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jobs [2016/03/11 08:38] – KnowRob+MoveIt! bartelsg | jobs [2021/10/21 15:37] – [Theses and Student Jobs] pmania | ||
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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/ | ||
- | == Lisp / CRAM support assistant (HiWi) == | ||
- | Technical support for the group for Lisp and the CRAM framework. \\ | + | == Physics-based grasping in VR with finger tracking(Student Job / HiWi) == |
- | 5 hours per week for up to 1 year (paid). | + | |
+ | Implementing physics-based grasping models in virtual environments, | ||
+ | using Manus VR. | ||
Requirements: | Requirements: | ||
- | * Good programming skills | + | * Good C++ programming skills |
- | * Basic ROS knowledge | + | * 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 | ||
- | 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: |
- | Contact: [[team: | ||
- | == Integrating PR2 in the Unreal Game Engine Framework | + | < |
- | {{ : | + | == Lisp / CRAM support assistant |
- | Integrating the [[https:// | + | Technical |
+ | 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 | * Basic ROS knowledge | ||
- | * UE4 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. |
+ | Contact: [[team: | ||
+ | --></ | ||
- | == Realistic Grasping using Unreal Engine | + | < |
+ | == Mesh Editing / Mesh Segmentation/ | ||
+ | {{ : | ||
- | {{ : | + | Editing and cutting a human mesh into different parts in Blender / Maya (or other). |
- | The objective of the project is to implement var- | + | Requirements: |
- | ious human-like grasping approaches | + | * Good knowledge |
+ | * Familiar with Blender | ||
- | 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. | + | Contact: [[team/ |
+ | --></ | ||
- | 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. | ||
- | Contact: [[team/andrei_haidu|Andrei Haidu]] | + | == 3D Animation and Modeling (Student Job / HiWi)== |
+ | {{ : | ||
- | == Kitchen Activity Games in a Realistic Robotic Simulator | + | Developing and improving existing or new 3D (static/skeletal) |
- | {{ : | + | models in Blender / Maya (or other). Further importing and testing the |
+ | models against Unreal Engine. | ||
- | 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 | + | Bonus: Working with state of the art 3D Scanners |
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Experience with Blender |
- | * Basic physics/rendering engine knowledge | + | * Knowledge of Unreal Engine material |
- | * Gazebo simulator basic tutorials | + | * Familiar with version-control systems (git) |
+ | * Able to work independently with minimal supervision | ||
Contact: [[team: | Contact: [[team: | ||
+ | == App zur Generierung von Ernährungsempfehlungen (BA Thesis) == | ||
+ | Dies ist ein Wissensrepräsentations-Thema. Basierend auf einem bestehenden Wissensgraphen mit Produktinformationen sollen weitere ernährungsspezifische Informationen wie z.B. Substitute für Rezeptzutaten oder Rezepte für spezielle Ernährungsgewohnheiten generiert werden. Diese Informationen müssen aus bestehenden web-Quellen extrahiert und mit dem Wissensgraphen verknüpft werden. Die Informationen sollen dann in einer Smartphone-App (Android) visualisiert werden. Dabei kann auf bestehenden Apps aufgebaut werden. | ||
- | == Automated sensor calibration toolkit (BA/MA)== | + | Aufgaben: |
+ | * Arbeit mit Wissensrepräsentation und Wissensgraphen | ||
+ | * Wissensakquisition aus web-Quellen | ||
+ | * App Entwicklung mit der Unity game engine und/oder Flutter | ||
- | 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, | + | Contact: [[team: |
- | The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2. | + | == Sprachauswahl für Shopping Assistenten (BA Thesis) == |
- | {{ : | + | Weiterentwicklung eines Produktinformationssystems im Einzelhandel für Smartphones |
- | The system should: | + | Dabei wird auf bestehenden Apps aufgebaut. |
- | * be independent of the camera type | + | |
- | * estimate intrinsic and extrinsic parameters | + | |
- | * calibrate depth images | + | |
- | * integrate capabilities from Halcon [1] | + | |
- | * operate autonomously | + | |
- | Requirements: | + | Aufgaben: |
- | * Good programming skills in Python and C/C++ | + | * App Entwicklung mit der Unity game engine und Flutter |
- | * ROS, OpenCV | + | * Erweiterung der App um eine Sprachauswahl |
+ | * Arbeit mit Wissensrepräsentation und Wissensgraphen für Sprachmodellierung | ||
- | [1] http:// | ||
- | Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team: | + | Contact: [[team:michaela_kümpel|Michaela Kümpel]] |
- | == On-the-fly 3D CAD model creation | + | == Situational awareness in kitchen environments |
- | Create models during runtime for unknown textured objets based on depth and color information. Track the object | + | 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 |
- | Requirements: | + | 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. |
- | * Good programming skills in C/C++ | + | |
- | * strong background in computer vision | + | |
- | * ROS, OpenCV, PCL | + | |
- | Contact: [[team: | + | 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 | ||
- | == Simulation of a robots belief state to support perception(MA) == | ||
- | 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, | + | Contact: [[team: |
+ | == Integration | ||
- | Requirements: | + | In this thesis, the goal is to make a robotic system learn new objects automatically. |
- | * Good programming skills in C/C++ | + | The system should be able to generate the necessary models required for re-detecting it again and also consult online information sources to automatically acquire knowledge about it. |
- | * strong background in computer vision | + | |
- | * Gazebo, OpenCV, PCL | + | |
- | Contact: [[team: | + | The focus of the thesis would be two-fold: |
+ | * Develop methods to automatically infer the object class of new objects. This would include perceiving it with state of the art sensors, constructing a 3d model of it and then infer the object class from online information sources. | ||
+ | * In the second step the system should also infer factual knowledge about the object from the internet and assert it into a robotic knowledgebase. Such knowledge could for example include the category of this product, typical object properties like its weight or typical location and much more. | ||
- | == Multi-expert segmentation of cluttered and occluded scenes == | ||
- | Objects | + | Requirements: |
+ | * Knowledge about sensor data processing | ||
+ | * Interest | ||
+ | * Work with KnowRob knowledge processing framework | ||
- | 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:patrick_mania|Patrick Mania]] |
- | == Semantic Collision Checking for Planning Robot Manipulation Tasks == | ||
- | {{ : | ||
- | Service robots helping humans at home shall perform manipulation tasks like wiping a table or polishing glass surfaces. To successfully complete these tasks, robots needs to establish the ' | ||
- | The goal of this project is to interface existing collision checking software from MoveIt! with the robot knowledge base KnowRob to enable semantic collision checking. As a result, the student | + | == Development |
+ | 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 currently offering multiple Hiwi positions / student | ||
+ | * Software development | ||
+ | * Software development for our Robot Perception framework [[http:// | ||
- | Requirements: | + | Requirements: |
- | * basic knowledge of ROS | + | * Experience in C++. |
- | * basic knowledge | + | * Basic understanding |
- | * interest | + | The spoken language |
- | Contact: [[team:georg_bartels|Georg Bartels]] | + | Contact: [[team:patrick_mania|Patrick Mania]] |
+ | |||
+ | == Game Engine Developer and 3D-Modelling | ||
+ | A recent development in the field of AI is the usage of photorealistic simulations, | ||
+ | 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. | ||
+ | |||
+ | Therefore, we are currently 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: |
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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