Committee Chair

Kim, Seong Dae

Committee Member

Lee, Hyunsoo; Kaplanoglu, Erkan; Varol, Serkan


Dept. of Engineering Management


College of Engineering and Computer Science


University of Tennessee at Chattanooga

Place of Publication

Chattanooga (Tenn.)


This study proposes a digital twin (DT) model for a two-arm collaborative robot that can be deployed to simulate human arm motions using the reverse engineering process. A collaborative robot named ABB Yumi – IRB14000 was considered for this study. The purpose of the experiment was to find the best version of the digital twin model by applying translation and rotation constraints in every part of the CAD model of the robot. After adding features to the robot part files, Virtual Reality Modeling Language (VRML) format files were being created to assemble it in 3D world Editor for DT formation and a grid layout was created that contained the control panel of the collaborative model digital twin to connect it with the real world. Finally, a cyber-physical system (CPS) interface was built to replicate human motion. Deep reinforcement learning will be implemented using these two models for human motion simulation.


First and foremost, I would like to express my thanks to the Almighty Allah for providing me an absolute opportunity and peaceful life amidst the COVID-19 situation to pursue a master’s degree in Digital Twin (DT) Modeling using CAD software and programming platform at the University of Tennessee at Chattanooga (UTC), my deepest appreciation and humbleness to Him. Thanks to my parents and my family members to support me to pursue my master’s degree without any difficulties. Their mental and financial support let me go through this difficult path without much anxiety. I am also grateful to Allah to have Dr. Seong Dae Kim as my academic advisor as well as coordinator. Dr. Seong Dae Kim is a nice and humble person with deep knowledge of advanced technologies in engineering management, and I am thankful to him for his supervision, support, guidance, constructive criticism, and encouragement. Without his proper guidance, I cannot think of my graduate study much meaningful and smooth. Also, my gratitude is for Dr. Hyunsoo Lee who has helped me from the beginning of my research. With his insightful direction, I was energized to walk on the road that I did not think I could conclude. He helped me in every way from the concept building to the finishing point to materialize my work along with my advisor. Special thanks to Dr. Erkan Kaplanoglu for his enormous support and for teaching me details about the robot operation, & Dr. Serkan Varol for their intellectual support and constructive criticism of my thesis manuscript. Moreover, my gratitude to Dr. Lani Gao for her advice and excellent recommendation to pursue my Ph.D. study. I would like to thank Professor Ahad Nasab, Head of Engineering Management and Technology department of the University of Tennessee at Chattanooga (UTC) for considering me to have funding support and lab resources which were used for the Digital Twin Model formulation and for providing me additional facilities. I would like to thank Ms. Shanae Anderson, Ms. Lora Cook, and Ms. Bonny Clarke, and other staff of the Engineering Management & Technology Department and Graduate Office for their enormous support to solve the administrative issues at UTC. I thank my fellow roommate Mr. Syed Mohammad Tarek for the encouragement and all the constructive conversation that we made during almost 2 years of a long journey. Moreover, my special thanks to Babatunde Atolagbe for his support on on-campus as well as off-campus. Last but not the least, I would be thankful to Late Dr. Richard Wilson and other Bengali Community members to make my stay in the U.S. memorable and enjoyable. Their initial support helped me to settle down here in Chattanooga.


M. S.; A thesis submitted to the faculty of the University of Tennessee at Chattanooga in partial fulfillment of the requirements of the degree of Master of Science.




Cooperative objects (Computer systems); Reverse engineering; VRML (Computer program language)


Digital Twin; Human-CPS; Reverse Engineering; Two-Arm Collaborative Robot; VRML file; 3D World Editor

Document Type

Masters theses




xiv, 92 leaves





Date Available