Alejandro Ramirez-Serrano S. C. Zhu Beno Benhabib Moore automata for flexible routing and flow control in manufacturing workcells. 119-124 1999 CIRA https://doi.org/10.1109/CIRA.1999.809985 conf/cira/1999 db/conf/cira/cira1999.html#Ramirez-SerranoZB99