An integrated, automated, variable sheet metal forming and assembly system includes a plurality of robotic material conveyors and a forming subsystem including at least one sheet metal draw press apparatus. The second member projects from the base member at an inclination thereto and is provided with an attachment point for a tether. A loop filter outputs a negative minimum value to an integrator when an integrated value of a determination result reaches a positive maximum value of a limiter. A decoding performance may be improved based on the CSI between the transmitter and the receivers. A sawn surface of one of the plurality of boards is then logically associated with one of the plurality of saw blades in the gangsaw.