Target values for position and orientation of a work point are provided in a robot program, dependent on which the program causes automatic movement of axles of the manipulator by a robot controller connected with the manipulator, to adjust a tool reference point of the manipulator. The robot cleaner includes a conductive trap member to trap frictional static charge, a discharge member electrically connected to the trap member to discharge the static charge, trapped by the trap member, into another kind of energy, for example, light, sound, or kinetic energy, and a ground member located on the robot cleaner while being connected to the discharge member. The electronic controller also detects any zone service calls from sensor devices associated with each of the zones and determines a cumulative weighting value in response to the detected zone service calls. In some embodiments, the compartment also contains a purification region andor heating assembly. A driving method of a plasma display panel according to an embodiment of the present invention applies a setup voltage with a first gradient to the scan electrode for the reset period; and applies the setup voltage with a second gradient to the sustain electrode while a voltage on the scan electrode rises. The non-volatile memory includes BIOS code for the CHVS and virtualization manager code to initialize the CHVS, launch a virtual machine on the CHVS, and authenticate the component with the security processor by determining that the certificate is valid.