{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,29]],"date-time":"2026-06-29T19:41:49Z","timestamp":1782762109807,"version":"3.54.5"},"reference-count":48,"publisher":"MDPI AG","issue":"24","license":[{"start":{"date-parts":[[2019,12,6]],"date-time":"2019-12-06T00:00:00Z","timestamp":1575590400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100012725","name":"TECNM","doi-asserted-by":"publisher","award":["TIJ-PYR-2019-6321"],"award-info":[{"award-number":["TIJ-PYR-2019-6321"]}],"id":[{"id":"10.13039\/100012725","id-type":"DOI","asserted-by":"publisher"}]},{"name":"UABC","award":["485"],"award-info":[{"award-number":["485"]}]},{"name":"PRODEP","award":["511-6\/2019-7260"],"award-info":[{"award-number":["511-6\/2019-7260"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The design of a remotely operated vehicle (ROV) with a size of 18.41 cm \u00d7 29.50 cm \u00d7 33.50 cm, and a weight of 15.64 kg, is introduced herein. The main goal is to capture underwater video by remote control communication in real time via Ethernet protocol. The ROV moves under the six brushless motors governed through a smart PID controller (Proportional + Integral + Derivative) and by using pulse-wide modulation with short pulses of 1 \u03bcs to improve the stability of the position in relation to the translational, ascent or descent, and rotational movements on three axes to capture images of 800 \u00d7 640 pixels on a video graphic array standard. The motion control, 3D position, temperature sensing, and video capture are performed at the same time, exploiting the four cores of the Raspberry Pi 3, using the threading library for parallel computing. In such a way, experimental results show that the video capture stage can process up to 42 frames per second on a Raspberry Pi 3. The remote control of the ROV is executed under a graphical user interface developed in Python, which is suitable for different operating systems, such as GNU\/Linux, Windows, Android, and OS X. The proposed ROV can reach up to 100 m underwater, thus solving the issue of divers who can only reach 30 m depth. In addition, the proposed ROV can be useful in underwater applications such as surveillance, operations, maintenance, and measurement.<\/jats:p>","DOI":"10.3390\/s19245387","type":"journal-article","created":{"date-parts":[[2019,12,6]],"date-time":"2019-12-06T10:41:44Z","timestamp":1575628904000},"page":"5387","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":84,"title":["Design and Construction of an ROV for Underwater Exploration"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8000-2043","authenticated-orcid":false,"given":"Oscar Adrian","family":"Aguirre-Castro","sequence":"first","affiliation":[{"name":"UABC, Faculty of Engineering, Architecture and Design, Autonomous University of Baja California, Ensenada 22860, Baja California, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7994-9774","authenticated-orcid":false,"given":"Everardo","family":"Inzunza-Gonz\u00e1lez","sequence":"additional","affiliation":[{"name":"UABC, Faculty of Engineering, Architecture and Design, Autonomous University of Baja California, Ensenada 22860, Baja California, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5052-6850","authenticated-orcid":false,"given":"Enrique Efr\u00e9n","family":"Garc\u00eda-Guerrero","sequence":"additional","affiliation":[{"name":"UABC, Faculty of Engineering, Architecture and Design, Autonomous University of Baja California, Ensenada 22860, Baja California, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7187-4686","authenticated-orcid":false,"given":"Esteban","family":"Tlelo-Cuautle","sequence":"additional","affiliation":[{"name":"INAOE, Department of Electronics, Puebla 72840, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4635-2813","authenticated-orcid":false,"given":"Oscar Roberto","family":"L\u00f3pez-Bonilla","sequence":"additional","affiliation":[{"name":"UABC, Faculty of Engineering, Architecture and Design, Autonomous University of Baja California, Ensenada 22860, Baja California, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6205-0973","authenticated-orcid":false,"given":"Jes\u00fas Everardo","family":"Olgu\u00edn-Tiznado","sequence":"additional","affiliation":[{"name":"UABC, Faculty of Engineering, Architecture and Design, Autonomous University of Baja California, Ensenada 22860, Baja California, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5437-8215","authenticated-orcid":false,"given":"Jos\u00e9\u00a0Ricardo","family":"C\u00e1rdenas-Valdez","sequence":"additional","affiliation":[{"name":"ITT, Department of Electrical and Electronic Engineering, Tijuana Institute of Technology, Tijuana 22500, Baja California, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2019,12,6]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Lin, Y.H., Chen, S.Y., and Tsou, C.H. 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