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Handbook of Digital Twins Over the last two decades, Digital Twins (DTs) have become the intelligent representation of future development in industrial production and daily life. Consisting of over 50 chapters by more than 100 contributors, this compre- hensive handbook explains the concept, architecture, design specification and application scenarios of DTs. As a virtual model of a process, product or service to pair the virtual and physical worlds, DTs allow data analysis and system monitoring by using simulations. The fast-growing technology has been widely studied and devel- oped in recent years. Featured with centralization, integrity and dynamics, it is cost-effective to drive innovation and performance. Many fields saw the adaptation and implementation across industrial production, healthcare, smart city, transportation and logistics. World-famous enterprises such as Siemens, Tesla, ANSYS and General Electric have built smart factories and pioneered digital production, heading towards Industry 4.0. This book aims to provide an in-depth understanding and reference of DTs to technical personnel in the field, students and scholars of related majors, and general readers interested in intelligent industrial manufacturing. Dr Zhihan Lyu is an Associate Professor at the Department of Game Design, Uppsala University, Sweden. He is also IEEE Senior Member, British Computer Society Fellow, ACM Distinguished Speaker, Career- Long Scientific Influence Rankings of Stanford’s Top 2% Scientists, Marie Skłodowska-Curie Fellow, Clarivate Highly Cited Researcher and Elsevier Highly Cited Chinese Researcher. He has contributed 300 papers including more than 90 papers on IEEE/ACM Transactions. He is the Editor-in-Chief of Internet of Things and Cyber-Physical Systems (KeAi), an Associate Editor of a few journals including ACM TOMM, IEEE TITS, IEEE TNSM, IEEE TCSS, IEEE TNSE and IEEE CEM. He has reviewed 400 papers. He has received more than 20 awards from China, Europe and IEEE. He has given more than 80 invited talks for universities and companies in Europe and China. He has given 20 keynote speeches at international conferences.
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Handbook of Digital Twins Edited by Zhihan Lyu
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Front cover image: Gorodenkoff/Shutterstock First edition published 2024 by CRC Press 2385 NW Executive Center Drive, Suite 320, Boca Raton FL 33431 and by CRC Press 4 Park Square, Milton Park, Abingdon, Oxon, OX14 4RN CRC Press is an imprint of Taylor & Francis Group, LLC © 2024 selection and editorial matter, Zhihan Lyu; individual chapters, the contributors Reasonable efforts have been made to publish reliable data and information, but the author and publisher cannot assume responsibility for the validity of all materials or the consequences of their use. The authors and publishers have attempted to trace the copyright holders of all material reproduced in this publication and apologize to copyright holders if permission to publish in this form has not been obtained. If any copyright material has not been acknowledged please write and let us know so we may rectify in any future reprint. Except as permitted under U.S. Copyright Law, no part of this book may be reprinted, reproduced, transmitted, or utilized in any form by any electronic, mechanical, or other means, now known or hereafter invented, including photocopying, microfilming, and recording, or in any information storage or retrieval system, without written permission from the publishers. For permission to photocopy or use material electronically from this work, access www.copyright. com or contact the Copyright Clearance Center, Inc. (CCC), 222 Rosewood Drive, Danvers, MA 01923, 978-750-8400. For works that are not available on CCC please contact mpkbookspermissions@ tandf.co.uk Trademark notice: Product or corporate names may be trademarks or registered trademarks and are used only for identification and explanation without intent to infringe. ISBN: 978-1-032-54607-0 (hbk) ISBN: 978-1-032-54608-7 (pbk) ISBN: 978-1-003-42572-4 (ebk) DOI: 10.1201/9781003425724 Typeset in Palatino by codeMantra
