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jobs [2016/02/24 13:16] – gkazhoyajobs [2021/06/03 07:49] – [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/manipulation==== 
 +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, plan-based robot control, and knowledge representation for robots.  
 + 
 +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, and sensor data of submarine robots. You develop a Digital Twin that simulates harsh continuously evolving environments and service tasks on real robots. You design a detailed representation of an environment to be inspected, including data coming from past inspections, both similar and different (e.g., transfer learning from an inspection of the interior of an installation). Your research will be especially the environment representation, semantic annotation, and sensor data fusion deal with noisy data and unreliable information in dynamic environments. You work with IAI researchers and engineers of the ROSEN Group, implementing a service for underwater pipeline inspection and maintenance. 
 + 
 +**Prerequisites:** You have a strong background in some of the following fields: 
 +  * Digital Twins  
 +  * Knowledge Representation 
 +  * Data structures 
 +  * Data Stream Representation.  
 + 
 +**Hiring institution:** University of Bremen 
 + 
 +**PhD Enrollment:** PhD position in the Institute for Artificial Intelligence at University of Bremen. The project involves collaboration with ROSEN in Bremen and UiO in Oslo.  
 + 
 +The PhD examination acceptance requires a “Certificate of Equivalence for Foreign Vocational Qualifications”. More information available at [[https://www.kmk.org/zab/central-office-for-foreign-education/certificate-of-equivalence.html]] and [[https://www.uni-bremen.de/fileadmin/user_upload/sites/international/Studieren_in_Bremen/AnerkennungPromotion.pdf]] . Obtaining such a certificate is not necessary for the job application, but it is required later in the recruitment process. 
 + 
 +**Duration of the project:** 36 months 
 + 
 +**Main Academic Supervisor:** Prof. Michael Beetz, contact: beetz@cs.uni-bremen.de 
 + 
 +**Co-supervisors:** prof. Einar Broch Johnsen (UiO, Norway), dr. Peter Kampmann (ROSEN, Germany) 
 +=====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.
  
 +
 +== Physics-based grasping in VR with finger tracking(Student Job / HiWi) ==
 +
 +Implementing physics-based grasping models in virtual environments,
 +using Manus VR.
 +
 +Requirements:
 +  * Good C++ programming skills
 +  * Familiar with skeletal animations
 +  * Experience with simulators/physics-/game- engines
 +  * Familiar with Unreal Engine API
 +  * Familiar with version-control systems (git)
 +  * Able to work independently with minimal supervision
 +
 +Contact: [[team:andrei_haidu|Andrei Haidu]]
 +
 +
 +
 +<html><!--
 == 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 59:
  
 Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]] Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]]
 +--></html>
  
 +<html><!--
 +== Mesh Editing / Mesh Segmentation/Cutting (Student Job / HiWi)==
 + {{ :research:human_hand_cutting.png?150|}}
  
-== Integrating PR2 in the Unreal Game Engine Framework (BA)== + Editing and cutting a human mesh into different parts in Blender / Maya (or other). 
- {{ :research:unreal_ros_pr2.png?200|}} + 
 +Requirements: 
 +  * Good knowledge in 3D Modeling 
 +  * Familiar with Blender / Maya (or other) 
 + 
 +Contact: [[team/mona_abdel-keream|Mona Abdel-Keream]] 
 +--></html> 
 + 
 + 
 + 
 +== 3D Animation and Modeling (Student Job / HiWi)== 
 + {{ :research:kitchen_unreal.jpg?200|}}  
 + 
 +Developing and improving existing or new 3D (static/skeletal) 
 +models in Blender / Maya (or other). Further importing and testing the 
 +models against Unreal Engine. 
 + 
 +Bonus: Working with state of the art 3D Scanners [[https://www.goscan3d.com/|Go!SCAN]] for creating sketching new models. 
 + 
 +Requirements: 
 +  * 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]] 
 +</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. 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.
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 Contact: [[team:andrei_haidu|Andrei Haidu]] 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 (BA/MA/HiWi) ==
  
-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. 
 +  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision
  
-Requirements: 
-  * Good programming skills in C/C++ 
-  * Gazebo simulator basic tutorials 
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+Contact: [[team/andrei_haidu|Andrei Haidu]] 
 +--></html>
  
-== Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== +<html><!-- 
- {{ :research:leap_motion.jpg?200|}} +== Unreal Engine Editor Developer (Student Job / HiWi)== 
 + {{ :research:unreal_editor.png?150|}} 
  
-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.+Creating new user interfaces (panel customization) for various internal plugins using the Unreal C++ framework [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]].
  
