An Architectural Solution For Virtual Computer Integrated Manufacturing .
Scientia Iranica E (2019) 26(6), 3712{3727Sharif University of TechnologyScientia IranicaTransactions E: Industrial Engineeringhttp://scientiairanica.sharif.eduAn architectural solution for virtual computerintegrated manufacturing systems using ISO standardsJ. Delaram and O. Fatahi Valilai Department of Industrial Engineering, Advanced Manufacturing Laboratory, Sharif University of Technology, Tehran, Iran.Received 11 March 2017; received in revised form 7 May 2018; accepted 4 August 2018KEYWORDSAbstract. Nowadays, manufacturing environments are faced with globalization that urges1. Introductionnology (IT) to solve these challenges [4-11]. ComputerIntegrated Manufacturing (CIM) is considered as aresearch eld to develop e ective IT solutions. TheCIM solutions have produced incredible revolutionsand enhancements in manufacturing and productionsystems [11-16]. There are many pieces of relatedresearch [16-20] that emphasize the application of CIMbased solutions to realize integrated manufacturingsystems [20-22].Despite the enormous number of studies directedat global manufacturing paradigms, the proposed solutions can be grouped as traditional CIM solutions.These solutions have de ciencies and, thus, cannotful ll the whole requirements of globalized manufacturing environments [22-24]. Among such de ciencies,the following problems can be named: dominant lacks,inadequate equipment and information, distance barri-CIM (ComputerIntegratedManufacturing);VCIM (VirtualComputer IntegratedManufacturing);Manufacturing systemarchitecture;Axiomatic Design(AD) theory;ISO standards.new necessities for manufacturing systems. These necessities have been considered fromdi erent perspectives, and Computer Integrated Manufacturing (CIM) is the most popularand e ective system. However, considering the rapid rate of manufacturing globalization,traditional and current CIM solutions can be criticized by major de ciencies such as highcomplexity for resource allocation over the globe, global facility sharing, and the absenceof an e cient way to handle lifecycle issues. Recently, Virtual CIM (VCIM) has beenintroduced as an e ective solution to extend the traditional CIM solutions. This paper hasinvestigated recent pieces of research associated with VCIM/CIM eld in accordance withthe necessity of todays' globalized manufacturing environment. The paper shows the lackof traditional and current CIM/VCIM solutions and, then, proposes an e ective solution tocover them. Due to the complexity of designing such systems, this paper exploits AxiomaticDesign (AD) theory as a promising tool in this eld. This theory is applied to validate thesuggested architectural solution and verify its performance and implementational aspects.The implementation of the architectural solution is considered based on ISO standards.Finally, the results approved the feasibility of the suggested solution for manufacturingsystem and its Implementational aspects. 2019 Sharif University of Technology. All rights reserved.Very recently and following the fourth industrial revolution (Industry 4.0), manufacturing environmentshave been faced with the paradigm of globalization.This paradigm urges new necessities for manufacturingenvironments such as concentration on customer demands, emphasis on increasing quality and its continuous improvement, and the shortening of the products'lifecycle [1-4]. Researchers applied Information Tech*. Corresponding author. Tel.: 98 21 66165706;Fax: 98 21 66022702E-mail addresses: jalal.delaram@ie.sharif.edu (J. Delaram);FValilai@sharif.edu (O. Fatahi Valilai)doi: 10.24200/sci.2018.20799
J. Delaram and O. Fatahi Valilai/Scientia Iranica, Transactions E: Industrial Engineering 26 (2019) 3712{3727ers, scheduling and resource allocation, facility sharingproblems and communication obstacle, and the absenceof an e cient way to handle lifecycle issues [7,25,26].This motivates the proposition of new ideas and solutions for a exible and comprehensive integratingmethodology to overcome the aforementioned lacks.Many studies have recommended the Virtual CIM(VCIM) paradigm as one of the most e ective methodologies for today's globalization paradigm [14,20,27,28].VCIM is known to be an evolvement of computerintegrated manufacturing solutions, which has beenextended from the traditional CIM solutions to ful lla global integrated manufacturing system beyond thetraditional and localized boundaries [27-29]. Of allapplicable and challenging areas for CIM/VCIM systems, its architecture is known to be more