2. The diagram on the bottom left shows the TMR system, and the diagram on the bottom right shows the Triplicated TMR system, with the reliability of Module M denoted as Rm and the Voter V denoted as Rv. Failures in each part do not occur simultaneously, and other equipment is not taken into account. Please answer the following questions. M Medule M MM output h Module M 2.1 Provide the equations for calculating the Reliability of the TMR system (R tmr) and the Triplicated TMR system (R ttmr). 2.2 In the case of a Perfect Voter (Rv = 1), why should one choose to use the TMR system over the Triplicated TMR system? 2.3 In the case of an Imperfect Voter (Rv < 1), demonstrate the conditions from the equation in question 2.1 that make R ttmr > R tmr.