In one aspect, a translational parallel manipulator is provided and includes a fixed platform including three guide members. Said catch recess comprises at least one catch hook and at least one abutment. The encryptiondecryption module randomly generates a device key seed according to the occurrence time of a specific operation or the interval between two specific operations on the storage device, and applies the device key seed to data encryption. Control circuitry detects when the first reader system provides less than a predetermined performance or fails, and thereafter causes the second reader system, but not the first reader system, to read the magnetic storage medium. A charge potential deposited on an image carrier, which faces the developer carrier for forming a latent image thereon, is 400 V or below in absolute value.