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v Contents Contributors ............................................................................................................xi Part 1 Introduction 1. Overview of Digital Twins ...........................................................................3 Zhihan Lyu and Xiaocheng Liu Part 2 Thinking about Digital Twins 2. What Is Digital and What Are We Twinning?: A Conceptual Model to Make Sense of Digital Twins ................................................... 13 Ashwin Agrawal and Martin Fischer 3. When Digital Twin Meets Network Engineering and Operations ....30 Pedro Henrique Diniz, Christian Esteve Rothenberg, and José Ferreira de Rezende 4. Cognitive Digital Twins .............................................................................. 51 Xiaochen Zheng, Jinzhi Lu, Rebeca Arista, Jože Martin Rožanec, Stavros Lounis, Kostas Kalaboukas, and Dimitris Kiritsis 5. Structural Integrity Preservation of Built Cultural Heritage: How Can Digital Twins Help? ...................................................................66 Annalaura Vuoto, Marco Francesco Funari, and Paulo B. Lourenço Part 3 Digital Twins Technology 6. Key Technologies of Digital Twins: A Model‑Based Perspective ......85 Serge P. Kovalyov 7. A Generic Deployment Methodology for Digital Twins – First Building Blocks ................................................................................. 102 Mohammed Adel Hamzaoui and Nathalie Julien 8. Automated Inference of Simulators in Digital Twins ........................ 122 Istvan David and Eugene Syriani
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vi Contents 9. Digital Twin for Federated Analytics Applications ............................ 149 Dan Wang, Dawei Chen, Yifei Zhu, and Zhu Han 10. Blockchain‑Based Digital Twin Design ................................................ 167 Esra Kumaş, Hamide Özyürek, Serdar Çelik, and Zeynep Baysal 11. Physics‑Based Digital Twins Leveraging Competitive Edge in Novel Markets ........................................................................................ 185 Emil Kurvinen, Antero Kutvonen, Päivi Aaltonen, Jussi Salakka, and Behnam Ghalamchi Part 4 Digital Twins Design and Standard 12. Digital Twin Model Formal Specification and Software Design ..... 203 Yevgeniya Sulema, Andreas Pester, Ivan Dychka, and Olga Sulema 13. Layering Abstractions for Design‑Integrated Engineering of Cyber‑Physical Systems ............................................................................ 221 Thomas Ernst Jost, Richard Heininger, and Christian Stary 14. Issues in Human‑Centric HMI Design for Digital Twins .................238 Vivek Kant and Jayasurya Salem Sudakaran 15. Toward a New Generation of Design Tools for the Digital Multiverse ....................................................................................................256 Chiara Cimino, Gianni Ferretti, and Alberto Leva 16. A Service Design and Systems Thinking Approach to Enabling New Value Propositions in Digital Twins with AI Technologies .... 274 Shaun West, Cecilia Lee, Utpal Mangla, and Atul Gupta 17. Tokenized Digital Twins for Society 5.0 ............................................... 291 Abdeljalil Beniiche and Martin Maier 18. Urban Digital Twin as a Socio‑Technical Construct ...........................308 Timo Ruohomäki, Heli Ponto, Ville Santala, and Juho‑Pekka Virtanen 19. Design and Operationalization of Digital Twins in Robotized Applications: Architecture and Opportunities .................................... 321 Tobias Osterloh, Eric Guiffo Kaigom, and Jürgen Roßmann
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viiContents Part 5 Digital Twins in Management 20. Management of Digital Twins Complex System Based on Interaction .................................................................................................... 337 Vladimir Shvedenko, Valeria Shvedenko, Oleg Schekochikhin, and Andrey Mozokhin 21. Artificial Intelligence Enhanced Cognitive Digital Twins for Dynamic Building Knowledge Management .......................................354 Gozde Basak Ozturk and Busra Ozen 22. On the Design of a Digital Twin for Maintenance Planning ........... 370 Frits van Rooij and Philip Scarf 23. Organizational Barriers and Enablers in Reaching Maturity in Digital Twin Technology ..........................................................................386 Päivi Aaltonen, Laavanya Ramaul, Emil Kurvinen, Antero Kutvonen, and Andre Nemeh 24. Digital Twin Development – Understanding Tacit Assets ................ 401 Petra Müller‑Csernetzky, Shaun West, and Oliver Stoll 25. Digital Twins for Lifecycle Management: The Digital Thread from Design to Operation in the AECO Sector ....................................420 Sofia Agostinelli Part 6 Digital Twins in Industry 26. Digital Twins for Process Industries ...................................................... 441 Seppo Sierla 27. Digital Twins in the Manufacturing Industry .....................................456 Dayalan R. Gunasegaram 28. Cognitive Digital Twins in the Process Industries ............................. 473 Jože Martin Rožanec, Pavlos Eirinakis, George Arampatzis, Nenad Stojanović, Kostas Kalaboukas, Jinzhi Lu, Xiaochen Zheng, and Dimitris Kiritsis 29. Development of the Digital Twin for the Ultraprecision Diamond Turning System and Its Application Perspectives ............ 498 Ning Gou, Shangkuan Liu, David Christopher, and Kai Cheng