challenging.Architecture is the backbone of a system and de neshow the system is implemented with respect to its goalsassociated with di erent aspects such as functional,informational, organizational, etc.The concept of the CIM/VCIM systems is approached by two types of systems: Extended Enterprise(EE) and Virtual Enterprise (VE). EEs are composedof a single core as the head and many Large Enterprises(LEs) in their supply chain. LEs and other parts together create a tightly coupled structure that providesinput service or product for a central factory. Usually,the central factory is interpreted as the main companyor EE, and the other LEs are interpreted as the rst-tierand second-tier suppliers. The central factory performsassembly functions on the manufactured items, whichhave been manufactured by the LEs, like Boeing andIBM [30,31]. The VEs are those enterprises thatare composed of many Small to Medium Enterprises(SMEs) connected to each other via computer networks. The VEs [32,33] are often joined togetherto share skills and resources for responding betterto business opportunities. The structure of today'smarket for outsourcing and bene ting from serviceoriented environments has encouraged the spread of thevirtual environment paradigm and elaboration of itsmechanisms [34-37]; the SMEs enjoy great characteristics to adapt and grow in such environments. SMEs arecharacterized to be distributed across the globe [8], anda VE is a manifestation of the distributed collaborativenetwork [38]. Two of the major characteristics ofVEs are regarded as loosely coupled and temporary,meaning that SMEs can register in a network and, then,accept to perform a de ned task. They can unregisteronly after completing their assumed tasks; thus, thepresence and absence of each SME do not disrupt theVE. As an example of a VE, Federated Laboratoriesof the United States Army (FedLabs) establish a closepartnership among Army Research Laboratories andseveral industrial and academic organizations [39,40].These two types of enterprises strive for invest-3713ment in innovative IT-based solutions such as VCIMfor a VE and CIM for an EE [14,41], and the needfor an architectural solution for them is a key concern.System Architecture is the master plan based onwhich one can organize and structure a VE or anEE and perceive its policies, strategies, mechanisms,and processes for the exchange of information, goods,services, and money or preparation of hardware andinfrastructures [42].According to dispersion and diversity features ofVEs, each SME can utilize di erent computer integrated systems. A VCIM with the capability of enabling a network of interconnected global CIM systemscan establish real-time connections and collaborationin an e ective manner among its components [16,29].The dispersion dimension of a VE is also found in EEsdue to their large size. Besides, an EE has manysubordinates that can be considered as SMEs for aVE. Therefore, there are many reasons that a CIM foran EE can be interpreted as a VCIM for a VE [43].In addition, many common drawbacks in a similarsituation exist. Many research studies have been conducted in the area of VCIM solutions for VEs or CIMsolutions for EEs; however, there is still a considerablegap regarding an e ective solution [13,14,20]. In thefollowing sections, the paper will elaborate on thesegaps and attempt to tackle them with an architecturalsolution.2. Literature reviewConsidering the discussed ve-layer approach, valuablemethodologies for supporting the VCIM systems havebeen developed in many pieces of research. However,concentrating on a ve-layer approach, the studieshave experienced drawbacks that prevent them fromenabling an e cient and reliable global integratedsystem for manufacturing rms.Zhang et al. [44] proposed a solution usingCORBA (Common Object Request Broker Architecture) that consists of three layers. Through theselayers, the hardware aspects of the manufacturingsystem are considered at the infrastructure level atthe bottom of their architecture. With another view,Huang et al. [45] proposed a holonic framework forvirtual enterprises. This framework has a hierarchicaland heterarchical structure for controlling the system.In the proposed framework, six types of holons are considered. Resource holons are exploited to represent aresource in the real world such as machines, computers,persons, etc. The objective is to cover all hardwareaspects in a manufacturing system. In addition,Huang's architecture includes two main holons namedas (a) Virtual Enterprise Holon (VEH) and (b) MemberEnterprise Holon (MEH). A VEH is responsible formanaging and handling the registered MEH. The MEH
