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An approach to develop a digital twin for industry 4.0 systems: manufacturing automation case studies
Published in International Journal of Computer Integrated Manufacturing, 2021
David Guerra-Zubiaga, Vladimir Kuts, Kashif Mahmood, Alex Bondar, Navid Nasajpour-Esfahani, Tauno Otto
Named pipe is a method for communication between programs called a pipe server that instantiates the pipe and pipe clients that connect to the pipe. For this project, a duplex pipe is written since, for the proper implementation of the Digital Twin concept, both applications should be able to send and receive the data. The ControllerAPI application acts as a server; it sets the pipe called ‘digitalTwinPipe’, and the Unity project acts as a client. It is important that the server application is started before the client process attempts to connect to the pipe because, otherwise, the client tries to connect to the pipe that does not exist yet. To coordinate which side has the control over the other and avoid overriding the joint values, the direction of the data flow is specified in the virtual environment using buttons Send and Get from the Digital Twin user interface. Additionally, virtual joystick capabilities are blocked when the virtual model follows the real robot motion.