Assessing the Maturity of Digital Twinning

Solutions for Ports

Robert Klar∗† , Anna Fredriksson∗, Vangelis Angelakis∗
∗ Department of Science and Technology, Linköping University, Campus Norrköping, 60 174, Sweden
† Swedish National Road and Transport Research Institute (VTI), SE-581 95 Linköping, Sweden
E-mail: [email protected], [email protected], [email protected]
arXiv:2212.07722v1 [cs.CY] 15 Dec 2022

Abstract—Ports are striving for innovative technological solu- real-time situational awareness for static, moving, human-
tions to cope with the increasing growth in demand of goods controlled or autonomous entities and artifacts, by bringing to-
transport, while at the same time improving their environmental gether geographic, sensor and real-time information. However,
footprint. An emerging technology that has the potential to
substantially increase the effectiveness of the multifaceted and the implementation of the digital twin in complex systems
interconnected port processes is that of digital twins. Innovation- such as ports is still in its infancy, caused in part by the
leading ports recognizing the potential of twinning have already fact that there is no clear consensus in the various sectors
started working on it. However, since there is no clear consensus of what a digital twin is and how it should be designed.
on what a digital twin of a complex system comprises and As a result, various leading ports are designing digital twin
how it should be designed, deployed digital twin solutions for
ports often differ significantly. This article addresses this issue solutions that differ significantly in terms of their functional
by initially identifying three core aspect underpinning digital scope, and thus their level of maturity. Subsequently, there is
twins of complex systems, such as ports, and outlining five a need for tools to benchmark the progress of digital twin
successive maturity levels based on these aspects’ instantiation. implementation between different ports.
These identified aspects and the derived maturity levels are then
used to examine real-world cases by critically evaluating existing A. Digital Twins and Ports
digital twinning solutions in the port of Singapore, the Mawan
port of Shanghai, and that of Rotterdam. These being three of the Originally developed for supporting manufacturing, digital
world’s innovation-leading ports, we naturally find in them most twinning has attracted a great deal of attention in industry and
of the identified core aspects to be in line with their twinning practice. Moreover, digital twins (DTs), enabling simulation
implementation, which has reached, in all three, a higher level of of systems’ behaviour in digital form has been referred to as
maturity. Although, our work on maturity levels and core aspects
can provide a guideline for designing and benchmarking future “a quantum leap in discovering and understanding emergent
digital twinning solutions for ports, the capacity for innovation behavior” [6]. The potential of digital twins to optimise port
via twinning, even in the port domain, is highly contextual with processes towards reducing costs or avoiding CO2 emissions,
key paragon being the availability of financial and technical for example, has also been recognised at innovation leading
resources. ports [5], [7], [8]. It is therefore not surprising that there are
Index Terms—Digital Twin, Smart Port, Digital Twin Maturity.
already existing twinning solutions catering to the needs of
different port stakeholders, twinning different port elements.
In paper [9], Zhou et al. implement a digital twin port
I. I NTRODUCTION
crane framework based on multi-sensor data, which is able
Seaports are striving for innovative technological solutions to reproduce the historical crane operation process, simulate
to cope with the steady growth of transport of goods, in the the control program, simulate the synchronous mapping and
context of globalization, while complying with new regulations take remote control. Zhou et al. further propose in paper [10]
intended to enhance the sustainability of port operations [1]. a decision support system with a digital twin-based resilience
As a result, the scale and complexity of port operations is analysis that assesses a port’s resilience to potential disruptive
increasing, requiring more sophisticated and accurate compu- events, taking into account its design, operations and possible
tational models to derive precise planning to meet the demands predefined post-event recovery measures to mitigate the impact
of the future [2]. This dynamic and competitive character of the disruption. Further decision support related digital twin
of the maritime and port landscapes drives the application studies emphasize on integrated crane maintenance under op-
of new technologies and innovation to enhance performance eration in container terminals [11] or on dispatching assistance
and increase cooperation and transparency, and attract new in port logistics based on a performance forecast [12]. In
business [3]. European ports are focusing on safety, efficiency paper [13], Li et al. propose a safety operation optimization
and sustainability to fulfill a 32 % increase in energy efficiency framework integrating the digital twin with the AdaBoost
according to the 2030 climate and energy framework. [4]. In algorithm to increase container terminal efficiency and safety.
doing this, many ports have launched efforts to give port staff a In paper [14], Wang et al. present core techniques for a
complete and up-to-date overview of port activities via digital systematic framework of a digital twin-based model focusing
twinning[5]. Twinning in this context aims to enhance ports on transport and operations for smart port management.
B. The (Im)maturity of Digital Twins in Ports totyping, manufacturing, deployment, maintenance, and dis-
Although the concept of the digital twin has largely evolved posal). We must note that each of these phases, comprising
since its coining in 2002 [6], there is still a lack of stan- different functionalities, may require different timescales at
dardization, methodologies, and tools for the development and which components will have to operate.
implementation of digital twins [15]. Furthermore, the concept (3) Functional scope
and content of digital twins do not have a precise, uniform • Modelling: A digital twin is a grouping of models and

