## 2 Digital Twin Software Solutions
### Manufacturing Support Applications  
Companies across various industries have successfully implemented digital twin software solutions to improve their production output, reduce costs, and drive innovation, as General Electric (GE) demonstrated in three of their case studies [36]. With their SmartSignal and Asset Performance Management software, they were able to generate digital twins from operational and fleet data and use those twins to perform real-time monitoring, producing an estimated $1.6 billion in savings. Several notable examples of digital twin implementation software include Siemens Process Simulate, FlexSim, and Visual Components. Digital twin software solutions play a pivotal role in various industries, revolutionizing management practices and decision-making processes. These solutions enable real-time monitoring, analysis, and optimization of physical systems. Table 1 highlights a selection of some digital twin software solutions and their applications across different industries. Many tools listed in Table 1 overlap in their core simulation capabilities. For clarity, we have consolidated examples and focused commentary on distinguishing features such as their open-source status, integration protocols, and suitability for use in cobot systems. Repetitive commentary has been removed or shifted to highlight comparative advantages (e.g., Gazebo vs. NVIDIA Omniverse in real-time control applications). Siemens Process Simulate is a digital twin software solution recognized for its capabilities in the manufacturing industry [37]. It is a wide-functionality digital twin software solution focused on manufacturing industries [53; 54; 55]. It allows organizations to create virtual replicas of production processes, enabling simulation, optimization, and validation of manufacturing operations. Process Simulate provides insights into assembly line layouts,  
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material flow, and production cycle times, helping manufacturers streamline operations, improve productivity, and reduce costs. An example of using Siemens Process Simulate in industrial cobot applications can be seen in the automotive manufacturing sector. In an assembly line where collaborative robots work alongside human operators, Process Simulate can be utilized to create a digital twin of the production environment. This digital twin can simulate the interaction between cobot and human workers, ensuring optimal safety and proficiency. By analyzing the virtual model, Process Simulate can help identify potential bottlenecks, optimize the layout of work cells, and enhance the overall workflow. This enables organizations to seamlessly merge cobots into the manufacturing process, resulting in improved productivity, reduced errors, and enhanced worker collaboration. FlexSim is another functional digital twin software solution that finds applications in various industries, including manufacturing, logistics, and healthcare [56; 57]. It enables the creation of virtual models that simulate complex systems and processes, allowing for optimization and analysis. FlexSim assists in optimizing facility layouts, scheduling workflows, and improving resource allocation, ultimately leading to increased efficiency and cost savings. [PERSON] et al. [58] leverages FlexSim to develop a digital twin architecture for energy optimization in manufacturing systems. The digital twin in this experiment is capable of enhancing energy management of automated ground vehicles (AGV) in a battery pack assembly line. Visual Components software is a digital twin software that focuses on simulation and 3D visualization. It is common in the manufacturing industry and in robotics research and development. It enables users to produce dynamic digital replicas of processes, systems, and environments, providing a virtual mirror of real-world situations.