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The mini StateMachine at the top shows how a «twin»
Attachedwhen it and its «physical»
PhysicalEntityare connected to any «sensor»
Not every task in Activity Diagrams is well-suited to graphical modelling; consider using Action Language Helper (ALH) or Action Language for Foundational UML (Alf)
The lower Activity Diagram shows the effect Behavior for making the connections. Yes, it's a bit tedious, but is made slightly easier by this: