“…Higher modularity can promote higher changeability as an effect of the loose coupling between modules, which makes it possible to substitute or upgrade a module in isolation or with fewer local changes (Hölttä and Otto, 2005;Thomke, 1997;Ulrich, 1995;Worren et al, 2002). As changes, errors, and perturbations can remain localised without being propagated to the whole system, modularity can increase system robustness (Giffin et al, 2009;Pan and Sinha, 2007;Piccolo et al, 2019;Suh et al, 2007). Finally, the presence of loosely coupled or independent modules makes it possible to implement parallelisation (Gershenson et al, 2003;Parraguez et al, 2019;Yassine and Braha, 2003).…”