Software for controlling processes in a heterogeneous semiconductor manufacturing environment may include a wafer-centric database, a real-time scheduler using a neural network, and a graphical user interface displaying simulated operation of the system. The first and second devices may be connected to the third device so that the first and second sticks can pivot with respect to the third device. The driving rollers and the drive means are located wholly inside of the path formed by the rollers and no part of the machine engages the outer periphery of the pipe being wound. When calculating the compensation amount in relation to rotational shake and translational shake using the respective compensation coefficients, the camera CPU acquires information indicating a degree of focus of the imaging optical system, and suppresses variation in the compensation amount by reducing the compensation coefficient when the degree of focus is low. This glazing also includes at least one means for adjusting the optical appearance conferred on the said glazing by the said system, these means comprising at least one coating having antireflection properties in the visible. In the engaging position, the clasp holds the gas tank on the gas grill frame.