Field and service applications - Exploring deep sea by teleoperated robot - An Underwater Parallel Robot with High Navigation Capabilities. - Roque J. Saltarén; Rafael Aracil; Cesar Alvarez Arocha; Eugenio Yime; José María Sabater (IEEE Robotics Autom. Mag., 2007)

Experiences and results from designing and developing a 6 DoF underwater parallel robot. - Roque Saltarén Pazmiño; Cecilia E. García Cena; Cesar Alvarez Arocha; Rafael Aracil Santonja (Robotics Auton. Syst., 2011)