Experimental on-line platform for the conceptual design of the product. OpenDesigNet

INGENIERÍA E INVESTIGACIÓN VOL. 33 No. 3, DECEMBER - 2013 (61-65) 61 Expe imen al on-line pla o m o p oduc concep ual design: OpenDesigNe Pla a o ma expe imen al pa a el diseño concep ual de p oduc os OpenDesigNe Te esa Magal-Royo1, Begoña Jo da-Albiñana2 and Rod igo Lozano-Suaza3 ABSTRACT This pape highligh s he need o using specialised on-line collabo a i e en i onmen s by designe s and p oduc enginee s who in- c easingly use Web 2.0 echnology o sea ch o in o ma ion. Al hough he e a e p o essional channels and ne wo ks, he e is no spe- ci ic pla o m which helps du ing a new p oduc ’s concep ualisa ion phase. Open communica ion mus hus be p omo ed and en- cou aged amongs design p o essionals and companies o o m wo king g oups he eby allowing hem o wo k collabo a i ely in he mos open and c ea i e phase o p oduc design, i.e. concep ualisa ion. The OpenDesigNe (ODN) expe imen al pla o m has been de eloped so ha designe s and small- o medium-sized companies (SMC) can access on-line collabo a i e ools o suppo he c e- a ion and p omo ion o new on-line p oduc s and assess hei immedia e social impac . This a icle p esen s some o he esul s ob ained du ing he alida ion phase in ol ing a pla o m sa is ac ion su ey o design enginee ing s uden s and has led o a i s -hand assess- men o he new pla o m’s po en ial impac on hei p o essional u u e. Keywo ds: p oduc enginee ing, Web 2.0, collabo a i e en i onmen s, p oduc design, Open Sou ce. RESUMEN Es e a ículo mues a la necesidad u u a del uso de en o nos colabo a i os, especializados en la ed pa a los diseñado es e ingenie os del p oduc o, que cada ez más, u ilizan las ecnologías Web 2.0 pa a la búsqueda de in o mación. De hecho, aunque exis en canales o edes p o esionales de ca ác e gene al, no exis e una pla a o ma especí ica que les ayude en la ase de concep ualiza- ción de un nue o p oduc o. Po lo an o, se hace necesa io p omociona y omen a la comunicación abie a en e los p o esionales del diseño y las emp esas, pa a o ma así, g upos a ines que pe mi an abaja de mane a colabo a i a du an e la ase más abie a y c ea i a de un p oduc o: la concep ualización. La pla a o ma expe imen al OpenDesigNe ODN ha sido desa ollada pa a que las PYMES y los diseñado es dispongan de he amien as colabo a i as on-line de apoyo, que gene en la c eación y p omoción de nue os p oduc os en la ed, e aluando su impac o inmedia o a ni el social. El a ículo mues a pa e de los esul ados ob enidos en la ase de alidación, que se ealizó median e una encues a de sa is acción sob e la pla a o ma en es udian es de Ingenie ía y de Diseño, que ha pe mi ido e alua de p ime a mano el posible impac o de la nue a pla a o ma en su u u o p o esional. Palab as cla e: ingenie ía de p oduc o, Web. 2.0, en o nos colabo a i os, diseño del p oduc o, Open Sou ce. Recei ed: Ma ch 23 h 2012 Accep ed: Oc obe 4 h 2013 In oduc ion 123 Indus ies h oughou he wo ld ha e ound i necessa y o pa - icipa e in global designs in ol ing collabo a ion amongs in e na- ional ac o s o ensu e be e compe i i e ad an ages (Rodge s & Cla kson, 1998). Fu u e p oduc enginee s will hus ha e o ace challenges ega ding he use o on-line collabo a i e ools o ien- a ed owa ds he in eg a ed managemen o design in ol ing pa - icipa ion in mul idisciplina y eams dis ibu ed a ound he wo ld (Yuanyuan e al., 2008). Collabo a i e design he e o e ep esen s a me hodology which enables many designe s o pa icipa e in de- signing a pa o p oduc (Ma ion, 2008), and o en p o ides an 1 Te esa Magal-Royo. PhD Fine A s. A ilia ion: Associa e p o esso . G aphic Engi- nee ing Depa men . Supe io Technical School o Design Enginee ing ETSID. Uni- e si a Poli écnica de Valencia, Spain. E-mail: [email p o ec ed] 2 Begoña Jo da-Albiñana. PhD Fine A s. Associa e p o esso . G aphic