Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
Next revisionBoth sides next revision
teaching:gsoc2014 [2014/02/25 14:04] – [Topic 2: CRAM -- Symbolic Reasoning Tools with Bullet] tenorthteaching:gsoc2014 [2014/03/06 11:42] – [Google Summer of Code 2014] tenorth
Line 1: Line 1:
 {{ :teaching:gsoc:gsoc-logo.png?nolink&200| }} {{ :teaching:gsoc:gsoc-logo.png?nolink&200| }}
 ====== Google Summer of Code 2014 ====== ====== Google Summer of Code 2014 ======
-~~NOTOC~~+
 Two software libraries that origin from our laboratory and that are now used Two software libraries that origin from our laboratory and that are now used
 and supported by a larger user community are the KnowRob system for robot  and supported by a larger user community are the KnowRob system for robot 
Line 9: Line 9:
 are available under BSD license, and partly (L)GPL. are available under BSD license, and partly (L)GPL.
  
 +If you are interested in working on a topic and meet its general criteria, you should have a look at the [[teaching:gsoc2014:application-template|Application Template Site]].
 ===== KnowRob -- Robot Knowledge Processing ===== ===== KnowRob -- Robot Knowledge Processing =====
  
Line 51: Line 52:
 human robot interaction (SAPHARI). human robot interaction (SAPHARI).
 Further information, as well as documentation and application Further information, as well as documentation and application
-use-cases can be found at the [[http://www.cram-code.org/|CRAM+use-cases can be found at the [[http://www.cram-system.org/|CRAM
 website]]. website]].
  
Line 58: Line 59:
  
 ==== CRAM -- Virtual Robot Scenarios in Gazebo ==== ==== CRAM -- Virtual Robot Scenarios in Gazebo ====
 +{{  :teaching:gsoc:open_drawer.png?nolink&150|}}
 **Main Objective:** The development of scenarios and tasks **Main Objective:** The development of scenarios and tasks
 for human-sized robots. This is done using ROS, the Gazebo robot for human-sized robots. This is done using ROS, the Gazebo robot
Line 65: Line 67:
 and closing drawers and doors. and closing drawers and doors.
 This involves designing virtual environments for Gazebo and/or writing robot plans in Lisp using the CRAM high-level language, sending commands to virtual PR2 or REEM(-C) robots in Gazebo, and manipulating the artificial environment in there. The connection to an elaborate high-level system holds a lot of interesting opportunities. This involves designing virtual environments for Gazebo and/or writing robot plans in Lisp using the CRAM high-level language, sending commands to virtual PR2 or REEM(-C) robots in Gazebo, and manipulating the artificial environment in there. The connection to an elaborate high-level system holds a lot of interesting opportunities.
 +{{  :teaching:gsoc:reem_standing.png?nolink&150|}}
 The produced code will, when working in a simulated environment, be run on the real robot in our laboratory and become part of the high-level behaviour library for the connected robots. The produced code will, when working in a simulated environment, be run on the real robot in our laboratory and become part of the high-level behaviour library for the connected robots.
  
Line 72: Line 75:
 contributions to the software library that can be used as part of a contributions to the software library that can be used as part of a
 robot's control program.} robot's control program.}
 +
 +Contact: [[team/jan_winkler|Jan Winkler]]
  
 ==== Topic 2: CRAM -- Symbolic Reasoning Tools with Bullet ==== ==== Topic 2: CRAM -- Symbolic Reasoning Tools with Bullet ====
 {{  :teaching:gsoc:handle_detection_2.png?nolink&200|}} {{  :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 a part of robot's control program.
  
 +Contact: [[team/gayane_kazhoyan|Gayane Kazhoyan]]
 ==== 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> <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>
Line 106: Line 113:
 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.
 +
 +Contact: [[team/moritz_tenorth|Moritz Tenorth]]
- Impressum - Datenschutz



Prof. Dr. hc. Michael Beetz PhD
Head of Institute

Contact via
Andrea Cowley
assistant to Prof. Beetz
ai-office@cs.uni-bremen.de

Discover our VRB for innovative and interactive research


Memberships and associations:


Social Media: