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jobs [2016/02/24 13:16] – gkazhoya | jobs [2021/03/05 08:16] – [Theses and Student Jobs] haidu | ||
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~~NOTOC~~ | ~~NOTOC~~ | ||
- | =====Theses and Jobs===== | + | |
+ | =====Open researcher positions===== | ||
+ | |||
+ | ====Digital Twin Knowledge Base for submarine robot inspection/ | ||
+ | The Institute for Artificial Intelligence (IAI) investigates methods for cognition-enabled robot control. The research is at the intersection of robotics and Artificial Intelligence and includes methods for intelligent perception, dexterous object manipulation, | ||
+ | |||
+ | As a researcher of the IAI, you actively research by applying and extending the elaborated methods and tools of the IAI (e.g., CRAM, KnowRoB, and openEASE) to the uncertainties of limited resources, computation, | ||
+ | |||
+ | **Prerequisites: | ||
+ | * Digital Twins | ||
+ | * Knowledge Representation | ||
+ | * Data structures | ||
+ | * Data Stream Representation. | ||
+ | |||
+ | **Hiring institution: | ||
+ | |||
+ | **PhD Enrollment: | ||
+ | |||
+ | The PhD examination acceptance requires a “Certificate of Equivalence for Foreign Vocational Qualifications”. More information available at [[https:// | ||
+ | |||
+ | **Duration of the project:** 36 months | ||
+ | |||
+ | **Main Academic Supervisor: | ||
+ | |||
+ | **Co-supervisors: | ||
+ | =====Theses and Student | ||
If you are looking for a bachelor/ | If you are looking for a bachelor/ | ||
+ | |||
+ | |||
+ | |||
+ | < | ||
+ | == 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/ | ||
+ | |||
+ | Requirements: | ||
+ | * Good C++ programming skills | ||
+ | * Familiar with PID controllers and control theory | ||
+ | * Experience with simulators/ | ||
+ | * Familiar with Unreal Engine API | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
+ | |||
+ | Contact: [[team: | ||
+ | --></ | ||
+ | |||
+ | |||
+ | |||
+ | < | ||
+ | == Natural Physics-based Grasping in Virtual Environments (BA/MA Thesis) == | ||
+ | |||
+ | Implementing physics-based grasping models in virtual environments, | ||
+ | from various devices such as Manus VR or Valve Index. | ||
+ | |||
+ | Requirements: | ||
+ | * Good C++ programming skills | ||
+ | * Familiar with skeletal animations | ||
+ | * Experience with simulators/ | ||
+ | * Familiar with Unreal Engine API | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
+ | |||
+ | Contact: [[team: | ||
+ | --></ | ||
+ | |||
+ | |||
+ | < | ||
== Lisp / CRAM support assistant (HiWi) == | == Lisp / CRAM support assistant (HiWi) == | ||
Technical support for the group for Lisp and the CRAM framework. \\ | Technical support for the group for Lisp and the CRAM framework. \\ | ||
- | 5 hours per week for up to 1 year (paid). | + | 8+ hours per week for up to 1 year (paid). |
Requirements: | Requirements: | ||
Line 15: | Line 82: | ||
Contact: [[team: | Contact: [[team: | ||
+ | --></ | ||
+ | < | ||
+ | == Mesh Editing / Mesh Segmentation/ | ||
+ | {{ : | ||
- | == Integrating PR2 in the Unreal Game Engine Framework | + | |
- | {{ : | + | |
- | + | ||
- | Integrating the [[https:// | + | |
Requirements: | Requirements: | ||
- | * Good programming skills | + | * Good knowledge |
- | * Basic physics/rendering engine knowledge | + | * Familiar with Blender |
- | * Basic ROS knowledge | + | |
- | * UE4 basic tutorials | + | |
- | Contact: [[team: | + | Contact: [[team/ |
+ | --></ | ||
- | == Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA)== | ||
- | {{ : | ||
- | Developing new activities and improving the current simulation framework done under the [[http:// | ||
- | Requirements: | + | < |
- | * Good programming skills in C/C++ | + | == 3D animation and model developer (Student Job / HiWi)== |
- | * Basic physics/ | + | {{ : |
- | * Gazebo simulator basic tutorials | + | |
- | Contact: [[team: | + | Developing and improving existing or new 3D (static/ |
+ | models in Blender / Maya (or other). Further importing and testing the | ||
+ | models against Unreal Engine. | ||
- | == Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== | + | Bonus: Working with state of the art 3D Scanners |
- | | + | |
- | + | ||
- | 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: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Experience with Blender |
- | * Gazebo simulator basic tutorials | + | * Knowledge of Unreal Engine material / lightning development |
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
Contact: [[team: | Contact: [[team: | ||
+ | --></ | ||
- | == Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== | ||
- | {{ : | ||
- | Improving | + | < |
+ | == Integrating PR2 in the Unreal Game Engine Framework (BA/MA/HiWi)== | ||
+ | {{ : | ||
- | The tracked hand can then be used as input for the Kitchen Activity Games framework. | + | Integrating |
Requirements: | Requirements: | ||
* Good programming skills in C/C++ | * Good programming skills in C/C++ | ||
+ | * Basic physics/ | ||
+ | * Basic ROS knowledge | ||
+ | * UE4 basic tutorials | ||
