A note on a fractal architecture for modelling and controlling flexible manufacturing systems

Cast in a fractal architecture, the model of FMS admits a natural hierarchical decomposition of highly decoupled units with similar structure and control. As a consequence, this model manages the structural complexity and coordination of an FMS hierarchy by maximizing local functionality and minimizing global control. Most significantly, the software that governs the behavior of the basic fractal unit, from which this architecture is built, is based on a common template that allows for a high degree of abstraction, object orientation, and reuse across the hierarchy