Text this: Enabling flexibility in engineering systems: A taxonomy of procedures and a design framework

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