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jobs [2019/08/12 11:54] – [Theses and Student Jobs] mareikepjobs [2022/06/13 06:25] – [Research assistants (f/m/d)] dkastens
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-~~NOTOC~~ 
  
 =====Open researcher positions===== =====Open researcher positions=====
 +
 +-
 +
  
 =====Theses and Student Jobs===== =====Theses and Student Jobs=====
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 +<html><!--
 +== Physics-based grasping in VR with finger tracking(Student Job / HiWi) ==
  
-== Visualization support assistant (HiWi) == +Implementing physics-based grasping models in virtual environments, 
- +using Manus VR.
-Implementing a visualization web page for a project using a custom framework using python/javascript. Start date: Oct 2019 +
- +
-Requirements: +
-  * Good python programming skills +
-  * Familiar with Javascript +
-  * Experience web development is recommended +
-  * Familiar with version-control systems (git) +
-  * Able to work independently with minimal supervision +
- +
-Contact: [[team:mareike_picklum|Mareike Picklum]] +
- +
- +
-== Knowledge-enabled PID Controller for 3D Hand Movements in Virtual Environments (BA/MA Thesis) == +
- +
-Implementing a force-, velocity- and impulse-based PID controller for precise and responsive hand movements in a virtual environment. The virtual environment used in Unreal Engine in combination with Virtual Reality devices. The movements +
-of the human user will be mapped to the virtual hands, and controlled via the implemented PID controllers. +
-The controller should be able to dynamically tune itself depending on the executed actions (opening/closing a drawer or lifting a heavy object) in combination with the physical limitations of the physics engine (dynamic update rates).+
  
 Requirements: Requirements:
   * Good C++ programming skills   * Good C++ programming skills
-  * Familiar with PID controllers and control theory +  * Familiar with skeletal animations 
-  * Experience with simulators/game engines is recommended +  * Experience with simulators/physics-/game- engines 
-  * Experience with Unreal Engine+  * Familiar with Unreal Engine API
   * Familiar with version-control systems (git)   * Familiar with version-control systems (git)
   * Able to work independently with minimal supervision   * Able to work independently with minimal supervision
  
 Contact: [[team:andrei_haidu|Andrei Haidu]] Contact: [[team:andrei_haidu|Andrei Haidu]]
 +--></html>
 +
  
 <html><!-- <html><!--
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 Contact: [[team/mona_abdel-keream|Mona Abdel-Keream]] Contact: [[team/mona_abdel-keream|Mona Abdel-Keream]]
 --></html> --></html>
 +
  
 <html><!-- <html><!--
-== 3D Model / Material / Lightning Developer (Student Job / HiWi)==+== 3D Animation and Modeling (Student Job / HiWi)==
  {{ :research:kitchen_unreal.jpg?200|}}   {{ :research:kitchen_unreal.jpg?200|}} 
  
-Developing and improving existing 3D models in Blender / Maya (or other). Importing the models in Unreal Engine, where the Materials and Lightning should be improved to be close as possible to realism. +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 new realistic models.+Bonus: Working with state of the art 3D Scanners [[https://www.goscan3d.com/|Go!SCAN]] for creating sketching new models.
  
 Requirements: Requirements:
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   * Familiar with version-control systems (git)   * Familiar with version-control systems (git)
   * Able to work independently with minimal supervision   * Able to work independently with minimal supervision
- 
- 
  
 Contact: [[team:andrei_haidu|Andrei Haidu]] Contact: [[team:andrei_haidu|Andrei Haidu]]
 --></html> --></html>
  
-<html><!-- +== Linking saref to SOMA (BA Thesis) ==
-== Integrating PR2 in the Unreal Game Engine Framework (BA/MA/HiWi)== +
- {{ :research:unreal_ros_pr2.png?100|}} +
  
-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.+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).
  
-Requirements: +Aufgaben: 
-  * Good programming skills in C/C++ +  * Arbeit mit Wissensrepräsentation und Wissensgraphen 
-  * Basic physics/rendering engine knowledge +  * Wissensakquisition aus web-Quellen 
-  * Basic ROS knowledge +  * Abfrage mit KnowRob (Prolog) für autonome Roboter
-  * UE4 basic tutorials+
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+Contact: [[team:michaela_kümpel|Michaela Kümpel]]
  
 +== Case Study: Wissen zu Produkt-Aufbewahrungsorten aus dem Internet beziehen (BA Thesis) ==
  
-== Realistic Grasping using Unreal Engine (BA/MA/HiWi) ==+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...)
  
-{{  :teaching:gsoc:topic2_unreal.png?nolink&150|}}+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
  
-The objective of the project is to implement var- 
-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.+Contact: [[team:michaela_kümpel|Michaela Kümpel]]
  
-In order to improve the ease of manipulating objects the user should +== Integration of novel objects into Digital Twin Knowledge Bases (MA Thesis) ==
-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. +
-  * Familiar with version-control systems (git) +
-  * Able to work independently with minimal supervision+
  
 +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/andrei_haidu|Andrei Haidu]] +The focus of the thesis would be two-fold: 
---></html>+  * 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.
  
-<html><!-- 
-== Unreal Engine Editor Developer (Student Job / HiWi)== 
- {{ :research:unreal_editor.png?150|}}  
  
-Creating new user interfaces (panel customization) for various internal plugins using the Unreal C++ framework [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]].+Requirements: 
 +  * Knowledge about sensor data processing 
 +  * Interest in model construction from sensory data 
 +  * Work with KnowRob knowledge processing framework
  
  
-Requirements: +Contact: [[team:patrick_mania|Patrick Mania]]
-  * Good C++ programming skills +
-  * Familiar with the [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]] framework +
-  * 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><!-- 
 +== 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++)
  
 +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.
  
 +Contact: [[team:patrick_mania|Patrick Mania]]
 +--></html>
  
-== OpenEASE rendering in Unreal Engine (BA/MA Thesis, Student Job / HiWi)==+== 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 currently offering multiple Hiwi positions / student jobs for the following tasks: 
-Implmenting the rendering of the [[https://data.open-ease.org/|OpenEASE]] knowledge base visualization in Unreal Engine. This will have to be packaged as a HTML5 executable and inserted into the website.+  * 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: Requirements:
-  * Good C++ programming skills +  * Knowledge of 3D-Modelling tools. Blender would be highly preferred. 
-  * Familiar with Unreal Engine API +  * Experience in Game Engine development. Ideally Unreal Engine 4 and C++.
-  * Familiar with HTML5 and JavaScript +
-  * Familiar with the [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]] framework +
-  * Familiar with basic ROS communication +
-  * Familiar with version-control systems (git) +
-  * Able to work independently with minimal supervision+
  
-Contact: [[team:andrei_haidu|Andrei Haidu]] +The spoken language in this job is german or english, based on your preference. 
---></html>+ 
 +Contact: [[team:patrick_mania|Patrick Mania]]
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