The present disclosure relates to a reference yaw rate generator for an autonomous ground vehicle control system. After the co-ordinates for the virtual world environment have been initially defined, including nodes along which a path may travel, the system automatically increases the density of nodes in the environment up to a desired density. Both a rotor 27 of a motor 23 and a screw 26 of the compression section 21 are fixed to one main shaft 25. , to treat proliferative conditions, such as cancer and psoriasis. Data processor of the device may operate on data contents from the first or second party. A widened delivery tip provides dispersal of the anticoagulant and may be agitated to disrupt clot formation.