Described are biorenewable, non-VOC solvents and methods of using the same in cleaning applications. The control circuit provides a control signal to enable the optical record medium processing device to automatically respond to the control signal and work correspondingly, regardless of whether the computer system is powered or not. New subscriptions are aggregated, assigned a virtual start time and propagated through the system toward the publishers. Capabilities of an imaging device are obtained. The RTT measurements are compensated with the appropriate SIFS value. The proposed method and system involves the use of a hybrid FSKLFM scheme for acquiring a collection of raw radar data, a first Gaussian-noise filter array of one-stage linear Kalman filters for SN-enhancement of the raw radar data, a trilateration module, and a second Gaussian-noise filter array of one-stage linear Kalman filters for SN-enhancement of the trilateration-resulted radar data.