{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,12]],"date-time":"2026-03-12T23:37:53Z","timestamp":1773358673988,"version":"3.50.1"},"reference-count":41,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2021,9,21]],"date-time":"2021-09-21T00:00:00Z","timestamp":1632182400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Engineering education benefits from the application of modern technology, allowing students to learn essential Science, Technology, Engineering, and Mathematics (STEM) related concepts through hands-on experiences. Robotic kits have been used as an innovative tool in some educational fields, being readily accepted and adopted. However, most of the time, such kits\u2019 knowledge level requires understanding basic concepts that are not always appropriate for the student. A critical concept in engineering is the Cartesian Coordinate System (CCS), an essential tool for every engineering, from graphing functions to data analysis in robotics and control applications and beyond. This paper presents the design and implementation of a novel Two-Dimensional Cartesian Coordinate System Educational Toolkit (2D-CACSET) to teach the two-dimensional representations as the first step to construct spatial thinking. This innovative educational toolkit is based on real-time location systems using Ultra-Wide Band technology. It comprises a workbench, four Anchors pinpointing X+, X\u2212, Y+, Y\u2212 axes, seven Tags representing points in the plane, one listener connected to a PC collecting the position of the Tags, and a Graphical User Interface displaying these positions. The Educational Mechatronics Conceptual Framework (EMCF) enables constructing knowledge in concrete, graphic, and abstract levels. Hence, the students acquire this knowledge to apply it further down their career path. For this paper, three instructional designs were designed using the 2D-CACSET and the EMCF to learn about coordinate axes, quadrants, and a point in the CCS.<\/jats:p>","DOI":"10.3390\/s21186304","type":"journal-article","created":{"date-parts":[[2021,9,21]],"date-time":"2021-09-21T22:35:20Z","timestamp":1632263720000},"page":"6304","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Two-Dimensional Cartesian Coordinate System Educational Toolkit: 2D-CACSET"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9971-3219","authenticated-orcid":false,"given":"V\u00edctor H.","family":"Casta\u00f1eda-Miranda","sequence":"first","affiliation":[{"name":"Posgrado en Ingenier\u00eda y Tecnolog\u00eda Aplicada, Universidad Aut\u00f3noma de Zacatecas, Zacatecas 98000, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7095-9984","authenticated-orcid":false,"given":"Luis F.","family":"Luque-Vega","sequence":"additional","affiliation":[{"name":"Centro de Investigaci\u00f3n, Innovaci\u00f3n y Desarrollo Tecnol\u00f3gico CIIDETEC-UVM, Universidad del Valle de M\u00e9xico, Tlaquepaque 45601, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4998-1554","authenticated-orcid":false,"given":"Emmanuel","family":"Lopez-Neri","sequence":"additional","affiliation":[{"name":"Centro de Investigaci\u00f3n, Innovaci\u00f3n y Desarrollo Tecnol\u00f3gico CIIDETEC-UVM, Universidad del Valle de M\u00e9xico, Tlaquepaque 45601, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jes\u00fas Antonio","family":"Nava-Pintor","sequence":"additional","affiliation":[{"name":"Posgrado en Ingenier\u00eda y Tecnolog\u00eda Aplicada, Universidad Aut\u00f3noma de Zacatecas, Zacatecas 98000, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0743-842X","authenticated-orcid":false,"given":"H\u00e9ctor A.","family":"Guerrero-Osuna","sequence":"additional","affiliation":[{"name":"Posgrado en Ingenier\u00eda y Tecnolog\u00eda Aplicada, Universidad Aut\u00f3noma de Zacatecas, Zacatecas 98000, Mexico"},{"name":"Unidad Acad\u00e9mica de Ingenier\u00eda El\u00e9ctrica, Universidad Aut\u00f3noma de Zacatecas, Zacatecas 98000, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8019-8755","authenticated-orcid":false,"given":"Gerardo","family":"Ornelas-Vargas","sequence":"additional","affiliation":[{"name":"Posgrado en Ingenier\u00eda y Tecnolog\u00eda Aplicada, Universidad Aut\u00f3noma de Zacatecas, Zacatecas 98000, Mexico"},{"name":"Unidad Acad\u00e9mica de Ingenier\u00eda El\u00e9ctrica, Universidad Aut\u00f3noma de Zacatecas, Zacatecas 98000, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,9,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"\u00c1lvarez-Mar\u00edn, A., Vel\u00e1zquez-Iturbide, J.