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jobs [2016/03/11 08:38] – KnowRob+MoveIt! bartelsgjobs [2022/06/13 06:25] – [Research assistants (f/m/d)] dkastens
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-~~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. 
  
-== Lisp / CRAM support assistant (HiWi) ==+=====Open researcher positions=====
  
-Technical support for the group for Lisp and the CRAM framework. \\ +-
-5 hours per week for up to 1 year (paid).+
  
-Requirements: 
-  * Good programming skills in Common Lisp 
-  * Basic ROS knowledge 
  
-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.+=====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.
  
-Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]] 
  
 +<html><!--
 +== Physics-based grasping in VR with finger tracking(Student Job / HiWi) ==
  
-== Integrating PR2 in the Unreal Game Engine Framework (BA)== +Implementing physics-based grasping models in virtual environments, 
- {{ :research:unreal_ros_pr2.png?200|}}  +using Manus VR.
- +
-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 C++ programming skills 
-  * Basic physics/rendering engine knowledge +  * Familiar with skeletal animations 
-  * Basic ROS knowledge +  * Experience with simulators/physics-/game- engines 
-  * UE4 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>
  
  
-== Realistic Grasping using Unreal Engine (BA/MA) ==+<html><!-- 
 +== Lisp / CRAM support assistant (HiWi) ==
  
-{{  :teaching:gsoc:topic2_unreal.png?nolink&150|}}+Technical support for the group for Lisp and the CRAM framework. \\ 
 +8+ hours per week for up to 1 year (paid).
  
-The objective of the project is to implement var- +Requirements: 
-ious human-like grasping approaches in a game developed using [[https://www.unrealengine.com/|Unreal Engine]]. +  * Good programming skills in Common Lisp 
 +  * Basic ROS knowledge
  
-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.+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.
  
-In order to improve the ease of manipulating objects the user should +Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]] 
-be able to switch during runtime the type of grasp (pinch, power +--></html>
-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.+
  
 +<html><!--
 +== Mesh Editing / Mesh Segmentation/Cutting (Student Job / HiWi)==
 + {{ :research:human_hand_cutting.png?150|}}
  
-Contact: [[team/andrei_haidu|Andrei Haidu]]+ Editing and cutting a human mesh into different parts in Blender / Maya (or other).
  
-== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA)== +Requirements: 
- {{ :research:gz_env1.png?200|}} +  * Good knowledge in 3D Modeling 
 +  * Familiar with Blender / Maya (or other)
  
-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.+Contact: [[team/mona_abdel-keream|Mona Abdel-Keream]] 
 +--></html>
  
-Requirements: 
-  * Good programming skills in C/C++ 
-  * Basic physics/rendering engine knowledge 
-  * Gazebo simulator basic tutorials 
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+<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
  
-== Automated sensor calibration toolkit (BA/MA)==+Contact: [[team:andrei_haidu|Andrei Haidu]] 
 +--></html>
  
-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.+== Linking saref to SOMA (BA Thesis) ==
  
-The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2.+Wissensrepräsentation: Semantische Integration der saref Ontology (https://ontology.tno.nl/saref/) für smart devices in SOMA (https://ease-crc.github.io/soma/). Ziel dabei ist es, dass Roboter anhand von ein paar Beispielszenarien (z.B. Zubereitung von Popcorn/ Pizza) Fehler autonom finden können (z.B. Electricity ist aus -> deswegen wird der Herd nicht warm und Popcorn poppt nicht).
  
- {{ :kinect2_calibration_setup_small.jpg?200|}} +Aufgaben: 
-The system should: +  * Arbeit mit Wissensrepräsentation und Wissensgraphen 
-  * be independent of the camera type +  * Wissensakquisition aus web-Quellen 
-  * estimate intrinsic and extrinsic parameters +  * Abfrage mit KnowRob (Prolog) für autonome Roboter
-  * calibrate depth images (case of RGB-D) +
-  * integrate capabilities from Halcon [1] +
-  * operate autonomously+
  
-Requirements:  +Contact: [[team:michaela_kümpel|Michaela Kümpel]]
-  * Good programming skills in Python and C/C++ +
-  * ROS, OpenCV+
  
-[1] http://www.halcon.de/+== Case Study: Wissen zu Produkt-Aufbewahrungsorten aus dem Internet beziehen (BA Thesis) ==
  
-Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]+In dieser Thesis soll untersucht werden, ob die Autonomie von Robotern durch Integration von Wissen zu Aufbewahrungsorten von Produkten aus dem Internet erhöht werden kann. Es gibt verschiedene websites, die Wissen dazu bereitstellen. Dieses Wissen soll von den websites abgefragt und anschließend sinnvoll ontologisiert werden. Anhand verschiedener Fragen werden die Ergebnisse evaluiert (Menge der erworbenen Informationen/ Nutzen der Information, v.a. für autonome Roboter...)
  
-== On-the-fly 3D CAD model creation (MA)==+Aufgaben: 
 +  * Wissensakquise aus dem Internet 
 +  * Wissensrepräsentation/ Modellierung: Ontologisierung des Wissens 
 +  * Vergleich mit bestehenden Ontologien/ Arbeiten und manuell erstellten Ontologien 
 +  * Sinnvolle, automatisierte Abfrage des neu gewonnenen Wissens
  
-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]]+== Integration of novel objects into Digital Twin Knowledge Bases (MA Thesis) ==
  
-== Simulation of a robots belief state to support perception(MA) ==+In this thesis, the goal is to make a robotic system learn new objects automatically. 
 +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.
  
-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. +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.
  
-Requirements:  
-  * Good programming skills in C/C++ 
-  * strong background in computer vision  
-  * Gazebo, OpenCV, PCL 
  
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]+Requirements: 
 +  * Knowledge about sensor data processing 
 +  * Interest in model construction from sensory data 
 +  * Work with KnowRob knowledge processing framework
  
-== 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.+Contact: [[team:patrick_mania|Patrick Mania]]
  
-Requirements:  +<html><!-- 
-  * Good programming skills in C/C++ +== Development of Modules for Robot Perception (Student Job / HiWi) == 
-  * 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. One particular research direction, is the combination of computer vision with game engines. 
-  * basic knowledge of ROS, OpenCV, PCL+In this context, we are currently 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++)
  
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]+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.
  
-== Semantic Collision Checking for Planning Robot Manipulation Tasks == +Contact: [[team:patrick_mania|Patrick Mania]] 
-{{ :research:boxy_dough_rolling.png?nolink&200|}} +--></html>
-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 'right' type of contacts between their tools and the environment while avoiding 'wrong' contact events. The choice of what constitutes a desired or undesired contact event is usually very task- and context-dependent. Unfortunately, standard robot motion planning frameworks either only search for collision-free paths or offer limited interfaces for defining desired and undesired contacts. +
  
-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 will extend the KnowRob system by a couple of predicates which employ collision checking from MoveIt! to decide whether a given world state complies with a desired contact state. +== Game Engine Developer and 3D-Modelling  (Student Job / HiWi) == 
 +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]]. 
 +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.
  
-Requirements:  +Therefore, we are currently offering multiple Hiwi positions / student jobs for the following tasks: 
-  * basic knowledge of ROS +  * Modelling of objects for the use in Unreal Engine 4. 
-  * basic knowledge of robotics +  * Creation of specific simulation aspects in Unreal Engine 4. For example the development of interactable objects.
-  * interest in using KnowRob and MoveIt!+
  
-Contact: [[team:georg_bartels|Georg Bartels]]+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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