The present invention provides a transthoracic drug delivery device that utilizes pressure to determine the precise location of the distal tip of the delivery tube of the device to insure that therapeutic substances are ejected into the myocardium and not dissipated in unintended tissue locations. Particular embodiments may focus on the use of actuators attached to a movable frame to control the motion of an implement assembly. A virtual instruction set architecture for the virtual processor is used to define behavior of a virtual thread and includes instructions related to parallel thread behavior, e. A blower moves the aerosol along the re-circulation loop to apply the aerosol to stored crops within the storage chamber. A battery charger of the present invention performs control to move the power feeding connecter to connect with the power receiving connector of the robot in a standing posture, so that a moment generated about a target zero moment point of the robot falls within a range of the moment of floor reaction force generatable about the target ZMP. By using two fuel injectors, one in-cylinder and one in the intake manifold, it is possible to operate under light loads with stratified charge and obtain a good homogenous mixture for combustion in other engine speed and load ranges.