Contact: [[team: | Contact: [[team: | ||
- | == Fluid Simulation in Gazebo (BA/MA)== | ||
- | {{ : | ||
- | [[http://gazebosim.org/ | + | == Realistic Grasping using Unreal Engine (BA/MA/HiWi) == |
- | Currently there is an [[http://gazebosim.org/ | + | {{ |
- | The computational method for the fluid simulation | + | The objective of the project |
- | and should be implemented (PCISPH/IISPH). | + | ious human-like grasping approaches in a game developed using [[https:// |
- | The interaction between | + | The game consist of a household environment where a user has to execute various given tasks, such as cooking a dish, setting |
- | Another topic would be the visualization | + | In order to improve |
+ | 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. | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
+ | |||
+ | |||
+ | Contact: | ||
+ | --></ | ||
+ | |||
+ | < | ||
+ | == Unreal Engine Editor Developer (Student Job / HiWi)== | ||
+ | {{ : | ||
+ | |||
+ | Creating new user interfaces (panel customization) for various internal plugins using the Unreal C++ framework [[https://docs.unrealengine.com/ | ||
- | Here is a [[https:// | ||
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Good C++ programming skills |
- | * Interest in Fluid simulation | + | * Familiar with the [[https:// |
- | * Basic physics/ | + | * Familiar with Unreal Engine API |
- | * Gazebo simulator and Fluidix basic tutorials | + | * Familiar with version-control systems (git) |
+ | * Able to work independently with minimal supervision | ||
Contact: [[team: | Contact: [[team: | ||
- | == Automated sensor calibration toolkit (BA/MA)== | ||
- | 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, | + | == OpenEASE rendering |
- | The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2. | ||
- | | + | Implmenting the rendering of the [[https://data.open-ease.org/ |
- | The system should: | + | |
- | * be independent of the camera type | + | |
- | * estimate intrinsic | + | |
- | * calibrate depth images (case of RGB-D) | + | |
- | * integrate capabilities from Halcon [1] | + | |
- | * operate autonomously | + | |
- | Requirements: | + | Requirements: |
- | * Good programming skills | + | * Good C++ programming skills |
- | * ROS, OpenCV | + | * 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 | ||
- | [1] http:// | + | Contact: |
- | Contact: [[team: | + | < |
+ | == Knowledge-enabled PID Controller for 3D Hand Movements in Virtual Environments (BA/MA Thesis) == | ||
- | == On-the-fly 3D CAD model creation | + | 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/ | ||
- | 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, | + | Requirements: |
+ | * Good C++ programming skills | ||
+ | * Familiar | ||
+ | * Experience with simulators/ | ||
+ | * Familiar with Unreal Engine API | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
- | Requirements: | + | Contact: [[team: |
- | * Good programming skills in C/C++ | + | --></html> |
- | * strong background in computer vision | + | |
- | * ROS, OpenCV, PCL | + | |
- | Contact: [[team: | + | == Mülltrennungs-App mit Wissensgraph-Anbindung (BA Thesis) == |
- | == Simulation of a robots belief state to support perception(MA) == | + | Entwicklung einer Mülltrennungs-App für Smartphones |
+ | Dabei wird auf bestehende Objekterkennungs-Apps aufgebaut und eine Smartphone App entwickelt, die Objekte erkennt und auf einen Wissensgraphen zugreift, um weitere Informationen zu diesen Produkten zu erhalten. | ||
+ | Eine Aufgabe der Arbeit ist es, den bestehenden Wissengraphen um Wissen über Produktverpackungen und deren Entsorgungsmöglichkeiten zu erweitern. | ||
- | 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, | + | Aufgaben: |
+ | * App Entwicklung mit der Unity game engine | ||
+ | * Objekterkennung mittels Vuforia | ||
+ | * Arbeit mit Wissensrepräsentation und Wissensgraphen | ||
+ | * Erweiterung von .owl Dateien im Wissensgraphen | ||
- | 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 | + | == Situational awareness in kitchen environments (MA Thesis) |
- | Objects | + | This is a knowledge representation topic including knowledge graphs. The idea is so link external Web-knowledge to an existing knowledge framework |
+ | |||
+ | A result would be that a spoon next to a bowl with cereal would be used for eating while a spoon on a stove next to a pot would be used for stirring. | ||
+ | |||
+ | requirements: | ||
+ | * Work with KnowRob knowledge processing framework | ||
+ | * Work with knowledge graphs and Linked Data to create a situational awareness knowledge graph that can be linked | ||
+ | * Implement reasoning about situations (based on perceived environment) and object | ||
- | Requirements: | ||
- | * Good programming skills in C/C++ | ||
- | * strong background in 3D vision | ||
- | * basic knowledge of ROS, OpenCV, PCL | ||
- | Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]] | + | Contact: [[team:michaela_kümpel|Michaela Kümpel]] |
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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