Enginee ing Depa men . Supe io Technical School o Design Enginee ing ETSID. Uni e si a Po- li écnica de Valencia, Spain. E-mail: [email p o ec ed] oppo uni y o a p oduc ’s inal use s o judge such design so ha i mee s hei eal needs (Que ani & Gza a, 2008). Web 2.0 In- e ne communica ion ools p omo e collabo a ion and he quick and e icien exchange o in o ma ion abou indus ial p oduc s amongs he use s o a communi y o iden i ied social ne wo k, based on use communi ies and se ices, such as social ne wo ks, blogs o Wikis (Joslin e al., 2003). Such ools also suppo p oduc de elopmen phases by ac ing as communica ion pla o ms be- ween p oduc designe s o o he specialis s o make a p oduc mo e e icien compa ed o a adi ionally designed p oduc (Pu - nik e al., 2008; Zhan e al., 2003). Enginee ing design s uden s should acqui e skills such as good in o ma ion managemen using 3 Rod igo Lozano-Suaza. Indus ial Design Enginee . Uni e sidad Nacional de Co- lombia. Colombia. MSc in P oduc Design. Uni e si a Poli écnica de Valencia, Spain. E-mail: [email protected] How o ci e: Magal-Royo, T., Jo da-Albiñana, B., Lozano-Suaza, R., Expe imen al on- line pla o m o p oduc concep ual design: OpenDesigNe ., Ingenie ía e In es i- gación, Vol. 33, No. 3, Decembe 2013, pp. 61 – 65. Expe imen al on-line pla o m o p oduc concep ual design: OpenDesigNe INGENIERÍA E INVESTIGACIÓN VOL. 33 No. 3, DECEMBER - 2013 (61-65) 62 hei knowledge o on-line collabo a i e ools (Uchihi a e al., 2007), secu i y p o ocols wi h a clien , on-line documen manage- men and moni o ing cu en echnology ends in he ma e ials and p ocesses ield (Bai e al., 2005; Ca bone, 2005). Collabo a i e design wo k Design in he ield o new p oduc s has unde gone p o ound me h- odological changes, due mos ly o he compu e isa ion and digi i- sa ion o adi ional indus ial p ocesses (Pibe na -Domenech & Cha es, 1989). Fo example, he indus ial de elopmen o ech- nology, called compu e -aided design (CAD), has led o he i u- alisa ion o managemen and c ea ing p oduc - ela ed in o ma ion om he e y momen o concep ualisa ion. Mo e compu e ised ools ha e become inc easingly a ailable o help p oduc enginee s du ing any s age o p ojec de elopmen and communica ion wi h a clien o company (I añez Gimeno, 2000). P oduc de elopmen and communica ion asks ha e led o he concep o collabo a i e design i sel unde going changes in pe spec i e since he 1980s acco ding o he echnological ad- ances made o e he pas 30 yea s. The i s gene a ion o CAD ools o p oducing wo-dimensional objec s p o ided o mal and objec i e in o ma ion ega ding a p oduc bu ew oppo uni ies o exchanging in o ma ion ac oss pla o ms and hey had li le scope o de elopmen ega ding hei subsequen implemen a- ion in a business en i onmen . Ad ances in g aphical echnology ga e way o mo e sophis ica ed and specialised CAD p og ammes allowing an enginee o plan and di e si y p oduc in o ma ion om a g aphical and echnical poin o iew; his could hen be ex apola ed o an indus ial se ing h ough CAM, CAE and CIM echnologies whe e s udying p ob- lems in ol ing exchanging da a and in o ma ion low wi hin a com- pany had al eady begun. Collabo a i e design s a ed i s de elop- men as a heo y applied o manu ac u ing wi h he second gene - a ion o CAD ools in he ea ly 1990s. Wi h he accep ance o he need o add ess p oblems and analyse p oduc e i ica ion by in- eg a ing manu ac u ing p ocesses and p oduc li e-cycle, CAD sys ems (Ren e al., 2010) posed he need o sha e and e i y in- o ma ion and echnical da a and ans e his o p oduc manu- ac u e and in ol e on-line communica ion p o ocols h oughou he de elopmen p ocess (Winblad e al., 1993). CAD so wa e echnology cu en ly o e s applica ions such as li ecycle p oduc managemen (LPM) acili a ing in o ma ion con- ol and p o iding new knowledge o p ojec de elopmen . Com- panies c ea ing LPM some imes o e on-line in