# Immersive Digital Twin under ISO 23247 Applied to Flexible Manufacturing Processes
## 4 Implementation  
The architecture used for the design and implementation of the DT includes (1) a physical model: a MPS-500 classification station; (2) a digital model supported by AR; (3) an immersive environment with Senso Glove; and (4) IoT. The proposed methodology is for a DT for monitoring and controlling an industrial process, where the use of AR is proposed to establish an environment that allows for adding additional information to the physical environment, thus improving human-machine interaction and allowing for simulations of the process in real time based on the data obtained. The Meta 2 glasses are used due to the advantages they have, and the sensors are attached to this device for interaction. In addition, control using gestures is proposed to increase the interaction of the physical and virtual environment where Senso Gloves are used due to the versatility and number of movements that can be had for better interaction with the processes. Finally, an embedded system is used to send the process data to the cloud and subsequently to each of the devices. In addition, the MQTT communication protocol is used, which allows for bidirectional communication. The integration of these technologies aims to enhance an operator's monitoring and control capabilities by using 3D resources in a graphical interface and to increase interactivity through a controller that detects the movements of the user's hand and fingers.  
The MPS-500 classification station from the production plant was used as the physical entity to implement the DT supported by AR and immersive environments. This station was selected because it has industrial sensors and actuators, and it also allows various types of processes to be carried out with different conditions, which helps to verify the operation of the proposed DT. For the research, control (AR glasses and gloves) and monitoring (AR glasses 3D environment) will be carried out, and the parameters that can be configured are a start, a Cartesian arm movement, a conveyor belt, etc. The 3D digital design was developed using Blender software, and the process data were sent to the cloud via the Photon card using the MQTT protocol. These data were stored and processed to later interact with Meta glasses and the Senso Glove.  
The Festo MPS-500 plant sorting station consists of the three stages described below.  
Stage 1--Main conveyor belt where the final products arrive to be classified.  
Stage 2--The manipulation station is equipped with a flexible two-axis manipulator (\"x\", \"y\"), which has sensors (optical, magnetic proximity, reflective) and actuators (parallel grippers, flat cylinder, linear actuator horizontal) that are used for intermediate transportation from Stage 1 to the classification stage.  
Stage 3--Final classification, which consists of three ramps to classify the pieces by color or material and a ramp to discard. In addition, it has sensors (retroreflection, direct reflection, inductive, and presence) and actuators (short stroke cylinder, compact cylinder, DC motor, and diverters).  
For implementation, the main steps for the design and communication of physical and digital entities in conjunction with immersive environments are detailed below.