Fig. 2

EVR calculation. a Illustration of error-vectors and error-vector resultants. P_j1, P_j2, and P_j3 are 3 bins whose positions (coordinates) need to be adjusted; P_i and P_k are 2 bins whose positions are fixed; D_ij and D_jk are the expected distances between these 3 bins to bins P_i and P_k; the intersection points of the two dotted circles (centered at P_i and P_k with radii D_ij and D_jk, respectively) are the target positions of the 3 bins P_j1, P_j2, and P_j3; the closest intersection point is chosen as the target position for each of the 3 bins. b The distances between the 3 bins P_j1, P_j2, P_j3 to their target positions decrease during iteration