“…There are some approaches for the computer-aided design and modelling of assembly systems [6,20,26,36,52] but they generally do not address system qualities such as self-adaptation, self-reconfiguration, and self-healing, more generally called the self-x qualities [28,29]. Those approaches that do address self-x qualities in an automated manner [10,25,46,50]-for example through agent-based systems-often focus primarily on one aspect, such as the software and configuration side, rather than a complete product-process-system approach that includes a formal description of the system from its function to the physical hardware.…”