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teaching:gsoc2014 [2014/02/25 13:32] – [Topic 2: CRAM -- Symbolic Reasoning Tools with Bullet] tenorthteaching:gsoc2014 [2014/02/25 14:10] – [CRAM -- Virtual Robot Scenarios in Gazebo] tenorth
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 ====== Google Summer of Code 2014 ====== ====== Google Summer of Code 2014 ======
 ~~NOTOC~~ ~~NOTOC~~
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 robot's control program.} robot's control program.}
  
-==== Topic 2: CRAM -- Symbolic Reasoning Tools with Bullet ====+  
  
 +==== Topic 2: CRAM -- Symbolic Reasoning Tools with Bullet ====
 +{{  :teaching:gsoc:handle_detection_2.png?nolink&200|}}
 **Main Objective:**Mapping the environment to the internal belief state representation and keeping track of changes in the environment to keep the belief state up to date based on manipulation and interaction tasks performed by the robot.\\   **Main Objective:**Mapping the environment to the internal belief state representation and keeping track of changes in the environment to keep the belief state up to date based on manipulation and interaction tasks performed by the robot.\\  
 **Task Difficulty:** Relatively simple, when making the existing track changes more robust, and more challenging when introducing new change tracking (like noting the angle of open doors after opening them and storing it in the belief state).\\   **Task Difficulty:** Relatively simple, when making the existing track changes more robust, and more challenging when introducing new change tracking (like noting the angle of open doors after opening them and storing it in the belief state).\\  
 +{{  :teaching:gsoc:pr2_dishwasher.jpg?nolink&200|}}
 **Requirements:** At least basic understanding in functional programming is advisable (ideally Lisp), basic knowledge in ROS helps. Also a good understanding of geometric shapes and coordinate transformations helps.\\ **Requirements:** At least basic understanding in functional programming is advisable (ideally Lisp), basic knowledge in ROS helps. Also a good understanding of geometric shapes and coordinate transformations helps.\\
 **Expected Results:** We expect operational and robust contributions to the software library that can be used as part of a robot's control **Expected Results:** We expect operational and robust contributions to the software library that can be used as part of a robot's control
  
 ==== Topic 3: KnowRob -- Reasoning about 3D CAD models of objects ==== ==== Topic 3: KnowRob -- Reasoning about 3D CAD models of objects ====
 +<html><div style="float:right; margin-left:10px;"><iframe src="//player.vimeo.com/video/83977706" width="300" height="200" frameborder="0" webkitallowfullscreen mozallowfullscreen allowfullscreen></iframe></div></html>
 **Main Objective:** Whenever robots interact with objects, they **Main Objective:** Whenever robots interact with objects, they
 need information about their geometry. While the overall shape is  need information about their geometry. While the overall shape is 
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 and to improve the segmentation and make it more robust. Alternatively, and to improve the segmentation and make it more robust. Alternatively,
 the focus could be more on improving the analysis infrastructure and the focus could be more on improving the analysis infrastructure and
-integrating it more closely with the robot's control program.+integrating it more closely with the robot's control program.\\
 **Task Difficulty:** The difficulty depends on the exact topic and **Task Difficulty:** The difficulty depends on the exact topic and
 ranges from rather simple tasks at the infrastructure level to  ranges from rather simple tasks at the infrastructure level to 
-interesting research problems for the geometric analysis.+interesting research problems for the geometric analysis.\\
 **Requirements:** The algorithms for segmenting 3D meshes require  **Requirements:** The algorithms for segmenting 3D meshes require 
 solid understanding of 3D geometry. Good programming skills in Java solid understanding of 3D geometry. Good programming skills in Java
 are needed for implementing the algorithms and for evaluating their are needed for implementing the algorithms and for evaluating their
 results. Depending on the exact topic, knowledge of machine learning results. Depending on the exact topic, knowledge of machine learning
-methods or the ability to learn about them could be helpful.+methods or the ability to learn about them could be helpful.\\
 **Expected Results:** We expect operational and robust contributions **Expected Results:** We expect operational and robust contributions
 to the software library that can be used as part of a robot's control to the software library that can be used as part of a robot's control
 program. program.
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