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jobs [2021/03/01 09:47] – [Theses and Student Jobs] kording | jobs [2023/08/01 12:05] – [Theses and Student Jobs] hoanggia | ||
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=====Open researcher positions===== | =====Open researcher positions===== | ||
- | ====Digital Twin Knowledge Base for submarine robot inspection/ | + | {{blog>: |
- | 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, | + | |
- | 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, | ||
- | **Prerequisites:** You have a strong background in some of the following fields: | + | < |
- | * Digital Twins | + | <div style=" |
- | * Knowledge Representation | + | </ |
- | * Data structures | + | |
- | * Data Stream Representation. | + | |
- | **Hiring institution: | ||
- | **PhD Enrollment: | ||
- | The PhD examination acceptance requires a “Certificate of Equivalence for Foreign Vocational Qualifications”. More information available at [[https:// | ||
- | |||
- | **Duration of the project:** 36 months | ||
- | |||
- | **Main Academic Supervisor: | ||
- | |||
- | **Co-supervisors: | ||
=====Theses and Student Jobs===== | =====Theses and Student Jobs===== | ||
If you are looking for a bachelor/ | If you are looking for a bachelor/ | ||
- | |||
- | |||
< | < | ||
- | == Knowledge-enabled PID Controller for 3D Hand Movements | + | == Physics-based grasping |
- | Implementing | + | Implementing |
- | of the human user will be mapped to the virtual hands, and controlled via the implemented PID controllers. | + | using Manus VR. |
- | The controller should be able to dynamically tune itself depending on the executed actions (opening/ | + | |
Requirements: | Requirements: | ||
* Good C++ programming skills | * Good C++ programming skills | ||
- | * Familiar with PID controllers and control theory | + | * Familiar with skeletal animations |
* Experience with simulators/ | * Experience with simulators/ | ||
* Familiar with Unreal Engine API | * Familiar with Unreal Engine API | ||
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--></ | --></ | ||
- | == Natural Physics-based Grasping in Virtual Environments (BA/MA Thesis) == | ||
- | |||
- | Implementing physics-based grasping models in virtual environments, | ||
- | from various devices such as Manus VR or Valve Index. | ||
- | |||
- | Requirements: | ||
- | * Good C++ programming skills | ||
- | * Familiar with skeletal animations | ||
- | * Experience with simulators/ | ||
- | * Familiar with Unreal Engine API | ||
- | * Familiar with version-control systems (git) | ||
- | * Able to work independently with minimal supervision | ||
- | |||
- | Contact: [[team: | ||
< | < | ||
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- | == 3D animation | + | < |
+ | == 3D Animation | ||
{{ : | {{ : | ||
Line 109: | Line 80: | ||
Contact: [[team: | Contact: [[team: | ||
+ | --></ | ||
+ | == Scene Format Conversion Tool for Robotics Simulation (MA Thesis) == | ||
- | < | + | **Motivation:** |
- | == Integrating PR2 in the Unreal Game Engine Framework (BA/ | + | |
- | | + | |
- | Integrating the [[https:// | + | 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. |
- | Requirements: | + | {{:multiformat.png? |
- | * Good programming skills in C/C++ | + | |
- | * Basic physics/ | + | |
- | * Basic ROS knowledge | + | |
- | * UE4 basic tutorials | + | |
- | Contact: [[team: | + | **Task Description:** |
+ | 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: | ||
- | == Realistic Grasping using Unreal Engine (BA/ | + | - 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:** |
- | The objective of the project is to implement var- | + | * A strong passion for robotics. |
- | ious human-like grasping approaches in a game developed using [[https:// | + | * Dedication to the chosen topic. |
+ | * Eager to learn. | ||
- | 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: |
- | In order to improve the ease of manipulating objects the user should | + | == Generating Comics about Everyday Experiences |
- | 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 | + | |
- | * Able to work independently with minimal supervision | + | |
+ | 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 | ||
- | Contact: [[team/ | + | Contact: [[team: |
- | --></ | + | |
- | < | + | == Integration of novel objects into Digital Twin Knowledge Bases (MA Thesis) == |
- | == Unreal Engine Editor Developer | + | |
- | {{ : | + | |
- | Creating | + | 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 | ||
+ | |||
+ | 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: | Requirements: | ||
- | * Good C++ programming skills | + | * Knowledge about sensor data processing |
