A handwritten word is transcribed into a list of possibly correct transcriptions of the handwritten word. The method includes building a forward image map including features extracted according to position at which the mobile robot takes forward images and feature descriptors of the extracted features, and localizing the mobile robot on the basis of features extracted from a newly input forward image and the built forward image map. In the state of opening the liquid feeder and closing the air open structure, the remanufacturing method injects the liquid through the inlet to fill a space in the downstream of the inlet with the liquid. A portion of the second insulator layer that is adjacent the first capacitor plate functions as the capacitor dielectric. The virtual remote keypad application receives status information from the user’s security system and audibly announces a change in status to the user. The Doppler system may include transducers and driving circuitry to produce narrow beam pulses of acoustic energy.