Synchronization to wirelessly teleoperate a hydraulic skid steered mobile machine from control station

In this paper I aim to explain how important is to reach an optimal synchronization between Control Station (CS) and Mobile Machine (MM). In this research synchronize means to give a correct order to all the elements involved during data acquisition and transference in the teleoperation process. Also the synchronization process includes the policy to follow in case of transmissions error during the teleoperation. It is important to know how the system can recover from errors, and to make the policy flexible depending on the environment in order to achieve a safe and reliable teleoperation. Synchronization depends on control acquisition times, radio modems (RM) delays and data volume transferred between CS and MM and vice versa.