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jobs [2015/07/28 12:11] – [Theses and Jobs] winklerjobs [2021/07/30 10:07] – [Theses and Student Jobs] pmania
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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.
  
-== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA/HiWi)== +Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]] 
- {{ :research:gz_env1.png?200|}} +--></html>
  
-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.+<html><!-- 
 +== Mesh Editing / Mesh Segmentation/Cutting (Student Job / HiWi)== 
 + {{ :research:human_hand_cutting.png?150|}} 
 + 
 + 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 
-  * Basic physics/rendering engine knowledge +  * Familiar with Blender / Maya (or other)
-  * Gazebo simulator basic tutorials+
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+Contact: [[team/mona_abdel-keream|Mona Abdel-Keream]] 
 +--></html>
  
-== 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. 
  
-Requirements: +== 3D Animation and Modeling (Student Job / HiWi)== 
-  * Good programming skills in C/C++ + {{ :research:kitchen_unreal.jpg?200|}} 
-  * Gazebo simulator basic tutorials +
- +
-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.+Developing and improving existing or new 3D (static/skeletal) 
 +models in Blender / Maya (or other). Further importing and testing the 
 +models against Unreal Engine.
  
-The tracked hand can then be used as input for the Kitchen Activity Games framework.+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) 
 +  * Knowledge of Unreal Engine material / lightning development 
 +  * 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]]
  
-== Fluid Simulation in Gazebo (BA/MA)== 
- {{ :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.+== App zur Generierung von Ernährungsempfehlungen (BA Thesis) ==
  
-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.+Dies ist ein Wissensrepräsentations-Thema. Basierend auf einem bestehenden Wissensgraphen mit Produktinformationen sollen weitere ernährungsspezifische Informationen wie z.B. Substitute für Rezeptzutaten oder Rezepte für spezielle Ernährungsgewohnheiten generiert werden. Diese Informationen müssen aus bestehenden web-Quellen extrahiert und mit dem Wissensgraphen verknüpft werden. Die Informationen sollen dann in einer Smartphone-App (Android) visualisiert werden. Dabei kann auf bestehenden Apps aufgebaut werden. 
  
-The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present +Aufgaben: 
-and should be implemented (PCISPH/IISPH).+  * Arbeit mit Wissensrepräsentation und Wissensgraphen 
 +  * Wissensakquisition aus web-Quellen 
 +  * App Entwicklung mit der Unity game engine und/oder Flutter 
  
-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).+Contact: [[team:michaela_kümpel|Michaela Kümpel]]
  
-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.+== Sprachauswahl für Shopping Assistenten (BA Thesis) ==
  
-Here is a [[https://vimeo.com/104629835|video]] example of the current state of the fluid in Gazebo. +Weiterentwicklung eines Produktinformationssystems im Einzelhandel für Smartphones (Android) um eine Sprachauswahl. Anzeige der jeweiligen Informationen in der gewünschten Sprache. 
 +Dabei wird auf bestehenden Apps aufgebaut. 
  
-Requirements: +Aufgaben: 
-  * Good programming skills in C/C++ +  * App Entwicklung mit der Unity game engine und Flutter  
-  * Interest in Fluid simulation +  * Erweiterung der App um eine Sprachauswahl 
-  * Basic physics/rendering engine knowledge +  * Arbeit mit Wissensrepräsentation und Wissensgraphen für Sprachmodellierung
-  * Gazebo simulator and Fluidix basic tutorials+
  
-Contact: [[team:andrei_haidu|Andrei Haidu]] 
  
 +Contact: [[team:michaela_kümpel|Michaela Kümpel]]
  
-== Automated sensor calibration toolkit (BA/MA)==+== Situational awareness in kitchen environments (MA Thesis) ==
  
-Computer vision is an important part of autonomous robots. For robots the image sensors are the main source of information of the surrounding world. Each camera is different, even if they are from the same production line. For computer vision, especially for robots manipulating their environment, it is important that the parameters for the cameras in use are well known. The calibration of a camera is a time consuming task, and the result depends highly on the chosen setup and the accuracy of the operator.+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.
  
-The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2.+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.
  
- {{ :kinect2_calibration_setup_small.jpg?200|}} +requirements: 
-The system should: +  * Work with KnowRob knowledge processing framework 
-  * be independent of the camera type +  * Work with knowledge graphs and Linked Data to create a situational awareness knowledge graph that can be linked to KnowRob 
-  * estimate intrinsic and extrinsic parameters +  * Implement reasoning about situations (based on perceived environment) and object use
-  * calibrate depth images (case of RGB-D) +
-  * integrate capabilities from Halcon [1] +
-  * operate autonomously+
  
-Requirements:  
-  * Good programming skills in Python and C/C++ 
-  * ROS, OpenCV 
  
-[1] http://www.halcon.de/+Contact: [[team:michaela_kümpel|Michaela Kümpel]]
  
-Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]] 
  
-== On-the-fly 3D CAD model creation (MA)==+== Development of Modules for Robot Perception (Hiwi Job) == 
 +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++)
  
-Create models during runtime for unknown textured objets based on depth and color information. Track the object and update the model with more detailed information, completing it's 3D model from multiple views improving redetection. Using the robots manipulator pick up the object and complete the model by viewing it from multiple viewpoints.+Requirements: 
 +  * Experience in C++. 
 +  * Basic understanding of the ROS middleware. 
 +The spoken language in this job is german or english, based on your preference.
  
-Requirements:  +Contact: [[team:patrick_mania|Patrick Mania]]
-  * Good programming skills in C/C++ +
-  * strong background in computer vision  +
-  * ROS, OpenCV, PCL+
  
-Contact: [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]+== Game Engine Developer and 3D-Modelling  (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. 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.
  
-== Simulation of a robots belief state to support perception(MA) ==+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.
  
-Create a simulation environment that represents the robots current belief state and can be updated frequently. Use off-screen rendering to investigate the affordances these objects possess, in order to support segmentation, detection and tracking of these in the real world.  +Requirements: 
- +  * Knowledge of 3D-Modelling tools. Blender would be highly preferred. 
-Requirements:  +  * Experience in Game Engine development. Ideally Unreal Engine 4 and C++.
-  * Good programming skills in C/C++ +
-  * strong background in computer vision  +
-  * Gazebo, OpenCV, PCL +
- +
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]] +
- +
-== Multi-expert segmentation of cluttered and occluded scenes == +
- +
-Objects in a human environment are usually found in challenging scenes. They can be stacked upon eachother, touching or occluding, can be found in drawers, cupboards, refrigerators and so on. A personal robot assistant in order to execute a task, needs to detect these objects and recognize them. In this thesis a multi-modal approach to interpreting cluttered scenes is going to be investigated, combining the results of multiple segmentation algorithms in order to come up with more reliable object hypotheses.+
  
-Requirements:  +The spoken language in this job is german or english, based on your preference.
-  * Good programming skills in C/C++ +
-  * strong background in 3D vision  +
-  * basic knowledge of ROS, OpenCV, PCL+
  
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]+Contact: [[team:patrick_mania|Patrick Mania]]
- 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

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