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jobs [2015/11/27 10:22] – [Theses and Jobs] ahaidujobs [2018/01/22 09:23] – [Theses and Student Jobs] ahaidu
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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=====
  
 +== Researcher in the area of Knowledge bases and knowledge acquisition ==
  
-== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA)== +Position code A132/17. Please see [[http://www.uni-bremen.de/de/universitaet/die-uni-als-arbeitgeber/offene-stellen/detailansicht/joblist/Job/show/early-stage-researcher-position-3224.html|the official listing]]
- {{ :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. 
  
-Requirements: +== Researcher with background in VR programming ==
-  * Good programming skills in C/C++ +
-  * Basic physics/rendering engine knowledge +
-  * Gazebo simulator basic tutorials+
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+Position code A133/17. Please see [[http://www.uni-bremen.de/de/universitaet/die-uni-als-arbeitgeber/offene-stellen/detailansicht/joblist/Job/show/early-stage-researcher-position-3225.html|the official listing]]
  
-== 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: 
-  * Good programming skills in C/C++ 
-  * 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.+=====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.
  
-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. \\ 
 +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: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.+== 3D Model / Material / Lightning Developer (Student Job / HiWi)== 
 + {{ :research:kitchen_unreal.jpg?200|}} 
  
-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.+Developing and improving 3D Models in Blender / Maya. Importing the models in Unreal Engine, where the Materials and Lightning should be improved to be close as possible to realism. 
  
-The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present +Bonus: Working with state of the art 3D Scanners [[https://www.goscan3d.com/|Go!SCAN]] for creating new realistic models.
-and should be implemented (PCISPH/IISPH).+
  
-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: 
 +  * Experience with Blender / Maya 
 +  * Knowledge of Unreal Engine material / lightning editing
  
-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: 
-  * Good programming skills in C/C++ 
-  * Interest in Fluid simulation 
-  * Basic physics/rendering engine knowledge 
-  * Gazebo simulator and Fluidix basic tutorials 
  
 Contact: [[team:andrei_haidu|Andrei Haidu]] Contact: [[team:andrei_haidu|Andrei Haidu]]
  
 +== Unreal Engine Editor (GUI) Developer (Student Job / HiWi)==
 + {{ :research:unreal_editor.png?200|}} 
  
-== Automated sensor calibration toolkit (BA/MA)==+Creating user interfaces (panel customization) for various internal plugins using the Unreal C++ framework [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]].
  
-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. 
  
-The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2.+Requirements: 
 +  * Good C++ programming skills 
 +  * Familiar with [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]] framework 
 +  * Familiar with Unreal Engine API
  
- {{ :kinect2_calibration_setup_small.jpg?200|}} +Contact: [[team:andrei_haidu|Andrei Haidu]]
-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:  +== Integrating PR2 in the Unreal Game Engine Framework (BA/MA/HiWi)== 
-  * Good programming skills in Python and C/C++ + {{ :research:unreal_ros_pr2.png?100|}} 
-  * ROS, OpenCV+
  
-[1] http://www.halcon.de/+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.
  
-Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]] +Requirements:
- +
-== 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. +
- +
-Requirements: +
   * Good programming skills in C/C++   * Good programming skills in C/C++
-  * strong background in computer vision  +  * Basic physics/rendering engine knowledge 
-  * ROS, OpenCV, PCL+  * Basic ROS knowledge 
 +  * UE4 basic tutorials
  
-Contact: [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]+Contact: [[team:andrei_haidu|Andrei Haidu]]
  
-== Simulation of a robots belief state to support perception(MA) == 
  
-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. +== Realistic Grasping using Unreal Engine (BA/MA/HiWi) ==
  
-Requirements:  +{{  :teaching:gsoc:topic2_unreal.png?nolink&150|}}
-  * Good programming skills in C/C++ +
-  * strong background in computer vision  +
-  * Gazebo, OpenCV, PCL+
  
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]+The objective of the project is to implement var- 
 +ious human-like grasping approaches in a game developed using [[https://www.unrealengine.com/|Unreal Engine]]. 
  
-== Multi-expert segmentation of cluttered and occluded scenes == +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.
- +
-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.+
  
 +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 C/C++ +  * Good programming skills in C++ 
-  * strong background in 3D vision  +  * Good knowledge of the Unreal Engine API.  
-  * basic knowledge of ROS, OpenCV, PCL+  * Experience with skeletal control / animations / 3D models in Unreal Engine.
  
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]] 
- 
-== Robot control systems in underwater robotics == 
- 
-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:  
-  * Good programming skills in C/C++ or JAVA 
-  * basic knowledge of ROS, OpenCV 
  
-Contact: [[team:fereshta_yazdani|Fereshta Yazdani]]+Contact: [[team/andrei_haidu|Andrei Haidu]]
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