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--- jobs [2015/10/15 09:22] – [Theses and Jobs] froggy86
+++ jobs [2021/07/30 10:07] – [Theses and Student Jobs] pmania
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 ~~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=====
+====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
+**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.
-  * Gazebo simulator basic tutorials
+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.
+**Duration of the project:** 36 months
+**Main Academic Supervisor:** Prof. Michael Beetz, contact: beetz@cs.uni-bremen.de
+**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.
-Contact: [[team:andrei_haidu|Andrei Haidu]]
-== Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)==
+== Physics-based grasping in VR with finger tracking(Student Job / HiWi) ==
- {{ :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.
+Implementing physics-based grasping models in virtual environments,
+using Manus VR.
 Requirements:
-  * Good programming skills in C/C++
+  * Good C++ programming skills
-  * Gazebo simulator basic tutorials
+  * 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]]
-== 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.
-The tracked hand can then be used as input for the Kitchen Activity Games framework.
+<html><!--
+== Lisp / CRAM support assistant (HiWi) ==
+Technical support for the group for Lisp and the CRAM framework. \\
++ hours per week for up to 1 year (paid).
 Requirements:
-  * Good programming skills in C/C++
+  * Good programming skills in Common Lisp
+  * Basic ROS knowledge
-Contact: [[team:andrei_haidu|Andrei Haidu]]
+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.
-== Fluid Simulation in Gazebo (BA/MA)==
+Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]]
- {{ :research:fluid.png?200|}}
+--></html>
-[[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.
+<html><!--
+== Mesh Editing / Mesh Segmentation/Cutting (Student Job / HiWi)==
+ {{ :research:human_hand_cutting.png?150|}}
-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.
+ Editing and cutting a human mesh into different parts in Blender / Maya (or other).
-The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present
+Requirements:
-and should be implemented (PCISPH/IISPH).
+  * Good knowledge in 3D Modeling
+  * Familiar with Blender / Maya (or other)
-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/mona_abdel-keream|Mona Abdel-Keream]]
+--></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.
-Here is a [[https://vimeo.com/104629835|video]] example of the current state of the fluid in Gazebo.
+== 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:
-  * Good programming skills in C/C++
+  * Experience with Blender / Maya (or other)
-  * Interest in Fluid simulation
+  * Knowledge of Unreal Engine material / lightning development
-  * Basic physics/rendering engine knowledge
+  * Familiar with version-control systems (git)
-  * Gazebo simulator and Fluidix basic tutorials
+  * Able to work independently with minimal supervision
 Contact: [[team:andrei_haidu|Andrei Haidu]]
-== Automated sensor calibration toolkit (BA/MA)==
+== App zur Generierung von Ernährungsempfehlungen (BA 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.
+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 topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2.
+Aufgaben:
+  * Arbeit mit Wissensrepräsentation und Wissensgraphen
+  * Wissensakquisition aus web-Quellen
+  * App Entwicklung mit der Unity game engine und/oder Flutter
- {{ :kinect2_calibration_setup_small.jpg?200|}}
+Contact: [[team:michaela_kümpel|Michaela Kümpel]]
-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:
+== Sprachauswahl für Shopping Assistenten (BA Thesis) ==
-  * Good programming skills in Python and C/C++
-  * ROS, OpenCV
-[1] http://www.halcon.de/
+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.
-Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]
+Aufgaben:
+  * App Entwicklung mit der Unity game engine und Flutter
+  * Erweiterung der App um eine Sprachauswahl
+  * Arbeit mit Wissensrepräsentation und Wissensgraphen für Sprachmodellierung
-== On-the-fly 3D CAD model creation (MA)==
-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.
+Contact: [[team:michaela_kümpel|Michaela Kümpel]]
-Requirements:
+== Situational awareness in kitchen environments (MA Thesis) ==
-  * Good programming skills in C/C++
-  * strong background in computer vision
-  * ROS, OpenCV, PCL
-Contact: [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]
+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.
-== Simulation of a robots belief state to support perception(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.
-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:
+  * 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
-Requirements:
-  * Good programming skills in C/C++
-  * strong background in computer vision
-  * Gazebo, OpenCV, PCL
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]
+Contact: [[team:michaela_kümpel|Michaela Kümpel]]
-== 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.
+== 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++)
 Requirements:
-  * Good programming skills in C/C++
+  * Experience in C++.
-  * strong background in 3D vision
+  * Basic understanding of the ROS middleware.
-  * basic knowledge of ROS, OpenCV, PCL
+The spoken language in this job is german or english, based on your preference.
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]
+Contact: [[team:patrick_mania|Patrick Mania]]
-== Robot control systems in underwater robotics ==
+== 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.
-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.
+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.
+Requirements:
+  * Knowledge of 3D-Modelling tools. Blender would be highly preferred.
+  * Experience in Game Engine development. Ideally Unreal Engine 4 and C++.
-Requirements:
+The spoken language in this job is german or english, based on your preference.
-  * Good programming skills in C/C++ or JAVA
-  * basic knowledge of ROS, BLENDER
-Contact: [[team:fereshta_yazdani|Fereshta Yazdani]]
+Contact: [[team:patrick_mania|Patrick Mania]]

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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