A method and apparatus for measuring the vacuum gripping strength of a vacuum wand or robotic arm provides a pressure gauge and a conduit extending from the pressure gauge and terminating at an opening formed in a receiving surface. More specifically, the embodiments described herein include novel PANI-PAAMPSA structures that are capable of undergoing stable and reversible transitions between the ES, LB and PB oxidation states. In addition, when the incident light quantity of the phototransistor is equal to or more than the predetermined quantity, a MOSFET for detecting an electric current is controlled so as to operate in a saturation region. The anticipated burst information is based on a scheduler determination for an anticipated bus access by an anticipated master module. Digital samples of the measurements may be transformed into coefficients of continuous basis functions, e.