3714J. Delaram and O. Fatahi Valilai/Scientia Iranica, Transactions E: Industrial Engineering 26 (2019) 3712{3727involves subholons such as Task Holon (TH), PlanningHolon (PH), etc. The other type of holon in thearchitecture is the holon for scheduling functions in amanufacturing system.Wang et al. [13], Nagalingam and Lin [12], andZhou [20] proposed an agent-based approach to developan architectural solution for CIM systems. In thissolution, the agents are classi ed into three levels: (a)Customer Agents (CA), (b) Facilitator Agents (FA),and (c) Resource Agents (RA). The CAs stand as aninterface for interoperating with outer environments;FAs are responsible for managing the received requestsand decomposing them. In addition, RAs are designedfor considering functions required for the system suchas designing, inspection, manufacturing, etc. Withineach of FAs and RAs, KBs (Knowledge Bases) and DBs(Data Bases) are regarded. The KB supplies knowledgefor RAs and develops strategies for manufacturing organizations. Moreover, the DB provides informationalrequirements, such as delivery time and total cost, forthe product of a manufacturing system.Odrey and Mej [46] proposed an architecturalsolution composed of three layers: production layer,mediator layer, and recovery layer. These layers have ahierarchal structure and address scheduling and planning issues in manufacturing systems. The solution isequipped with recovery agents and control agents. Therecovery agents represent diagnostic and error recoveryor generate recovery schedules. The control agentsstand for performing the delegated tasks and creatingan ultimate execution plan. Further to that, there isa planner agent that is responsible for all processes ofscheduling functions in the manufacturing systems.Hernandez-Matias [47] developed an architecturalsolution that mainly covers the informational aspects.It includes a reference model for managing the information and a data warehouse for saving the information. The framework of the paper is exploited froma hierarchical point of view to develop the referenceinformation model. In the reference model, the level ofan activity is considered for functions in an enterpriseto classify, manage, and allocate them.Lin and Jeng [48] developed a framework including an information layer, a control layer, and a functionlayer. They have considered the entire functions of amanufacturing system through an SEMATECH CIMframework. The information layer provides standarddata and information for the other layers of the system.The control layer monitors the manufacturing functionsof the system. The control has been augmentedusing Manufacturing Execution System (MES), and italso covers MRP (Manufacturing Resource Planning),CAD (Computer Aided Design), and CAM (ComputerAided Manufacturing) systems. The functional layerstands for designing, planning, and manufacturing theapplication of the manufacturing system.Nahm and Ishikawa [49] developed a Multi Agentbased Architecture (MAA) that is highly focusedon inter-enterprise functions such as integration andcollaboration. They de ned hybrid agents in MAAto cover the entire behavior of the system. HybridBehavior Agent (HBA) and Hybrid Interaction Agent(HIA) are presented in this purpose. HBA covers alldiscrete and continuous behavior, and HIA involvesthe communication among the agents in the system.Further, they implicitly consider data and informationow through de ning the interaction types betweenHBAs and HIAs.3. Five-layer approachIn this section, this study proposes a layered architecture to de ne di erent aspects of the solution andprovide a review of the studied researches. Thislayered architecture elaborates on di erent aspectsof a CIM system based on ve layers, as discussedin detail in previous studies [21,50-52]. The velayer architecture enables a wider look to consider aCIM system. Each layer focuses on an operationalaspect of a manufacturing system. The rst layer,or physical layer, considers aspects related to thehardware, equipment, and human workers. Theseaspects transform input resources into a product bydirect physical resource processing. The second layer,or function layer, describes the dynamic behavior of amanufacturing system accomplished through productdevelopment processes. The function layer producesa model that includes process owcharts coupled withphysical layer. The third layer, or organizational layer,focuses on organizational and management structuresof the system. All human and non-human characteristics within the organizational