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The recent advancement of information and communication technology makes digitalisation of an entire manufacturing shop-floor possible where physical processes are tightly intertwined with their cyber counterparts. This led to an emergence of a concept of digital twin, which is a realistic virtual copy of a physical object. Digital twin will be the key technology in Cyber-Physical Production Systems (CPPS) and its market is expected to grow significantly in the coming years. Nevertheless, digital twin is still relatively a new concept that people have different perspectives on its requirements, capabilities, and limitations. To better understand an effect of digital twin's operations, mitigate complexity of capturing dynamics of physical phenomena, and improve analysis and predictability, it is important to have a development tool with a strong semantic foundation that can accurately model, simulate, and synthesise the digital twin. This paper reviews current state-of-art on tools and developments of digital twin in manufacturing and discusses potential design challenges.