## 3 Results  
### Results of Digital Twin Model Construction  
#### 3.1.1 Construction Results of the Virtual and Transmission Layers  
During the creation of the digital twin system, Unity3D was used to adjust the colors of the virtual layer geometric model, aligning it with the physical layer. A comprehensive color optimization process was also applied to the entire model to enhance the visual clarity of the virtual layer. Figure 14 shows a comparison of color changes before and after this optimization.  
Figure 15 presents the results obtained by the UWB positioning and ranging sensor. Similarly, in acquiring the industrial robot's posture, the WT901C-485 transmits real-time data through its built-in communication module, facilitating immediate updates and feedback. A supervisory computer controls the overall system and serves as the monitoring center, receiving information from the sensors to acquire real-time posture data. Figure 16 displays a selection of data samples for acceleration, angular velocity, and angle as recorded by the supervisory computer of the WT901C-485.  
Figure 16 showcases the collection of acceleration, angular velocity, and angle measurements from WT901C-485 nine-axis sensors during solid-wood-panel processing activities. For acceleration, depicted in separate curves, the yellow line represents acceleration along the X-axis (lateral movements), the green line for acceleration along the Y-axis (forward/backward movements), and the red line for acceleration along the Z-axis (upward/downward movements). Similarly, the angular velocity graph uses yellow, green, and red curves to illustrate rotation rates around the X-axis (roll motion), Y-axis (pitch motion), and Z-axis (yaw motion), respectively. The angle graph further breaks down the orientation data into roll angle X (RollH, RollL) with a yellow curve, pitch angle Y (PitchH, PitchL) in green, and heading angle Z (YawH, YawL) in red, providing a comprehensive view of the robotic arm's orientation in three-dimensional space. The consistent  
Figure 14: (**a**) Initial model. (**b**) Model after coloring.  
Figure 15: Motion trajectory diagram.  
data collection frequency of 5 hertz for acceleration, angular velocity, and angle, totaling, 23,912 samples each, ensures a detailed and accurate representation of the robotic arm's operational dynamics.  
The solid-wood-panel processing production status monitoring data sensing system achieves the collection and transmission of various sensor data, allowing for real-time monitoring. This study conducted preliminary tests on a small mechanical arm model to ensure the smooth operation of the attitude acquisition scheme. Initially, three attitude sensors were placed on the small mechanical arm model's forearm, middle arm, and upper arm. Each sensor had six variables: Roll angle X (RollH RollL), Pitch angle Y (PitchH, PitchL), and Heading angle Z (YawH YawL), capturing the desired rotation posture of the industrial robot. During the data collection, the final data obtained were stored in the microcontroller's buffer for easy access by the supervisory computer. After computation, the collected data were converted into angular data, resulting in the actual angle data of the industrial robot displayed on the gateway's virtual page, as shown in Figure 17.  
Figure 16: Acceleration, angular velocity, and angle curve.