roles and con gurationsare de ned in this layer. The fourth layer, or information Layer, manages the data and informational aspectsof a computer integrated system. These aspects caninclude data and information requirements. The fthlayer, or control layer, considers the whole supportiveprocesses such as monitoring and control, inspection,and decision-making. This layer monitors the wholesystem processes in the aforementioned layers andcovers indirect support and supervision, which arenecessary in manufacturing systems.4. Axiomatic design theorySuh created Axiomatic Design (AD) in the mid-1970sand, then, published the idea in \The Principle ofDesign" [53]. The name of the \axiomatic" is inspiredby the utilization of design principles or design axiomsthat govern the process of design. The AD applicationspectrum is very wide and applicable to many elds [5461]. Generally, the process of design misses a formal
J. Delaram and O. Fatahi Valilai/Scientia Iranica, Transactions E: Industrial Engineering 26 (2019) 3712{3727approach [61,62], and AD supports the designers anddevelopers to formalize the process of design [63,64].In the axiomatic-based design process, motivation isconsidered as a customer requirement. A numberof functional requirements can be found in relationto the customer requirement. Then, designers seekto nd the parameters of the model and specify anappropriate solution. Therefore, AD stipulates thatthe design process has four general domains: customerdomain, functional domain, physical domain, and process domain [65-67]. In a sequential order, startingfrom customer domain, the Customer Attributes (CAs)should be de ned and, then, the CAs should be mappedto the functional domain and translated into FunctionalRequirements (FRs). Then, the FRs should be mappedto the Design Parameters (DPs) in physical domain,known as design process. Finally, the DPs should besatis ed with some Process Values (PVs) to addressthe implementation aspects [68,69]. Figure 1 illustratesthis process.The sequential process of AD guides the designerfrom \what we want to achieve" to \how we achieveit" [69]. AD uses two axioms in this process: Independence axiom and information axiom. The satisfaction level of these axioms determines the goodnessof the design. The independence axiom maintains theindependency of FRs to show that the FRs are de nedas the minimum set of independent requirements thatcharacterizes the design goals through functional domain. In addition, the information axiom minimizesthe information content of the design, and shows thatthe best design among many other designs that satisfythe independence axiom is the one with the smallestinformation content [70-72]. If FRs are assumed asvectors with m component and DPs as vectors with ncomponent, there is a m n matrix to connect thesetwo in a matrix representation:[F R]m [A]m n [DP ]n :(1)The matrix A is interpreted as a design matrix and usedfor quality assessment of the design. Thus, based onthe structure of the matrix A, the following alternativesare made possible: 3715Uncoupled design:8(m:n) 2 N:m 6 n : Amn 0;(2)Eq. (2) represents a diagonal matrix and reveals aone-to-one mapping between every member in thesets of FRs and DPs. In AD theory, this state isinterpreted as each FR is contingent on one and onlyone DP. This case is the best possible one [73,74].Decoupled design:(8(m:n) 2 N: m n : Amn 0) or(8(m:n) 2 N: m n : Amn 0):(3)Eq. (3) represents a triangular matrix in which allelements on one side of the diagonal of the matrixA are nil, which shows a one-to-many mappingbetween members of the sets of FRs and DPs. Inthe AD theory, this state is interpreted since some ofFRs are dependent on more than one DP. There aresome considerations to bene t from this situation asa decouple design situation [54,75].Coupled design:9(m1 :n1 ):(m2 :n2 ) 2 N:(m1 n1 ) and(m2 n2 ) : Am1 n1 6 0 and Am2 n2 6 0:(4)This matrix shows a many-to-many mapping between members of the sets of FRs and DPs. In theAD theory, this state is interpreted since each DPa ects not only the FR but also other functionalrequirements, and it is itself a ected by them. Thiscase is the worst possible one [76,77].5. The architectural solution5.1. De ning the rst-level FR/DPBased on AD zigzag approach, the procedure startsby de ning the rst-level functional requirement, calledFR0, which describes the origin of our contribution inthis paper. Then, the authors set a design parameter,known as DP0, to transcribe the meaning of FR0 intothe engineering words. Therefore, FR0 and DP0 arepresented as follows:Figure 1. The axiomatic design domains.
