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Digital Twins for Simulation-Based Decision-Making (Vinay Kulkarni, Tony Clark, Balbir S. Barn)(Z-Library)

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Digital twins are not a new concept. Till very recently, digital twins of only the systems governed by physical laws were in use. Their main focus was on improving product and process quality. Now we see the concept of digital twin getting wider acceptance, e.g. for systems not governed by physical laws, systems where humans are key participants, systems dealing with information/data/knowledge, and any combination of these systems. With ever-increasing digitalization, the pervasiveness of digital twins is likely to continue to increase. - This book introduces the concept of digital twin, technology infrastructure for construction and use of purposive digital twins and the method support necessary. The landscape of digital twins is illustrated through a range of use cases spread across different domains.

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Vinay Kulkarni Tony Clark Balbir S. Barn   Editors Digital Twins for Simulation-Based Decision-Making
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Digital Twins for Simulation-Based Decision-Making
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Vinay Kulkarni Tony Clark Balbir S. Barn Editors Digital Twins for Simulation-Based Decision-Making
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ISBN 978-3-031-89653-8 ISBN 978-3-031-89654-5 (eBook) https://doi.org/10.1007/978-3-031-89654-5 © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2025 This work is subject to copyright. All rights are solely and exclusively licensed by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, expressed or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations. This Springer imprint is published by the registered company Springer Nature Switzerland AG The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland If disposing of this product, please recycle the paper. Editors Vinay Kulkarni Tata Consultancy Services Pune, Maharashtra, India Balbir S. Barn Faculty of Science and Technology Middlesex University London, UK Tony Clark School of Engineering and Applied Science Aston University Birmingham, UK
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v Preface We live in a world replete with a complex system of systems that need to operate in a dynamic and uncertain environment, thus necessitating continuous adaptation for delivering required goals that may also change over time. These systems, character- ized by scale, non-determinism, and non-linear interactions, are spread across spaces such as information-only, cyber-physical, societal, and biological. They raise several new concerns such as Why are things the way they are?, What are the right interventions to bring the system back to the desired state?, How to ascertain effec- tiveness of these interventions a priori?, Are better states possible and what are they?, How to transform the system from as-is to to-be state? and so on. Large size of the system, complex non-linear interactions, partial information, and rapid dynamics make addressing these concerns difficult. Current practice takes a three-pronged approach to address these concerns: (1) a mathematics-based approach wherein system behaviour is specified in precise ana- lytic terms such that the decision-making problem is formulated as a multi-variable optimization for which several techniques such as linear programming, integer pro- gramming, etc. are available to arrive at a globally optimal solution; (2) relying solely on past data to learn a model of system behaviour using statistical means and using this model for predictive analysis; and (3) relying on human expertise and experience. While a mathematics-based approach can deliver a globally optimal solution, it demands system behaviour to be known a priori. However, the large size, complex non-linear interactions, and partial information make it impossible. Similarly, while deep penetration of digitalization in a domain enables approaches relying on past data, it suffers from two shortcomings. First, the data represents behaviour the system has exhibited so far but is mute on behaviours the system is capable of exhibiting. As a result, the model learnt solely from past data is likely to be a subset of a true model, and analysis derivable from this subset model is likely to be sub-optimal and even inaccurate. Second, this approach works only when future is in a ballpark similar to the past. Unpredictability of the future cannot ensure that it will always be so. Human experts typically do come up with a solu- tion, but this approach does not scale and is vulnerable to the law of bounded rationality.
