摘要：AbstractDigital Twin (DT) is a key concept for digitization in the Industry 4.0. Two main elements of this concept are simulation and modeling since it allows engineers to have a digital representation of the system as well as enables them to test new configurations without changing the running system. Simulation of a real-world environment can be a challenge because it involves many different entities and variables. For example, in a smart city scenario, there might exist services that people can use for transportation, healthcare, delivery, energy supply, and so on. Creating this kind of scenario can be difficult since not all data is digitally available, and its digitalization might not be possible to be done. In this context, having a virtual environment capable of emulating the main components is an important piece for building these applications, not only to simulate new scenarios but also to prototype initial concepts. This paper proposes the use of Node-RED and Carla simulators to provide a platform witch DT-based systems can be model and simulated. The focus of this approach is to provide a concept that reduces the gap between models and real-world applications as well as connecting virtual representations to real-world applications keeping all parts synchronized. A use case of a Car-asa-Service (CaaS) system has been implemented to demonstrate the applicability of the proposed concept.
关键词：Keywordsdigital twinsimulationmodelsynchronizationcarla simulatornode-redSmart City