o ma ion manage- men se ices in eg a ed in wo king g oups wi hin a company. Such sys ems sha e p ojec echnical in o ma ion, g aphics and documen a ies, inco po a ing collabo a i e and communica i e ools ( o ums, ideo con e encing, cha s, e c.) ypical o web 2.0 (Lau & Mak 2003). They may also include speci ic applica ions op- imising and gene a ing specialised in o ma ion di ec ed a manu- ac u ing and p oduc ion (Xu & Liu, 2003). Rega ding applica ions, Dassaul Sys emes’ DS ENOVIA 4 , Au o- desk’s Buzzsaw 5 , Siemens’ Team Cen e 6 o PTC’s Windchill 7 all o e collabo a i e en i onmen s o speci ic modules on a sales le el, hese being e y expensi e o small- o medium-sized com- panies (SMC) and only la ge companies can hus a o d hem. The applica ions a e la gely o a closed na u e and a e cen ed on he 4 h p://www.3ds.com/p oduc s-se ices/eno ia Las isi Oc obe 2013 5 h p://www.au odesk.com/p oduc s/buzzsaw Las isi Oc obe 2013 collabo a i e adminis a ion and sha ing o all o a company’s in- ellec ual asse s. This allows o con olling and op imising p od- uc design, de elopmen and manu ac u ing, he eby making busi- ness and li e-cycle analysis ools a ailable o p oduc de elop- men . Howe e , hese applica ions do no co e web sea ches o op- po uni ies wi h p o essionals, ou sou ced wo ke s o business people who wan o wo k on a common p ojec , such aspec being undamen al o eelance o con ac ed p o essional designe s wo king o an SMC. Aspec s ela ed o a sea ch o business op- po uni ies, business con ac s wi hin SMCs, businesses o ou - sou cing o c ea ing on-line mul i-disciplina y g oups should be ca e ully planned, e en be o e designing a p oduc . An en i onmen mus be c ea ed on he in e ne whe e designe s and enginee s can e alua e, analyse and concep ualise p oduc i- abili y be o e such p oduc has ac ually been designed and, once concep ualised and o malised du ing i s i s s ages, i can be seen as es ic i e o open o consume s ega ding p e ious assess- men . The la e aspec has unde gone he mos signi ican change e- ga ding new p oduc de elopmen . Recognising he need o peo- ple om di e en echnical disciplines, geog aphical loca ions and speaking di e en languages o communica e be o e, du ing and a e a new p ojec has o ced design and enginee ing schools o encou age in e disciplina y echnical and pe sonal skills conce n- ing o ganisa ion and managemen o aising awa eness o he im- po ance o digi al communica ion a eas inside and ou side a uni- e si y en i onmen which can be ex apola ed o u u e business en i onmen s (ANECA, 2006). Indus ial sys ems and p ocesses in Spain ha e e ol ed in pa allel wi h o he Eu opean coun ies in e ms o educa ion and business in ol emen in he use o new echnology and i s me hodological use ega ding esou ces ea ma ked o new p oduc de elopmen (DDI, 2005; DDI, 2008). Spanish MSC ha e unde gone necessa y compu e ised upda ing conce ning indus ial p ocesses and e- sou ces o e he las ew yea s, he eby allowing i o become compe i i e on a Eu opean and wo ldwide le el (COTEC, 2008). Technological de elopmen ega ding new digi al pla o ms has hus allowed Spanish SMC o gene a e R+D+I o ien a ed knowledge a a Eu opean le el which has been aimed a e y ma- u e o old sec o s (i.e. u ni u e and ela ed indus ies) whose p og ess owa ds new echnology has cu en ly s alled due o economic ecession (Pé ez, 2007). Web 2.0 echnology o new p oduc o ganisa- ion and in o ma ion managemen Web 2.0 o pos -Web 2.0 echnology has p o ided ools, e- sou ces and applica ions in he social communica ion a ea and has become mo e pe missi e in ecen decades. The democ a isa ion o on-line communica ion en i onmen s has gi en way o he ise o di ec indus ial and p o essional communica ion wi h use s h ough in e es g oups’ collabo a i e en i onmen s. Such in e es g oups ha e unde gone a signi ican change in he de elopmen o collabo a i e