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viii Contents 30. Conceptualization and Design of a Digital Twin for Industrial Logistic Systems: An Application in the Shipbuilding Industry ..... 515 Giuseppe Aiello, Islam Asem Salah Abusohyon, Salvatore Quaranta, and Giulia Marcon 31. Digital Twin Applications in Electrical Machines Diagnostics ....... 531 Georgios Falekas, Ilias Palaiologou, Zafeirios Kolidakis, and Athanasios Karlis 32. Building a Digital Twin – Features for Veneer Production Lines – Observations on the Discrepancies between Theory and Practice ..................................................................................................549 Jyrki Savolainen and Ahsan Muneer 33. Experiments as DTs ....................................................................................563 Jascha Grübel 34. Digital Twins–Enabled Smart Control Engineering and Smart Predictive Maintenance ................................................................584 Jairo Viola, Furkan Guc, and YangQuan Chen Part 7 Digital Twins in Building 35. 3D City Models in Planning Activities: From a Theoretical Study to an Innovative Practical Application .......................................603 Gabriele Garnero and Gloria Tarantino 36. Exploiting Virtual Reality to Dynamically Assess Sustainability of Buildings through Digital Twin ......................................................... 617 Muhammad Shoaib, Lavinia Chiara Tagliabue, and Stefano Rinaldi 37. Riding the Waves of Digital Transformation in Construction – Chances and Challenges Using Digital Twins......... 632 Bianca Weber‑Lewerenz 38. A Framework for the Definition of Built Heritage Digital Twins ....647 Marianna Crognale, Melissa De Iuliis, and Vincenzo Gattulli 39. Digital Twins in Architecture: An Ecology of Practices and Understandings ........................................................................................... 662 Anca‑Simona Horvath and Panagiota Pouliou
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ixContents 40. Developing a Construction Digital Twin for Bridges: A Case Study of Construction Control of Long‑Span Rigid Skeleton Arch Bridge .................................................................................................. 687 Chunli Ying, Long Chen, Daguang Han, Kaixin Hu, Yu Zhang, Guoqian Ren, Yanhui Liu, Yongquan Dong, and Yatong Yuan 41. Urban‑Scale Digital Twins and Sustainable Environmental Design: Mobility Justice and Big Data ................................................... 705 Marianna Charitonidou Part 8 Digital Twins in Transportation 42. Digital Twins in Transportation and Logistics ....................................725 Mariusz Kostrzewski 43. Digital Twin–Driven Damage Diagnosis and Prognosis of Complex Aircraft Structures .................................................................... 746 Xuan Zhou and Leiting Dong 44. Digital Twins and Path Planning for Aerial Inspections .................. 767 Antonio Bono, Luigi D’Alfonso, Giuseppe Fedele, and Anselmo Filice Part 9 Digital Twins in Energy 45. Digital Twin Security of the Cyber‑Physical Water Supply System ................................................................................. 787 Nikolai Fomin and Roman V. Meshcheryakov 46. Digital Twin in Smart Grid ......................................................................804 Hui Cai, Xinya Song, and Dirk Westermann 47. Digital Twins in Graphene Technology................................................. 821 Elena F. Sheka 48. Applications of Triboelectric Nanogenerator in Digital Twin Technology ..........................................................................840 Jiayue Zhang and Jie Wang
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x Contents Part 10 Digital Twins in Medicine and Life 49. Digital Twins in the Pharmaceutical Industry ..................................... 857 João Afonso Ménagé Santos, João Miguel da Costa Sousa, Susana Margarida da Silva Vieira, and André Filipe Simões Ferreira 50. Human Body Digital Twins: Technologies and Applications ........... 872 Chenyu Tang, Yanning Dai, Jiaqi Wang, and Shuo Gao 51. Digital Twins for Proactive and Personalized Healthcare – Challenges and Opportunities ................................................................888 Sai Phanindra Venkatapurapu, Marianne T. DeWitt, Marcelo Behar, and Paul M. D’Alessandro
