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A Survey on Digital Twins: Architecture, Enabling Technologies, Security and Privacy, and Future Prospects
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Abstract
By interacting, synchronizing, and cooperating with its physical counterpart in real time, digital twin (DT) is promised to promote an intelligent, predictive, and optimized modern city. Via interconnecting massive physical entities and their virtual twins with inter-twin and intra-twin communications, the Internet of DTs (IoDT) enables free data exchange, dynamic mission cooperation, and efficient information aggregation for composite insights across vast physical/virtual entities. However, as IoDT incorporates various cutting-edge technologies to spawn the new ecology, severe known/unknown security flaws, and privacy invasions of IoDT hinder its wide deployment. Besides, the intrinsic characteristics of IoDT, such as decentralized structure, information-centric routing, and semantic communications, entail critical challenges for security service provisioning in IoDT. To this end, this article presents an in-depth review of the IoDT with respect to system architecture, enabling technologies, and security/privacy issues. Specifically, we first explore a novel distributed IoDT architecture with cyber–physical interactions and discuss its key characteristics and communication modes. Afterward, we investigate the taxonomy of security and privacy threats in IoDT, discuss the key research challenges, and review the state-of-the-art defense approaches. Finally, we point out the new trends and open research directions related to IoDT.
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“A crucial aspect of these advancements is the explainability of AI-driven decisions, which is essential for guiding IoDT development and refining AI algorithms [140,141].”
From Digital Twins in the IIoT: Current Practices and Future Directions Toward Industry 5.0 (2025) · cites this paper as [141]
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Fernandez, S. M. B. (2026) · International Conference on Inventive Computation Technologies (ICICT) · doi:10.1109/icict68280.2026.11510813
Metadata
- Authors
- Wang, Y., Su, Z., Guo, S., Dai, M., Luan, T. H., & Liu, Y.
- Affiliations
- Xi'an Jiaotong University (CN)
- University of Macau (MO)
- Venue
- IEEE Internet of Things Journal
- Published
- 2023-09-01
- Volume
- 10
- Issue
- 17
- Pages
- 14965-14987
- ISSN
- 2327-4662 (ISSN-L)
- 2372-2541
- OpenAlex
- W4362514681
- Semantic Scholar
- bc0b2c5033fdf66b5f48adf715dd333f94f9064d
- Cited by
- 357
- References
- 139
- Citations by year
- 2026: 113 · 2025: 127 · 2024: 88 · 2023: 26
- FWCI
- 39.32
- Type
- journal article
- Language
- en
- Open access
- green
- doi.org
- Licence
- Locations
- IEEE Internet of Things Journal (publishedVersion)
- arXiv (Cornell University) (submittedVersion)
- Figshare (submittedVersion, cc-by-nc-sa)
- arXiv (Cornell University)
- Funders
- NSFC (U22A2029, U20A20175, 62101429)
- Fundamental Research Funds for the Central Universities
- Topics
- Physical Sciences › Computer Science › Computer Networks and Communications › IoT and Edge/Fog Computing
- Physical Sciences › Engineering › Industrial and Manufacturing Engineering › Digital Transformation in Industry
- Physical Sciences › Computer Science › Information Systems › Internet of Things and AI
- Keywords
- digital twin, digital twin architecture, security threats, privacy, cyber-physical systems, distributed architecture, information-centric networking, semantic communication, security defenses, enabling technologies
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
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