3716 J. Delaram and O. Fatahi Valilai/Scientia Iranica, Transactions E: Industrial Engineering 26 (2019) 3712{3727FR0: A new manufacturing solution that ful llsglobal manufacturing requirements;DP0: A virtual computer integrated manufacturingarchitectural solution.FR0 illustrates that the architecture of a manufacturing system is an applicable and challenging areafor today's industrial worlds. The architecture is thebackbone of a system with a great deal of informationto satisfy the goals. However, the existence of manycommon drawbacks in CIM architecture and the absence of architecture for such virtual environments havebeen identi ed in the area of CIM solutions to VCIM,both for VEs and EEs. Thus, the authors proposed\A virtual computer integrated manufacturing architectural solution" as the solution or (with the axiomaticinterpretation) DP0.5.2. De ning the second-level FRs/DPsAt the second level of AD zigzag approach, FR0and DP0 are broken down into detailed functionalrequirements that divide correspondents into the manufacturing area. Therefore, ve general functionalrequirements are identi ed for the manufacturing area,whether extended or virtual, and are presented below: FR01: The architectural solution should be able toconsider physical resources of CIM systems;FR02: The architectural solution should be able toaddress the function and process of CIM systems;FR03: The architectural solution should be able toconsider organizational issues, rules, and commandof CIM systems;FR04: The architectural solution should be able toconsider the information ow of CIM systems;FR05: The architectural solution should be able tocontrol di erent aspects of CIM system.Each of these functional requirements points toone part of a manufacturing environment and describesthe capabilities required for it. FR01 encounterscomputer integrated hardware requirements and theinfrastructural necessities of the architecture to makea foundation for other aspects and future development.FR02 promises all processes and functions consideredin a manufacturing system. FR03 encounters the manipulation of managerial issues in computer systems.The connection between computer integrated systemsand distributed manufacturing systems involves and requires a wide eld of management and business a airs.FR04 considers the requirements of data integrationand information ow. The fundamental principlesof e ectiveness in manufacturing systems are rootedin the quality of information. FR05 emphasizes thecontrol aspect, which is crucial for the manufacturingsystems. In other words, it must utilize a number ofmechanisms to control every level of the system rangingfrom operational to nancial levels.At this level of the AD zigzag approach, theother side of the approach is related to the secondlevel design parameters. According to the architecturallayers, a one-to-one correlation can be found betweenthe above-mentioned functional requirements. Eachof the architectural layers stands for a second-leveldesign parameter and matches its related functionalrequirement. The DPs are transcribed below: DP01: A physical layer to structure the hardwareaspects;DP02: A functional layer to manipulate the processes and functional aspects;DP03: An organizational layer to administer managerial aspects;DP04: An informational layer to consider data andinformation requirements;DP05: A control layer to monitor the whole system.The above DPs can be interpreted with respect tothe related FRs based on the layers of the architecture.On the one hand, at the second level, functionalrequirements divide a manufacturing environment intove major zones; on the other hand, the ve mainlayers are proposed in correlation with their correspondent second-level design parameters, and a wideperspective from the enterprise within these layers isexpected. DP01 considers a number of hardware packages required for implementing the processes. Systemplatform, network infrastructure, communication, andtransportation are the major focuses of the physicalaspects. DP02 proposes those areas that are equippedwith functions and processes compatible with virtualenvironments. Today's extended manufacturing system consists of a variety of resources ranging fromhuman to equipment, which operate in their own ways;therefore, modern ways are required. DP03 states thata part of the system aspects lies beyond organizationalissues and describes the capabilities and responsibilitiesof di erent units and individuals. DP04 considersthe information as a resource and shows the ways tomeet these requirements. These ways include datacentres and data processing tools. DP05 presents anumber of considerations for monitoring. Since thereis a need to control the operational level and shop oortasks, high-level decisions, and long-term goals, controlmechanisms are required. Mechanisms are directed atobservation in terms of operation and management.5.3. De ning the third level FRs/DPsBased on the second level-design parameters, there aremany functional requirements that can be categorizedinto the proposed ve layers. Each of the layers