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vi Thus, it can be said that the current practice of addressing the key concerns of a complex system of systems is found wanting. Digital twin is emerging as a promising technology to overcome the above limi- tations through a confluence of fields such as modelling and simulation, artificial intelligence, control theory, knowledge engineering, and software engineering. In essence, digital twin is a purposive high-fidelity simulatable model of the complex system of systems. Digital twins enable a data-driven simulation-based and justification- backed approach wherein it is possible to (1) hold a mirror to the sys- tem, thus explaining an as-is state; (2) perform decision-space navigation through what-if simulation to identify the right interventions through in silico experimenta- tion; (3) perform design space exploration to identify a possible better state; and (4) devise a transformative path from as-is to to-be state through in silico experimentation. Digital twins are not a new concept. Till very recently, digital twins of only the systems governed by physical laws were in use. Their main focus was on improving product and process quality. Now we see the concept of digital twin getting wider acceptance, e.g. for systems not governed by physical laws, systems where humans are key participants, systems dealing with information/data/knowledge, and any combination of these systems. With ever-increasing digitalization, the pervasive- ness of digital twins is likely to continue to increase. This book introduces the concept of digital twin, technology infrastructure for construction and use of purposive digital twins and the method support necessary. The landscape of digital twins is illustrated through a range of use cases spread across different domains. Pune, Maharashtra, India Vinay Kulkarni Birmingham, UK Tony Clark London, UK Balbir S. Barn Preface
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vii 1 An Introduction to Digital Twins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Tony Clark, Vinay Kulkarni, and Balbir S. Barn 2 Control and Optimization Using Digital Twins: Principles and Case Studies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Aditya A. Paranjape 3 Role of Enterprise Digital Twin in Enhancing Business Agility . . . . . 33 Dushyanthi Mulpuru, Kaustav Bhattacharya, and Souvik Barat 4 Improving Operational Efficiency of Sorting Terminals in Logistics Industry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 Himabindu Thogaru, Tharun Tammali, Subramaniam Dhandapani, Sai Prasad Parameswaran, and Souvik Barat 5 Digital Twins for Process Optimization and Predictive Maintenance in Manufacturing Industries . . . . . . . . . . . . . . . . . . . . . . 91 Venkataramana Runkana, Ratnamala Manna, Anagha Deshpande, Sandipan Maiti, Nital Shah, Sri Harsha Nistala, Aditya Pareek, Sivakumar Subramanian, and Rajan Kumar 6 Development of Digital Twins for Chemical Reactors to Predict the Catalysis Conversion Efficiency . . . . . . . . . . . . . . . . . . . 123 Vishwesh Kulkarni and Evgeny Rebrov 7 Harnessing Digital Twins for Building Resilient Food Supply Chains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 Abhishek Yadav, Parijat Deshpande, Shankar Kausley, Beena Rai, and Souvik Barat 8 Digital Twin of Fuel Cell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 Ming Zhang, Nasser Amaitik, Amirpiran Amiri, Yuchun Xu, and Lucy Bastin Contents
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viii 9 Building Resilient Public Healthcare Systems Using Digital Twins . . . 195 Vinay Kulkarni, Shrinivas Darak, Ritu Parchure, Aditya Paranjape, and Souvik Barat 10 Knowledge-Orchestrated Digital Twin Suite for Smart Refinery Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223 Sandhya Seshagiri, Twinkle Khadka, Trilok Chand, Arpit Vishwakarma, Chetan Malhotra, Trinath Gaduparthi, and B. P. Gautham 11 Digital Twin–Based Enterprise Ecosystems . . . . . . . . . . . . . . . . . . . . . 253 Deepali Kholkar, Suman Roychaudhary, and Sreedhar Reddy Contents
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ix About the Editors Vinay Kulkarni is a TCS Fellow at TCS Research where he heads Software Systems & Services research. His research interests include enterprise digital twins, learning-native software systems, multi agent systems, model-driven software engineering, and enterprise modelling. At present, he is exploring the feasibility of imparting learning-aided adaptation to enterprises at strategy, pro- cess, and systems level through the use of modelling, simulation, and analytics. The vision is to integrate modelling, AI, and control theory to support dynamic adaptation of complex systems of systems using digital twins. Further information can be found at https://in.linkedin.com/in/vinay- vkulkarni. Contact him at vinay.vkulkarni@tcs.com and https://www.linkedin.com/in/ vinayvkulkarni/. Tony Clark is Associate Pro-Vice Chancellor and Professor of Computer Science in the College of Engineering and Physical Sciences at Aston University. He has experience of working in both academia and industry on a range of software projects and consultancies. His current interests are using adaptation and model-based techniques to create digital twins. Further information can be found at https://research.aston.ac.uk/en/persons/tony- clark. Contact him at tony.clark@aston.ac.uk. Balbir S. Barn is Professor of Software Engineering and Dean of the Faculty of Science and Technology at Middlesex University. His current research interests are methodologies and soft- ware tools for defining digital twins and socio-technical digital twins, languages and modelling for agent-based adaptive systems, and conceptual modelling as research method for inter-disciplinary domains such as surveillance, cyber-crime, and theory building. Further information can be found at https: https://www.mdx.ac.uk/about- us/our- people/staff- directory/prof- balbir- barn/. Contact him at b.barn@mdx.ac.uk.
