Browsing by Author "Pereira, Nuno"
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- Controlling Robots using Artificial Intelligence and a Consortium BlockchainPublication . Lopes, Vasco; Alexandre, Luís; Pereira, NunoBlockchain is a disruptive technology that is normally used within financial applications, however it can be very beneficial also in certain robotic contexts, such as when an immutable register of events is required. Among the several properties of Blockchain that can be useful within robotic environments, we find not just immutability but also decentralization of the data, irreversibility, accessibility and non-repudiation. In this paper, we propose an architecture that uses blockchain as a ledger and smart-contract technology for robotic control by using external parties, Oracles, to process data. We show how to register events in a secure way, how it is possible to use smart-contracts to control robots and how to interface with external Artificial Intelligence algorithms for image analysis. The proposed architecture is modular and can be used in multiple contexts such as in manufacturing, network control, robot control, and others, since it is easy to integrate, adapt, maintain and extend to new domains.
- Robot Workspace Monitoring using a Blockchain-based 3D Vision ApproachPublication . Lopes, Vasco; Pereira, Nuno; Alexandre, LuísBlockchain has been used extensively for financial purposes, but this technology can also be beneficial in other contexts where multi-party cooperation, security and decentralization of the data is essential. Properties such as immutability, accessibility and non-repudiation and the existence of smart-contracts make blockchain technology very interesting in robotic contexts that require event registration or integration with Artificial Intelligence. In this paper, we propose a system that leverages blockchain as a ledger to register events and information to be processed by Oracles and uses smart-contracts to control robots by adjusting their velocity, or stopping them, if a person enters the robot working space without permission. We show how blockchain can be used in computer vision problems by interacting with multiple external parties, Oracles, that perform image analysis and how it is possible to use multiple smart-contracts for different tasks. The method proposed is shown in a scenario representing a factory environment, but since it is modular, it can be easily adapted and extended for other contexts, allowing for simple integration and maintenance.
- Using PCL Gobal Descriptors in a DenseFusion ArchitecturePublication . Pereira, Nuno; Alexandre, LuísIn this paper, we present an alternative architecture to the state-of-the-art in 6D pose - DenseFusion. We changed the architecture of the method in the depth feature extraction phase. Instead of using the PointNet, as used in the original DenseFusion, we used global descriptors from the Point Cloud Library (PCL) to extract features. We made a comparison in terms of average accuracy between the Ensemble of Shape Functions (ESF), Viewpoint Feature Histogram (VHF) and the original PointNet.