\u00c1., and Castillo-Vergara, M. (2021). Technology Acceptance of an Interactive Augmented Reality App on Resistive Circuits for Engineering Students. Electronics, 10.","DOI":"10.3390\/electronics10111286"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Haramaki, T., and Nishino, H. (2016, January 7\u20139). An Engineering Education Support System Using Projection-Based AR. Proceedings of the 2016 19th International Conference on Network-Based Information Systems (NBiS), Ostrava, Czech Republic.","DOI":"10.1109\/NBiS.2016.67"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Guerrero-Osuna, H.A., Luque-Vega, L.F., Carlos-Mancilla, M.A., Ornelas-Vargas, G., Casta\u00f1eda-Miranda, V.H., and Carrasco-Navarro, R. (2021). Implementation of a MEIoT Weather Station with Exogenous Disturbance Input. Sensors, 21.","DOI":"10.3390\/s21051653"},{"key":"ref_4","unstructured":"Behzadan, A., and Kamat, R. (2012, January 1\u20132). A framework for utilizing context-aware augmented reality visualization IN ENGINEERING education. Proceedings of the 12th International Conference on Construction Application of Virtual Reality, Taipei, Taiwan."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Mason, A., Mukhopadhyay, S., and Jayasundera, K. (2015). Learning with Great Care: The Adoption of the Multi-sensor Technology in Education. Sensing Technology: Current Status and Future Trends III, Springer.","DOI":"10.1007\/978-3-319-10948-0"},{"key":"ref_6","unstructured":"Gendreau Chakarov, A., Recker, M., Jacobs, J., Van Horne, K., and Sumner, T. (March, January 27). Designing a Middle School Science Curriculum that Integrates Computational Thinking and Sensor Technology. Proceedings of the 50th ACM Technical Symposium on Computer Science Education (SIGCSE \u201919), Minneapolis, MN, USA."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"103903","DOI":"10.1016\/j.micpro.2021.103903","article-title":"Research on the intelligent model of progress in physical education training based on motion sensor","volume":"82","author":"Du","year":"2021","journal-title":"Microprocess. Microsyst."},{"key":"ref_8","unstructured":"Clark, J., Falkner, W., Balaji Kuruvadi, S., Bruce, D., Zummo, W., and Yelamarthi, K. (2019, January 22\u201323). Development and Implementation of Real-Time Wireless Sensor Networks for Data Literacy Education. Proceedings of the 2019 ASEE North Central Section Conference, Morgan Town, WV, USA."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Gil, E., Mor, Y., Dimitriadis, Y., and K\u00f6ppe, C. (2021). Classroom Analytics: Telling Stories about Learning Spaces using Sensor Data. Hybrid Learning Spaces, Springer.","DOI":"10.1007\/978-3-030-88520-5"},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Fjukstad, B., Angelvik, N., Wulff Hauglann, M., Sveia Knutsen, J., Gr\u00f8nnesby, M., Gunhildrud, H., and Ailo Bongo, L. (2018, January 21\u201324). Low-Cost Programmable Air Quality Sensor Kits in Science Education. Proceedings of the 49th ACM Technical Symposium on Computer Science Education (SIGCSE \u201918), Baltimore, MD, USA.","DOI":"10.1145\/3159450.3159569"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Carlos-Mancilla, M.A., Luque-Vega, L.F., Guerrero-Osuna, H.A., Ornelas-Vargas, G., Aguilar-Molina, Y., and Gonz\u00e1lez-Jim\u00e9nez, L.E. (2021). Educational Mechatronics and Internet of Things: A Case Study on Dynamic Systems Using MEIoT Weather Station. Sensors, 21.","DOI":"10.3390\/s21010181"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"95","DOI":"10.1109\/TE.2020.3009919","article-title":"Practical Active Learning Stations to Transform Existing Learning Environments Into Flexible, Active Learning Classrooms","volume":"64","author":"Eickholt","year":"2021","journal-title":"IEEE Trans. Educ."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"012053","DOI":"10.1088\/1742-6596\/1417\/1\/012053","article-title":"Student\u2019s Geometric Thinking in Understanding Volume with Three-Dimensional Images of Cubes and Nets","volume":"1417","author":"Setiawati","year":"2019","journal-title":"J. Phys. Conf. Ser."