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jobs [2016/05/25 15:15] – [Theses and Jobs] gkazhoyajobs [2023/09/14 10:26] – [Theses and Student Jobs] cstoess
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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><!-- <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) ==+<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.+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
  
-In order to improve the ease of manipulating objects the user should +Contact: [[team:andrei_haidu|Andrei Haidu]] 
-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.+
  
 +== Scene Format Conversion Tool for Robotics Simulation (MA Thesis) ==
  
-Contact: [[team/andrei_haidu|Andrei Haidu]]+**Motivation:**
  
-== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA)== +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.
- {{ :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.+{{:multiformat.png?400|}}
  
-Requirements: +**Task Description:**
-  * Good programming skills in C/C++ +
-  * Basic physics/rendering engine knowledge +
-  * Gazebo simulator basic tutorials+
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+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:
  
 +  - 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.
  
 +**Requirements:**
  
 +  * A strong passion for robotics.
 +  * Dedication to the chosen topic.
 +  * Eager to learn.
  
-== Automated sensor calibration toolkit (BA/MA)==+Contact: [[team:hoang_giang_nguyen|Giang Nguyen]]
  
-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.+== Generating Comics about Everyday Experiences of a Robot (BA Thesis) ==
  
-The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2.+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
  
- {{ :kinect2_calibration_setup_small.jpg?200|}} +Contact: [[team:daniel_bessler|Daniel Beßler]]
-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:  +== Integration of novel objects into Digital Twin Knowledge Bases (MA Thesis) ==
-  * Good programming skills in Python and C/C++ +
-  * ROS, OpenCV+
  
-[1] http://www.halcon.de/+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.
  
-Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]+The focus of the thesis would be twofold: 
 +  * 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.
  
-== On-the-fly 3D CAD model creation (MA)== 
  
-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: 
 +  * Knowledge about sensor data processing 
 +  * Interest in model construction from sensory data 
 +  * Work with KnowRob knowledge processing framework
  
-Requirements:  
-  * Good programming skills in C/C++ 
-  * strong background in computer vision  
-  * ROS, OpenCV, PCL 
  
-Contact: [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]+Contact: [[team:patrick_mania|Patrick Mania]]
  
-== Simulation of a robots belief state to support perception(MA) ==+== Übersetzung einer globalen Produktklassifikation in eine bestehende Ontologie (BA Thesis) ==
  
-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. +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.
  
-Requirements:  +Die Aufgaben dazu sind: 
-  * Good programming skills in C/C++ +  * Einarbeitung in Web Scraping und Abfrage der Daten von GS1 
-  * strong background in computer vision  +  * Einarbeitung in Owlready und Erstellen der Taxonomie 
-  * Gazebo, OpenCV, PCL+  * Erstellung des Jupyter Notebooks mit einem Beispiel, wie andere Ontologien verbunden werden können (die Beispielontologie wird gestellt)
  
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]] 
  
-== Multi-expert segmentation of cluttered and occluded scenes ==+Contact: [[team:michaela_kümpel|Michaela Kümpel]]
  
-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. 
  
-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 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. +== Development of Modules for Robot Perception (Student Job / HiWi) == 
 +In our research group, we focus on the development of intelligent robots that are combining modern computer vision methods with knowledge representation.  
 +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).
  
-Requirements:  +Requirements: 
-  * basic knowledge of ROS +  * Solid experience in python and object-oriented programming 
-  * basic knowledge of robotics +  * Basic understanding of the ROS middleware and Linux 
-  * interest in using KnowRob and MoveIt!+  * Basic understanding of computer vision methods
  
-Contact: [[team:georg_bartels|Georg Bartels]]+The spoken language in this job is german or english, based on your preference. Work can be done fully remote. 
 + 
 +Contact: [[team:patrick_mania|Patrick Mania]] 
 +-- 
 + 
 +== 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. 
 + 
 +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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