definition or even description [16]. It is therefore not surprising algorithmic components that jointly describe a complex
that there are also problems with the uniform implementation system and allow to estimate the impact of likely out-
of the digital twin in ports. An additional obstacle is that comes, e.g., to test what-if scenarios and enable predictive
different port actors usually keep a wide array of, practically, maintenance.
vertical information systems (i.e. with limited or no actual • Visualization: A digital twin enables a digital replica of

interconnection between them), due to the large number of all static and dynamic processes as well as the compo-
actors in the port processes and the isolated procurement nents of its physical counterpart.
digitization projects that provided these systems. Due to this • Interaction: A digital twin is characterized by its bidirec-

lack of data exchange individual operators are seldom able tional character, enabling it to directly influence the actual
to efficiently plan the use of resources (short and long term), system based on its actions, changes, and predictions.
since it can be difficult to accurately predict when some of • Synchronization: The digital twin is continuously up-

them will be in need, for example, when a port a call will dated in a timely manner by various components and
occur [17]. Finally, the wide diversity of ports in terms of processes of the actual system whenever needed.
size, geographical characteristics, governance and institutional • Self-Improving: A digital twin is a (self-)improving

frameworks, port functions and port specializations [1], is system that can be progressively improved and extended
creating an additional challenge for a one-size-fits-all digital through the increasing accumulation of data and knowl-
twinning approach in ports. edge over time.
A comparison of different definitions of digital twins as
II. D IGITAL T WINS illustrated in table I, where aside from the original application
A. Definition and characteristics of Digital Twins of DTs in manufacturing, we bring in definitions from the
domains of smart cities and supply chains, since in [28]
Twinning of physical assets, or processes represents a we discuss how ports can be viewed from the infrastructure
step in the process of digitization and, as such, has been perspective of the smart city and their relevance to supply
evolving together with technologies supporting its realization chains. Table I illustrates how different application domains
(e.g., sensor technology, Internet of things (IoT), cloud have different requirements, particularly in terms of the
computing, big data analytics, and artificial intelligence (AI)) scale, frequency of updates and predictive capabilities. This
in the last twenty years [18]. Digital twins are considered distinction is underlined by Mylonas et al. [21] who point out
to be the pillar of Industry 4.0 and the innovation backbone that scale is one of the fundamental differences between DTs
of the future as they bridge the virtual cyberspace with in smart manufacturing and those in smart cities, as smart
physical entities [19]. Several definitions of Digital Twins cities are essentially systems of systems and the complexity
(DT) consider it a virtual representation (replica) of an and heterogeneity of DTs at the urban scale may be orders
actual system (AS), which can continuously update with of magnitude greater than their industrial counterparts.
real-time data throughout its lifecycle and can interact with Consequently, a domain-based definition of digital twins
and influence the AS [20]. However, since DT is the subject might be more advantageous than a general definition that
of study in several disciplines and a tool applied across cannot apply to all domains. Although definitions and
different disciplines, where practitioners understand it from characteristics differ, table I demonstrates that digital twins
their unique professional perspective, there is no uniform among various domains have common objectives, including
definition. Comparing different definitions, it is evident that fault detection, product/process optimization, evaluation of
the more recent definitions of digital twin focus on dynamics, potential operation szenarios, monitoring, and the ambition to
learning, and evolution, rather than just being digital shadows save costs while enhancing safety and sustainability.
of static objects in the real world [21]. Drawing on the work
of Jiang et al. [19], some of the core aspects of the digital
twin are summarised here. B. Different stages of maturity of Digital Twins
Based on the comprehensive evaluation of existing digital
(1) Components: A digital twin and its physical counterpart twin solutions by Botı́n-Sanabria et al. [29], most DT concepts
consist of Physical Entities, Virtual Models, Physical-Digital are still at initial stages (maturity levels 0 to 3 in table II), and
Connections, Data, and Services, both in the real world, which few have started integrating real-time data streams, because
need to be modelled, and those in the cyber world. capturing, filtering, and processing data in real time is a major
(2) Temporal span: A digital twin is designed to mirror challenge, and device malfunctions and poor calibration can
its physical counterpart throughout its life-cycle (design, pro- lead to anomalies or missing data points. In their mature
 TABLE I
C OMPARISON OF D IGITAL T WIN D EFINITIONS