en i onmen s o people ha ing common in e es s in business o p o essional en i onmen s. 6 h p://www.plm.au oma ion.siemens.com/en_us/p oduc s/ eamcen e / Las isi Oc obe 2013 7 h p://es.p c.com/p oduc /windchill/ Las isi Oc obe 2013 MAGAL-ROYO, JORDA-ALBIÑANA AND LOZANO-SUAZA INGENIERÍA E INVESTIGACIÓN VOL. 33 No. 3, DECEMBER - 2013 (61-65) 63 Communica ion pla o m and p oduc p omo ion by design engi- nee s and p o essionals in hei own social ne wo ks has become a ocal poin o ends and lows o inc easingly selec i e opinion. New p oduc in o ma ion o ganisa ion and managemen in com- panies has unde gone signi ican changes ega ding he physical lo- ca ion o in o ma ion. Some in o ma ion is digi al oday and may be sha ed, e alua ed and commen ed on-line in a con en ional and luid manne (Skel on & Thamhain, 2005) using Web 2.0 echnol- ogy and ollowing basic c i e ia in he ield o communica ion and in o ma ion exchange o ien a ed owa ds he p oblem o de el- oping new p oduc s. Howe e , e y ew de eloped echnologies ha e been ound aking he ollowing p emises in o accoun (Royo e al., 2011): - C ea ing a p o essional en i onmen o ien a ed owa ds p o- mo ing design se ices o p o essionals; - C ea ing a p o essional en i onmen enabling he con olled and e i iable exchange o design p ojec - ela ed da a; - C ea ing a pe sonalised en i onmen o designe s enabling con ac wi h SMCs; - Dynamising a co po a e communica ion en i onmen enabling a company o know abou and look o design se ices; - Making u u e p oduc enginee s awa e o he use o new com- munica ion en i onmen -based echnology on Web 2.0; and - P omo ing indus ial sec o p o essional, design and business se ices ha ing a low le el o compe i i eness which will help s imula e ma ke s. OpenDesigNe .ODN expe imen al pla o m An expe imen al digi al pla o m was hus de eloped using OpenDesigNe 8 (Figu e 2). ODN was concep ually based on a col- labo a i e en i onmen o ien a ed owa ds he speci ic a ea o en- ginee ing p oduc design. An ODN pla o m is s uc u ed in ou modules; use a ea, collabo a i e design wo kshop, business uni and design explo e (Figu e 1). Figu e 1. OpenDesigNe pla o m o e all s uc u e The use a ea allows use s o cus omise hei p o iles wi hin he pla o m a wi he public o p i a e le el. A use can en e in o - ma ion conce ning hei p o essional and pe sonal p o iles and ac- cess speci ic applica ions such as bulle in boa ds, in e nal mail, news edi ing, c ea ing po olios, c ea ing in e es g oups, e c... The collabo a i e design wo kshop a ea allows a use o c ea e and manage design p ojec s om he pla o m by using a collabo- a i e on-line wo k en i onmen o assis use s in de eloping he documen a ion equi ed du ing each phase o concep ualising a new p oduc . 8 h p://www.opendesigne .com/ Las isi Sep embe 2013 Figu e 2. Main page OpenDesigNe in e ace The business uni a ea allows a use o publicly o p i a ely show designs c ea ed wi hin o ou side he pla o m helping o p omo e design se ices, including designe s and SMCs h ough accessing p oduc ca alogues, o e s and job applica ions o design se ices, e c... The design explo e a ea enables use s o expe imen wi h solu- ions and applica ions ela ed o compu e aided design (CAD), ins umen ally suppo ing he c ea ion o design p ojec g aphical and ex ual documen a ion. ODN pla o m a chi ec u e Figu e 3. OpenDesigNe a chi ec u e So wa e a chi ec u e in an expe imen al en i onmen made up o al eady exis ing ee so wa e solu ions based on h ee le els o in eg a ion (Figu e 3): A pla o m le el: his is he pla o m’s co e, ha ing all he ex- pec ed componen s o a common Ex JS-based in e ace; A se ice le el: his uses se ice-o ien a ed a chi ec u e (SOA) in eg a ing se ices. The de elopmen o each se ice is based on a h ee-laye ed model iew con olle (MVC), es ablishing Expe imen al on-line pla o m o p oduc concep ual design: OpenDesigNe INGENIERÍA