An optical scanning device and method are provided for marking an optically sensitive layer. The method and system include a computer-implemented neural network system which is an extension of the model-based adaptive critic design and is applicable to real-time control and real-time distributed control. The cover attaches to the base frame with the open end panel between the base frame and cover. The sealing material may include from about 65 wt % to about 100 wt % of glass frit and from about 0 wt % to about 35 wt % of a filler material. The robot cleaner system also includes a robot cleaner to move to the docking area along a boundary between the first docking guide area and the second docking guide area when the docking guide signal is sensed and to move along the docking area so as to perform docking when reaching the docking area.