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1© The Author(s), under exclusive license to Springer Nature Switzerland AG 2025 V. Kulkarni et al. (eds.), Digital Twins for Simulation-Based Decision-Making, https://doi.org/10.1007/978-3-031-89654-5_1 Chapter 1 An Introduction to Digital Twins Tony Clark, Vinay Kulkarni, and Balbir S. Barn Abstract The idea of digital twin is not new. NASA used it first in the 1960s for its space program. It got revived in the early 2000s mainly in manufacturing and auto- motive industry. The idea was to create a digital replica of the product and the pro- cess that was synchronised with real world as per the need. The key characteristics of the real system being twinned were well-defined, well-bounded, and controlled by physical laws. The principal objective of creating digital twin was to ensure product and process quality. Since the past 10 years, adoption of digital twins has spread even to socio-techno systems characterised by emergent behaviour, and so has the spread of use cases. Today, technology is available, though with wide vari- ance of effectiveness, to address digital twin life cycle. Recent advance in AI and especially Gen AI has helped reduce the cognitive burden too. However, many chal- lenges remain, e.g. robust method, effective repurposing of digital twin to a differ- ent context, or transferring the learning courtesy domain-specific purposive digital twins to other domains for the same or similar purpose. All in all, these are exciting times to be working in digital twin space. T. Clark School of Engineering and Applied Science, Aston University, Birmingham, UK e-mail: tony.clark@aston.ac.uk V. Kulkarni (*) TCS Research, Tata Consultancy Services, Pune, Maharashtra, India e-mail: vinay.vkulkarni@tcs.com B. S. Barn Faculty of Science and Technology, Middlesex University, London, UK e-mail: b.barn@mdx.ac.uk
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2 Background The idea of a digital twin originates with NASA in the 1960s, motivated by the need to simulate mission scenarios for astronaut training and safety checking. During the Apollo 13 mission, an explosion caused damage to the spacecraft; NASA used a digital twin in real time to diagnose the problem and to remotely develop a solution. Once the astronauts returned, the twin supported forensic analysis of the explosion, leading to improved safety and reliability of future missions. Subsequently, the idea of simulation became more sophisticated. It continued to be used by the aerospace industry for safety and performance but also broadened out into other industries including manufacturing, healthcare, and infrastructure projects. The development of sensor networking technology greatly enhanced the idea of simulations linked to real-world data. The term digital twin was coined by Dr. Michael Grieves in 2002 when he defined it to be a virtual representation serving as a real-time digital counterpart of a physical object or process. Grieves used digital twins to create models of products prior to their physical construction, thereby allowing then to be analysed for prob- lems and increasing their efficiency in terms of construction and operation. Following Grieves’ seminal work in outlining digital twins, the field has grown significantly. Early adopters included the aerospace and automotive industries. The growth in sensor technologies supported adoption in other areas where systems could be monitored in real time. The growth in AI and machine learning allowed digital twins to expand further by supporting both monitoring and prediction. The market size for digital twins was estimated at $16.75 billion in 2023 and projected to grow at 37% annually. We are seeing digital twin technologies being embedded in most industries with strong growth in the civic realm, for example, with the aim of achieving smart cities. This chapter provides an overview of digital twins, what they are, their applica- tions, capability levels, and the technologies that are typically used to implement them. Design methods for digital twins is an under-developed area, which is addressed in this chapter by providing a conceptual view of twins from a computa- tional perspective and an associated lightweight method for capturing and structur- ing design requirements. The method is illustrated using a simple example. The chapter concludes with an overview of the challenges related to digital twin adoption. What Is a Digital Twin? There are many different definitions of a digital twin. If we take the broadest possible view, then a digital twin consists of the following components as shown in Fig. 1.1: • A real system that we are seeking to design, monitor, or control via the twin. • Sensors that instrument the real system. The sensor data is usually provided to the twin in real time, but for some digital twins, the sensor data may be historic or even synthetic. T. Clark et al.
