An electrical machine with a rotor, in particular a claw pole rotor, is proposed. Each of the planetary gear sets includes first, second and third members. The extracting of the control parameter comprises utilizing an analytic coordinate system that quantitatively relates the electrical characteristic of the matching system to the electrical characteristic of the power transmission line. A groove for the wires to extend through is defined between the securing tab and the outer surface of the main body. The steps of obtaining the image, planning the manipulating order, and controlling the mobile robot to perform the manipulating action are repeated until the mobile robot returns to the initial position. Using the difference file and appropriate maintained file content, the relevant sections of the damaged file are rebuilt, thereby restoring it to its original condition.