Cylindrical robot has a t-type wrist axis that can be rotated a total of 4 rotations (each rotation is a full 360 degrees). the mechanical errors in the joint and the input/output links can be described by a normal distribution with its mean at any given addressable point, and a standard deviation of 0.25. it is desired to be able to position the wrist with a control resolution of 0.5 degree between adjacent addressable points.

A2-m rigid tank initially contains saturated water vapor at 100 kpa. the tank is connected to a supply line through a valve. steam is flowing in the supply line at 600 kpa and 300 c. the valve is opened, and steam is allowed to enter the tank until the pressure in the tank reaches the line pressure, at which point the valve is closed. a thermometer placed in the tank indicates that the temperature at the final state is 200°c. determine (a) the mass of steam that has entered the tank (b) the amount of heat transfer.