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jobs [2015/10/15 09:22] – [Theses and Jobs] froggy86jobs [2021/07/28 08:55] – [Theses and Student Jobs] kording
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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. 
  
-== Kitchen Activity Games in a Realistic Robotic Simulator (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.
- {{ :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.+**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
-  * Good programming skills in C/C++ +
-  * Basic physics/rendering engine knowledge +
-  * Gazebo simulator basic tutorials+
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+**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. 
  
-== Integrating Eye Tracking in the Kitchen Activity Games (BA/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.
- {{ :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.+**Duration of the project:** 36 months
  
-Requirements: +**Main Academic Supervisor:** Prof. Michael Beetz, contact: beetz@cs.uni-bremen.de
-  * Good programming skills in C/C++ +
-  * Gazebo simulator basic tutorials+
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+**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.
  
-== 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.+== Physics-based grasping in VR with finger tracking(Student Job / HiWi) ==
  
-The tracked hand can then be used as input for the Kitchen Activity Games framework.+Implementing physics-based grasping models in virtual environments, 
 +using Manus VR.
  
 Requirements: Requirements:
-  * Good programming skills in C/C+++  * 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
  
 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. 
  
-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.+<html><!-- 
 +== Lisp / CRAM support assistant (HiWi) ==
  
-The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present +Technical support for the group for Lisp and the CRAM framework. \\ 
-and should be implemented (PCISPH/IISPH).+8+ hours per week for up to 1 year (paid).
  
-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).+Requirements: 
 +  * 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>
  
-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.+<html><!-- 
 +== Mesh Editing / Mesh Segmentation/Cutting (Student Job / HiWi)== 
 + {{ :research:human_hand_cutting.png?150|}}
  
-Here is a [[https://vimeo.com/104629835|video]] example of the current state of the fluid in Gazebo. + 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 
-  * Interest in Fluid simulation +  * Familiar with Blender / Maya (or other)
-  * Basic physics/rendering engine knowledge +
-  * Gazebo simulator and Fluidix basic tutorials+
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+Contact: [[team/mona_abdel-keream|Mona Abdel-Keream]] 
 +--></html>
  
  
-== Automated sensor calibration toolkit (BA/MA)== 
  
-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.+== 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: 
 +  * 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]]
  
-The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2. 
  
- {{ :kinect2_calibration_setup_small.jpg?200|}} +== App zur Generierung von Ernährungsempfehlungen (BA Thesis) ==
-The system should: +
-  * be independent of the camera type +
-  * estimate intrinsic and extrinsic parameters +
-  * calibrate depth images (case of RGB-D) +
-  * integrate capabilities from Halcon [1] +
-  * operate autonomously+
  
-Requirements:  +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. 
-  * Good programming skills in Python and C/C++ +
-  * ROS, OpenCV+
  
-[1] http://www.halcon.de/+Aufgaben: 
 +  * Arbeit mit Wissensrepräsentation und Wissensgraphen 
 +  * Wissensakquisition aus web-Quellen 
 +  * App Entwicklung mit der Unity game engine und/oder Flutter 
  
-Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]+Contact: [[team:michaela_kümpel|Michaela Kümpel]]
  
-== On-the-fly 3D CAD model creation (MA)==+== Sprachauswahl für Shopping Assistenten (BA Thesis) ==
  
-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.+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  
-  * strong background in computer vision  +  * Erweiterung der App um eine Sprachauswahl 
-  * ROS, OpenCV, PCL+  * Arbeit mit Wissensrepräsentation und Wissensgraphen für Sprachmodellierung
  
-Contact: [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]] 
  
-== Simulation of a robots belief state to support perception(MA) ==+Contact: [[team:michaela_kümpel|Michaela Kümpel]]
  
-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. +== Situational awareness in kitchen environments (MA Thesis) ==
  
-Requirements:  +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.
-  * Good programming skills in C/C++ +
-  * strong background in computer vision  +
-  * Gazebo, OpenCV, PCL+
  
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]+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.
  
-== Multi-expert segmentation of cluttered and occluded scenes ==+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
  
-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:  +Contact: [[team:michaela_kümpel|Michaela Kümpel]]
-  * 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]] 
  
-== Robot control systems in underwater robotics ==+== 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++)
  
-The use of robots in underwater missions shows a challenging task. The dynamic terrain and its different conditions makes it difficult for robots to perform tasks correctly. In order to accomplish tasks in a proper way, the robot control routines have to be coordinated. The topic of this thesis is to develop robot control systems for underwater robotics in an underwater mission in order to navigate and to execute tasks correctly in the terrain. 
  
-Requirements:  +Contact: [[team:patrick_mania|Patrick Mania]]
-  * Good programming skills in C/C++ or JAVA +
-  * basic knowledge of ROS, BLENDER+
  
-Contact: [[team:fereshta_yazdani|Fereshta Yazdani]] 
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Prof. Dr. hc. Michael Beetz PhD
Head of Institute

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ai-office@cs.uni-bremen.de

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