For providing an improved weight compensation for a robot, the invention provides a weight compensation device on a robot, which is characterized by a plurality of parallel tension-proof, pressurized hose elements fixed by their ends to common fixing elements. The bed system comprises a floor structure including a bed floor and a separate shell. On the other hand, under higher channel utilization system components switch to MIMO modes of operation to reduce demand on channel use, while providing good throughput for communications stations. A sourcedrain region is formed in the substrate underneath each of the openings. 1 to 250 mgml, b) adjusting the pH of the composition to a value from about \xf3 to about 7, either before applying the composition to the surface to be coated or after applying the composition to the surface to be coated, c) applying the composition to the surface to be coated to obtain an adhesive coating on at least a part of the surface, and d) drying the coating. The magnetic brush rubs the image carrier to thereby develop a latent image formed on the image carrier.