-The tracked hand can then be used as input for the Kitchen Activity Games framework. 
  
 Requirements: Requirements:
-  * Good programming skills in C/C+++  * 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
  
 Contact: [[team:andrei_haidu|Andrei Haidu]] 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.+== OpenEASE rendering in Unreal Engine (BA/MA Thesis, Student Job / HiWi)==
  
-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).+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.
  
-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.+Requirements: 
 +  * Good C++ programming skills 
 +  * Familiar with Unreal Engine API 
 +  * 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
  
-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><!-- 
 +== 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 
-  * Interest in Fluid simulation +  * Familiar with PID controllers and control theory 
-  * Basic physics/rendering engine knowledge +  * Experience with simulators/physics-/game- engines 
-  * Gazebo simulator and Fluidix 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>
  
 +== Sprachgesteuertes Leitsystem (BA Thesis) ==
  
-== Automated sensor calibration toolkit (BA/MA)==+Weiterentwicklung eines sprachgesteuerten Leitsystems zu gesuchten Produkten im Einzelhandel für Smartphones (Android) basierend auf Ankerpunkten und einer Anbindung an Wissensgraphen. 
 +Dabei wird auf bestehende Apps aufgebaut. 
  
-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.+Aufgaben: 
 +  * App Entwicklung mit der Unity game engine und Flutter  
 +  * Erweiterung der Sprachsteuerung 
 +  * Arbeit mit Wissensrepräsentation und Wissensgraphen für die Sprachsteuerung
  
-The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2. 
  
- {{ :kinect2_calibration_setup_small.jpg?200|}} +Contact: [[team:michaela_kümpel|Michaela Kümpel]]
-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:  +== Sprachauswahl für Shopping Assistenten (BA Thesis) ==
-  * Good programming skills in Python and C/C++ +
-  * ROS, OpenCV+
  
-[1] http://www.halcon.de/+Weiterentwicklung eines Produktinformationssystems im Einzelhandel für Smartphones (Android) um eine Sprachauswahl. Anzeige der jeweiligen Informationen in der gewünschten Sprache. 
 +Dabei wird auf bestehende Apps aufgebaut. 
  
-Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]+Aufgaben: 
 +  * App Entwicklung mit der Unity game engine und Flutter  
 +  * Erweiterung der App um eine Sprachauswahl 
 +  * Arbeit mit Wissensrepräsentation und Wissensgraphen für Sprachmodellierung
  
-== On-the-fly 3D CAD model creation (MA)== 
  
-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.+Contact: [[team:michaela_kümpel|Michaela Kümpel]]
  
-Requirements:  +== Situational awareness in kitchen environments (MA Thesis) ==
-  * Good programming skills in C/C++ +
-  * strong background in computer vision  +
-  * ROS, OpenCV, PCL+
  
-Contact: [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]+This is a knowledge representation topic including knowledge graphs. The idea is so link external Web-knowledge to an existing knowledge framework in order to include situational awareness so that a robot acting in a household environment can infer what an object is used for in a given situation.
  
-== Simulation of a robots belief state to support perception(MA) ==+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.
  
-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: 
 +  * Work with KnowRob knowledge processing framework 
 +  * Work with knowledge graphs and Linked Data to create a situational awareness knowledge graph that can be linked to KnowRob 
 +  * Implement reasoning about situations (based on perceived environment) and object use
  
-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. +== Development of Modules for Robot Perception and Game Engine Technology (Hiwi Job) == 
- +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]]. 
-Requirements:  +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. 
-  * Good programming skills in C/C++ +In this context, we are currently offering multiple Hiwi positions / student jobs for the following tasks: 
-  * strong background in 3D vision  +  * Modelling of objects for the use in Unreal Engine 4. 
-  * basic knowledge of ROS, OpenCV, PCL+  * Creation of specific simulation aspects in Unreal Engine 4. For example the development of interactable objects. 
 +  * 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++)
  
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]] 
  
 +Contact: [[team:patrick_mania|Patrick Mania]]
  
- Impressum - Datenschutz



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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