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"258","DOI":"10.2307\/749365","article-title":"Students\u2019 Understanding of Three-Dimensional Rectangular Arrays of Cubes","volume":"27","author":"Battista","year":"1996","journal-title":"J. Res. Math. Educ."},{"key":"ref_15","unstructured":"Bradley, E. (2020). Virtual Reality: Bringing Education to Life. Games and Simulations in Teacher Education, Springer International Publishing."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"56","DOI":"10.3389\/fnsys.2014.00056","article-title":"Using virtual reality to augment perception, enhance sensorimotor adaptation, and change our minds","volume":"8","author":"Wright","year":"2014","journal-title":"Front. Syst. Neurosci."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"4","DOI":"10.1088\/1361-6404\/ab8b54","article-title":"Learning to use Cartesian coordinate systems to solve physics problems: The case of \u2018movability\u2019","volume":"41","author":"Volkwyn","year":"2020","journal-title":"Eur. J. Phys."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"51","DOI":"10.2478\/eurodl-2020-0010","article-title":"Vector AR3-APP\u2014A Good-Practice Example of Learning with Augmented Reality","volume":"23","author":"Langer","year":"2020","journal-title":"Eur. J. Open Distance E-Learn."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Yepes, I., Couto-Barone, D.A., and Duarte-Porciuncula, C.M. (2021, September 17). Use of Drones as Pedagogical Technology in STEM Disciplines. Informatics in Education 2021. Available online: https:\/\/doi.org\/10.15388\/infedu.2022.08.","DOI":"10.15388\/infedu.2022.08"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"52","DOI":"10.1080\/24727466.2008.11790283","article-title":"Relationship between Students\u2019 Understanding of Functions in Cartesian and Polar Coordinate Systems","volume":"1","author":"Montiel","year":"2008","journal-title":"Investig. Math. Learn."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"147","DOI":"10.1016\/B978-0-12-394293-7.00004-2","article-title":"Spatial thinking and STEM education: When, why, and how?","volume":"Volume 57","author":"Uttal","year":"2012","journal-title":"Psychology of Learning and Motivation"},{"key":"ref_22","unstructured":"Newcombe, N. (2017). Harnessing Spatial Thinking to Support Stem Learning, Organisation for Economic Co-Operation and Development (OECD). OECD Education Working Papers."},{"key":"ref_23","first-page":"325","article-title":"Educational Methodology Based on Active Learning for Mechatronics Engineering Students: Towards Educational Mechatronics","volume":"23","author":"Santoyo","year":"2019","journal-title":"Comput. Sist."},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Miranda-Flores, J.R., Luque-Vega, L.F., L\u00f3pez-Neri, E., Gonz\u00e1lez-Jim\u00e9nez, L.E., and Saad, M. (2020, January 10\u201311). Design and implementation of a novel robot manipulator kit for industry 4.0 through educational mechatronics. Proceedings of the 22nd International Conference on Engineering and Product Design Education, Herning, Denmark.","DOI":"10.35199\/EPDE.2020.67"},{"key":"ref_25","first-page":"810","article-title":"Integrating STEM Education Approach in Enhancing Higher Order Thinking Skills","volume":"8","author":"Baharin","year":"2018","journal-title":"Int. J. Acad. Res. Bus. Soc. Sci."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"012143","DOI":"10.1088\/1742-6596\/1764\/1\/012143","article-title":"The Fullness of Higher Order Thinking Skills (HOTs) in Applied Science Textbooks of Vocational Schools","volume":"1764","author":"Rozi","year":"2021","journal-title":"J. Phys. Conf. Ser."},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Oguntala, G., Abd-Alhameed, R., Jones, S., Noras, J., Patwary, M., and Rodriguez, J. (2018). Indoor Location Identification Technologies for Real-Time IoT-Based Applications: An Inclusive Survey, Computer Science Review.","DOI":"10.1016\/j.cosrev.2018.09.001"},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Alarifi, A., Al-Salman, A., Alsaleh, M., Alnafessah, A., Al-Hadhrami, S., Al-Ammar, M.A., and Al-Khalifa, H.S. (2016). Ultra Wideband Indoor Positioning Technologies: Analysis and Recent Advances. Sensors, 16.","DOI":"10.3390\/s16050707"},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Aybakan, T., and Kerestecio\u011flu, F. (2018, January 20\u201323). Indoor Positioning Using Federated Kalman Filter. Proceedings