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xi Contributors Päivi Aaltonen MORE SIM Research Platform, LUT School of Business and Administration LUT University Lappeenranta, Finland Islam Asem Salah Abusohyon Università degli studi di Palermo Palermo, Italy Sofia Agostinelli CITERA Research Centre Sapienza University of Rome Rome, Italy Ashwin Agrawal Civil and Environmental Engineering Stanford University Stanford, CA Giuseppe Aiello Università degli studi di Palermo Palermo, Italy George Arampatzis School of Production Engineering and Management Technical University of Crete Chania, Greece Rebeca Arista Industrial System Digital Continuity Specialist at Airbus SAS Leiden, the Netherlands Zeynep Baysal Ostim Technical University OSTIM, Turkey Marcelo Behar PricewaterhouseCoopers LLP New York, New York Abdeljalil Beniiche Optical Zeitgeist Laboratory Institut national de la recherche scientifique Quebec, Canada Antonio Bono Department of Computer Science, Modeling, Electronics and Systems Engineering University of Calabria Rende, Italy Hui Cai Department of Electrical Engineering and Information Technology Ilmenau University of Technology Ilmenau, Germany Serdar Çelik Ostim Technical University Ostim, Turkey Marianna Charitonidou Faculty of Art Theory and History Athens School of Fine Arts Athens, Greece Dawei Chen InfoTech Labs Toyota Motor North America Plano, Texas
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xii Contributors Long Chen School of Architecture, Building and Civil Engineering Loughborough University Loughborough, England YangQuan Chen University of California Merced Merced, California Kai Cheng Brunel University London Uxbridge, England David Christopher Brunel University London Uxbridge, England Chiara Cimino Associate Professor at University of Turin Department of Management, Economics, and Industrial Engineering Politecnico di Milano Milan, Lombardia, Italy Marianna Crognale Department of Structural and Geotechnical Engineering Sapienza University of Rome Rome, Italy Paul M D’Alessandro Customer Transformation PricewaterhouseCoopers LLP New York, New York Luigi D’Alfonso Department of Computer Science, Modeling, Electronics and Systems Engineering (DIMES) University of Calabria Rende, Italy João Miguel da Costa Sousa IDMEC, Instituto Superior Técnico Universidade de Lisboa Lisbon, Portugal Susana Margarida da Silva Vieira IDMEC, Instituto Superior Técnico Universidade de Lisboa Lisbon, Portugal Yanning Dai School of Instrumentation and Optoelectronic Engineering Beihang University Beijing, China Istvan David Université de Montréal Montreal, Canada Melissa De Iuliis Department of Structural and Geotechnical Engineering Sapienza University of Rome Rome, Italy José Ferreira de Rezende Federal University of Rio de Janeiro (UFRJ) Rio de Janeiro, Brazil Marianne T DeWitt Customer Transformation PricewaterhouseCoopers LLP New York, New York Pedro Henrique Diniz Federal University of Rio de Janeiro (UFRJ) Rio de Janeiro, Brazil
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xiiiContributors Leiting Dong School of Aeronautic Science and Engineering Beihang University Beijing, China Yongquan Dong Chongqing Jiaotong University Chongqing, China Ivan Dychka Faculty of Applied Mathematics National Technical University of Ukraine Kyiv, Ukraine Pavlos Eirinakis Department of Industrial Management and Technology University of Piraeus Piraeus, Greece Georgios Falekas Department of Electrical and Computer Engineering Democritus University of Thrace Komotini, Greece Giuseppe Fedele Department of Informatics, Modeling, Electronics and Systems Engineering (DIMES) University of Calabria Rende, Italy André Filipe Simões Ferreira Hovione Farmaciência S.A. Loures, Portugal Gianni Ferretti Automatic Control Cremona campus of the Politecnico di Milano Cremona, Italy Anselmo Filice Department of Environmental Engineering, Afference to Department of Informatics, Modeling, Electronics and Systems Engineering (DIMES) University of Calabria Rende, Italy Martin Fischer Civil and Environmental Engineering Stanford University Stanford, California Nikolai Fomin V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences Moscow, Russia Marco Francesco Funari Department of Civil and Environmental Engineering University of Surrey Guildford, England Shuo Gao School of Instrumentation and Optoelectronic Engineering Beihang University Beijing, China Gabriele Garnero Interuniversity Department of Regional and Urban Studies and Planning Università degli Studi di Torino Turin, Italy Vincenzo Gattulli Department of Structural and Geotechnical Engineering Sapienza University of Rome Rome, Italy
