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--- jobs [2016/02/05 18:23] – [Theses and Jobs] froggy86
+++ jobs [2016/03/03 07:57] – [Theses and Jobs] ahaidu
@@ Line 2: / Line 2: @@
 =====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.
+== 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 Common Lisp
+  * Basic ROS knowledge
+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]]
@@ Line 17: / Line 30: @@
 Contact: [[team:andrei_haidu|Andrei Haidu]]
-== 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.
+== Realistic Grasping using Unreal Engine ==
-Requirements:
+{{  :teaching:gsoc:topic2_unreal.png?nolink&150|}}
-  * Good programming skills in C/C++
-  * Basic physics/rendering engine knowledge
-  * Gazebo simulator basic tutorials
-Contact: [[team:andrei_haidu|Andrei Haidu]]
+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]].
-== Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)==
+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.
- {{ :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.
+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:
+  * Good programming skills in C++
+  * Good knowledge of the Unreal Engine API.
+  * Experience with skeletal control / animations / 3D models in Unreal Engine.
-Requirements:
-  * Good programming skills in C/C++
-  * Gazebo simulator basic tutorials
-Contact: [[team:andrei_haidu|Andrei Haidu]]
+Contact: [[team/andrei_haidu|Andrei Haidu]]
-== Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)==
+== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA)==
- {{ :research:leap_motion.jpg?200|}}
+ {{ :research:gz_env1.png?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 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.
-The tracked hand can then be used as input for the Kitchen Activity Games framework.
 Requirements:
   * Good programming skills in C/C++
+  * Basic physics/rendering engine knowledge
+  * Gazebo simulator basic tutorials
 Contact: [[team:andrei_haidu|Andrei Haidu]]
-== Fluid Simulation in Gazebo (BA/MA)==
- {{ :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.
-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.
-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/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).
-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]]

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