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jobs [2016/05/25 15:15] – [Theses and Jobs] gkazhoyajobs [2021/07/30 10:07] – [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/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><!-- <html><!--
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 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:
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 Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]] Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]]
---> +--></html>
-</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) == 
  
-{{  :teaching:gsoc:topic2_unreal.png?nolink&150|}}+== 3D Animation and Modeling (Student Job / HiWi)== 
 + {{ :research:kitchen_unreal.jpg?200|}} 
  
-The objective of the project is to implement var- +Developing and improving existing or new 3D (static/skeletal) 
-ious human-like grasping approaches in a game developed using [[https://www.unrealengine.com/|Unreal Engine]]. +models in Blender / Maya (or other). Further importing and testing the 
 +models against 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. +Bonus: Working with state of the art 3D Scanners [[https://www.goscan3d.com/|Go!SCAN]] for creating sketching new models.
- +
-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]]
  
  
 +== 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, 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.+Contact: [[team:michaela_kümpel|Michaela Kümpel]]
  
-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) ==
  
- {{ :kinect2_calibration_setup_small.jpg?200|}} +Weiterentwicklung eines Produktinformationssystems im Einzelhandel für Smartphones (Android) um eine Sprachauswahl. Anzeige der jeweiligen Informationen in der gewünschten Sprache. 
-The system should: +Dabei wird auf bestehenden Apps aufgebaut. 
-  * 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:  +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://www.halcon.de/ 
  
-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)==+== Situational awareness in kitchen environments (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.+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.
  
-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:thiemo_wiedemeyer|Thiemo Wiedemeyer]]+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, detection and tracking of these in the real world. +Contact: [[team:michaela_kümpel|Michaela Kümpel]]
  
-Requirements:  
-  * Good programming skills in C/C++ 
-  * strong background in computer vision  
-  * Gazebo, OpenCV, PCL 
  
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]+== Development of Modules for Robot Perception (Hiwi Job) == 
 +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. 
 +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]]
  
-Requirements:  +== Game Engine Developer and 3D-Modelling  (Hiwi Job) == 
-  * 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]]
- 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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