E INVESTIGACIÓN VOL. 33 No. 3, DECEMBER - 2013 (61-65) 64 di ision be ween use in e ace laye , business ules and access o da a conce ning MySQL; and An en i onmen le el: his allows access o supplie s o public se ices h ough a bi-di ec ional API and he gene a ion o web se ices o p o ide he on end wi h aluable in o ma ion gen- e a ed in he pla o m (access o da a bases – ADOdb). ODN pla o m su ey assessmen Expe imen al de elopmen o any use -o ien a ed digi al pla o m equi es a alida ion phase con aining he p o iles in ol ed in i s u u e use. The e o e, di e en su eys and expe imen s we e de- eloped wi h use s allowing he pu i ica ion o wo k lows and in- o ma ion, as well as he aes he ic and unc ional alida ion o he pla o m. The Uni e si a Poli écnica o Valéncia e ised he pla - o m om an aes he ic and unc ional poin o iew and analysed managemen o inal asks. The asks we e ocused on u u e designe s (g adua es) whose knowledge abou he In e ne and new echnologies would de ine hem as po en ial expe use s in digi al en i onmen s and appli- ca ions o ien a ed owa ds indus ial p oduc design. O ien a ion o he s uden p o ile su ey was aimed a analysing hei p io knowledge and use o a ailable ICTs and sa is ac ion wi h collabo a i e ools es ablished on he ODN pla o m. The su ey was designed aking heu is ic e alua ion (HE) c i e ia in o accoun (Nielsen, 1994) and Web usabili y e alua ion p ocess (WUEP) c i e ia based on use sa is ac ion wi h end-use s (Younghwa & Koza , 2012; Fe nandez e al., 2013). The ques ions posed e alua ed o e all aspec s ela ed o he ODN pla o m and he pla o m’s collabo a i e ools (cha , o- ums, e c...). The c i e ia p oposed o ques ions in he su ey o s uden s ook in o accoun s uden s’ p edisposi ion ega ding knowledge o he In e ne and compu e media. A se o c i e ia o ien a ed owa ds h ee main blocks o ques ions was hus es- ablished; pa 1 in ol ed ques ions ega ding gene al in o ma ion abou s uden s, pa 2 ques ions ela ed o hei knowledge and use o ICTs and pa 3 ques ions o assessing he pla o m’s sa - is ac ion le el. The su ey was conduc ed la e on in he second qua e o he i s yea , since he s uden s would ha e acqui ed a basic knowledge o wha p oduc design was all abou . The su ey was ca ied ou wi h 106 i s yea Indus ial Design s uden s s udying a he Uni e si a Poli écnica o Valéncia (42 male and 64 emale). The ime in ol ed in p esen ing/ aking he su ey was as ollows: - An in o ma i e p esen a ion o he su ey (5-10 minu es), in- ol ing a p esen a ion o he in en ion o he ODN pla o m and he su ey; - An access phase and egis a ion on he ODN pla o m (5-10 minu es), demons a ing main access o he pla o m and s u- den s we e enabled quick egis a ion o he pla o m by using e-mail and a passwo d c ea ed by he s uden s hemsel es. Once con i ma ion had been ecei ed, use s we e asked o access he a ea o hei p o iles and comple e he applica ion ega ding hei public and p i a e p o iles; - A collabo a i e ools’ access phase in he "my p o ile" a ea (20 minu es) in ol ed s uden s ag eeing o he communica ion ools a ailable wi hin he pe sonalised a ea, mo e speci ically o h ee applica ions; a o um, a blog and he news a ea. Use s we e asked o pe o m speci ic asks like iewing / answe ing a o um, iewing / answe ing a blog and seeing / c ea ing a s o y/news; and - A elema ic su ey phase (20 minu es) whe e he in e iewe p o ided a link o access he on-line su ey c ea ed by he s uden s. SPSS so wa e was used o analysing su ey esul s, based on me hodological c i e ia such as equency analysis o su ey e- sponses (wi hou gende di e ences), a e ages and s anda d de i- a ion conce ning all ques ions, analysing co ela ion be ween a - iables, using he Chi-squa ed es and using con ingency g aphic cha s o isualise compa ed answe dis ibu ion. The o e all esul s led o d awing he i s conclusions ela ed o each block o ques ions. A