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jobs [2016/01/04 14:03] – [Theses and Jobs] ahaidujobs [2023/09/14 10:26] – [Theses and Student Jobs] cstoess
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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=====
  
-== Integrating PR2 in the Unreal Game Engine Framework (BA)== +{{blog>:jobs?3&date&footer&firstseconly&readmore}}
- {{ :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.+ 
 +<html> 
 +<div style="width:100%;border-bottom:10px solid #DCDFE3;margin-bottom:80px;"></div> 
 +</html> 
 + 
 + 
 + 
 +=====Theses and Student Jobs===== 
 +If you are looking for a bachelor's/master's thesis or a job as a student research assistant, you may find some interesting opportunities on this page. 
 + 
 + 
 +<html><!-- 
 +== Physics-based grasping in VR with finger tracking(Student Job / HiWi) == 
 + 
 +Implementing physics-based grasping models in virtual environments, 
 +using Manus VR.
  
 Requirements: Requirements:
-  * Good programming skills in C/C++ +  * Good C++ programming skills 
-  * Basic physics/rendering engine knowledge +  * Familiar with skeletal animations 
-  * Basic ROS knowledge +  * Experience with simulators/physics-/game- engines 
-  * UE4 basic tutorials+  * 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]]
 +--></html>
  
-== 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.+<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 physics/rendering engine knowledge +  * Basic ROS knowledge
-  * Gazebo simulator basic tutorials+
  
-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. 
 + 
 +Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]] 
 +--></html>
  
-== Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== +<html><!-- 
- {{ :research:eye_tracker.png?200|}} +== Mesh Editing / Mesh Segmentation/Cutting (Student Job / HiWi)== 
 + {{ :research:human_hand_cutting.png?150|}}
  
-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.+ 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 
-  * Gazebo simulator basic tutorials+  * Familiar with Blender / Maya (or other) 
 + 
 +Contact: [[team/mona_abdel-keream|Mona Abdel-Keream]] 
 +--></html>
  
-Contact: [[team:andrei_haidu|Andrei Haidu]] 
  
-== Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== +<html><!-- 
- {{ :research:leap_motion.jpg?200|}} +== 3D Animation and Modeling (Student Job / HiWi)== 
 + {{ :research:kitchen_unreal.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.+Developing and improving existing or new 3D (static/skeletal) 
 +models in Blender / Maya (or other). Further importing and testing the 
 +models against Unreal Engine.
  
-The tracked hand can then be used as input for the Kitchen Activity Games framework.+Bonus: Working with state of the art 3D Scanners [[https://www.goscan3d.com/|Go!SCAN]] for creating sketching new models.
  
 Requirements: Requirements:
-  * Good programming skills in C/C+++  * 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]] Contact: [[team:andrei_haidu|Andrei Haidu]]
 +--></html>
  
-== Fluid Simulation in Gazebo (BA/MA)== +== Scene Format Conversion Tool for Robotics Simulation (MA Thesis) ==
- {{ :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.+**Motivation:**
  
-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.+With robotics playing a significant role in various domains, simulation is essential for developing and testing algorithms. Multiple simulators are available, each with its own specialized format (SDF, USD, MJCF, URDF, FBX) for describing scenes. This diversity of formats makes it challenging to transfer scenarios between simulators. Therefore, a versatile parser that can convert scene descriptions between these formats is highly valuable.
  
-The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present +{{:multiformat.png?400|}}
-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).+**Task Description:**
  
-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.+The objective of this project is to develop a universal parser capable of converting scene descriptions between common formats. The following key steps are involved:
  
-Here is a [[https://vimeo.com/104629835|video]] example of the current state of the fluid in Gazebo. +  - Create a model to represent and store the scene graph. 
 +  - Implement import functions for the model to handle scene descriptions in any of the supported formats. 
 +  - Implement export functions for the model to generate scene descriptions in any of the supported formats.
  
-Requirements: +**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]]+  * A strong passion for robotics. 
 +  * Dedication to the chosen topic. 
 +  * Eager to learn.
  