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xiv Contributors Behnam Ghalamchi Mechanical Engineering California Polytechnique State University San Luis Obispo, California Ning Gou Brunel University London Uxbridge, England Jascha Grübel Cognitive Science ETH Zurich Zurich, Switzerland Furkan Guc University of California Merced Merced, California Dayalan R. Gunasegaram CSIRO Manufacturing Geelong, Australia Atul Gupta Merative Ann Arbor, Michigan Mohammed Adel Hamzaoui Lab-STICC Université Bretagne Sud Lorient Lorient, France Daguang Han School of Civil Engineering Southeast University Nanjing, China Zhu Han Department of Electrical and Computer Engineering University of Houston Houston, Texas Richard Heininger Business Informatics- Communications Engineering Johannes Kepler University Linz, Austria Anca‑Simona Horvath Research Laboratory for Art and Technology Aalborg University Aalborg, Denmark Kaixin Hu Smart City and Sustainable Development Academy Chongqing Jiaotong University Chongqing, China Thomas Ernst Jost Business Informatics- Communications Engineering Johannes Kepler University Linz, Austria Nathalie Julien Lab-STICC Université Bretagne Sud Lorient Lorient, France Eric Guiffo Kaigom Computer Science and Engineering Frankfurt University of Applied Sciences Frankfurt, Germany Kostas Kalaboukas Gruppo Maggioli Santarcangelo di Romagna, Greece
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xvContributors Vivek Kant Human Factors and Sociotechnical Systems Studios IDC School of Design Indian Institute of Technology Bombay Mumbai, India Athanasios Karlis Department of Electrical and Computer Engineering Democritus University of Thrace Komotini, Greece Dimitris Kiritsis Sustainable Manufacturing Ecole Polytechnique Federale de Lausanne (EPFL) Lausanne, Switzerland Zafeirios Kolidakis Department of Electrical and Computer Engineering Democritus University of Thrace Komotini, Greece Mariusz Kostrzewski Warsaw University of Technology Faculty of Transport Warszawa, Poland Serge P. Kovalyov Institute of Control Sciences of Russian Academy of Sciences Moscow, Russia Esra Kumaş Ostim Technical University Ostim, Turkey Emil Kurvinen Materials and Mechanical Engineering Research Unit, Machine and Vehicle Design University of Oulu Oulu, Finland Antero Kutvonen LUT School of Engineering Science LUT University Lappeenranta, Finland Cecilia Lee Royal College of Art London, United Kingdom Alberto Leva Automatic Control at Politecnico di Milano Milan, Italy Shangkuan Liu Brunel University London Uxbridge, England Xiaocheng Liu School of Computer Science and Technology Qingdao University Qingdao, China Yanhui Liu Southwest Jiaotong University Chengdu, China Stavros Lounis ELTRUN E-Business Research Center, Department of Management Science and Technology Athens University of Economics and Business Athens, Greece
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xvi Contributors Paulo B. Lourenço Department of Civil Engineering University of Minho Minho, Portugal Jinzhi Lu Ecole Polytechnique Federale de Lausanne (EPFL) Lausanne, Switzerland Zhihan Lyu Department of Game Design Uppsala University Uppsala, Sweden Martin Maier Optical Zeitgeist Laboratory Institut national de la recherche scientifique Quebec, Canada Utpal Mangla Telco Industry & EDGE Clouds IBM Toronto, Canada Giulia Marcon University of Palermo Palermo, Italy Roman V. Meshcheryakov V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences Moscow, Russia Andrey Mozokhin Department of Automated Systems of Process Control of SMGMA Group Moscow, Russia Petra Müller‑Csernetzky Design Management and Innovation Lucerne School of Engineering and Architecture Lucerne, Switzerland Ahsan Muneer School of Business and Management LUT University Lappeenranta, Finland Andre Nemeh Strategy and Innovation Rennes School of Business Rennes, France Tobias Osterloh RWTH Aachen University Aachen, Germany Busra Ozen Department of Civil Engineering Aydin Adnan Menderes University Aydin, Turkey Gozde Basak Ozturk Department of Civil Engineering Aydin Adnan Menderes University Aydin, Turkey Hamide Özyürek Department of Business Administration Ostim Technical University Ostim, Turkey Ilias Palaiologou Department of Electrical and Computer Engineering Democritus University of Thrace Komotini, Greece