Domain Definition and purpose of digital twins across different domains Key characteristics

Definition: ”A digital twin is an integrated multi-physics and multi-scale simulation of a product/system Simulation, Modelling
Manufacturing that can model the mechanical, electrical, software, and other discipline-specific properties across its
lifecycle” [22].
Purpose: ”Through high-fidelity modeling, real-time interaction and data fusion, DT can reproduce Fault detection, Mirroring,
a physical asset or process accurately in the digital world and enable more effective monitoring, Monitoring, Optimization
optimization, and prediction of the physical counterpart throughout its lifecycle” [23].
Definition: ”An urban digital twin can be best characterized as a container for models, data, and Complexity capture
Smart City simulations” [24].
Purpose: ”The city digital twin is anticipated to construct a link with the real city or the physical Situational awareness, Moni-
counterpart to enhance the visibility of the city and the understanding and analysis of the city’s events toring, Analysis, Understand-
and operations. For that purpose, the city digital twin is perceived as enabling technology to promote ing
situational awareness for city management and to provide a city information model; that is, the city
digital twin can collect, monitor, and manage city data” [25].
Definition: ”A digital SC twin is a model that represents the network state for any given moment in time Resilience, Replication, Sim-
Supply Chain and allows for complete end-to-end SC visibility to improve resilience and test contingency plans” [26]. ulation
Purpose: ”A digital supply chain twin acts as a tool for decision-makers in logistics and supply chain Decision making, Holistic im-
management to holistically improve logistics performance along the whole customer order process through provements
data-driven decision-making” [27].
Definition: “A digital twin of a port is a grouping of models and algorithmic components that jointly Process optimization, Holistic
Ports describe the complex interplay of port processes and operations allowing the characterization, estimation, improvements
and prediction of the most efficient operations at the process level, but also for the port as a whole” [28].
Purpose: “Through inputs from real-time sensors and experience from historical data, a user can identify Simulation, Modelling, Fault
patterns that led to inefficiencies in the past, get a complete view of current operating conditions, and detection, Monitoring
predict future conditions by simulating what-if scenarios” [28].

version, digital twins are more than just Building Information levels of automation, as terminal automation can directly
Modeling (BIM) or a 3D model. They can then serve as improve performance indicators such as cost, efficiency, safety,
a data resource that enhances the design of new facilities and reliability [1]. Increased terminal automation is also
and the understanding of the condition of existing facilities, needed to cope with the increasing size of cargo ships and
verify the as-built condition, perform ”what-if” simulations growing freight volumes. According to Vis et al. in paper
and scenarios, or provide a digital snapshot for future works [34], operations take place at five different areas, namely at
[30]. Consequently, a fully developed DT is expected to have the berth, quay, transportation, yard, and gate, leading to a
elements of self-adaptiveness in combination with machine large magnitude of interlinked processes that can be classified
learning, simulation, and data processing to enable accurate into strategic and operational problems. A second requirement
prediction of specific properties related to performance [20]. for the port’s digital twin is therefore to provide data-driven
analytics to aid holistic decision-making. Furthermore, the port
III. P ORTS D IGITAL T WIN is a hub of numerous processes involving multiple actors and
1) The port context: Ports, physically located at the out- dimensions. Ports not only align the interests of employees,
skirts of (smart) cities, perform a variety of functions, as management and shareholders, but also serve with a wide
nodes in transportation chains and hubs of economic activities range of stakeholders, including terminal operators, vessel
related to the handling of ships and cargo in the port [31]. operators, railways, shippers, industry associations, munici-
In addition to the port’s primary role as a global hub with palities, and government agencies [35]. A third requirement
the goal of establishing excellent port operations that enable for the port’s digital twin is therefore to foster cooperation
the seamless transfer of goods between the maritime and between the various port stakeholders.
hinterland networks, ports also serves as industrial clusters 2) Digital twin maturity levels in the port context: Adapting
as well as an information hubs [32]. As ports handle a the maturity levels for built environment digital twins of [30],
multitude of processes performed by a variety of actors in we collapse their two initial levels of fundamental digitization,
parallel, it is increasingly important to improve the overall assuming that no modern digital twin cannot comprise a
view of port processes and identify potential bottlenecks to sufficient asset digitization of their 1st level. So, the first step
increase efficiency, safety, and sustainability throughout the in twinning ought to comprise the production and curation of
port ecosystem [33]. Consequently, the implementation of the any respectively needed or already existing records (such as
port’s digital twin should provide a high level of connectivity databases, 2/3D models, etc.) towards capturing the physical
and visibility to provide situational awareness that best benefits components of the system we twin in a digital form. Attaching
the many transportation chains that pass through the port. models of physical or business processes which can capture
Beyond situational awareness, ports also benefit from higher the effect of real-world events relevant to the assets and their
 TABLE II
M ATURITY LEVELS FOR DIGITAL TWINS , ADAPTED FROM [30]

