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jobs [2014/08/29 11:12] – [Theses and Jobs] ahaidujobs [2021/07/14 13:33] – [Theses and Student Jobs] haidu
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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==+== Physics-based grasping in VR with finger tracking(Student Job / HiWi) ==
  
-In the context of the European research project RoboHow.Cog [1,2] we +Implementing physics-based grasping models in virtual environments, 
-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.  +using Manus VR.
  
-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 C++ programming skills 
 +  * 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
  
-This HiWi-Position can serve as a starting point for future Bachelor's, Master's or Diploma Theses.+Contact: [[team:andrei_haidu|Andrei Haidu]]
  
-Tasks: 
-  * 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: 
-  * Studies in Computer Science (Bachelor's, Master's or Diploma) 
-  * Basic skills in Artificial Intelligence 
-  * Optional: basic skills in Probability Theory 
-  * Optional: basic skills in Machine Learning 
-  * Good programming skills in Python and Java 
  
-Hours: 10-20 h/week+<html><!-- 
 +== Lisp / CRAM support assistant (HiWi) ==
  
-Contact: [[team:daniel_nyga|Daniel Nyga]]+Technical support for the group for Lisp and the CRAM framework. \\ 
 +8+ hours per week for up to 1 year (paid).
  
-[1] www.robohow.eu\\ +Requirements: 
-[2] http://www.youtube.com/watch?v=0eIryyzlRwA+  * 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>
  
-== 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)== 
- {{ :research:human_model.png?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.+== 3D Animation and Modeling (Student Job / HiWi)== 
 + {{ :research:kitchen_unreal.jpg?200|}}  
 + 
 +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: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 [[http://gazebosim.org/|Gazebo]] robotic simulator. Creating a custom GUI for the game, in order to launch new scenarios, save logs etc.+== Sprachgesteuertes Leitsystem (BA Thesis) ==
  
-Requirements: +Weiterentwicklung eines sprachgesteuerten Leitsystems zu gesuchten Produkten im Einzelhandel für Smartphones (Android) basierend auf Ankerpunkten und einer Anbindung an Wissensgraphen. 
-  * Good programming skills in C/C++ +Dabei wird auf bestehende Apps aufgebaut. 
-  * Basic physics/rendering engine knowledge +
-  * Gazebo simulator basic tutorials+
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+Aufgaben: 
 +  * App Entwicklung mit der Unity game engine und Flutter  
 +  * Erweiterung der Sprachsteuerung 
 +  * Arbeit mit Wissensrepräsentation und Wissensgraphen für die Sprachsteuerung
  
-== Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== 
- {{ :research:eye_tracker.png?200|}}  
  
-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.+Contact: [[team:michaela_kümpel|Michaela Kümpel]]
  
-Requirements: +== Sprachauswahl für Shopping Assistenten (BA Thesis) ==
-  * Good programming skills in C/C++ +
-  * Gazebo simulator basic tutorials+
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+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. 
  
-== Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== +Aufgaben: 
- {{ :research:leap_motion.jpg?200|}} +  * App Entwicklung mit der Unity game engine und Flutter  
 +  * Erweiterung der App um eine Sprachauswahl 
 +  * Arbeit mit Wissensrepräsentation und Wissensgraphen für Sprachmodellierung
  
-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. 
  
-The tracked hand can then be used as input for the Kitchen Activity Games framework.+Contact: [[team:michaela_kümpel|Michaela Kümpel]]
  
-Requirements: +== Situational awareness in kitchen environments (MA Thesis) ==
-  * Good programming skills in C/C+++
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+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.
  
-== Fluid Simulation in Gazebo (BA/MA)== +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.
- {{ :research:fluid.png?200|}} +
  
-[[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.+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
  
-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. 
  
-The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present +Contact: [[team:michaela_kümpel|Michaela Kümpel]]
-and should be implemented (PCISPH/IISPH).+
  
-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). 
  
-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.+== Development of Modules for Robot Perception and Game Engine Technology (Hiwi Job) == 
 +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. 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: 
 +  * 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. 
 +  * 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++)
  
-Here is a [[https://vimeo.com/104629835|video]] example of the current state of the fluid in Gazebo.  
  
-Requirements: +Contact: [[team:patrick_mania|Patrick Mania]]
-  * Good programming skills in C/C++ +
-  * Interest in Fluid simulation +
-  * Basic physics/rendering engine knowledge +
-  * Gazebo simulator and Fluidix basic tutorials +
- +
-Contact: [[team:andrei_haidu|Andrei Haidu]]+
  
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Prof. Dr. hc. Michael Beetz PhD
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ai-office@cs.uni-bremen.de

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