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jobs [2016/02/24 13:16] – gkazhoyajobs [2024/02/16 09:22] – [Theses and Student Jobs] kording
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 ~~NOTOC~~ ~~NOTOC~~
-=====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=====
 +
 +{{blog>:jobs?3&date&footer&firstseconly&readmore}}
 +
 +
 +<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:
 +  * 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>
 +
 +
 +<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 47:
  
 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|}}  +
- +
-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.+
  
 Requirements: Requirements:
-  * Good programming skills in C/C++ +  * Good knowledge in 3D Modeling 
-  * Basic physics/rendering engine knowledge +  * Familiar with Blender / Maya (or other)
-  * Basic ROS knowledge +
-  * UE4 basic tutorials+
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+Contact: [[team/mona_abdel-keream|Mona Abdel-Keream]] 
 +--></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><!-- 
 +== 3D Animation and Modeling (Student Job / HiWi)== 
 + {{ :research:kitchen_unreal.jpg?200|}} 
  
-Requirements: +Developing and improving existing or new 3D (static/skeletal) 
-  * Good programming skills in C/C++ +models in Blender / Maya (or other). Further importing and testing the 
-  * Basic physics/rendering engine knowledge +models against Unreal Engine.
-  * Gazebo simulator basic tutorials+
  
-Contact: [[team:andrei_haidu|Andrei Haidu]] +Bonus: Working with state of the art 3D Scanners [[https://www.goscan3d.com/|Go!SCAN]] for creating sketching new models.
- +
-== Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== +
- {{ :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.+
  
 Requirements: Requirements:
-  * Good programming skills in C/C++ +  * Experience with Blender / Maya (or other) 
-  * 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:andrei_haidu|Andrei Haidu]] Contact: [[team:andrei_haidu|Andrei Haidu]]
 +--></html>
  
-== Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== +== Scene Format Conversion Tool for Robotics Simulation (MA Thesis) ==
- {{ :research:leap_motion.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.+**Motivation:**
  
-The tracked hand can then be used as input for the Kitchen Activity Games framework.+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.
  
-Requirements: +{{:multiformat.png?400|}}
-  * Good programming skills in C/C+++
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+**Task Description:**
  
-== Fluid Simulation in Gazebo (BA/MA)== +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:
- {{ :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.+  - 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.
  
-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.+**Requirements:**
  
-The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present +  * A strong passion for robotics. 
-and should be implemented (PCISPH/IISPH).+  * Dedication to the chosen topic. 
 +  * Eager to learn.
  
-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).+Contact: [[team:hoang_giang_nguyen|Giang Nguyen]]
  
-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.+== Generating Comics about Everyday Experiences of a Robot (BA Thesis) ==
  
-Here is a [[https://vimeo.com/104629835|video]] example of the current state of the fluid in Gazebo. +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
  
-Requirements: +Contact: [[team:daniel_bessler|Daniel Beßler]]
-  * 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]] 
  
 +== Übersetzung einer globalen Produktklassifikation in eine bestehende Ontologie (BA Thesis) ==
  
-== Automated sensor calibration toolkit (BA/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.
  
-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.+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)
  
-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:  
-  * Good programming skills in Python and C/C++ 
-  * ROS, OpenCV 
  
-[1] http://www.halcon.de/+== Nutzung von chatGPT zur Erstellung von spezifischen Wissensbasen (BA Thesis) ==
  
-Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]+In dieser Arbeit soll chatGPT (oder ähnliche Tools) genutzt werden, um maschinenlesbares Wissen für eine neue Aufgabe zu erstellen. Dabei sollen z.B. Umgebungsmerkmale und semantische Relationen abgefragt werden können. Die Arbeit soll geeignete prompts zur Erstellung solcher Wissensbasen erarbeiten. Die Informationen sollen anschließend per script extrahiert werden, so dass Agenten sie nutzen können. 
  
-== On-the-fly 3D CAD model creation (MA)==+Die Aufgaben dazu sind: 
 +  * Einarbeitung in Prompting mit chatGPT o.ä. 
 +  * Einarbeitung in Web Scraping und NLP parsing 
 +  * Einarbeitung in Owlready und basic entitity linking 
 +  * Erstellung eines guides zum prompten von chatGPT, das anhand von einem Beispiel evaluiert wird  
 +  * Erstellung eines Jupyter Notebooks mit einem Beispiel
  
-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:michaela_kümpel|Michaela Kümpel]]
-  * Good programming skills in C/C++ +
-  * strong background in computer vision  +
-  * ROS, OpenCV, PCL+
  
-Contact: [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]+<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++)
  
-== Simulation of a robots belief state to support perception(MA) ==+Requirements: 
 +  * Experience in C++. 
 +  * Basic understanding of the ROS middleware and Linux. 
 +The spoken language in this job is german or english, based on your preference.
  
-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. +Contact: [[team:patrick_mania|Patrick Mania]] 
 +--></html>
  
-Requirements:  +== Development of Modules for Robot Perception (Student Job / HiWi) == 
-  * Good programming skills in C/C++ +In our research group, we focus on the development of intelligent robots that are combining modern computer vision methods with knowledge representation.  
-  * strong background in computer vision  +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).
-  * Gazebo, OpenCV, PCL+
  
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]+Requirements: 
 +  * Solid experience in python and object-oriented programming 
 +  * Basic understanding of the ROS middleware and Linux 
 +  * Basic understanding of computer vision methods
  
-== Multi-expert segmentation of cluttered and occluded scenes ==+The spoken language in this job is german or english, based on your preference. Work can be done fully remote.
  
-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.+Contact: [[team:patrick_mania|Patrick Mania]] 
 +--
  
-Requirements:  +== Game Engine Developer and 3D-Modelling  (Student Job / HiWi) == 
-  * Good programming skills in C/C++ +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]]. 
-  * strong background in 3D vision  +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.
-  * basic knowledge of ROS, OpenCV, PCL+
  
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]+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++.
  
 +The spoken language in this job is german or english, based on your preference.
  
 +Contact: [[team:patrick_mania|Patrick Mania]]
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