A final drive assembly, particularly for a skid steered vehicle, comprises a planetary gear reduction mechanism of which the input is through the sun gear 38 and the output is through the planet carrier 43. The method of the invention is useful for the generation of bioactive nanoparticles for use in clinical applications. The resistive random access memory device also includes a conductive layer connected in series to the resistance change layer between the first electrode and the second electrode. Further, the engaging element is adapted to engage the outer surface of the heart without substantially penetrating the outer surface.