Non-planar semiconductor FET based sensors are provided that have an enhanced sensing area to volume ratio which results in faster response times than existing planar FET based sensors. The torque capstan comprises a first portion having at least two pulleys rotationally mounted thereon, a second portion having at least two pulleys rotationally mounted thereon, and first and second drive belts mounted on the pulleys of the first and second capstan portions, respectively. For the frequency measurement which is needed to measure the angular velocityspeed, the encoder has a structure which reproduces a periodic pattern and is interrupted by at least one index area for the angledistance measurement. The marking unit marks mark information to a header of a MAC-in-MAC frame in which the identified join message is encapsulated.