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Digital Twins represent a new and disruptive technology, where digitalreplicas of (cyber)-physical systems operate for long periods of time alongsidetheir (cyber)-physical counterparts, with enabled bi-directional communicationbetween them. However promising, the development of digital twins is anon-trivial problem, since what can initially be adequate models may becomeobsolete in time due to wear and tear of the physical components, accumulatederrors, or the evolving interaction with the environment. As such, there is aclear need for mechanisms that support swapping in new models, as well changingmodel structures as a whole when necessary. To address this challenge, wepropose in this paper a novel artefact, fmiSwap, that is FMI compliant andallows for run-time swapping in standalone co-simulations, where differentstrategies can be tested easily, as well in fully deployed DT settings withhardware in the loop. We adopt a water-tank case-study consisting of a tank andits controller to demonstrate how fmiSwap works and how it can support swaps ina safe manner.

fmiSwap: Run-time Swapping of Models for Co-simulation and Digital Twins