A steering apparatus for a steerable vehicle includes a steering actuator, a steering input unit, a disturbance determination section, and a steering controller. An Image Based Document Management server includes a stroke identification module, an image generator, a table generator and a preference module. Bandwidth within the power-line communication network is preferably dynamically allocated to device streams by a server in response to predetermined and event-driven priorities. For the preferred embodiments, in which the bottom electrode comprises titanium carbonitride over rough polysilicon, a dielectric padding may be formed during a rapid thermal nitridation step, which causes silicon nitride to grow out of an exposed polysilicon sidewall. The query results are presented in an easy-to-understand format on a display device via a user interface.