<?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>S1815-59282021000100089</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Desarrollo de plataforma autopiloto para robot subacuático]]></article-title>
<article-title xml:lang="en"><![CDATA[Development of autopilot platform for underwater robot]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Sánchez Moya]]></surname>
<given-names><![CDATA[Anabel]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Rodríguez Rueda]]></surname>
<given-names><![CDATA[Brayan]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Centro de Investigación Naval  ]]></institution>
<addr-line><![CDATA[La Habana ]]></addr-line>
<country>Cuba</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>04</month>
<year>2021</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>04</month>
<year>2021</year>
</pub-date>
<volume>42</volume>
<numero>1</numero>
<fpage>89</fpage>
<lpage>104</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_arttext&amp;pid=S1815-59282021000100089&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_abstract&amp;pid=S1815-59282021000100089&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_pdf&amp;pid=S1815-59282021000100089&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[RESUMEN El desarrollo de sistemas de control para robótica subacuática es un tema de gran interés para la comunidad científica internacional. La velocidad de avance de los dispositivos electrónicos de alta escala de integración, conjuntamente con el desarrollo tecnológico de nuestro país, hace novedosa la búsqueda de arquitecturas hardware-software para la implementación de soluciones dedicadas al gobierno de vehículos subacuáticos. El presente documento detalla un sistema embebido de desarrollo propio, tecnológicamente realizable, eficiente y de bajo costo, capaz de garantizar el control y gestión de un medio autónomo naval de fabricación nacional. En el contenido se exponen los requerimientos para el diseño de un sistema de control para vehículo subacuático, se describe la estructura de la plataforma diseñada en sus componentes hardware y software, y se presentan los resultados obtenidos en pruebas de campo que permiten validar su funcionamiento.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[ABSTRACT The development of control systems for underwater robotic is a topic of great interest to the international scientific community. The advance speed of high-scale integration electronic devices, together with the technological development of our country, makes novel the search of hardware-software architectures for implementation of solutions dedicated to the handling of underwater vehicles. This document details a self-developed, technologically feasible, efficient and low-cost embedded system capable of guaranteeing the control and management of an autonomous naval vehicle of national manufacture. During the content are presented the requirements for the design of a control system for an underwater vehicle, the designed platform structure is described in its hardware and software components, and the obtained results in field tests that allow to validate its operation.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[robot subacuático autónomo]]></kwd>
<kwd lng="es"><![CDATA[sistemas de control]]></kwd>
<kwd lng="es"><![CDATA[arquitectura de hardware]]></kwd>
<kwd lng="es"><![CDATA[arquitectura de software]]></kwd>
<kwd lng="en"><![CDATA[autonomous underwater robot]]></kwd>
<kwd lng="en"><![CDATA[control systems]]></kwd>
<kwd lng="en"><![CDATA[hardware architecture]]></kwd>
<kwd lng="en"><![CDATA[software architecture]]></kwd>
</kwd-group>
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