of the 2018 3rd International Conference on Computer Science and Engineering (UBMK), Antaly, Turkey.","DOI":"10.1109\/UBMK.2018.8566652"},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Syafrudin, M., Lee, K., Alfian, G., Lee, J., and Rhee, J. (2018, January 24\u201326). Application of Bluetooth Low Energy-Based Real-Time Location System for Indoor Environments. Proceedings of the 2018 2nd International Conference on Big Data and Internet of Things (BDIOT 2018), Beijing, China.","DOI":"10.1145\/3289430.3289470"},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"1345","DOI":"10.1007\/s11277-020-07284-4","article-title":"Design, Implementation and Evaluation of IR-Based Tagging System for RTLS","volume":"113","author":"Baqai","year":"2020","journal-title":"Wirel. Pers. Commun."},{"key":"ref_32","doi-asserted-by":"crossref","unstructured":"Zou, H., Chen, Z., Jiang, H., Xie, L., and Spanos, C. (2017, January 28\u201330). Accurate indoor localization and tracking using mobile phone inertial sensors, WiFi and iBeacon. Proceedings of the 2017 IEEE International Symposium on Inertial Sensors and Systems (INERTIAL), Kauai, HI, USA.","DOI":"10.1109\/ISISS.2017.7935650"},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Ou, C., Chao, C., Chang, F., Wang, S., Liu, G., Wu, M., Cho, K., Hwang, L., and Huan, Y. (2017, January 6\u20139). A ZigBee position technique for indoor localization based on proximity learning. Proceedings of the 2017 IEEE International Conference on Mechatronics and Automation (ICMA), Kagawa, Japan.","DOI":"10.1109\/ICMA.2017.8015931"},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"\u0160vecov\u00e1, M., Kocur, D., and \u0160ving\u00e1l, M. (2018, January 15\u201316). UWB-PerLoc-MAT: MATLAB App for Person Localization by UWB Sensor. Proceedings of the 2018 16th International Conference on Emerging eLearning Technologies and Applications (ICETA), Stary Smokovec, Slovakia.","DOI":"10.1109\/ICETA.2018.8572275"},{"key":"ref_35","doi-asserted-by":"crossref","unstructured":"Lee, J.S., Su, Y.W., and Shen, C.C. (2007, January 5\u20138). A comparative study of wireless protocols: Bluetooth, UWB, ZigBee, and Wi-Fi. Proceedings of the IECON Proceedings (Industrial Electronics Conference), Taipei, Taiwan.","DOI":"10.1109\/IECON.2007.4460126"},{"key":"ref_36","unstructured":"Decawave Ltd. The DWM1001 module based on Decawave\u2019s DW1000 Ultra Wideband (UWB) transceiver IC. DWM1001-DEV Datasheet, Available online: https:\/\/www.decawave.com\/wp-content\/uploads\/2021\/01\/DWM1001C_Datasheet.pdf."},{"key":"ref_37","doi-asserted-by":"crossref","unstructured":"Van Herbruggen, B., Jooris, B., Rossey, J., Ridolfi, M., Macoir, N., Van den Brande, Q., Lemey, S., and De Poorter, E. (2019). Wi-PoS: A Low-Cost, Open Source Ultra-Wideband (UWB) Hardware Platform with Long Range Sub-GHz Backbone. Sensors, 19.","DOI":"10.3390\/s19071548"},{"key":"ref_38","unstructured":"(2021, September 14). Plan de Estudios de Ingenier\u00eda en Mecatr\u00f3nica UVM. Available online: https:\/\/uvm.mx\/storage\/app\/uploads\/public\/5ff\/78f\/182\/5ff78f1826faa883127299.pdf?trackid=goosrcarpaonlstmecgen."},{"key":"ref_39","doi-asserted-by":"crossref","unstructured":"Steup, C., Beckhaus, J., and Mostaghim, S. (2021). A Single-Copter UWB-Ranging-Based Localization System Extendable to a Swarm of Drones. Drones, 5.","DOI":"10.3390\/drones5030085"},{"key":"ref_40","first-page":"3","article-title":"State of the Art of Learning Analytics in Higher Education","volume":"8","author":"Dhankhar","year":"2020","journal-title":"Int. J. Emerg. Trends Eng. Res."},{"key":"ref_41","doi-asserted-by":"crossref","unstructured":"Jim\u00e9nez, A.R., and Seco, F. (2021). Improving the Accuracy of Decawave\u2019s UWB MDEK1001 Location System by Gaining Access to Multiple Ranges. Sensors, 21.","DOI":"10.3390\/s21051787"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/18\/6304\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T07:02:38Z","timestamp":1760166158000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/18\/6304"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,9,21]]},"references-count":41,"journal-issue":{"issue":"18","published-online":{"date-parts":[[2021,9]]}},"alternative-id":["s21186304"],"URL":"https:\/\/doi.org\/10.3390\/s21186304","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,9,21]]}}}