A camera module includes a barrel, a movable lens movable in the barrel in an optical axis direction, an imaging device that captures an image of a subject viewed through the movable lens and an actuator that changes the distance between the movable lens and the imaging device. Thereby, the voltage dependence of capacitance C1 formed between the gate electrode and the n active region is canceled out with the voltage dependence of capacitance C2 formed between the P well region and the buried N well region. The form of the opening in the spacer is such that the active area generally tapers in the longitudinal direction of the elongate resistive layer, so that when pressure is applied on the switching element, the shunt means shunt a portion of the resistive layer that 10 progressively increases with pressure, from the broad end of the spacer opening towards its narrow end. This includes temporarily preventing processes of lower priority categories from being executed. The method may further include providing the configuration requirements and the program instructions to the selected one or more robotic devices, and receiving confirmation that the task has been performed. A process is described to detect and eliminate routing loops associated with recursive routes in a routing table, so as to provide a routing table that will be loop free.