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Research paper : A methodology for improving reliability of complex systems (A. Katoh et al.)−206−Synthesiology - English edition Vol.3 No.3 (2010) actual product development of this industrial robot, and contribute in increasing the reliability of it. It is reconfirmed that this research corresponds to Type 2 Basic Research. As of writing this paper, the irregular-rigid-body-transport robot system is being developed based on the specifications whose cooperative behavior is consistent to meet the needs of industry.6 DiscussionIn this chapter, the effectiveness of this methodology is demonstrated. Issues of this methodology are also described.6.1 Effectiveness of this methodologyThe effectiveness of the methodology in this research is discussed based on the application results to the industrial case shown in chapter 5. In demonstrating the effectiveness, we focus on the QCD (quality, cost and delivery)Term 35 of the case study.First, this methodology is considered from the perspective of the quality of a development target. The methodology is applied to the functionally complex industrial case of the irregular-rigid-body-transport robot system. As a result, it is possible to develop the measurement and integrated control subsystems specifications whose cooperative behavior is consistent by feeding back inconsistency of the cooperative behavior by the measurement and integrated control subsystems to architectural designing in one cycle. Particularly, inconsistencies of the cooperative behavior shown in Table 3 are flaws which are difficult to detect by human beings only, but it is possible to detect them because of model checking where the validity of the properties to be satisfied is verified exhaustively. The fact that such flaws are detected in the early phase of system development demonstrates the effectiveness of this methodology.Next, this methodology is considered from the perspective of the development cost and delivery time. Table 4 shows the man-hours for applying this methodology to the industrial case. For bridge method and model checking, the values for the measurement and integrated control subsystems described in chapter 5 are shown. For architectural designing, 189 man-hours are required. For system development, there are many previous researches on the effectiveness of applying systems engineering method including architectural designing[22]-[25]. In the previous researches, it was shown that it was possible to shorten the cost and delivery time Table 4 Man-hours required to apply the methodology to industrial case12※Model checking5※Bridge method189Architectural designingMan-hourWork※Values in the measurement and integrated control subsystemsFig. 12 Cooperative behavior model for the integrated control subsystem

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