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3 Fig. 1.1 Digital twin • The digital twin itself is a software system that maintains a model of some aspect of the real system that is relevant to its task. The system model maintained by the twin aims to be in some correspondence to an aspect of interest in the real sys- tem. In addition, the digital twin may use a collection of models that supports its functions. These may be: – Data models that define features of information managed by the twin – Structural models that represent aspects of the real system that typically do not change, for example, road layouts or anatomical structure – Predictive models that are used to derive some properties of the system based on its current state, for example, detecting that a bridge may need repair – Simulation models that are used to construct possible future states, for exam- ple, when selecting the best action to perform in the current situation • A digital twin has a goal, which is the task it is trying to achieve. Typically, a twin is used in one of the following ways: – To understand some property of the real system or the system that is to be constructed – To detect situations that occur in the real system, perhaps to ensure that they are repaired – To predict an action to perform on the real system, perhaps an action that will ensure that the real system behaves optimally or that the real system takes action to avoid undesirable situations or that it takes action to maximise the likelihood of desirable situations occurring in the future – To offer up support to a human operator in the form of suggestions or alerts • A digital twin offers services to its stakeholders. These are often presented in terms of a user interface. A particular type of digital twin is used to understand 1 An Introduction to Digital Twins
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4 the current state of the real system in the form of dashboards showing properties or in the form of representations of the real world, for example, on maps, layouts, or 3D representations. • Some digital twins may control the real system using actuators. By using con- trols sent to the real world, a twin may close the loop and, in principle, autono- mously adapt a real system to achieve the goal. Categories of Digital Twin A digital twin may be categorised into several types depending on their scope: com- ponent twins relate to individual atomic components of the real system; asset twins represent coherent parts of a system; system twins correspond to co-ordinated col- lections of assets. In contrast, a process twin addresses a process or workflow in a system and helps understand, monitor, or optimise a process. A twin may be categorised in terms of the data connectivity to the real system and whether the twin relates to a component or a process. A twin is termed a digital model when the data connection is not real time and is often offline or manual. The model may be dynamic or static, depending on whether the data is provided from the live system or not. A twin is termed a digital shadow when data is provided to the twin from the real system, but not the other way round. A digital thread is a twin of a process as opposed to a system or one of its components. The term digital twin tends to mean there is bidirectional flow of information in real time; however, it is also used as a term to cover all the different types. Digital Twin Capabilities The different types of digital twin can be arranged in a capability hierarchy as shown in Fig. 1.2. Each capability level subsumes the levels below and broadly represents the abilities of any type of digital twin. Digital twins represent a technology advance in several areas of system develop- ment and operation. They can support product design since a new system can be designed and optimised in silico prior to expensive development. They can improve the lifetime of systems and reduce their downtime by monitoring their properties and identifying maintenance activities before the situation becomes critical. System operation can be optimised by real-time modification of system param- eters. In some cases, digital twins can replace more traditional methods, for exam- ple, by running alongside supply chains and logistics systems to dynamically adapt them compared to undertaking time-consuming planning prior to deployment. Digital twins can be used to enhance safety and reduce risk by monitoring system states in real time. T. Clark et al.
