DDR4 SDRAM computer buses have migrated towards replacing parallel buses with serial buses, for example by the evolution of Serial ATA replacing Parallel ATA, PCI Express replacing PCI, and serial ports replacing parallel ports. In general, serial buses are easier to scale up and have fewer wires/traces, making circuit boards using them easier to design. In the longer term, experts speculate that non-volatile RAM types like PCM (phase-change memory), RRAM (resistive random-access memory), or MRAM (magnetoresistive random-access memory) could replace DDR4 SDRAM and its successors. GDDR5 SGRAM is a graphics type of DDR3 synchronous graphics RAM, which was introduced before DDR4, and
Parallel manipulator mechanisms for the movement of either the robot on its base, or one or more manipulator arms. Their 'parallel' distinction, as opposed to a serial manipulator, is that the end effector (or 'hand') of this linkage (or 'arm') is directly connected to its base by a number of (usually three or six) separate and independent linkages working simultaneously. No geometrical parallelism is implied. A parallel manipulator is designed so that each chain is usually short, simple and can thus be rigid against unwanted movement, compared to a serial manipulator. Errors in one chain's positioning are averaged in conjunction with the