- | * Familiar with the [[https:// | + | * Interest in model construction from sensory data |
- | * Familiar | + | * Work with KnowRob knowledge processing framework |
- | * Familiar with version-control systems (git) | + | |
- | * Able to work independently with minimal supervision | + | |
- | Contact: [[team: | ||
+ | Contact: [[team: | ||
+ | == Integration von Nährwertangaben für Rezepte in bestehende Website (BA Thesis) == | ||
- | == OpenEASE rendering in Unreal Engine (BA/MA Thesis, Student Job / HiWi)== | + | In dieser Arbeit soll eine bestehende Website mit Nährwertangaben und Zusatzfunktionalität zu Produkten um eine Nährwertangabe zu Rezepten erweitert werden. Es handelt sich um folgende website: productkg.informatik.uni-bremen.de |
+ | Die Aufgaben dazu sind: | ||
+ | * Vergleich von bestehenden Lösungen. | ||
+ | * Erweiterung einer Ontologie um Nährwertangaben. | ||
+ | * Erweiterung der Website. | ||
- | Implmenting the rendering of the [[https:// | ||
- | Requirements: | + | Contact: [[team:michaela_kümpel|Michaela Kümpel]] |
- | * Good C++ programming skills | + | |
- | * Familiar with Unreal Engine API | + | |
- | * Familiar with HTML5 and JavaScript | + | |
- | * Familiar with the [[https:// | + | |
- | * Familiar with basic ROS communication | + | |
- | * Familiar with version-control systems (git) | + | |
- | * Able to work independently with minimal supervision | + | |
- | Contact: [[team: | ||
< | < | ||
- | == Knowledge-enabled PID Controller | + | == Development of Modules |
- | + | 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 | |
- | 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 | + | In this context, we are currently offering multiple Hiwi positions / student jobs for the following tasks: |
- | of the human user will be mapped to the virtual hands, and controlled via the implemented PID controllers. | + | * Software development |
- | The controller should be able to dynamically tune itself depending on the executed actions | + | * Software development for our Robot Perception framework [[http:// |
Requirements: | Requirements: | ||
- | * Good C++ programming skills | + | * Experience in C++. |
- | * Familiar with PID controllers | + | * Basic understanding of the ROS middleware |
- | * Experience with simulators/ | + | The spoken language in this job is german or english, based on your preference. |
- | * 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:patrick_mania|Patrick Mania]] |
--></ | --></ | ||
- | == Mülltrennungs-App mit Wissensgraph-Anbindung | + | == Game Engine Developer and 3D-Modelling |
+ | A recent development in the field of AI is the usage of photorealistic simulations, | ||
+ | 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. | ||
- | Entwicklung einer Mülltrennungs-App für Smartphones (Android) basierend auf Objekterkennung und Anbindung an Wissensgraphen. | + | Therefore, we are currently offering multiple Hiwi positions / student jobs for the following tasks: |
- | Dabei wird auf bestehende Objekterkennungs-Apps aufgebaut und eine Smartphone App entwickelt, die Objekte erkennt und auf einen Wissensgraphen zugreift, um weitere Informationen zu diesen Produkten zu erhalten. | + | * Modelling of objects for the use in Unreal Engine 4. |
- | Eine Aufgabe der Arbeit ist es, den bestehenden Wissengraphen um Wissen über Produktverpackungen und deren Entsorgungsmöglichkeiten zu erweitern. | + | * Creation of specific simulation aspects in Unreal Engine 4. For example the development of interactable objects. |
- | Aufgaben: | + | Requirements: |
- | * App Entwicklung mit der Unity game engine | + | * Knowledge of 3D-Modelling tools. Blender |
- | * Objekterkennung mittels Vuforia | + | * Experience in Game Engine development. Ideally Unreal Engine 4 and C++. |
- | * Arbeit mit Wissensrepräsentation und Wissensgraphen | + | |
- | * Erweiterung von .owl Dateien im Wissensgraphen | + | |
- | + | ||
- | + | ||
- | Contact: [[team: | + | |
- | + | ||
- | == Situational awareness in kitchen environments (MA Thesis) == | + | |
- | + | ||
- | 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. | + | |
- | + | ||
- | A result | + | |
- | + | ||
- | requirements: | + | |
- | * Work with KnowRob knowledge processing framework | + | |
- | * Work with knowledge graphs | + | |
- | * Implement reasoning about situations (based on perceived environment) and object use | + | |
- | + | ||
- | + | ||
- | Contact: [[team: | + | |
+ | The spoken language in this job is german or english, based on your preference. | ||
+ | Contact: [[team: |
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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