could be used as a valuable tool for preoperation [20]. The digital twin not only allows iterative design of operational procedures by identifying inconsistencies and blunders, exploring " what-if " scenarios during onshore planning sessions based on historical MetOcean records and raising awareness on critical phases, but it can also be used in " toolbox talks " just before execution of the operation to rehearse the procedure based on current ship-loading conditions and nowcast of MetOcean conditions. Figure 11 illustrates the possibilities by presenting a snapshot of a remote-monitored crane operation in a fjord. The operation lasted about a half an hour. The data from the Anomaly Detection Engine 1 Engine 2 Engine 3 Sensor Data -20 -40 -60 8:00 Air Filter Clogging 9:00 10:00 011:00 12:00 Remaining Useful Life Prediction 800 600 400 Model Prediction November 2021 December 2021 January 2022 February 2022 March 2022 13:00 FIGURE 10. Anomaly detection and fault prognostics based on ML. There are three engines on the ship: two in operation, one used as a backup. NTNU Forskningslab in Ålesund Crane and Vessel Hydrodynamic Linked to Real Crane and Vessel Full Digital Twin Digital TwinHydrodynamic Simulation Model for Vessel Movement Digital Twins in Sandbox FIGURE 11. Three real-time digital twins. SEPTEMBER 2023 IEEE ROBOTICS & AUTOMATION MAGAZINE 17 Hybrid Twin-Able to Plan the Crane Operation Based on Current Weather