A cleaning solution and method for removing submicron particles from the surface of an electronic substrate such as a semiconductor wafer. The fishing rod holder allows for horizontal striking of fish either while trolling or still-fishing. Even when the device is in any one position, it can impart forces on the body members to urge them to stretch surrounding tissue even further. Slide bearings according to this design can be disposed in the percussion delivery unit to eliminate some or all of the metal-on-metal contact between reciprocating components, including between the ram and shaft assembly, spring box and the guide cylinder, the spring separator and the spring box, and the shaft of a ram and shaft assembly and an upper end of the spring box. Base station overhead and is minimized while providing near-optimal performance given the constraints of a limited feed-back channel and computational complexity of the UE.