signi ican inc ease in women aking echnical ca ee s was ound in pa 1, as well as compu e a aila- bili y in 100% o cases. Pa 2 (conce ning ICT managemen ) e ealed a high pe cen age o compu e a ailabili y a home, accompanied by domes ic use s’ knowledge o i s use. Rega ding In e ne use and managemen o i s applica ions, i was ound ha he e was a g ea di e ence e- ga ding a e age knowledge conce ning he managemen o ope - a ing sys ems such as Windows compa ed o Open Sou ce (OS) sys ems. Howe e , a good ange o knowledge ega ding he use o e-mail, collabo a i e en i onmen s, b owse s, social ne wo king ools and on-line communica ion was seen. Pa 3 (designed o e alua e gene al sa is ac ion abou he use o OpenDesigNe as a pla o m) e ealed posi i e e alua ion ega d- ing all ques ions ela ed o use ulness, use, lea nabili y and sa is- ac ion. Howe e , he mos signi ican e alua ion conce ned he ools and collabo a i e applica ions ollowing he same c i e ia, which led o e i ying s uden s’ accep ance o implemen ed appli- ca ions on he pla o m as an aid o documen managemen and communica ion ega ding o e all p ojec design (Figu e 4). Conclusions The mos impo an conclusion eached conce ned de ec ing g ea po en ial in de eloping new on-line collabo a i e en i on- men s o designe s ocused on imp o ing mul idisciplina y eams’ communica i e managemen wi h companies (SMC). The need o op imise esou ces and p omo e u u e p oduc s om he ne wi hin a p oduc enginee ing en i onmen will a ec he way in which we cu en ly es ablish communica ion wi h SMC and de- signe s (i.e. g adua es wo king in his a ea). No ice designe s know how o un a el he collabo a i e en i on- men s on he ne a a social le el, bu do no know ha his knowledge can be used in hei p o ession (i.e. once hey g adua e) conce ning communica ion wi h SMC, making communica ion and p omo ion conce ning new p oduc s on he ma ke mo e lexible. The su ey e ealed posi i e willingness ega ding he use o pla - o ms like OpenDesigNe by u u e designe s and he accep ance o his ype o i ual en i onmen as an a ea o expe imen ing and collabo a i e wo k in designing and c ea ing new p oduc s. An impo an conclusion conce ned he g ea po en ial in de el- oping new on-line collabo a i e en i onmen s o p o essionals aimed a imp o ing managemen and communica ion aspec s be- ween mul idisciplina y eams and businesses. The need o op i- mise on-line esou ces and p omo e u u e p oduc s in he ield o p oduc enginee ing a ec s cu en communica ion be ween companies and designe s. MAGAL-ROYO, JORDA-ALBIÑANA AND LOZANO-SUAZA INGENIERÍA E INVESTIGACIÓN VOL. 33 No. 3, DECEMBER - 2013 (61-65) 65 No ice designe s know how o unc ion in collabo a i e en i on- men s on social ne wo ks bu do no know ha such knowledge can help hem in hei u u e ca ee s wi h companies, s eamline communica ion and p omo e new p oduc s on he ma ke . The su ey indica ed an o e all posi i e willingness in using pla - o ms like OpenDesigNe o u u e designe s and he accep ance o i ual en i onmen s as an a ea o expe imen a ion and collab- o a i e wo k in designing and c ea ing new p oduc s. Acknowledgemen s This a icle has eme ged om in es iga ion wi hin a p ojec en i- led, "De elopmen and implemen a ion o goods and se ices based on new echnologies o collabo a i e wo king p ocess de- sign and p oduc de elopmen in SMC in he wooden u ni u e sec o ." "Open Design Se ices - ODS" TSI-020110-2009-297, i- nanced by Plan A anza I + D, 2009-2010. Re e ences ANECA., Whi e book on Unde g adua e Deg ees in he ield o In- dus ial Enginee ing., Na ional Agency o Quali y Assessmen and Acc edi a ion, 2006. Bai, Y. W., Chen, Z. N., Bin, H. Z., Hu, J., Collabo a i e design in p od- uc de elopmen based on p oduc layou model., Robo ics and Compu e -In eg a ed Manu ac u ing, Vol. 21, 2005, pp. 55–65 Ca bone, T. 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