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

 __   _    _    _    _    _      ___              
| || | || | || | || | |  | ||   / _ \\    ____    
| '--' || | || | || | |/\| ||  | / \ ||  |    \\  
| .--. || | \\_/ || |  /\  ||  | \_/ ||  | [] ||  
|_|| |_||  \____//  |_// \_||   \___//   |  __//  
`-`  `-`    `---`   `-`   `-`   `---`    |_|`-`   
                                         `-`