Level State Requirement Enabled potential

1 Replication of as- Digitization of physical assets and their state Awareness of assets, rudimentary decision
sets at moment of capture (e.g. 2D maps or 3D support
models)
2 Connection Connect processes and models to static data Realistic simulations and asset planning
and metadata of level 1
3 Synchronization Enrich with timely data (sensors and other Real-time situational awareness and immer-
IoT technologies) sive environments
4 Interaction Two-way data communication and interac- Remote control of physical assets and pro-
tion cesses
5 Automation Transparent explainable systems with broad Autonomous operations optimization and
control potential self-maintenance

life-cycle, is required to achieve the 2nd level of DT maturity. twin would allow full remote control based on input from all
Then, sensor networks can collect real-time data on port traffic stakeholders involved, while operating autonomously with full
(sea and land), the ecological environment, and the various self-governance with complete oversight by the main operator
processes of port operations, enabling a timely connection and full transparency to all stakeholders involved. The holistic
and mapping from the physical world to the digital world. port digital twin described here includes all the requirements
Thus, the integration of both static and dynamic data, enables of the maturity levels in table II reaching the 5th level.
real-time situational awareness by providing knowledge about
both less time-sensitive real-world events (such as weather IV. M ATURITY E VALUATION OF THREE PORT DT
conditions or a storage yard capacity) and more time-sensitive SOLUTIONS
events (e.g. the current available space in a storage yard, or The maturity levels of table III are applied to assess the core
the extend of traffic disruptions in hinterland traffic due to capabilities of the digital twin in three selected innovation-
expected snowfall). The steps described above reflect levels 1- leading ports. Singapore’s smart port has been known as one of
3 in table II and the digital twin core aspects visualization and the most cutting-edge technology ports in the world [43]. The
synchronization in chapter I. Then on, based on the collected Mawan smart port in the Shenzen province of the PRC, has
operational data, two-way exchange of information would impressively demonstrated how to upgrade a traditional bulk
allow control commands to be issued remotely, supported by cargo terminal transforming it into an automated terminal [37].
digital twin simulations, thus embedding the bi-directional Europe’s largest commercial port and labeled as the “world’s
nature of the digital twin into the port. In last maturity level, information port”, Rotterdam is also one of the world’s leading
the digital twin should be able to make decisions regarding ports in the research and application of smart technologies.
operations and maintenance autonomously based on real-time The evaluation of the core functions of the digital twins of
and historical data and their further processing in its models. the respective ports we present in table III shows that they have
The consecutive steps upon described here reflect levels 4-5 progressed up to level 4 . All three ports are equipped with
in table II and the digital twin core aspects modelling and connected sensors, allowing, in real time, both the monitoring
synchronization in chapter II-A. of certain parameters (truck movements, water and environ-
The port digital twin should further provide a platform ment conditions), and port process optimization. Moreover
for collaborative decision making, potentially even across following the definitions we presented in Section II-A, these
organizational boundaries, where multiple port stakeholders ports also use simulation tools to predict the optimal resource
would be networked, and simulations of what-if scenarios configuration, as well as the impact of delays on subsequent
predict the effects of different measures on the actor itself, terminal processes. Consequently, existing digital twins solu-
but also on the port as a whole. In addition, the various tions in leading ports provide the digital twin core functional
port stakeholders could already report known difficulties, such aspects of modelling, visualization (and monitoring), as well
as staff shortages or planned maintenance in the platform, as synchronization and interaction to a certain extend. They
whereupon the digital twin’s simulation models would already further provide situational awareness, analytic capabilities for
indicate possible consequences and alert the other stakehold- smart decision making and a a communication platform as
ers to the potential impact. In the case of port expansion identified as the core requirements in section III. However,
or the introduction of a potential new policy, the digital there is still potential for further progress in the functional
twin platform would also provide all relevant stakeholders aspects of interaction and self-improvement, as the digital
with insight of consequences, thus supporting joint decision- twin should ideally be able to take decisions autonomously,
making. Therefore, the various stakeholders could be actively assessing the impact of each process not in isolation but as
involved in the decision-making process through suggestions part of a number of interconnected processes on the port as a
and direct testing of these. Consequently, the port’s digital whole.
 TABLE III
A NALYSIS OF DT CHARACTERISTICS AND MATURITY EVALUATION OF LEADING PORTS

