<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>1815-5928</journal-id>
<journal-title><![CDATA[Ingeniería Electrónica, Automática y Comunicaciones]]></journal-title>
<abbrev-journal-title><![CDATA[EAC]]></abbrev-journal-title>
<issn>1815-5928</issn>
<publisher>
<publisher-name><![CDATA[Universidad Tecnológica de La Habana José Antonio Echeverría, Cujae]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1815-59282020000300079</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Implementación de sistema operativo robótico en una plataforma de robot móvil]]></article-title>
<article-title xml:lang="en"><![CDATA[Robotic Operating System Implementation on a Mobile Robot Platform]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Miguélez Machado]]></surname>
<given-names><![CDATA[Carlos Guillermo]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Benítez González]]></surname>
<given-names><![CDATA[Ivón Oristela]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Rivera Rivera]]></surname>
<given-names><![CDATA[Alex Manuel]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Moreno Vega]]></surname>
<given-names><![CDATA[Valery]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad Tecnológica de La Habana José Antonio Echeverría  ]]></institution>
<addr-line><![CDATA[Cujae La Habana]]></addr-line>
<country>Cuba</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Instituto Tecnológico y de Estudios Superiores de Monterrey (ITESM)  ]]></institution>
<addr-line><![CDATA[ Monterrey]]></addr-line>
<country>Mexico</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>12</month>
<year>2020</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>12</month>
<year>2020</year>
</pub-date>
<volume>41</volume>
<numero>3</numero>
<fpage>79</fpage>
<lpage>92</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_arttext&amp;pid=S1815-59282020000300079&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_abstract&amp;pid=S1815-59282020000300079&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_pdf&amp;pid=S1815-59282020000300079&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[RESUMEN En el presente trabajo se realiza una implementación del Sistema Operativo Robótico (ROS) en un robot móvil diseñado para la interacción y el servicio humano. La plataforma utiliza un sistema digital basado en una placa Arduino Mega y una computadora de placa única (SBC) Raspberry Pi en comunicación con una computadora remota. La placa del microcontrolador realiza todas las operaciones de bajo nivel sobre el hardware. Se estableció una comunicación en serie entre el microcontrolador y la Raspberry Pi que ejecuta varios paquetes ROS para manipular la información. Una cámara Raspberry Pi está conectada al SBC y las imágenes capturadas se envían a la computadora remota para el procesamiento de las mismas utilizando ROS y OpenCv; la respuesta se genera dependiendo de la imagen tomada. El trabajo aporta la descripción de la implementación modular distribuida en capas de ROS en una plataforma móvil desarrollada en Cuba a un costo más bajo que muchas de las existentes en el mercado internacional.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[ABSTRACT In this paper an implementation of Robotic Operating System (ROS) on a mobile robot designed for human interaction and service is presented. The platform is designed using a digital system based on an Arduino Mega board and a Single Board Computer (SBC) Raspberry Pi in communication with a remote computer. The microcontroller board is used to perform all low-level operations over the hardware. It&#8217;s established a serial communication between microcontroller and Raspberry Pi which is running various ROS packages to manipulate information. A Raspberry Pi camera it&#8217;s connected to the SBC and the frames captured by the camera are sent to the remote computer for image processing using ROS and OpenCv; the response is generated on the remote computer in dependence of the image taken. The project gives the description of a layered distributed implementation of ROS in a mobile platform developed in Cuba in lower cost that many present on the market.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[Sistema operativo robótico (ROS)]]></kwd>
<kwd lng="es"><![CDATA[robot móvil]]></kwd>
<kwd lng="es"><![CDATA[Raspberry Pi]]></kwd>
<kwd lng="es"><![CDATA[Arduino]]></kwd>
<kwd lng="en"><![CDATA[Robotic Operating System (ROS)]]></kwd>
<kwd lng="en"><![CDATA[mobile robot]]></kwd>
<kwd lng="en"><![CDATA[Raspberry Pi]]></kwd>
<kwd lng="en"><![CDATA[Arduino board]]></kwd>
</kwd-group>
</article-meta>
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