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jobs [2015/09/08 12:24] – [Theses and Jobs] nygajobs [2016/05/25 15:15] – [Theses and Jobs] gkazhoya
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 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.
  
 +<html><!--
 +== Lisp / CRAM support assistant (HiWi) ==
  
 +Technical support for the group for Lisp and the CRAM framework. \\
 +5 hours per week for up to 1 year (paid).
  
-== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA/HiWi)== +Requirements: 
- {{ :research:gz_env1.png?200|}} +  * Good programming skills in Common Lisp 
 +  * Basic ROS knowledge
  
-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.+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.
  
-Requirements: +Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]] 
-  * Good programming skills in C/C++ +--> 
-  * Basic physics/rendering engine knowledge +</html>
-  * Gazebo simulator basic tutorials+
  
-Contact: [[team:andrei_haidu|Andrei Haidu]] 
  
-== Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== +== Integrating PR2 in the Unreal Game Engine Framework (BA)== 
- {{ :research:eye_tracker.png?200|}} + {{ :research:unreal_ros_pr2.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.+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) ==
  
-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.
  
-[[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]]
  
-The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present +== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA)== 
-and should be implemented (PCISPH/IISPH).+ {{ :research:gz_env1.png?200|}} 
  
-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). +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.
- +
-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 programming skills in C/C++
-  * Interest in Fluid simulation 
   * Basic physics/rendering engine knowledge   * Basic physics/rendering engine knowledge
-  * Gazebo simulator and Fluidix basic tutorials+  * Gazebo simulator basic tutorials
  
 Contact: [[team:andrei_haidu|Andrei Haidu]] Contact: [[team:andrei_haidu|Andrei Haidu]]
 +
 +
  
  
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 Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]] Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]
 +
 +== Semantic Collision Checking for Planning Robot Manipulation Tasks ==
 +{{ :research:boxy_dough_rolling.png?nolink&200|}}
 +Service robots helping humans at home shall perform manipulation tasks like wiping a table or polishing glass surfaces. To successfully complete these tasks, robots needs to establish the 'right' type of contacts between their tools and the environment while avoiding 'wrong' contact events. The choice of what constitutes a desired or undesired contact event is usually very task- and context-dependent. Unfortunately, standard robot motion planning frameworks either only search for collision-free paths or offer limited interfaces for defining desired and undesired contacts. 
 +
 +The goal of this project is to interface existing collision checking software from MoveIt! with the robot knowledge base KnowRob to enable semantic collision checking. As a result, the student will extend the KnowRob system by a couple of predicates which employ collision checking from MoveIt! to decide whether a given world state complies with a desired contact state. 
 +
 +Requirements: 
 +  * basic knowledge of ROS
 +  * basic knowledge of robotics
 +  * interest in using KnowRob and MoveIt!
 +
 +Contact: [[team:georg_bartels|Georg Bartels]]
 +
 +
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