Self-organising assembly systems formally specified in Maude

  • Regina FreiEmail author
  • Traian Florin Şerbănuţă
  • Giovanna Di Marzo Serugendo
Original Research


This article recapitulates on the research done in self-organising assembly systems (SOAS) and presents the completed formal specifications and their simulation in Maude. SOAS are assembly systems that (1) participate in their own design by spontaneously organising themselves in the shop floor layout in response to the arrival of a product order and (2) manage themselves during production. The self-organising process for SOAS to design themselves follows the Chemical Abstract Machine (CHAM) paradigm: industrial robots self-select and self-arrange according to specific chemical rules in response to a product order with generic assembly instructions (GAP). This article presents an additional set of rules describing how the GAP is transformed into layout-specific assembly instructions, which is a kind of recipe for how the self-organising robots assemble the product.


Self-organisation Maude Agile manufacturing Formal specifications Assembly systems 

Supplementary material


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Copyright information

© Springer-Verlag 2012

Authors and Affiliations

  • Regina Frei
    • 1
    Email author
  • Traian Florin Şerbănuţă
    • 2
  • Giovanna Di Marzo Serugendo
    • 3
  1. 1.EPSRC Centre for Innovative Manufacturing in Through-life Engineering ServicesCranfield UniversityBedfordshireUK
  2. 2.Formal Systems Laboratory Department of Computer ScienceUniversity of Illinois at Urbana-ChampaignGoodwin UrbanaUSA
  3. 3.Institute of Services Science Faculty of Social and Economics ScienceUniversity of GenevaCarougeSwitzerland

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