An improved ceramicmetal composite material is disclosed which is fully reacted with aluminum. The robotic apparatus is provided in two models, a master that can record directive and compass or \u201cenvironmental signal\u201d readings, or that can record received location information, to provide at least one command recorded on a machine-readable medium representing an instruction for traversing an area of interest, and a slave that lacks the recording capability. A trackable member is fastened to the multiple-point anchor assembly and comprises a detectable element adapted to be located and tracked in three dimensional space by the image guided surgical system, thereby defining position and movement of the complex rigid body. A top cover is provided to a side opposite to a transfer position where the photosensitive drums contact a conveyor belt so as to freely open and close with respect to the printer casing. Prior to driving an output signal onto a bus, the output driver adjusts the transmit signal characteristic in accordance with the parameter control signal.