J. Delaram and O. Fatahi Valilai/Scientia Iranica, Transactions E: Industrial Engineering 26 (2019) 3712{3727necessitates some functional requirements, which arede ned as below: FR011: A mechanism to recognize an appropriatepoint of automation utilization;FR012: A consideration regarding the virtual infrastructure for the manufacturing systems;FR021: Strategies to facilitate integrity and continuity in the manufacturing process;FR022: Methodologies to observe inter and intrarelations over processes;FR031: Some guidelines to govern over virtual andextended resources;FR032: Issues to de ne a new manufacturingparadigm;FR041: Strategies to facilitate integrity and continuity in information ow;FR042: Issues speci c to maintenance and manipulation of manufacturing data;FR051: A stewardship over utilization of resourcesand e ciency of processes;FR052: Infrastructural issues for a computer integrated control over manufacturing system. The third-level FRs highly guide speci c mechanisms and considerations, in which implementationtools are commonly based on promising standards.These FRs connect the architectural solution to thedesign parameters, forming the implementation phase.FR011 points out that the utilization of automationsystems should be determined at a level appropriatefor virtualization. FR012 states that there should be afoundation compatible with distributed interoperationand capable of embracing other layer hardware. FR021considers the requirement of a seamless manufacturing ow, even in such an extended system. FR022describes the need for methods to cover internal andexternal relations over the entire level of the system.FR031 and FR032 are responsible for new managerialand organizational structures and present rules togovern. FR041 explains the need for connection andstream between automation islands. FR042 considersthe abilities of the enterprise in the storage of information and further exploitation of data. FR051 andFR052 state requirements for supervision over technicaland tactical subjects.The nal part of AD zigzag approach is concernedwith the design parameters that represent the ringbetween functional requirements and implementationconsiderations. The authors recognized the followingdesign parameters as the third-level DPs: DP011: Appropriate use of automation;DP012: Automation as a system resource; 3717DP021: Continuous ow of manufacturing;DP022: System overview of processes;DP031: Appropriate use of human and non-humanresources;DP032: Organizational culture as a system resource;DP041: Continuous ow of information;DP042: Information as a system resource;DP051: Appropriate use of computers and controlsystems;DP052: Computer systems as a controller of themanufacturing system.The third-level design parameters stand for guidance about suitable mechanisms and methodologiesto ascertain our ultimate purpose. DP011 enablesits related functional requirements by means of determining automation utilization. DP012 suggestspromising platforms for extended manufacturing andvirtualization. DP021 proposes a high-level strategycalled Continuous Flow Manufacturing (CFM) thatseams manufacturing processes. DP022 delineates thestructure of processes and interconnection of them;to be speci c, the way that they a ect each other.DP031 sets the basic rules and authorities in anorganizational structure for both interactions of humanand non-human agents. This is a novel approach toa virtual computer integrated environment. DP032describes culture and philosophy in association witha distributed computer integrated system and providesways of cooperation and collaboration. DP041 seeks toestablish a smooth ow of information on the basis ofa computer network fed by a computerized database.The concept of Continuous Flow Information (CFI)necessitates an extensive use of computer and computernetwork to optimize information ow. DP042 plans tofacilitate enterprises with appropriate information. Itsees information as another type of resources, dispersedacross the enterprise. It removes duplication, attachesseparated parts, and makes a unique system for planning. DP051 indicates the performance of di erentaspects based on Key Performance Indicator (KPI).The nancial KPIs are the most useful and nancialevaluation, which are the best ways to evaluate theperformance. DP052 provides a computer-based control system both for operational purpose and nancialevaluation.6. Implementational aspects6.1. Process domain elementsTo complete the AD process and reach the nalconclusion on implementation considerations about theproposed architectural solution, we deal with parameters that stand for implementation. After the last
3718J. Delaram and O. Fatahi Valilai/Scientia Iranica, Transactions E: Industrial Engineering 26 (2019) 3712{3727stage of the zigzag approach and completing the lowestdesign parameters of AD, there is a need for somee ective tools of implementation. In the AD domains,PVs are regarded for this purpose. The nal goal ofthese parameter values is DPs, which will be controlledthrough the related PVs. The authors recognizedinternational standards as promising tools for thispurpose and suggested some suitable standards for eachof them. It should be noted that, according to ourinvestigation, the proposed set of standards is expectedto be one of the best methods for implementing theproposed architectural solution based on the presenttools and methods. However, there are many novelideas in this eld of work to develop advanced toolsand methodologies. The proposed PVs are as follows: 051:PV052:ISO 23570 [78];ISO 15926 [79];ISO 14258 [80];ISO 15704 [81];ISO 11354 [82];ISO 11000 [83];ISO 15745 [84];ISO 15531 [85];IEC 62264 [86];ISO 22400 [87].In the execution of physical layer, two ISO standards are suggested to command DP011 and DP012.PV011 focuses on ISO 23570 standard on distributedinstallation in industrial applications and speci es thedetailed requirements for distributed hardware andplatform. Considering the role of PV011 parametervalue supporting the implementation of DP011, therequired mechanisms for the appropriate use of automation are considered. The complexity of the collaboration mechanisms among the various automateddevices in the shop oor-like robots, CNC machines,material handling devices, and AGVs (AutomatedGuided Vehicle) is at focus here, and e ective procedures for their integrati
Nowadays, manufacturing environments are faced with globalization that urges new necessities for manufacturing systems. These necessities have been considered from di erent perspectives, and Computer Integrated Manufacturing (CIM) is the most popular and e ective system. However, considering the rapid rate of manufacturing globalization,
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