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jobs [2016/03/11 08:38] – KnowRob+MoveIt! bartelsgjobs [2022/12/22 12:04] – [Theses and Student Jobs] kording
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-~~NOTOC~~ + 
-=====Theses and Jobs=====+=====Open researcher positions===== 
 + 
 +We currently don't have any open positions for researchers. 
 +=====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.
  
 +
 +<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 38:
  
 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>
  
  
-== Realistic Grasping using Unreal Engine (BA/MA) ==+<html><!-- 
 +== 3D Animation and Modeling (Student Job / HiWi)== 
 + {{ :research:kitchen_unreal.jpg?200|}} 
  
-{{  :teaching:gsoc:topic2_unreal.png?nolink&150|}}+Developing and improving existing or new 3D (static/skeletal) 
 +models in Blender / Maya (or other). Further importing and testing the 
 +models against Unreal Engine.
  
-The objective of the project is to implement var- +Bonus: Working with state of the art 3D Scanners [[https://www.goscan3d.com/|Go!SCAN]] for creating sketching new models.
-ious human-like grasping approaches in a game developed using [[https://www.unrealengine.com/|Unreal Engine]].  +
- +
-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. +
- +
-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]] +
- +
-== 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.+
  
 Requirements: Requirements:
-  * Good programming skills in C/C++ +  * Experience with Blender / Maya (or other) 
-  * Basic physics/rendering engine knowledge +  * Knowledge of Unreal Engine material / lightning development 
-  * Gazebo simulator basic tutorials+  * 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>
  
 +== Representing knowledge in a robot-agnostic ontology system for assistive robotics (MA Thesis) ==
  
 +The thesis will be jointly supervised by German Aerospace Center (DLR) in Munich and the Institute for Artificial Intelligence (IAI) at the University of Bremen.
  
 +Summary:
 +  * Investigate about existing ontologies, like the Socio-physical Model of Activities (SOMA) from the University of Bremen.
 +  * Refactor an existing knowledge database (known as the Object DataBase, ODB) used by the DLR into an ontology.
 +  * Use the ontology to design tasks in the assistive robotics domain using assistive robots provided by the DLR
  
-== Automated sensor calibration toolkit (BA/MA)==+Full offer:
  
-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.+{{ :teaching:offer_2020-01_op2_wedanjustin.pdf |}}
  
-The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2.+Contact: [[team:daniel_bessler|Daniel Beßler]]
  
- {{ :kinect2_calibration_setup_small.jpg?200|}} +== Chatbot zur Erfassung von Vorwissen in Informatik (BA Thesis) ==
-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:  +In dieser Arbeit soll ein Chatbot in einem jupyter notebook erstellt werden, der das Vorwissen von Nutzer*Innen in verschiedenen Bereichen der Informatik abfragt und bewertet.
-  * Good programming skills in Python and C/C++ +
-  * ROS, OpenCV+
  
-[1] http://www.halcon.de/+Aufgaben: 
 +  * Arbeit mit jupyter notebook 
 +  * Recherche zu existierenden chatbots 
 +  * Erstellung eines chatbots 
 +  * Durchführung einer (kleinen) Nutzerstudie zur Evaluation des erstellten chatbots 
 +  * Bewertung der Nutzerangaben (zur weiteren Verwertung)
  
-Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]+Contact: [[team:michaela_kümpel|Michaela Kümpel]]
  
-== On-the-fly 3D CAD model creation (MA)==+== Integration of novel objects into Digital Twin Knowledge Bases (MA Thesis) ==
  
-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.+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.
  
-Requirements:  +The focus of the thesis would be two-fold: 
-  * Good programming skills in C/C++ +  * 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. 
-  * strong background in computer vision  +  * 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.
-  * ROS, OpenCV, PCL+
  
-Contact: [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]] 
  
-== Simulation of a robots belief state to support perception(MA) ==+Requirements: 
 +  * Knowledge about sensor data processing 
 +  * Interest in model construction from sensory data 
 +  * Work with KnowRob knowledge processing framework
  
-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:  +Contact: [[team:patrick_mania|Patrick Mania]]
-  * Good programming skills in C/C++ +
-  * strong background in computer vision  +
-  * Gazebo, OpenCV, PCL+
  
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]+<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 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++)
  
-== Multi-expert segmentation of cluttered and occluded scenes ==+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.
  
-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]] 
 +--></html>
  
-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 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.
  
-== Semantic Collision Checking for Planning Robot Manipulation Tasks == +Requirements: 
-{{ :research:boxy_dough_rolling.png?nolink&200|}} +  * Knowledge of 3D-Modelling tools. Blender would be highly preferred. 
-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.  +  * Experience in Game Engine development. Ideally Unreal Engine 4 and C++.
- +
-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.  +
- +
-Requirements:  +
-  * basic knowledge of ROS +
-  * basic knowledge of robotics +
-  * interest in using KnowRob and MoveIt! +
- +
-Contact: [[team:georg_bartels|Georg Bartels]]+
  
 +The spoken language in this job is german or english, based on your preference.
  
 +Contact: [[team:patrick_mania|Patrick Mania]]
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Head of Institute

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ai-office@cs.uni-bremen.de

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