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jobs [2016/02/05 18:23] – [Theses and Jobs] froggy86 | jobs [2019/06/13 09:51] – [Theses and Student Jobs] abdelker | ||
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~~NOTOC~~ | ~~NOTOC~~ | ||
- | =====Theses and Jobs===== | + | |
+ | =====Open researcher positions===== | ||
+ | |||
+ | =====Theses and Student | ||
If you are looking for a bachelor/ | If you are looking for a bachelor/ | ||
- | == Integrating PR2 in the Unreal Game Engine Framework (BA)== | ||
- | {{ : | ||
- | Integrating the [[https://www.willowgarage.com/ | + | == 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 | ||
+ | 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) | ||
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Good C++ programming skills |
- | * Basic physics/rendering engine knowledge | + | * Familiar with PID controllers and control theory |
- | * Basic ROS knowledge | + | * Experience with simulators/game engines is recommended |
- | * UE4 basic tutorials | + | * Experience with Unreal Engine |
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
Contact: [[team: | Contact: [[team: | ||
- | == Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA)== | ||
- | {{ : | ||
- | Developing new activities | + | < |
+ | == 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/ | + | * Basic ROS knowledge |
- | * Gazebo simulator basic tutorials | + | |
- | 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. |
- | == Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== | + | Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]] |
- | | + | --></ |
- | Integrating the eye tracker in the [[http://gazebosim.org/|Gazebo]] based Kitchen Activity Games framework | + | < |
+ | == Mesh Editing | ||
+ | {{ : | ||
+ | |||
+ | | ||
Requirements: | Requirements: | ||
- | * Good programming skills | + | * Good knowledge |
- | * Gazebo simulator basic tutorials | + | * Familiar with Blender / Maya (or other) |
- | Contact: [[team: | + | Contact: [[team/ |
+ | --></ | ||
- | == Hand Skeleton Tracking Using Two Leap Motion Devices | + | < |
- | {{ :research:leap_motion.jpg? | + | == 3D Model / Material / Lightning Developer |
+ | {{ :research:kitchen_unreal.jpg? | ||
- | Improving the skeletal tracking offered by the [[https://developer.leapmotion.com/ | + | Developing and improving existing 3D models in Blender |
- | 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:// |
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Experience with Blender |
+ | * Knowledge of Unreal Engine material / lightning development | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
- | Contact: [[team: | ||
- | == Fluid Simulation in Gazebo (BA/MA)== | ||
- | {{ : | ||
- | [[http:// | + | Contact: |
+ | --></ | ||
- | Currently there is an [[http:// | + | < |
+ | == Integrating PR2 in the Unreal Game Engine Framework (BA/MA/HiWi)== | ||
+ | {{ : | ||
- | The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present | + | Integrating |
- | 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 | + | |
- | + | ||
- | Here is a [[https://vimeo.com/104629835|video]] example of the current state of the fluid in Gazebo. | + | |
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 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, | + | Implmenting |
- | + | ||
- | Requirements: | + | |
- | * Good programming skills in C/C++ | + | |
- | * strong background in 3D vision | + | |
- | * basic knowledge of ROS, OpenCV, PCL | + | |
- | + | ||
- | Contact: | + | |
+ | Requirements: | ||
+ | * Good C++ programming skills | ||
+ | * Familiar with Unreal Engine API | ||
+ | * 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: | ||
+ | --></ |
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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