A city-level digital twin is a critical enabling technology to construct a smart city that helps improve citizens' living conditions and quality of life. Currently, research and development regarding the digital replica city are pursued worldwide. However, many research projects only focus on creating the 3D city model. A mechanism to involve key players, such as data providers, service providers, and application developers, is essential for constructing the digital replica city and producing various city applications. Based on this motivation, the authors of this paper are pursuing a research project, namely Decentralized Digital Twin EcoSystem (D2EcoSys), to create an ecosystem to advance (and self-grow) the digital replica city regarding time and space directions, city services, and values. This paper introduces an overview of the D2EcoSys project: vision, problem statement, and approach. In addition, the paper discusses the recent research results regarding networking technologies and demonstrates an early testbed built in the Kashiwa-no-ha smart city.

Autonomous driving technology is expected to be applied to various applications with unmanned vehicles (UVs), such as small delivery vehicles for office supplies and smart wheelchairs. UV remote control by a cloud server (CS) would achieve cost-effective applications with a large number of UVs. In general, dead time in real-time feedback control reduces the control accuracy. On remote path tracking control by the CS, UV control accuracy deteriorates due to transmission delay and jitter through the Internet. Digital twin computing (DTC) and jitter buffer are effective to solve this problem. In our previous study, we clarified effectiveness of them in UV remote control by CS. The jitter buffer absorbs the transmission delay jitter of control signals. This is effective to achieve accurate UV remote control. Adaptive buffering time optimization according to real-time transmission characteristics is necessary to achieve more accurate UV control in CS-based remote control system with DTC and jitter buffer. In this study, we proposed a method for the adaptive optimization according to real-time transmission delay characteristics. To quantitatively evaluate the effectiveness of the method, we created a UV remote control simulator of the control system. The results of simulations quantitatively clarify that the adaptive optimization by the proposed method improves the UV control accuracy.

With the rapid deployment of the Internet of Things, where various devices are connected to communication networks, remote driving applications for Unmanned Vehicles (UVs) are attracting attention. In addition to automobiles, autonomous driving technology is expected to be applied to various types of equipment, such as small vehicles equipped with surveillance cameras to monitor building internally and externally, autonomous vehicles that deliver office supplies, and wheelchairs. When a UV is remotely controlled, the control accuracy deteriorates due to transmission delay and jitter. The accuracy must be kept high to realize UV control system by a cloud server. In this study, we investigate the effectiveness of Digital Twin Computing (DTC) for path tracking control of a UV. We show the results of simulations that use transmission delay values measured on the Internet with some cloud servers. Through the results, we quantitatively clarify that application of DTC improves control accuracy on path tracking control. We also clarify that application of jitter buffer, which absorbs the transmission delay fluctuation, can further improve the accuracy.

Cyber-physical systems (CPSs) assisted by digital twins (DTs) integrate sensing-actuation loops over communication networks in various infrastructure services and applications. This study overviews the concept, methodology, and applications of the integrated communication quality estimation and control for the DT-assisted CPSs from both communications and control perspectives. The DT-assisted CPSs can be considered as networked control systems (NCSs) with virtual dynamic models of physical entities. A communication quality estimation observer (CQEO), which is an extended version of the communication disturbance observer (CDOB) utilized for time-delay compensation in NCSs, is proposed to estimate the integrated effects of the quality of services (QoS) and cyberattacks on the NCS applications. A path diversity technique with the CQEO is also proposed to achieve reliable NCSs. The proposed technique is applied to two kinds of NCSs: remote motor control and haptic communication systems. Moreover, results of the simulation on a haptic communication system show the effectiveness of the proposed approach. In the end, future research directions of the CQEO-based scheme are presented.