Port Capabilities of their respective digital twin solutions Maturity level

Mawan Smart Port’s fleet management system can monitor the status of partially unmanned vehicles in real 3 (Synchronization)
Mawan Smart Port time, provide optimal routing and scheduling, and support mixed operations of multiple unmanned trailers [36].
By accessing container data in the container service management system, Mawan Smart Port dynamically 3 (Synchronization)
generates containers in 3D digital twin with the same position, appearance, number and type as their physical
counterparts, enabling users to control the storage of containers and find them quickly, improving the efficiency
of yard and container service management [37].
Mawan Smart Port can access historical operation data to create a historical operation review and to identify 4 (Interaction)
the causes of operational bottlenecks, helping to provide solutions to avoid them in the future. In addition,
current operating conditions are improved based on insights from historical operating data [37].
The port is able to access real-time operational data, enabling real-time operational monitoring that overcomes 4 (Interaction)
the shortcomings of video surveillance and improves the efficiency of real-time operational planning [37], [36].
The port of Singapore provides a convenient and smooth platform for information communication between port 3 (Synchronization)
Port of Singapore actors, port related services, freight forwarders and logistics companies [38].
The Singapore smart port uses a traffic monitoring system based on, among other things, traffic monitoring 3 (Synchronization)
sensors along the main roads, capable of tracking the movement of a truck in the Singapore port in real time,
notifying it when the vehicle approaches the main facilities and giving it instructions on how to proceed [14].
The digital twin of the Port of Singapore has enabled companies to conduct planning based on simulated data 4 (Interaction)
from the past, present and future. Costs could be reduced and productivity increased without the need for
physical simulations or testing, saving time and resources [39].
Leveraging the digital twin of container terminals and integrating advanced simulation-based optimization 4 (Interaction)
techniques, Sigapore’s port digital twin can aid to port operators to find the optimal resource configuration in
terms of the number of quay cranes, yard cranes and vehicles in an efficient and accurate way [40], [2].
Equipped with sensors throughout its docks, the Port of Rotterdam is capable to collect real-time data on the 3 (Synchronization)
environment and water conditions, including air temperature, wind speed, humidity, turbidity, water salinity,
Port of Rotterdam current, levels, tides and currents [41].
The Port of Rotterdam’s digital platform termed Portmaster provides precise information, including the arrival 3 (Synchronization)
and departure times of ships. Quays, berths and other port infrastructure can be digitally mapped in Portmaster
and linked to information about accessibility and availability [42] .
The digital twin uses IoT sensors to enable advanced intelligence by simulating the physical characteristics of 4 (Interaction)
the port so that multiple variables can be changed and effectively tested. As a result, the DT models are able
to make accurate real-time predictions of arrivals and departures, reducing waiting times and costs [42], [7].
Portmaster’s asset planning and monitoring, maintenance and services modules help the port to get the most out 4 (Interaction)
of their assets and revenues as infrastructure is better utilized and port operations are handled more efficiently
[42].

V. D ISCUSSION AND C ONCLUSION sented ports in terms of throughput, and thus also financial
resources. Finally, our exploration has epidermically addressed
The article critically evaluated core aspects of digital twins
the issue of governance and the aspects of cross-stakeholder
taking into account their relevance for ports. Based on this
communication, needed for- and enabled by the sucessful
evaluation, an existing digital twin maturity assessment from
implementation of DT and the impact of port digitization.
the construction industry was refined and contextually trans-
Thus, the takeaway is that the core aspects and maturity levels
ferred to the port context, without losing its generality. We
of digital twinning in this study can serve as guidance to other
found that leading ports have already achieved considerable
ports and as a tool to technologically evaluate current and
success in implementing digital twins meeting the core aspects
future digital twinning approaches.
presented in section II-A. This is also confirmed by our
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