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Towards a Digital Twin - Modelling an Agricultural Vehicle

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Leveraging Applications of Formal Methods, Verification and Validation: Tools and Trends (ISoLA 2020)

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Abstract

In this work, we present the initial steps in the development of a digital twin of the agricultural autonomous vehicle, Robotti. A model of the vehicle dynamics is initially developed in the open-source multi-physics code, Chrono, and then wrapped as a Functional Mock-up Unit. We provide an overview of the envisioned digital twin system and a description of currently implemented features. The dynamic system of the vehicle chassis is characterised by the implementation of a revolute joint that ensures wheel–surface contact in uneven terrain. The vehicle dynamics model is applied for testing two scenarios describing the loads on the vehicle as a consequence of this mechanism. Finally, we give pointers to future work on modelling the Robotti and the establishment of a digital twin.

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Notes

  1. 1.

    https://projectchrono.org/.

  2. 2.

    http://fmi-standard.org/.

  3. 3.

    https://fmi-standard.org/tools/.

  4. 4.

    Available at https://www.rabbitmq.com/, visited December 14, 2020.

  5. 5.

    Available at https://github.com/INTO-CPS-Association/fmu-rabbitmq, visited December 14, 2020.

  6. 6.

    Available at https://gitlab.au.dk/software-engineering/chronofmu_isola along with a demonstration, visited January 7, 2021.

  7. 7.

    See https://projects.au.dk/agrorobottifleet/, visited December 14, 2020.

  8. 8.

    One such tool is being developed at the Centre for Digital Twins of Aarhus University: https://digit.au.dk/centre-for-digital-twins/, visited December 14, 2020.

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Acknowledgements

This research was supported by the Innovation Fund Denmark under grant number 7038-00231B. We acknowledge the European Union for funding the INTO-CPS project (Grant Agreement 644047), which developed the open tool chain and the INTO-CPS Application; the Poul Due Jensen Foundation that funded subsequent work on taking this forward towards the engineering of digital twins; and the European Union for funding the HUBCAP project (Grant Agreement 872698). The authors would like to acknowledge the developers of Project Chrono. We would also like to acknowledge Zachary Gasick from the University of Wisconsin for inputs to the Chrono model. And finally a great thanks to Prof. Dan Negrut and Dr. Radu Serban from University of Wisconsin for valuable discussions and inputs.

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Authors and Affiliations

  1. Department of Mechanical and Production Engineering, Aarhus University, Inge Lehmanns Gade 10, 8000, Aarhus C, Denmark

    Frederik F. Foldager & Ole Balling

  2. DIGIT, Department of Electrical and Computer Engineering, Aarhus University, Finlandsgade 22, 8200, Aarhus N, Denmark

    Casper Thule & PeterGorm Larsen

  3. Agro Intelligence ApS, Agro Food Park 13, 8200, Aarhus N, Denmark

    Frederik F. Foldager

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  1. Frederik F. Foldager
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  4. PeterGorm Larsen
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Correspondence to Frederik F. Foldager .

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Editors and Affiliations

  1. University of Limerick and Lero, Limerick, Ireland

    Tiziana Margaria

  2. TU Dortmund, Dortmund, Germany

    Bernhard Steffen

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Foldager, F.F., Thule, C., Balling, O., Larsen, P. (2021). Towards a Digital Twin - Modelling an Agricultural Vehicle. In: Margaria, T., Steffen, B. (eds) Leveraging Applications of Formal Methods, Verification and Validation: Tools and Trends. ISoLA 2020. Lecture Notes in Computer Science(), vol 12479. Springer, Cham. https://doi.org/10.1007/978-3-030-83723-5_8

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  • DOI: https://doi.org/10.1007/978-3-030-83723-5_8

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