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5 F ig . 1 .2 D ig ita l t w in c ap ab ili ty h ie ra rc hy 1 An Introduction to Digital Twins
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6 Digital Twin Applications Digital twins are applied in an increasingly diverse range of application areas. Traditionally, the main areas of application are: Manufacturing: Digital threads can be used to monitor and optimise manufactur- ing processes and predict maintenance needs. Healthcare: Digital twins can be used to create personalised treatment plans, simu- late surgeries, and monitor medical devices. Aerospace and defence: Many aerospace systems are very expensive to build and test. Digital mirrors can be used to explore the design space and test the safety of such systems. Automotive: Like aerospace applications, car manufacturing is expensive and must achieve safety goals. In addition, cars should be designed to achieve fuel effi- ciencies, which can be supported through digital twin monitoring and dynamic adaptation of virtual or physical prototypes. Energy: Digital twins can monitor energy grids to optimise the use of power to improve efficiency and reliability. Twins can use adaptation to achieve net-zero environmental goals. Smart cities: Urban planning can be supported by twins that monitor traffic flow and help understand the effects on public services of individual planning decisions. Agriculture: Crop conditions can be monitored to ensure the best yield leading to optimised resource usage and food security. Digital Twin Technologies The technologies used to create digital twins include: IoT: The Internet of Things is of crucial importance to many digital twin applica- tions since most twins rely on consolidating data from multiple real-world sources. Whether the data is provided from historic information or provided in real-time, it is usually sourced through sensor-based instrumentation. Data analytics: The analysis of large amounts of data is critical for the implementa- tion of digital twins. The analysis may be historic to create a predictive model or may be in real time to detect patterns and anomalies and to create an accurate model of the real system. AI and machine learning: Historic labelled data can be used to train models that allow digital twins to predict properties or future situations for the real system. Reinforcement learning can be used to gradually optimise a predictive model and to adapt the behaviour of a digital twin, which is controlling the real system. Typically, a digital twin will use some form of deep neural network to implement a model produced by machine learning. T. Clark et al.
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7 Modelling: Models are used in several different ways to create and deploy digital twins. Static models of assets such as buildings, energy grids, or 3D models are used to support twin functionality, including the creation of realistic displays showing information. Physical models of the real system, such as finite element analysis and fluid dynamics, can be used to predict and simulate operational behaviour. Models may be used to design a digital twin by capturing require- ments and specifying behaviour. Simulation: There are many different technology platforms that can support simu- lation for digital twin operation. The choice depends on the application domain of the digital twin. For example, SIMULIA supports physics-based simulations, Siemens NX integrates CAD/CAM with simulation, and Simulink provides sup- ports for a variety of dynamic system modelling and simulation. Different types of system simulation may be employed depending on the application: discrete event, agent based, Monte Carlo, stock and flow. Cloud computing: Digital twins often require scalable computing due to the scale of real-time data and associated computing power required. Cloud computing platforms such as Azure offer a flexible way of dealing with these issues and a way of integrating with a wide range of supporting technologies. Edge computing: Edge computing supports the processing of data close to the source, which reduces latency and improves performance. This is relevant to digital twins because of the large number of sensors producing vast amounts of data required by some applications. The use of edge computing means that much of the data processing can happen prior to the central integration phase within the core of the twin application. Blockchain: The use of blockchain addresses issues of data security, integrity, and traceability within digital twins. Given the scale of twin applications and the need to often construct them as complex systems of systems, blockchain addresses the need for decentralised data management and enhanced collaboration. Digital Twin Design Concepts When developing a digital twin, there are many aspects that must be addressed including both the computational and commercial. The commercial aspect will vary depending on the context, but the computational aspects are common to many twin applications. The concepts that are key to digital twin designs are shown in Fig. 1.3. The twin has the following concepts: • Measurements are time-stamped sequences of data typically provided in real time by sensors. These may also be synthetic or historical measurements. Usually, a twin is driven by its streams of measurements. 1 An Introduction to Digital Twins
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8 • A twin has a current world state, which is modified in relation to user operations and updates from measurements. The initial world state may be subject to levers, which are used to select between a range of optional starting values. • As the twin executes, it generates a sequence of world states, which is its history. The history of a twin must satisfy the goal, which determines the desired behav- iour of the twin. For example, the goal may say that values in the world state must increase, decrease, or be maintained. In addition, the goal may define con- ditions that should be avoided. • The twin has a collection of stakeholders who will benefit from, or use, the twin. Stakeholder benefits are expressed by the goal, and the use of the twin is defined by its operations. When an operation is performed by a stakeholder, the twin uses the current state and a collection of static models to service the operation. • When a change is performed on the world state, either through a measurement update or through an operation, the state will produce projections. A projection is communicated to stakeholders via a user interface. It corresponds to the result of a query on the world state. • In addition to the projections, changes to the world state may produce controls. A control is an event that should be handled by some external agent. For exam- ple, the twin may be required to detect certain undesirable situations, in which case an event is signalled to the operator. Another type of control is used to send events to the real system to adapt it in some way. Fig. 1.3 Digital twin computational concepts T. Clark et al.
