Teleoperated systems are used in multiple fields since they allow the user to remotely work in locations where it would otherwise be infeasible due to cost, safety, or accessibility. However, due to the vast distances involved, teleoperated systems suffer from degraded communication between the operator and end device. This often takes the form of either delay or loss in the control signal. Understanding this degradation is necessary to advance the development of teleoperated systems. The objective of this research is to identify how normal operation of a teleoperated device is altered by delay in the communication signal and how system performance can be improved. A 4-degrees-of-freedom (4-DOF) teleultrasound robot was used to measure the time delay between a command and its response as well as the position error resulting from the time delay. The delay was measured by both a video recording and a network analysis software. The position error was measured by comparing physical coordinates of the actual robot with position of a simulated robot. These tests were then moved from a Wireless Local Area Network (WLAN) to a Virtual Local Area Network (VLAN) to see if there is a noticeable change from the different network topology. This study verified that the communication channel between the operator and robot is a significant source of delay. In the experimental WLAN setup, the system experienced an average of about 300 milliseconds of delay. It was verified that signal degradation affects operation of the system. The error in displacement was found to have a quadratic relation with signal delay. It was found that a VLAN network performed better than a WLAN network, with about 40% reduction in average delay time and 70% reduction in maximum displacement error. Contribution of this work was on quantifying effects of delay in position of a 4-DOF end-effector in a teleultrasound robot.

Introducción: Se diseñó y fabricó una máquina prototipo de lanzamiento de pelotas de tenis de campo mediante el uso de ruedas giratorias y movimiento vertical controlado para un sistema de entrenamiento programado. Objetivos: Fabricar una máquina lanzadora de pelotas de tenis de campo, realizando pruebas de funcionalidad, verificando tipos de lanzamiento y velocidad de la pelota para asegurar su correcto funcionamiento. Metodología: El cumplimiento de los objetivos se sustentó en: método de revisión bibliográfica; método dialéctico, para tener un manejo de la información y método histórico, debido a que se utilizó fuentes anteriores que ayudaron a encontrar las principales características de este tipo de máquinas existentes en el mercado internacional. Resultados: Se obtuvo una máquina provista de ruedas que, al girar con una velocidad de 2750 rpm, consiguen transmitirle suficiente energía cinética a la pelota de tenis logrando el disparo con tres efectos de lanzamiento: Slice, Top Spin y Flat Spin, similar a un jugador promedio. Se alcanzó una velocidad lineal promedio de expulsión de la pelota de 59,38 km/h. Conclusiones: En las pruebas de funcionalidad mostraron una precisión de la máquina lanzadora de pelotas de tenis de un 93% con respecto al posicionamiento, además las pelotas cayeron en un diámetro máximo de 20 cm con relación a la posición final deseada.