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~~NOTOC~~ | ~~NOTOC~~ | ||
- | =====Theses and Jobs===== | + | |
+ | =====Open researcher positions===== | ||
+ | |||
+ | ====Digital Twin Knowledge Base for submarine robot inspection/ | ||
+ | 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, | ||
+ | |||
+ | 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, | ||
+ | |||
+ | **Prerequisites: | ||
+ | * Digital Twins | ||
+ | * Knowledge Representation | ||
+ | * Data structures | ||
+ | * Data Stream Representation. | ||
+ | |||
+ | **Hiring institution: | ||
+ | |||
+ | **PhD Enrollment: | ||
+ | |||
+ | The PhD examination acceptance requires a “Certificate of Equivalence for Foreign Vocational Qualifications”. More information available at [[https:// | ||
+ | |||
+ | **Duration of the project:** 36 months | ||
+ | |||
+ | **Main Academic Supervisor: | ||
+ | |||
+ | **Co-supervisors: | ||
+ | =====Theses and Student | ||
If you are looking for a bachelor/ | If you are looking for a bachelor/ | ||
- | == Kitchen Activity Games in a Realistic Robotic Simulator (BA/ | ||
- | {{ : | ||
- | Developing new activities | + | < |
+ | == Knowledge-enabled PID Controller for 3D Hand Movements in Virtual Environments (BA/MA Thesis) == | ||
+ | |||
+ | Implementing a force-, velocity- | ||
+ | of the human user will be mapped to the virtual hands, and controlled via the implemented PID controllers. | ||
+ | The controller should be able to dynamically tune itself depending on the executed actions (opening/closing | ||
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Good C++ programming skills |
- | * Basic physics/rendering engine knowledge | + | * Familiar with PID controllers and control theory |
- | * Gazebo simulator basic tutorials | + | * 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: | Contact: [[team: | ||
+ | --></ | ||
- | == Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== | ||
- | {{ : | ||
- | Integrating the eye tracker | + | |
+ | < | ||
+ | == Natural Physics-based Grasping | ||
+ | |||
+ | Implementing physics-based grasping models in virtual environments, | ||
+ | from various devices such as Manus VR or Valve Index. | ||
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Good C++ programming skills |
- | * Gazebo simulator basic tutorials | + | * Familiar with skeletal animations |
+ | * Experience with simulators/ | ||
+ | * Familiar with Unreal Engine API | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
Contact: [[team: | Contact: [[team: | ||
+ | --></ | ||
- | == Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== | ||
- | {{ : | ||
- | Improving the skeletal tracking offered by the [[https:// | + | < |
+ | == Lisp / CRAM support assistant | ||
- | The tracked hand can then be used as input for the Kitchen Activity Games framework. | + | Technical support |
+ | 8+ hours per week for up to 1 year (paid). | ||
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Good programming skills in Common Lisp |
+ | * Basic ROS knowledge | ||
- | Contact: [[team: | + | 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]] |
- | | + | --></ |
- | [[http://gazebosim.org/|Gazebo]] currently only supports rigid body physics engines | + | < |
+ | == Mesh Editing | ||
+ | {{ : | ||
+ | |||
+ | | ||
+ | |||
+ | Requirements: | ||
+ | * Good knowledge in 3D Modeling | ||
+ | * Familiar with Blender / Maya (or other) | ||
+ | |||
+ | Contact: [[team/ | ||
+ | --></ | ||
- | Currently there is an [[http:// | ||
- | The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present | ||
- | and should be implemented (PCISPH/ | ||
- | The interaction between the fluid and the rigid objects is a naive one, the forces and torques are applied only from the particle collisions | + | < |
+ | == 3D animation | ||
+ | {{ : | ||
- | Another topic would be the visualization of the fluid, currently is done by rendering every particle. For the rendering engine [[http://www.ogre3d.org/ | + | Developing and improving existing or new 3D (static/skeletal) |
+ | models in Blender | ||
+ | models against Unreal Engine. | ||
- | Here is a [[https://vimeo.com/104629835|video]] example | + | Bonus: Working with state of the art 3D Scanners |
+ | |||
+ | Requirements: | ||
+ | * Experience with Blender / Maya (or other) | ||
+ | * Knowledge | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
+ | |||
+ | Contact: [[team: | ||
+ | --></ | ||
+ | |||
+ | |||
+ | < | ||
+ | == Integrating PR2 in the Unreal Game Engine Framework (BA/ | ||
+ | {{ : | ||
+ | |||
+ | Integrating | ||
Requirements: | Requirements: | ||
* Good programming skills in C/C++ | * Good programming skills in C/C++ | ||
- | * Interest in Fluid simulation | ||
* Basic physics/ | * Basic physics/ | ||
- | * Gazebo simulator and Fluidix | + | * Basic ROS knowledge |
+ | * UE4 basic tutorials | ||
Contact: [[team: | Contact: [[team: | ||
- | == Automated sensor calibration toolkit | + | == Realistic Grasping using Unreal Engine |
