integrate modules by mechanical, informational, and control interfaces that enable module integration and communication. At the system level the machines are the modules that are integrated via material transport systems (such as conveyors and gantries) to form a reconfigurable manufacturing system. Customization allows the design of system flexibility just around a product family, obtaining thereby customized-flexibility, as opposed to the general flexibility of FMS. Customization allows a reduction in the investment cost without sacrificing performance. Convertibility is the ability to easily transform the functionality of existing systems, machines, or controls to suit new production requirements. Examples included changing a machine in the system to another type of machine to respond to a new required functionality, or switching spindles on a milling machine (e.g., from low-torque high-speed spindle for aluminum to high-torque low-speed spindle for titanium). Scalability is the ability to easily change production capacity by adding (or reducing) manufacturing resources. Scalability of a manufacturing system is increased by adding machines to expand the system production rate to match a sudden market growth. Adding machines requires extending the reach of the station gantries. Diagnosability is the ability to automatically detect and diagnose the source of the manufactured product quality or precision defects. This automatic diagnosis allows rapid correction of the defects. The RMS must be designed with product inspection machines embedded at optimal locations in the system. RMS principles Reconfigurable manufacturing systems operate according to a set of basic principles formulated by professor Yoram Koren and are called Koren's RMS principles. The more of these principles applicable to a given manufacturing system, the more reconfigurable is that system. The RMS principles are: The RMS is designed for adjustable production resources to respond to imminent needs. The RMS capacity is rapidly scalable in small, optimal increments. The RMS functionality is rapidly adaptable to the production of new products. To enhance the speed of responsiveness of a manufacturing system, core RMS characteristics should be embedded in the whole system as well as in its components (mechanical, communications and controls). The RMS is designed around a part family, with just enough customized flexibility needed to produce all parts in that family. The RMS contains an economic equipment mix of flexible machines (e.g., CNC), reconfigurable machine tools, reconfigurable inspection machines, and reconfigurable assembly stations. The RMS possesses hardware and software capabilities to cost-effectively respond to unpredictable events—both external (market changes) and intrinsic events (machine failure).