Extending IOPT-Nets with High-Level Features: A Power Wheelchair Digital Twin Case Study

Petri nets are used across various domains for modeling systems with concurrent and asynchronous behavior. Its application extends to assessing the dependability and risk-related measures in these systems, improving their operational and safety requirements through analysis and re-design. In parallel, digital twins offer a promising approach to design, monitor, and control physical entities. Notably, non-autonomous Petri nets, such as Input-Output Place-Transition nets (IOPT-nets), prove suitable for modeling and deploying digital twins, relying on input and output signals to easily specify the interaction between the systems and the external world. This article proposes an extension of the IOPT-nets class to include additional high-level features to handle the implementation of digital twins in complex scenarios. The focus is on a case study involving the development of digital twins for power wheelchairs, which are systems that need to be safe and reliable to fulfill their purpose. Validation of these high-level features considers unfolding principles to ensure successful application within the IOPT-Tools framework.