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Los robots submarinos han revolucionado la exploración del fondo marino. Por otro lado, estos robots han permitido realizar operaciones en aguas profundas sin la necesidad de enviar un vehículo tripulado por humanos. El futuro de esta tecnología es prometedor. El propósito de este documento es servir de primer contacto con este tema y va dirigido a estudiantes de postgrado, ingenieros e investigadores con interés en la robótica submarina. Además, se reporta el estado actual de los diferentes aspectos que giran alrededor de estaárea de la robótica.

In this research, vaporÀliquid equilibrium (VLE) data were determined at 318.15 K for the mixtures propan-1-ol + 2,2,4-trimethylpentane and butan-1-ol + 2,2,4-trimethylpentane in an isothermic Othmer still with recirculation, where the temperature was kept constant by means of a proportional-integral (PI) cascade control for the vapor phase. The equilibrium concentration for each phase was determined by gas chromatography, and the vapor phase was considered as nonideal. The consistency of the data was verified by means of the Van Ness direct test of thermodynamic consistency, supported by several thermodynamic methods based on the GibbsÀDuhem equation. The correlation of the VLE data was carried out using the Wilson local composition model. The alkanol + 2,2,4-trimethylpentane mixtures studied exhibit positive contributions from ideality and azeotropic behavior.

The REMO I is a remotely teleoperated underwater vehicle developed for measuring and observing maritime environments as its mandatory task. This robot has been built based on a parallel structure (Stewart-Gough platform), with the capability of changing its geometry in order to facilitate the navigation within complex maneuvers. In addition, both orientation and propulsion systems can change in order to provide even more underwater dexterity. A thruster located in the back of its structure, which drives the vehicle forward, composes the main propulsion system of the robot. This extended abstract briefly introduces some fundamental issues related to the mechanical design, instrumentation and the control capabilities of this system.