- | 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, | + | {{ : |
- | The topic for this thesis | + | The objective of the project |
+ | ious human-like grasping approaches in a game developed using [[https:// | ||
- | {{ : | + | The game consist |
- | The system should: | + | |
- | * be independent | + | |
- | * estimate intrinsic and extrinsic parameters | + | |
- | * calibrate depth images (case of RGB-D) | + | |
- | * integrate capabilities from Halcon [1] | + | |
- | * operate autonomously | + | |
+ | In order to improve the ease of manipulating objects the user should | ||
+ | be able to switch during runtime the type of grasp (pinch, power | ||
+ | grasp, precision grip etc.) he/she would like to use. | ||
+ | | ||
Requirements: | Requirements: | ||
- | * Good programming skills in Python and C/C++ | + | * Good programming skills in C++ |
- | * ROS, OpenCV | + | * Good knowledge of the Unreal Engine API. |
+ | * Experience with skeletal control / animations / 3D models in Unreal Engine. | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
- | [1] http:// | ||
- | Contact: [[team: | + | Contact: [[team/ |
+ | --></ | ||
- | == On-the-fly 3D CAD model creation | + | < |
+ | == Unreal Engine Editor Developer | ||
+ | {{ : | ||
- | Create models during runtime | + | Creating new user interfaces (panel customization) |
- | Requirements: | ||
- | * Good programming skills in C/C++ | ||
- | * strong background in computer vision | ||
- | * ROS, OpenCV, PCL | ||
- | Contact: [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]] | + | Requirements: |
+ | * Good C++ programming skills | ||
+ | * Familiar with the [[https:// | ||
+ | * Familiar with Unreal Engine API | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
- | == Simulation of a robots belief state to support perception(MA) == | + | Contact: [[team: |
- | 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, | ||
- | Requirements: | ||
- | * Good programming skills in C/C++ | ||
- | * strong background in computer vision | ||
- | * Gazebo, OpenCV, PCL | ||
- | Contact: [[team: | + | == OpenEASE rendering in Unreal Engine (BA/MA Thesis, Student Job / HiWi)== |
- | == 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 | + | Implmenting the rendering of the [[https:// |
- | Requirements: | + | Requirements: |
- | * Good programming skills in C/C++ | + | * Good C++ programming skills |
- | * strong background in 3D vision | + | * Familiar with Unreal Engine API |
- | * basic knowledge of ROS, OpenCV, PCL | + | * Familiar with HTML5 and JavaScript |
+ | * Familiar with the [[https:// | ||
+ | * Familiar with basic ROS communication | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
- | Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]] | + | Contact: [[team:andrei_haidu|Andrei Haidu]] |
- | == Robot control systems | + | < |
+ | == Knowledge-enabled PID Controller for 3D Hand Movements | ||
- | The use of robots | + | Implementing a force-, velocity- and impulse-based PID controller for precise and responsive hand movements |
+ | of the human user will be mapped | ||
+ | The controller should be able to dynamically tune itself depending on the executed actions (opening/ | ||
+ | |||
+ | Requirements: | ||
+ | * Good C++ programming skills | ||
+ | * Familiar with PID controllers and control | ||
+ | * Experience with simulators/ | ||
+ | * Familiar with Unreal Engine API | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
+ | |||
+ | Contact: [[team: | ||
+ | --></ | ||
+ | |||
+ | == Mülltrennungs-App mit Wissensgraph-Anbindung (BA Thesis) == | ||
+ | |||
+ | Entwicklung einer Mülltrennungs-App für Smartphones (Android) basierend auf Objekterkennung und Anbindung an Wissensgraphen. | ||
+ | Dabei wird auf bestehende Objekterkennungs-Apps aufgebaut und eine Smartphone App entwickelt, die Objekte erkennt und auf einen Wissensgraphen zugreift, um weitere Informationen zu diesen Produkten zu erhalten. | ||
+ | Eine Aufgabe der Arbeit ist es, den bestehenden Wissengraphen um Wissen über Produktverpackungen und deren Entsorgungsmöglichkeiten zu erweitern. | ||
+ | |||
+ | Aufgaben: | ||
+ | * App Entwicklung mit der Unity game engine | ||
+ | * Objekterkennung mittels Vuforia | ||
+ | * Arbeit mit Wissensrepräsentation und Wissensgraphen | ||
+ | * Erweiterung von .owl Dateien im Wissensgraphen | ||
+ | |||
+ | |||
+ | Contact: [[team: | ||
+ | |||
+ | == Situational awareness in kitchen environments (MA Thesis) == | ||
+ | |||
+ | This is a knowledge representation | ||
+ | |||
+ | 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. | ||
+ | |||
+ | 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 | ||
+ | |||
+ | |||
+ | Contact: [[team: | ||
- | Requirements: | ||
- | * Good programming skills in C/C++ or JAVA | ||
- | * basic knowledge of ROS, OpenCV | ||
- | Contact: [[team: |
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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