A driving apparatus that improves the precision of driving control for a driven member by reliably ensuring the desired motion of the tip member. The authenticated system call may be a system call augmented with extra arguments, which specify the policy for that call as well as a cryptographic message authentication code that guarantees the integrity of the policy and the system call arguments. The lamp further comprises a thermally conductive substrate having a heat radiating surface located within at least one chamber and one or more solid-state light emitters, typically LEDs, mounted in thermal communication with the thermally conductive substrate. Data on a selected component of the set of raw data and in the set of reconstructed wavefront data are compared. To provide a flat structure that has a high buoyancy, resists damage and can be manufactured cost-effectively, the floating bodies are formed as air-filled ropes made of an air-filled foil, wherein the air-filled ropes are connected by connecting elements. The method can also be applied to matching a target tree representable structure to its closest tree representable structure.