 +Contact: [[team:hoang_giang_nguyen|Giang Nguyen]]
  
-== Automated sensor calibration toolkit (BA/MA)==+== Generating Comics about Everyday Experiences of a Robot (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.+Summary: 
 +  * Query experience data from an existing database 
 +  * Retrieve situations of interest 
 +  * Recreate the scene in a 3D environment 
 +  * Apply a comic shader 
 +  * Find good camera position for moments of interest 
 +  * Generate a PDF summarizing the experiences as a comic strip
  
-The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2.+Contact: [[team:daniel_bessler|Daniel Beßler]]
  
- {{ :kinect2_calibration_setup_small.jpg?200|}} +== Integration of novel objects into Digital Twin Knowledge Bases (MA 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:  +In this thesis, the goal is to make a robotic system learn new objects automatically. 
-  * Good programming skills in Python and C/C++ +The system should be able to generate the necessary models required for re-detecting it again and also consult online information sources to automatically acquire knowledge about it.
-  * ROS, OpenCV+
  
-[1] http://www.halcon.de/+The focus of the thesis would be twofold: 
 +  * Develop methods to automatically infer the object class of new objects. This would include perceiving it with state of the art sensors, constructing a 3d model of it and then infer the object class from online information sources. 
 +  * In the second step the system should also infer factual knowledge about the object from the internet and assert it into a robotic knowledgebase. Such knowledge could for example include the category of this product, typical object properties like its weight or typical location and much more.
  
-Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]] 
  
-== On-the-fly 3D CAD model creation (MA)==+Requirements: 
 +  * Knowledge about sensor data processing 
 +  * Interest in model construction from sensory data 
 +  * Work with KnowRob knowledge processing framework
  
-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:  +Contact: [[team:patrick_mania|Patrick Mania]]
-  * Good programming skills in C/C++ +
-  * strong background in computer vision  +
-  * ROS, OpenCV, PCL+
  
-Contact: [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]+== Übersetzung einer globalen Produktklassifikation in eine bestehende Ontologie (BA Thesis) ==
  
-== Simulation of a robots belief state to support perception(MA) ==+In dieser Arbeit soll die GS1 Produktklassifikation in eine Ontologie transformiert werden. Der GS1 Produktklassifikationsstandard ist online ( https://gpc-browser.gs1.org/) einsehbar. Anschließend soll in einem Jupyter Notebook anhand eines Beispiels gezeigt werden, wie andere Ontologien mit der erstellten Taxonomie verbunden werden können.
  
-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. +Die Aufgaben dazu sind: 
 +  * Einarbeitung in Web Scraping und Abfrage der Daten von GS1 
 +  * Einarbeitung in Owlready und Erstellen der Taxonomie 
 +  * Erstellung des Jupyter Notebooks mit einem Beispiel, wie andere Ontologien verbunden werden können (die Beispielontologie wird gestellt)
  
-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.+<html><!-- 
 +== Development of Modules for Robot Perception (Student Job / HiWi) == 
 +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 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:  +Requirements: 
-  * Good programming skills in C/C++ +  * Experience in C++. 
-  * strong background in 3D vision  +  * Basic understanding of the ROS middleware and Linux. 
-  * 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]] 
 +--></html>
  
-== Robot control systems in underwater robotics ==+== Development of Modules for Robot Perception (Student Job / HiWi) == 
 +In our research group, we focus on the development of intelligent robots that are combining modern computer vision methods with knowledge representation.  
 +We are offering multiple Hiwi positions / student jobs for software development in the context of our Robot Perception framework [[http://robokudo.ai.uni-bremen.de/|RoboKudo]], which contains many algorithms for computer vision problems (mainly Python).
  
-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: 
 +  * Solid experience in python and object-oriented programming 
 +  * Basic understanding of the ROS middleware and Linux 
 +  * Basic understanding of computer vision methods 
 + 
 +The spoken language in this job is german or english, based on your preference. Work can be done fully remote. 
 + 
 +Contact: [[team:patrick_mania|Patrick Mania]] 
 +-- 
 + 
 +== Game Engine Developer and 3D-Modelling  (Student Job / HiWi) == 
 +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. 
 + 
 +Therefore, we are 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, OpenCV+
  
-Contact: [[team:fereshta_yazdani|Fereshta Yazdani]]+Contact: [[team:patrick_mania|Patrick Mania]]
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