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jobs [2021/03/05 08:16] – [Theses and Student Jobs] haidujobs [2023/09/14 10:28] – [Theses and Student Jobs] cstoess
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 =====Open researcher positions===== =====Open researcher positions=====
  
-====Digital Twin Knowledge Base for submarine robot inspection/manipulation==== +{{blog>:jobs?3&date&footer&firstseconly&readmore}}
-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: +<html> 
-  * Digital Twins  +<div style="width:100%;border-bottom:10px solid #DCDFE3;margin-bottom:80px;"></div> 
-  * Knowledge Representation +</html>
-  * 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===== =====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's/master's thesis or a job as a student research assistant, you may find some interesting opportunities on this page.
- +
- +
- +
- +
-<html><!-- +
-== 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: +
-  * Good C++ programming skills +
-  * Familiar with PID controllers and control theory +
-  * 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><!--
-== Natural Physics-based Grasping in Virtual Environments (BA/MA Thesis) ==+== Physics-based grasping in VR with finger tracking(Student Job / HiWi) ==
  
-Implementing physics-based grasping models in virtual environments, taking input +Implementing physics-based grasping models in virtual environments, 
-from various devices such as Manus VR or Valve Index.+using Manus VR.
  
 Requirements: Requirements:
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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 animation and model developer (Student Job / HiWi)==+== 3D Animation and Modeling (Student Job / HiWi)==
  {{ :research:kitchen_unreal.jpg?200|}}   {{ :research:kitchen_unreal.jpg?200|}} 
  
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 --></html> --></html>
  
 +== Scene Format Conversion Tool for Robotics Simulation (MA Thesis) ==
  
-<html><!-- +**Motivation:**
-== 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.+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?400|}}
-  * Good programming skills in C/C++ +
-  * Basic physics/rendering engine knowledge +
-  * Basic ROS knowledge +
-  * UE4 basic tutorials+
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+**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/MA/HiWi) ==+  - 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.
  
-{{  :teaching:gsoc:topic2_unreal.png?nolink&150|}}+**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://www.unrealengine.com/|Unreal Engine]]. +  * 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:hoang_giang_nguyen|Giang Nguyen]]
  
-In order to improve the ease of manipulating objects the user should +== Generating Comics about Everyday Experiences of a Robot (BA 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+
  
 +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/andrei_haidu|Andrei Haidu]] +Contact: [[team:daniel_bessler|Daniel Beßler]]
---></html>+
  
-<html><!-- +== Integration of novel objects into Digital Twin Knowledge Bases (MA Thesis) ==
-== 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]].+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. 
 + 
 +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.
  
  
 Requirements: Requirements:
-  * Good C++ programming skills +  * Knowledge about sensor data processing 
-  * Familiar with the [[https://docs.unrealengine.com/latest/INT/Programming/Slate/|SLATE]] framework +  * Interest in model construction from sensory data 
-  * Familiar with Unreal Engine API +  * Work with KnowRob knowledge processing framework
-  * 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]]
  
 +== Übersetzung einer globalen Produktklassifikation in eine bestehende Ontologie (BA Thesis) ==
  
-== OpenEASE rendering in Unreal Engine (BA/MA Thesis, Student Job / HiWi)==+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.
  
 +Die Aufgaben dazu sind:
 +  * Einarbeitung in Web Scraping und Abfrage der Daten von GS1
 +  * Einarbeitung in Owlready und Erstellen der Taxonomie
 +  * Erstellung des Jupyter Notebooks mit einem Beispiel, wie andere Ontologien verbunden werden können (die Beispielontologie wird gestellt)
  
-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. 
  
-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://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]] 
  
 <html><!-- <html><!--
-== Knowledge-enabled PID Controller for 3D Hand Movements in Virtual Environments (BA/MA Thesis) == +== 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. 
-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 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 to create Interfaces between ROS and Unreal Engine 4 (mainly C++) 
-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).+  * Software development for our Robot Perception framework [[http://robosherlock.org/|RoboSherlock]] which contains many algorithms for computer vision problems (mainly C++)
  
 Requirements: Requirements:
-  * Good C++ programming skills +  * Experience in C++. 
-  * Familiar with PID controllers and control theory +  * Basic understanding of the ROS middleware and Linux. 
-  * Experience with simulators/physics-/game- engines +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]]
 --></html> --></html>
  
-== Mülltrennungs-App mit Wissensgraph-Anbindung (BA Thesis) ==+== 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).
  
-Entwicklung einer Mülltrennungs-App für Smartphones (Android) basierend auf Objekterkennung und Anbindung an Wissensgraphen. +Requirements: 
-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. +  * Solid experience in python and object-oriented programming 
-Eine Aufgabe der Arbeit ist es, den bestehenden Wissengraphen um Wissen über Produktverpackungen und deren Entsorgungsmöglichkeiten zu erweitern.+  * Basic understanding of the ROS middleware and Linux 
 +  * Basic understanding of computer vision methods
  
-Aufgaben: +The spoken language in this job is german or english, based on your preference. Work can be done fully remote.
-  * App Entwicklung mit der Unity game engine +
-  * Objekterkennung mittels Vuforia +
-  * Arbeit mit Wissensrepräsentation und Wissensgraphen +
-  * Erweiterung von .owl Dateien im Wissensgraphen+
  
 +Contact: [[team:patrick_mania|Patrick Mania]]
 +--
  
-Contact: [[team:michaela_kümpel|Michaela Kümpel]]+== 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.
  
-== Situational awareness in kitchen environments (MA Thesis) ==+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.
  
-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: 
- +  * Knowledge of 3D-Modelling tools. Blender would be highly preferred. 
-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. +  * Experience in Game Engine development. Ideally Unreal Engine 4 and C++.
- +
-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 +
- +
- +
-Contact: [[team:michaela_kümpel|Michaela Kümpel]]+
  
 +The spoken language in this job is german or english, based on your preference.
  
 +Contact: [[team:patrick_mania|Patrick Mania]]
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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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