A control system for an actuator including a straight slot direct current motor comprises a position sensor for measuring the angular position of the motor and a current sensor for measuring the current strength in the motor, but not having a sensor for measuring the angular rotation speed of the motor. Such pathologies include, but are not limited to rheumatoid arthritis, systemic lupus erythmatosus, psoriatic arthritis, reactive arthritis, Crohn’s disease, ulcerative colitis and scleroderma. Dunnage provides horizontal access to parts inside the container. The stage processors each perform stage processing related to the transfer request command queued by the command queue module. Another advantage of the photodiodes of the present invention is that high density with high bandwidth applications can be effectuated. The semiconductor wafer is used as the cathode with an inert primary anode in the plating chamber.