Iglesias, P., Izquierdo, P., Yañez, P., Vilán, J.A., Arias, A., Segade, A., and Casarejos, E.
Instrumentation viewpoint; 2018: Núm.: 20
It is at least two decades since the conventional robotic manipulators have become a common manufacturing tool for different industries, from automotive to pharmaceutical. The advances in manipulators and sensors have given robots the opportunity to become useful for more and more applications. Engineers have taken advantage of the extra mobility of the advanced robots to make them work in constrained environments, ranging from limited joint motions for redundant manipulators to obstacles in the way of mobile (ground, marine, and aerial) robots . However, the incorporation some of these abilities and capacities that are already being used in land, have not made their way to the sea domain. This Abstract describes the project consisting in the design, development and manufacture of a prototype manipulator arm for ROVs introducing innovative fabrication technologies. The work has been done collaboratively among ACSM Maritime Agency SL, CIMA Group and the University of Vigo.
In this paper we propose to explore different dedicated hardware solutions in terms of area-speed trade-offs for computing-oriented fuzzy logic systems in the algorithmic abstraction level that fulfil the application requirements applying high level synthesis techniques. The main benefits of this proposal are the capability of selecting the best implementation for any application not being tied down to a predefined architecture, the use of the required number of hardware units and the reduction of the design cycle time. The results obtained in the control of a maximum power point of a photovoltaic plant are presented as an example.