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9 Digital Twin Design Method: Magic Spell The concepts described in the previous section are all required to produce a digital twin design. The mnemonic MAGIC SPELL can be used to help remember the concepts: Measures Assumptions Goal Interface Control Stakeholders Projections ModEls Levers WorLd State The method is implemented by completing a form through a workshop with the stakeholders. The form has the following structure: The workshops should start with the definition of the goal of the digital twin. Once defined, the goal can lead to a definition of the interface of operations required by the stakeholders that will be required to ensure the goal is achieved. This leads to a design of the world state and associated models (static, predictive, simulation, etc.), which will be required to support the operations and to check whether the goal is achieved. The world state is created from the measures that are linked to data that is available from the real system. Finally, a discussion about optionality will lead to the definition of levers. Throughout, the stakeholders should be asked to document any assumptions they are making. When following the method, the workshop organiser can be guided by the fol- lowing questions: Goal: What is the digital twin intended to do or achieve? Stakeholders and interface: Who will use or benefit from the digital twin? How will they interact with the digital twin? World state: How will you tell that the goal has been achieved? Thinking of the goal as a condition to be met: write down the condition, and make note of the properties and relationships that must be checked. Measures and models: If you are going to build the world state (to check the goal), what information must be available? Which bits of the information are available now (static models), and which information will be supplied during system exe- cution (measures)? Projection: How will the stakeholders get information from the digital twin? What format will be used for the information (e.g. 3D models, maps, dashboards)? Control: Are there any situations where the digital twin needs to interact with an external system or stakeholder? Does the digital twin control the real system in any way? 1 An Introduction to Digital Twins
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10 Assumptions: When answering any of the questions, make a note of any assump- tions that are made. Once the information has been documented on the form, it can be handed to design engineers who can formalise the information. The interface of operations is struc- tured using use-case models. The world state and associated models are documented using class models. Measures are also documented using class models together with information about the timing of the updates. The goal can be formalised (e.g. using OCL) as a predicate over sequences of the world states. Requirements for executable models such as predictive or simulation models can be specified as functions using conditions on their inputs and outputs. The behaviour of the twin provided by the operations can be specified using a state machine that is driven by operation events and measurement updates. The actions of the state machine are control events and updates to the user interface as described by the pro- jection. The levers can be expressed through product-line-style markup of the models. Together, the models described above provide the basis for digital twin imple- mentation. This could take the form of further elaboration of the models until they become executable via an engine that uses model-based engineering technologies. Alternatively, they can be elaborated and translated into code by hand. Such models have the benefit that they are also a basis for designing test cases for the digital twin implementation. Example A racing car is connected to a twin that measures various properties of the car as it drives around the track. As it drives, the car uses fuel. The overall aim of the car is to perform a given number of laps within a given time without crashing or running out of fuel. Problems with fuel can be avoided by making a pit stop where unlimited amounts of fuel are available. However, pit stops delay the car and should only be used when essential. The car will crash if it accelerates while on a bend; otherwise, the car can accelerate at will, although doing so increases fuel consumption and tyre wear. T. Clark et al.
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11 M A G IC S PE L L c an b e ap pl ie d to th e ra ci ng c ar s ce na ri o to p ro du ce a p op ul at ed f or m a s sh ow n be lo w : 1 An Introduction to Digital Twins
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