A dual stimulating massage apparatus including a flexible massage apparatus body including a deformable middle portion having a first end in communication with a ring-shaped portion configured to be engaged to a male sexual organ and a second end in communication with a stimulator portion that defines a receptacle configured to receive a vibratory component therein is disclosed. To simplify implementation of a control system for a flexible production system, it is provided that a simulation model of the production system is generated, and that the simulation model derived from the production system is transformed directly into models of a multi-agent-based control system. A node is determined to be non-responsive when the time since a last communication exceeds the maximum time period.