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  _____    __   __    ______     ___     ______   
 /  ___||  \ \\/ //  /_   _//   / _ \\  |      \\ 
| // __     \ ` //   `-| |,-   / //\ \\ |  --  // 
| \\_\ ||    | ||      | ||   |  ___  |||  --  \\ 
 \____//     |_||      |_||   |_||  |_|||______// 
  `---`      `-`'      `-`'   `-`   `-` `------`

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發送短信 : Implementation of distributed control of hierarchical assembly systems via extended critical places