ATOM+: Integration of Visual Programming and Digital Twins in the ESTER Simulator for Teaching Programming and Robotics

Abstract

The use of the ESTER simulator in undergraduate and postgraduate courses has demonstrated a remarkable effectiveness in the training of computer systems engineering students, training more than 250 students. In 2024, its application was extended to courses and a master’s subject with a non-computer science profile. Initial focus groups revealed that code-based programming environments presented a steep learning curve, making it difficult for them to understand basic algorithmic and programming concepts. To reverse this situation, we developed our own visual programming modules, based on Scratch and implemented in TurboWarp, enabiling students with no prior knowledge to program and learn algoriyhmic thinking from the very first class. In 2025, a new digital twins module was developed and integrated into ESTER V4.2, allowing physical robots to be linked to their virtual representations in real time. This enhancement created a hybrid environment, where programs developed in the simulator can be transferred to physical robots, significantly enriching the educational experience. This article presents the evolution of the simulator, the integration architecture for visual programming and digital twins, and the results obtained in the “robotics, programming, and 3D printing” cohort of the master’s in educational technology.