Table 4 The TIR, TCSR, RURm, and RURs of examples.

From: Multitask allocation model of the coal foreign object sorting robot based on optimal capacity and benefit

(%)

Ex.2–1

Ex.2–2

Ex.2–3

Ex.2–4

Ex.2–5

Ex.2–6

Ex.2–7

Ex.2–8

Ex.2–9

TIR

23.25

22.29

22.39

50.64

52.52

52.62

74.10

74.54

74.65

TCSR

31.60

30.15

30.56

51.14

51.56

51.98

77.13

77.13

77.34

RURm

72.55

70.38

69.36

71.29

70.41

69.39

70.21

69.09

68.36

RURs

39.03

41.80

43.25

40.09

41.84

43.29

37.76

41.12

42.16

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