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Nowadays, the concept of Industry 4.0 aims to improve factories' competitiveness. Usually, manufacturing production is guided by standards to segment and distribute its processes and implementations. However, industry 4.0 requires innovative proposals for disruptive technologies that engage the entire production process in factories, not just a partial improvement. One of these disruptive technologies is the Digital Twin (DT). This advanced virtual model runs in real-time and can predict, detect, and classify normal and abnormal operating conditions in factory processes. The Automation Pyramid (AP) is a conceptual element that enables the efficient distribution and connection of different actuators in enterprises, from the shop floor to the decision-making levels. When a DT is deployed into a manufacturing system, generally, the DT focuses on the low-level that is named field level, which includes the physical devices such as controllers, sensors, and so on. Thus, the partial automation based on the DT is accem.In this article, the authors propose two models for BLDC motor winding temperature estimation using machine learning methods. For the purposes of the research, measurements were made for over 160 h of motor operation, and then, they were preprocessed. The algorithms of linear regression, ElasticNet, stochastic gradient descent regressor, support vector machines, decision trees, and AdaBoost were used for predictive modeling. The ability of the models to generalize was achieved by hyperparameter tuning with the use of cross-validation. The conducted research led to promising results of the winding temperature estimation accuracy. In the case of sensorless temperature prediction (model 1), the mean absolute percentage error MAPE was below 4.5% and the coefficient of determination R2 was above 0.909. In addition, the extension of the model with the temperature measurement on the casing (model 2) allowed reducing the error value to about 1% and increasing R2 to 0.990. The results obtained for the first proposed model show that the overheating protection of the motor can be ensured without direct temperature measurement. In addition, the introduction of a simple casing temperature measurement system allows for an estimation with accuracy suitable for compensating the motor output torque changes related to temperature.The aim of the present study was to evaluate the relative attenuation of VIS, UV and NIR solar radiation through a large pond skylight into the interior of the l'Almoina Archaeological Museum (Valencia, Spain), and to determine how relative attenuation varied throughout the year and time of day. Measurements were taken at 900 a.m., 1200 p.m. and 300 p.m. during July 2019 and January 2020. Relative attenuation values were obtained from the measurement of spectral irradiance in the exterior and at different points in the interior by means of two Ocean Optics spectrometers HR4000CG-UV-NIR for VIS (400-700 nm) and NIR (700-1000 nm) bands, and FLAME-S-UV-VIS for UV-A (280-315 nm) and UV-A (315-400 nm) bands. The central points of the skylight had relative attenuation at 520 nm, reaching a value of 50% in summer at noon and 38% in the afternoon. At noon in winter, there were two relative attenuation peaks above 33% at 520 nm and at 900 nm. For mean relative attenuation, in the UVB range, the highest relative attenuation (20%) was inside the ruins in the morning in both summer and winter, and the UVA band relative attenuation was quite constant throughout the museum, but lower than that of the UVB band, in the range 0-3%.The accuracy of photogrammetric reconstruction depends largely on the acquisition conditions and on the quality of input photographs. This paper proposes methods of improving raster images that increase photogrammetric reconstruction accuracy. These methods are based on modifying color image histograms. Special emphasis was placed on the selection of channels of the RGB and CIE L*a*b* color models for further improvement of the reconstruction process. A methodology was proposed for assessing the quality of reconstruction based on premade reference models using positional statistics. The analysis of the influence of image enhancement on reconstruction was carried out for various types of objects. The proposed methods can significantly improve the quality of reconstruction. The superiority of methods based on the luminance channel of the L*a*b* model was demonstrated. Our studies indicated high efficiency of the histogram equalization method (HE), although these results were not highly distinctive for all performed tests.It is estimated that we spend one-third of our lives at work. It is therefore vital to adapt traditional equipment and systems used in the working environment to the new technological paradigm so that the industry is connected and, at the same time, workers are as safe and protected as possible. Y-27632 mw Thanks to Smart Personal Protective Equipment (PPE) and wearable technologies, information about the workers and their environment can be extracted to reduce the rate of accidents and occupational illness, leading to a significant improvement. This article proposes an architecture that employs three pieces of PPE a helmet, a bracelet and a belt, which process the collected information using artificial intelligence (AI) techniques through edge computing. The proposed system guarantees the workers' safety and integrity through the early prediction and notification of anomalies detected in their environment. Models such as convolutional neural networks, long short-term memory, Gaussian Models were joined by interpreting the information with a graph, where different heuristics were used to weight the outputs as a whole, where finally a support vector machine weighted the votes of the models with an area under the curve of 0.81.To meet the high-accuracy position/force control requirements of dual-arm robots for handling a target object, a control algorithm for dual-arm robots based on the modified sliding mode impedance controller MSMIC(tanh) is proposed. First, the combinative kinematics equation of the dual-arm robots and the unified dynamics model combining the manipulated object is established. Second, according to the impedance control motion model for the object, the desired joint angular accelerations of the manipulators are obtained, and the sliding mode controller based on the hyperbolic tangent function as the switch function is introduced to design the coordinated control strategy for dual-arm robots. The stability and convergence of the designed controller are proved according to the Lyapunov function theory. Finally, the operation tasks of the coordinated transport the target object for dual-arm robots are carried out in the simulated experiment environment. Simulation results show that the proposed control scheme can stably output the required internal force and achieve a high-precision trajectory tracking effect while reducing the periodic torque and joint chattering amplitude generated in the conventional sliding mode control algorithm.