Microelectronic and optoelectronic packaging embodiments are described with underfill materials including polybenzoxazine, having the general formula:. The apparatus includes a side rail and a tie plate. The robotic arm comprises drives connected to the control device and comprises several members that can be moved relative to each other by the drives relative to axes. In one specific embodiment, the highlighting involves floating text the user uttered to a visible user interface component. Because of the instant release of the pressure, the horse feels the rider’s instant and complete release which provides for easier and faster training of the horse.