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xviiContributors Andreas Pester Faculty of Informatics and Computer Science The British University in Egypt Cairo, Egypt Heli Ponto Forum Virium Helsinki Oy Helsinki, Finland Panagiota Pouliou CITA – Center of Information Technology and Architecture KADK Copenhagen, Denmark Salvatore Quaranta Università degli studi di Palermo Palermo, Italy Laavanya Ramaul School of Business and Management LUT University Lappeenranta, Finland Guoqian Ren College of Architecture and Urban Planning Tongji University Shangai, China Stefano Rinaldi Department of Information Engineering University of Brescia Brescia, Italy Jürgen Roßmann Electrical Engineering RWTH Aachen University Aachen, Germany Christian Esteve Rothenberg University of Campinas Campinas, Brazil Jože Martin Rožanec Information and Communication Technologies Jožef Stefan International Postgraduate School Ljubljana, Slovenia Timo Ruohomäki Forum Virium Helsinki Oy Helsinki, Finland Jussi Salakka Mechanical Engineering Oulu University Oulu, Finland Ville Santala Forum Virium Helsinki Oy Helsinki, Finland João Afonso Ménagé Santos Hovione Farmaciência S.A.; IDME, Instituto Superior Técnico Universidade de Lisboa Lisbon, Portugal Jyrki Savolainen School of Business and Management LUT University Lappeenranta, Finland Philip Scarf Cardiff Business School Cardiff University Cardiff, Wales Oleg Schekochikhin Department of Information Security Kostroma State University Kostroma, Russia
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xviii Contributors Elena F. Sheka Institute of Physical Researches and Technology of the Peoples’ Friendship University of Russia Moscow, Russia Muhammad Shoaib Information Systems Department, King Saud University Politecnico di Milano Milan, Italy Valeria Shvedenko LLC T-Innovatic St. Petersburg, Russia Vladimir Shvedenko Federal Agency for Technical Regulation and Metrology ROSSTANDART The Russian Institute of Scientific and Technical Information of the Russian Academy of Sciences (VINITI RAS) Moscow, Russia Seppo Sierla Aalto University Espoo, Finland Xinya Song Department of Electrical Engineering and Information Technology Ilmenau University of Technology Ilmenau, Germany Christian Stary Business Informatics- Communications Engineering Johannes Kepler University Linz, Austria Nenad Stojanović Nissatech Innovation Centre Germany Oliver Stoll Lucerne School of Engineering and Architecture Lucerne, Switzerland Jayasurya Salem Sudakaran Human Factors and Sociotechnical Systems Studios, IDC School of Design Indian Institute of Technology Bombay Mumbai, India Olga Sulema Computer Systems Software Department National Technical University of Ukraine Kyiv, Ukraine Yevgeniya Sulema Computer Systems Software Department National Technical University of Ukraine Kyiv, Ukraine Eugene Syriani Department of Computer Science and Operations Research Université de Montréal Montreal, Canada Lavinia Tagliabue University of Turin Turin, Italy
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xixContributors Chenyu Tang Department of Engineering University of Cambridge Cambridge, England Gloria Tarantino Università degli Studi di Torino | UNITO · Dipartimento Interateneo di Scienze, Progetto e Politiche Del Territorio Politecnico di Torino Turin, Italy Frits van Rooij IDE Americas Inc. Carlsbad, California Salford Business School University of Salford Salford, England Sai Phanindra Venkatapurapu Customer Transformation PricewaterhouseCoopers LLP New York, New York Jairo Viola University of California Merced Merced, California Juho‑Pekka Virtanen Forum Virium Helsinki Oy Helsinki, Finland Annalaura Vuoto Department of Civil Engineering University of Minho Minho, Portugal Dan Wang Department of Computing The Hong Kong Polytechnic University Hong Kong, China Jiaqi Wang School of Instrumentation and Optoelectronic Engineering Beihang University Beijing, China Jie Wang Beijing Institute of Nanoenergy and Nanosystems Chinese Academy of Sciences Beijing, China School of Nanoscience and Technology University of Chinese Academy of Sciences China Bianca Weber‑Lewerenz Faculty of Civil Engineering RWTH Aachen University Aachen, Germany Shaun West Lucerne School of Engineering and Architecture Lucerne University of Applied Sciences and Arts Lucerne, Switzerland Dirk Westermann Department of Electrical Engineering and Information Technology Ilmenau University of Technology Ilmenau, Germany Chunli Ying School of Architecture, Building and Civil Engineering Loughborough University Loughborough, England