A system and method for photoresists is provided. Various configurations of such devices are disclosed, including domed, channeled, patterned and stepped. A first terminal 14 is electrically insulated from the container 11 and electrically conducts to the first electrode 16a of the electric storage element 16 via a relaying element 13. The diagnostics module queries the log file to correlate events relevant to diagnosis of the problem, and identifies the root cause by evaluating the results of the query. The control apparatus controls to continue the compression ignition combustion mode as long as the operation conditions fall within a compression ignition operation area set in the memory part upon operation by the compression ignition combustion mode. Multiple sensor channels can be used to enable the detection or generation of differential leftright debris signals and thereby, enable an autonomous device to steer in the direction of debris.