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jobs [2016/01/04 14:03] – [Theses and Jobs] ahaidujobs [2019/08/30 13:49] – [Open researcher positions] nyga
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 ~~NOTOC~~ ~~NOTOC~~
-=====Theses and Jobs=====+ 
 +=====Open researcher positions===== 
 +== PhD Student Position in Machine Learning for Robotic Systems== 
 + 
 +The position is part of the research project „PIPE – Probabilistic Models of Instructions, Perception and Experience – Representation, Learning and Reasoning“. 
 + 
 +The project investigates methods in the field of machine learning and data mining for cognitive robotic systems, which aim at combining the humans‘ capability of understanding natural language, perceiving objects in the environment and learning from experience. In particular, we want to equip robots with the ability to autonomously acquire knowledge in order to proficiently act in human environments and competently and successfully achieve their goals. 
 + 
 +Tasks: 
 + 
 +    * Develop and implement machine learning models and algorithms for the learning of and reasoning about complex relations among data sources relevant for intelligent autonomous robots 
 +    * Create documentation and presentations of research results at international scientific conferences 
 +    * Work independently and enthusiastically in close collaboration with project partners 
 +    * Contribute to research fund proposals and public relation activities 
 + 
 +Requirements: 
 + 
 +    * Excellent Master‘s degree in computer science with major in artificial intelligence and/or machine learning (or equivalent). 
 +    * Excellent skills in theory and practice of machine learning/data mining methods, ideally experience with probabilistic graphical models. 
 +    * Excellent programming skills in the Python programming language, C/C++ is beneficial 
 +    * Experience in software development under Linux 
 +    * Excellent oral and written level in English, especially in technical English. Skills in German is beneficial. 
 +    * Very good organizational skills and team spirit 
 + 
 +We are searching for an enthusiastic and dynamic colleague who is interested in joining a multidisciplinary research team. Applicants should have distinct profiles that show their potential to substantially contribute to research programme of the project. This can be demonstrated through experience in the realization of machine learning and data mining systems, expressive github profiles, being a key member of programming teams participating in competitions, etc. 
 + 
 +More information can be found at:  
 + 
 +[[https://www.uni-bremen.de/en/university/the-university-as-an-employer/job-vacancies/details-job-vacancies/joblist/Job/show/1-x-10-wissenschaftlicher-mitarbeiterin-wmd-5907/]] 
 +=====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. 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.
  
  
-== Integrating PR2 in the Unreal Game Engine Framework (BA)== 
- {{ :research:unreal_ros_pr2.png?200|}}  
  
-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.+ 
 + 
 +== Visualization support assistant (HiWi) == 
 + 
 +Implementing a visualization web page for a project using a custom framework using python/javascript. Start date: Oct 2019
  
 Requirements: Requirements:
-  * Good programming skills in C/C++ +  * Good python programming skills 
-  * Basic physics/rendering engine knowledge +  * Familiar with Javascript 
-  * Basic ROS knowledge +  * Experience in web development is recommended 
-  * UE4 basic tutorials+  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+Contact: [[team:mareike_picklum|Mareike Picklum]]
  
-== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA)== 
- {{ :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.+== Knowledge-enabled PID Controller for 3D Hand Movements in Virtual Environments (BA/MA Thesis) == 
 + 
 +Implementing a force-, velocity- and impulse-based PID controller for precise and responsive hand movements in a virtual environment. The virtual environment used in Unreal Engine in combination with Virtual Reality devices. The movements 
 +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 a drawer or lifting a heavy object) in combination with the physical limitations of the physics engine (dynamic update rates).
  
 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/game engines is recommended 
 +  * Experience with Unreal Engine 
 +  * 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]]
  
-== Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== +<html><!-- 
- {{ :research:eye_tracker.png?200|}} +== Lisp / CRAM support assistant (HiWi) ==
  
-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.+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 
-  * Gazebo simulator basic tutorials+  * 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.
  
-== Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== +Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]] 
- {{ :research:leap_motion.jpg?200|}} +--></html>
  
-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.+<html><!-- 
 +== Mesh Editing / Mesh Segmentation/Cutting (Student Job / HiWi)== 
 + {{ :research:human_hand_cutting.png?150|}}
  
-The tracked hand can then be used as input for the Kitchen Activity Games framework.+ 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 
 +  * Familiar with Blender / Maya (or other)
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+Contact: [[team/mona_abdel-keream|Mona Abdel-Keream]] 
 +--></html>
  
-== Fluid Simulation in Gazebo (BA/MA)== +<html><!-- 
- {{ :research:fluid.png?200|}} +== 3D Model / Material / Lightning Developer (Student Job / HiWi)== 
 + {{ :research:kitchen_unreal.jpg?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.+Developing and improving existing 3D models in Blender / Maya (or other). Importing the models in Unreal Engine, where the Materials and Lightning should be improved to be close as possible to realism. 
  
-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.+Bonus: Working with state of the art 3D Scanners [[https://www.goscan3d.com/|Go!SCAN]] for creating new realistic models.
  
-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).+  * 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
  
-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). 
  
-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. +Contact: [[team:andrei_haidu|Andrei Haidu]] 
 +--></html> 
 + 
 +<html><!-- 
 +== Integrating PR2 in the Unreal Game Engine Framework (BA/MA/HiWi)== 
 + {{ :research:unreal_ros_pr2.png?100|}}  
 + 
 +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++
-  * Interest in Fluid simulation 
   * Basic physics/rendering engine knowledge   * Basic physics/rendering engine knowledge
-  * Gazebo simulator and Fluidix basic tutorials+  * Basic ROS knowledge 
 +  * UE4 basic tutorials
  
 Contact: [[team:andrei_haidu|Andrei Haidu]] Contact: [[team:andrei_haidu|Andrei Haidu]]
  
  
-== Automated sensor calibration toolkit (BA/MA)==+== Realistic Grasping using Unreal Engine (BA/MA/HiWi) ==
  
-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.+{{  :teaching:gsoc:topic2_unreal.png?nolink&150|}}
  
-The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2.+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]]. 
  
- {{ :kinect2_calibration_setup_small.jpg?200|}} +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.
-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+
  
 +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://www.halcon.de/ 
  
-Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]+Contact: [[team/andrei_haidu|Andrei Haidu]] 
 +--></html>
  
-== On-the-fly 3D CAD model creation (MA)==+<html><!-- 
 +== Unreal Engine Editor Developer (Student Job / HiWi)== 
 + {{ :research:unreal_editor.png?150|}} 
  
-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.+Creating new user interfaces (panel customization) for various internal plugins using the Unreal C++ framework [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]].
  
-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://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]] framework 
 +  * 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:andrei_haidu|Andrei Haidu]]
  
-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:  
-  * Good programming skills in C/C++ 
-  * strong background in computer vision  
-  * Gazebo, OpenCV, PCL 
  
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]+== 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 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.+Implmenting the rendering of the [[https://data.open-ease.org/|OpenEASE]] knowledge base visualization in Unreal Engine. This will have to be packaged as a HTML5 executable and inserted into the website.
  
-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://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]] framework 
 +  * 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]] 
- +--></html>
-== 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]]+
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