A system for authenticating a user and his local device to a secured remote service with symmetrical keys, which utilizes a PIN from the user and a unique random value from the local device in such a way that prevents the remote service from ever learning the user’s PIN, or a hash of that PIN. If the descent or ascent is greater than 60 feet per minute, the system reduces the vertical speed by changing the pitch of the device or reducing the speed of the device. The first image capturing module is set at a first position for capturing a first image corresponding to a touch point on the panel; the second image capturing module is set at a second position for capturing a second image corresponding to the touch point. The substrate transfer robot transfers a substrate from each of the first cassette and the second cassette to the second apparatus.