In accordance with certain aspects, an adaptive system and method are implemented to estimate the level of a consumable such as toner on a gauge that accommodates machine-to-machine variances, individual machine degradation over time, and otherwise correct over time for various inaccuracies by applying an error compensation that can be used in subsequent replenisher computations. Accordingly, the light-emitting device package may have improved luminous efficacy, enable uniform distribution of emitted light, and prevent degradation of a phosphor. The first series connection is connected in parallel with the smoothing reactor, where one terminal is connected to a terminal on positive side of the rectifier circuit, and the other terminal is connected to an anode of the first diode. A mission specific robotic configuration can be compiled by adding multiple mission payload modules to the same platform managed by the same core module.