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Industry 4.0 integrates a series of emerging technologies, such as the Internet of Things (IoT), cyber-physical systems (CPS), cloud computing, and big data, and aims to improve operational efficiency and accelerate productivity inside the industrial environment. This article provides a series of information about the required structure to adopt Industry 4.0 approaches and a brief review of related concepts to finally identify challenges and research opportunities to envision the adoption of so-called digital twins. We want to pay attention to upgrading older systems aiming to provide the well-known advantages of Industry 4.0 to such legacy systems as reducing production costs, increasing efficiency, acquiring better robustness of equipment, and reaching advanced process connectivity.

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