Systems and methods for 3D data based navigation using a watershed method are provided. The conjugates provided may have one or more advantageous properties, including increased water solubility as compared to acetaminophen, reduced toxicity profile as compared to acetaminophen and an altered pharmacokinetic profile. The layer and region form a semiconductor heterostructure. The friction reducing means is advantageously an oil or a dry lubricating means. This can improve the efficiency of power generation and the efficiency of heat radiation.