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Re: [escet-dev] How to test 3D digital twins?
  • From: "Beek, Bert van" <D.A.v.Beek@xxxxxx>
  • Date: Tue, 6 Jul 2021 16:54:00 +0000
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  • Thread-topic: [escet-dev] How to test 3D digital twins?

Hi Dennis,

The goal of this exercise is to find errors in the digital twins. Last year, due to the Corona restrictions, testing was optional. There was only a single group who tested on the festo workstations. Their controller worked without errors on the digital twin, but it did not work on the Festo workstation. The reason for this was that the actuator setting to immediately stop the sliding manipulator was true/true (pressure on both sides), whereas in the digital twin, the actuator setting for this was false/false. False/false (absence of pressure) on the Festo workstation caused the sliding manipulator to slowly stop => stopping at an incorrect location.

“Behave in the same way” means that a controller that works correctly on the twin should work correctly on the Festo system, and that a controller that shows erroneous behavior on the Festo workstation should show the same erroneous behavior on the twin.

Ideally, we would like to consider the full state space, but obviously that is impossible. The controller is hybrid (timed) so has infinite state space.

In principle we only look at the observable behavior at the festo workstation and at the twin (it a product picked up properly and release at the required target location), but we could probably generate certain graphs of behavior in TwinCAT.

  • Is full automation a requirement?
I don’t understand this question.


On 5 Jul 2021, at 18:09, Dennis Hendriks <dh_tue@xxxxxxxxxxx> wrote:

Hi Bert,

Some random questions that immediately pop into my mind:
  • What is the goal of this exercise? What do you hope to gain?
  • What does 'behave in the same way' mean for you?
  • Do you consider the full state space of behavior, or only a finite set of scenarios?
  • Do you consider the protocol only (order of events), or also timing?
  • Is full automation a requirement?

Van: escet-dev <escet-dev-bounces@xxxxxxxxxxx> namens Beek, Bert van <D.A.v.Beek@xxxxxx>
Verzonden: maandag 5 juli 2021 10:56
Aan: escet developer discussions <escet-dev@xxxxxxxxxxx>
Onderwerp: [escet-dev] How to test 3D digital twins?
How would you test the functionality of digital twins for the Festo workstations as shown in

A teacher assistant aims to test all CIF controllers submitted last year as final assignment for the course 4TC00 on the digital twin and on the Festo workstation to see if they behave in the same way.

I could also imagine that we write some small controllers that test specific functionality of specific sensor actuator relations/behavior.

Any thoughts or tips?

Thanks in advance
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