Radiation beam parameters are determined by manipulating a tool about a patient in order to determine a desired beam entry point andor beam angle. The robot chassis carries a first cleaning zone comprising cleaning elements arranged to suction loose particulates up from the cleaning surface and a second cleaning zone comprising cleaning elements arraigned to apply a cleaning fluid onto the surface and to thereafter collect the cleaning fluid up from the surface after it has been used to clean the surface. For this purpose, an acceleration correction value is calculated by means of which acceleration correction value a vehicle reference acceleration is calculated. Rounding all wavelet transform coefficients can include rounding to a nearest integer value. Whereby, a solder ball can be received in the opening and the space and electrically connected to the bonding pad, such that the solder ball is held on the printed circuit board securely. The lubricant includes a base stock and about 1 to about 20 weight percent zirconium 2-ethylhexanoate.