using python/javascript. Start date: Oct 2019
-  * 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 python programming skills 
-  * Basic skills in Artificial Intelligence +  * Familiar with Javascript 
-  * Optional: basic skills in Probability Theory +  * Experience in web development is recommended 
-  * Optional: basic skills in Machine Learning +  * Familiar with version-control systems (git) 
-  * Good programming skills in Python and Java+  * Able to work independently with minimal supervision
  
-Hours: 10-20 h/week+Contact: [[team:mareike_picklum|Mareike Picklum]]
  
-Contact: [[team:daniel_nyga|Daniel Nyga]] 
  
-[1] www.robohow.eu\\ +== Knowledge-enabled PID Controller for 3D Hand Movements in Virtual Environments (BA/MA Thesis) ==
-[2] http://www.youtube.com/watch?v=0eIryyzlRwA+
  
 +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).
  
-== Depth-Adaptive Superpixels (BA/MA)== +Requirements: 
- {{ :research:dt_dasp.png?200|}} +  * Good C++ programming skills 
-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.+  * Familiar with PID controllers and control theory 
 +  * Experience with simulators/game engines is recommended 
 +  * Experience with Unreal Engine 
 +  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision
  
-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, ...+Contact: [[team:andrei_haidu|Andrei Haidu]] 
 + 
 +<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: Requirements:
-  * Basic knowledge of image processing +  * Good programming skills in Common Lisp 
-  * Good programming skills in C/C++. +  * Basic ROS knowledge
-  * Experience with CUDA is helpful+
  
-Contact: [[team:jan-hendrik_worch|Jan-Hendrik Worch]]+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>
  
-== Physical Simulation of Humans (BA/MA)== +<html><!-- 
- {{ :research:human_model.png?200|}}+== Mesh Editing / Mesh Segmentation/Cutting (Student Job / HiWi)== 
 + {{ :research:human_hand_cutting.png?150|}}
  
-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.+ Editing and cutting a human mesh into different parts in Blender / Maya (or other).
  
 Requirements: Requirements:
-  * Good programming skills in C/C++ +  * Good knowledge in 3D Modeling 
-  * Optional: Experience in working with physics libraries such as Bullet+  * Familiar with Blender / Maya (or other)
  
-Contact: [[team:jan-hendrik_worch|Jan-Hendrik Worch]]+Contact: [[team/mona_abdel-keream|Mona Abdel-Keream]] 
 +--></html>
  
-== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA/HiWi)== +<html><!-- 
- {{ :research:gz_env1.png?200|}} +== 3D Model / Material / Lightning Developer (Student Job / HiWi)== 
 + {{ :research:kitchen_unreal.jpg?200|}} 
  
-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.+Developing and improving existing 3D models in Blender / Maya (or other). Importing the models in Unreal Engine, where the Materials and Lightning should be improved to be close as possible to realism.  
 + 
 +Bonus: Working with state of the art 3D Scanners [[https://www.goscan3d.com/|Go!SCAN]] for creating new realistic models.
  
 Requirements: Requirements:
-  * Good programming skills in C/C++ +  * Experience with Blender / Maya (or other) 
-  * Basic physics/rendering engine knowledge +  * Knowledge of Unreal Engine material / lightning development 
-  * Gazebo simulator basic tutorials+  * 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>
  
-== Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== +<html><!-- 
- {{ :research:eye_tracker.png?200|}} +== Integrating PR2 in the Unreal Game Engine Framework (BA/MA/HiWi)== 
 + {{ :research:unreal_ros_pr2.png?100|}} 
  
-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.+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++
-  * Gazebo simulator basic tutorials+  * Basic physics/rendering engine knowledge 
 +  * Basic ROS knowledge 
 +  * UE4 basic tutorials
  
 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 [[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.+== Realistic Grasping using Unreal Engine (BA/MA/HiWi) ==
  
-The tracked hand can then be used as input for the Kitchen Activity Games framework.+{{  :teaching:gsoc:topic2_unreal.png?nolink&150|}}
  
-Requirements: +The objective of the project is to implement var- 
-  * Good programming skills in C/C+++ious human-like grasping approaches in a game developed using [[https://www.unrealengine.com/|Unreal Engine]]. 
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+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.
  
-== Fluid Simulation in Gazebo (BA/MA)== +In order to improve the ease of manipulating objects the user should 
- {{ :research:fluid.png?200|}} +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
  
-[[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.+Contact: [[team/andrei_haidu|Andrei Haidu]] 
 +--></html>
  
-The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present +<html><!-- 
-and should be implemented (PCISPH/IISPH).+== Unreal Engine Editor Developer (Student Job / HiWi)== 
 + {{ :research:unreal_editor.png?150|}} 
  
-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).+Creating new user interfaces (panel customization) for various internal plugins using the Unreal C++ framework [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]].
  
-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. 
- 
-Here is a [[https://vimeo.com/104629835|video]] example of the current state of the fluid in Gazebo.  
  
 Requirements: Requirements:
-  * Good programming skills in C/C++ +  * Good C++ programming skills 
-  * Interest in Fluid simulation +  * Familiar with the [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]] framework 
-  * Basic physics/rendering engine knowledge +  * Familiar with Unreal Engine API 
-  * Gazebo simulator and Fluidix basic tutorials+  * 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]]
  
 +
 +
 +== 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:
 +  * 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]]
 +--></html>
- Impressum - Datenschutz



Prof. Dr. hc. Michael Beetz PhD
Head of Institute

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

Discover our VRB for innovative and interactive research


Memberships and associations:


Social Media: