Patent Publication Number: US-2022221476-A1

Title: Systems, apparatus and methods to pick and/or place specimen containers

Description:
TECHNICAL FIELD 
     The present disclosure relates generally to systems, apparatus and/or methods to pick and/or place specimen containers, for example picking specimen containers and/or placing specimen containers to an array of specimen containers, for instance in a cryogenic environment. 
     BACKGROUND 
     Description of the Related Art 
     Long-term preservation of cells and tissues through cryopreservation has broad impacts in multiple fields including tissue engineering, fertility and reproductive medicine, regenerative medicine, stem cells, blood banking, animal strain preservation, clinical sample storage, transplantation medicine, and in vitro drug testing. This can include the process of vitrification in which a biological sample (e.g., an oocyte, an embryo, a biopsy) contained in or on a specimen holder is rapidly cooled by placing the biological sample and the specimen holder in a substance, such as liquid nitrogen. This results in a glass-like solidification or glassy state of the biological sample (e.g., a glass structure at the molecular level), which maintains the absence of intracellular and extracellular ice (e.g., reducing cell damage and/or death) and, upon thawing, improves post-thaw cell viability. To ensure viability, the vitrified biological samples are then typically continuously stored in a liquid nitrogen dewar or other container, which is at a temperature conducive to cryopreservation, for example negative 196 degrees Celsius. 
     BRIEF SUMMARY 
     The specimen holder may, for example, take the form of a cryopreservation straw, cryopreservation tube, cryopreservation stick or cryopreservation spatula. The specimen holders are typically placed in a specimen container. The specimen container typically comprises a vial and a cap, the cap selectively removable from the vial to access an interior of the vial. In some instances, two or more specimen holders may be placed in a single specimen container. In other instances, as described in Applicant&#39;s own patent applications, a specimen holder may be attached or fixed to the cap. The cap may be removably attached to the vial, for example, via mating threads or a snap fit. As also described in Applicant&#39;s own patent applications, the specimen containers and/or even the specimen holder(s) can include identification information, for instance in the form of one or more of: direct markings or indicia made on the specimen containers or specimen holders; one or more labels (e.g., labels bearing printed or hand written indicia); one or more machine-readable symbols (e.g., one-dimensional or barcode symbols; two-dimensional code symbols) and/or one or more wireless transponders (e.g., radio frequency identification (RFID) transponders). While denominated as radio frequency identification, it is noted that RFID typically encompasses wireless transmission in the radio frequency and/or microwave frequency portions of the electromagnetic spectrum. Hence, references herein to radio or radio frequency are not intended to be limited to the radio frequency range of the electromagnetic spectrum unless clearly indicated otherwise, and typically are meant to also include the microwave frequency range of the electromagnetic spectrum. 
     The ability to accurately identify, manage, inventory, store, and/or retrieve biological specimens is typically considered an objective of any system or facility (e.g., in vitro fertilization (IVF) facility). Vitrification can be damage direct markings or indicia, labels, and/or machine readable symbols. In any case, wireless interrogation of wireless transponders may be preferred as a more fully automated approach to identification. 
     The specimen containers in many implementations will be closely spaced with respect to one another, for instance to minimize the amount of storage spaced required and/or to maximize the number of specimens that may be stored in a given volume of space (e.g., stored in a volume of a cryogenic freezer or dewar). For example, a plurality of specimen containers may be arrayed in a carrier, tray or shelf, the specimen containers spaced within a few centimeters of one another. A storage space (e.g., a cryogenic freezer or dewar) may contain a plurality of these carriers, trays or shelves, for example arrayed about a central axis, and at two or more levels along the central axis. 
     Conventionally, entire carriers, trays or shelves that hold a plurality of specimen containers are retrieved from and/or placed into the cryogenic environment. While retrieval of only one or a limited number of specimen containers may be desired, conventional approaches that retrieve entire carriers, trays or shelves expose many more specimen containers to non-cryogenic temperatures then need to be exposed. The close spacing of specimen containers in an array may cause difficulties in picking specimen containers from and/or placing specimen containers into the array. While not limited to cryogenic environments, such difficulties may be exacerbated where the specimen containers are located in a cryogenic environment such as a cryogenic freezer or dewar, as such cryogenic environments typically provided limited access to the interior of the cryogenic environment, typically through a single opening or aperture at a top of the cryogenic freezer or dewar. 
     Various systems, devices and methods are described herein that advantageously address the various issues presented with picking or retrieving individual specimen containers from an array of specimen containers and/or placing individual specimen containers into an array of specimen containers, even where the array of specimen containers is located in a cryogenic freezer or dewar. Such may advantageously reduce or even eliminate exposure of other specimen containers to non-cryogenic temperatures. Such may also advantageously automate retrieval and/or placement of specimen containers, whether from or into cryogenic storage or non-cryogenic storage, reducing manual labor, increasing accuracy and/or improving tracking of specimen container and specimens held by the specimen containers. 
     A system to pick and/or place individual specimen containers from and/or to an array of specimen containers can be summarized as including: a receiver having a proximate end, a distal end, and a receptacle having an opening at the distal end of the receiver, the receptacle having a principal axis and a set of lateral inner dimensions measured laterally with respect to the principal axis, the lateral inner dimensions of the receptacle sized to accommodate a set of lateral outer dimensions of at least a portion of a single container therein and at least a portion of the receptacle sized to physically prevent rotation of the single one of the specimen containers about the principal axis while allowing translation with respect thereto; a drive shaft having a proximate end and a distal end; and an engagement head at the distal end of the driver shaft and which translates and rotates along with the drive shaft, wherein the drive shaft is translatable parallel with the principal axis to selectively position the engagement head alternatingly distally from and proximate to a first portion of the single one of the specimen containers when the single one of the specimen containers is positioned at least partially in the receptacle of the receiver, and at least when positioned proximate to the first portion of the single one of the specimen containers the drive shaft is selectively rotatable alternatingly in a clockwise and a counterclockwise direction about the principal axis to cause at least a portion of the engagement head to alternatingly engage and disengage the first portion of the single one of the specimen containers while at least a portion of the receptacle of the receiver prevents the single one of the specimen containers from rotating about the principal axis. 
     The engagement head may include a base and a pair of lugs, each of the lugs comprises a stem extending downwardly from the base and a finger that extends radially inwardly from the stem, the finger having a distal most portion that is spaced radially inwardly of the principal axis. The finger of each of the lugs may be disposed in a same rotational direction about the principal axis as the finger of the other one of the lugs. 
     The system may further include one or more actuators drivingly coupled to control translation and rotation of the drive shaft and the engagement head, and at least one processor-based control system communicatively coupled to control the one or more actuators. The system may further include one or more sensors, for example positon sensors, orientation sensors, frost detectors and/or resistance sensors or detectors (e.g. to sense or detect resistance to movement for instance resistance to translation). 
     The system may further include one or more defrosters operable to remove frost build up on one or more components. 
     The system may further include a manual override mechanism that manually dispenses the single one of the specimen containers from the receiver, for instance even when frost buildup prevents the at least one actuator from successfully dispensing the single one of the specimen containers from the receiver. 
     The system may include a wireless interrogator to interrogate wireless transponders and/or an optical reader to optically read human-readable and/or machine-readable symbols carried by or on the specimen containers. 
     A method to pick individual specimen containers from or to an array of specimen containers may employ a system comprising a pick and/or place head comprising a receiver, a drive shaft and an engagement head at a distal end of the drive shaft. The method may be summarized as including: i) moving the pick and/or place head proximate the one of the specimen containers; ii) translating at least the distal portion of the receiver to encompass at least a portion of the single one of the specimen containers; iii) translating the drive shaft from a retracted position to an extended position to position the engagement head proximate the second portion of the single one of the specimen containers; iv) rotating the drive shaft in a first rotational direction about the principal axis to engage the second portion of the single one of the specimen containers with the engagement head while the at least one first engagement feature prevents the single one of the specimen containers from rotating about the principal axis; and v) translating the drive shaft from the extended position to the retracted position to draw the single one of the specimen containers further into the receiver, and vi) translate the pick and place head away from the array of specimen containers. 
     A method to place individual specimen containers to a destination location may employ a system comprising a pick and/or place head comprising a receiver, a drive shaft and an engagement head at a distal end of the drive shaft. The method may be summarized as including: i) translate the pick and/or place head over the destination location; ii) translate the pick and/or place head to position in which at least the receiver proximate the destination location; iii) rotate the drive shaft in a second rotational direction about the principal axis to disengage the second portion of the single one of the specimen containers from the engagement head while the at least one first engagement feature prevents the single one of the specimen containers from rotating about the principal axis; iv) translate the pick and/or place head away from the position in which at least the receiver is proximate the destination location. 
     The method may further include translating the drive shaft from the retracted positon to the extended position to push the single one of the specimen containers out of the receiver after iii) rotating the drive shaft in the second rotational direction about the principal axis to disengage the second portion of the single one of the specimen containers from the engagement head and before iv) translating the pick and/or place head away from the position in which at least the receiver is proximate the destination location. 
     Any of the methods may further include sensing one or more of a position, orientation, or frost build up. The methods may further include defrosting one or more components. 
     Any of the methods may further include wirelessly interrogating wireless transponders and/or an optical reading human-readable and/or machine-readable symbols carried by or on the specimen containers. 
     A system to pick and/or place individual specimen containers from an array of specimen containers may be summarized as including: a receiver having a proximate end, a distal end, an interior, a port that provides fluid communication with the interior, and an opening at the distal end that provides access to the interior from an exterior of the receiver, the interior and the opening having a set of lateral internal dimensions sized to receive at least a portion of a single one of the specimen containers therein; a conduit coupled to provide a negative pressure to the interior of the receiver via the port to pneumatically draw a single one of the specimen containers inwardly at least further into the interior of the receiver; a drive shaft rotatable about a principal axes to selectively mechanically retain the single one of the specimen containers in the interior of the receiver; and one or more actuators drivingly coupled to control movement of the drive shaft. 
     The system may further include a vacuum source fluidly communicatively coupled to the port via the conduit. 
     The system may further include at least one processor-based control system communicatively coupled to control the one or more actuators and at least one of the vacuum source or a valve fluidly communicatively located between the vacuum source and the port. 
     The system may further include one or more defrosters operable to remove frost build up on one or more components. 
     The system may further include a manual override mechanism that manually dispenses the single one of the specimen containers from the receiver, for instance even when frost buildup prevents the at least one actuator from successfully dispensing the single one of the specimen containers from the receiver. 
     The system may include a wireless interrogator to interrogate wireless transponders and/or an optical reader to optically read human-readable and/or machine-readable symbols carried by or on the specimen containers. 
     A method may employ a system to pick individual specimen containers from an array of specimen containers, the system comprising a pick and/or place head comprising a receiver, a drive shaft and an engagement head at a distal end of the drive shaft. The method may be summarized as including: i) translating the pick and/or place head from a retracted position to an extended position in which at least part of the single one of the specimen containers is received within the receiver via the opening of the receiver; ii) applying a negative pressure within an interior of the receiver to draw the single one of the specimen containers further into the interior of the receiver; and iii) rotating the drive shaft in a first rotational direction about a principal axis to cause a portion of the receiver to retain the single one of the specimen containers in the interior of the receiver by limiting translation of the single one of the specimen containers. 
     The method may further include withdrawing the pick and/or place head from the array of specimen containers while the single one of the specimen containers remains in the interior of the receiver. 
     A method may employ a system to place individual specimen containers to a destination location, the system comprising a pick and/or place head comprising a receiver, a drive shaft and an engagement head at a distal end of the drive shaft. The method may be summarized as including: i) positioning the pick and/or place head over the destination location; ii) translating the pick and/or place head from a retracted position to an extended position to reduce a vertical distance to the destination location; iii) rotating the drive shaft in a second rotational direction about a principal axis to cause a portion of the receiver to release the single one of the specimen containers from the interior of the receiver by no longer limiting translation of the single one of the specimen containers. 
     The method may further include iv) withdrawing the pick and/or place head from the array destination location while the single one of the specimen containers remains at the destination location. 
     The method may further include applying a positive pressure within an interior of the receiver to push the single one of the specimen containers further out of the interior of the receiver after iii) the drive shaft is rotated in the second rotational direction about the principal axis to cause the portion of the receiver to release the single one of the specimen containers from the interior of the receiver by no longer limiting translation of the single one of the specimen containers. 
     Any of the methods may further include sensing one or more of a position, orientation, or frost build up. The methods may further include defrosting one or more components. 
     Any of the methods may further include wirelessly interrogating wireless transponders and/or an optical reading human-readable and/or machine-readable symbols carried by or on the specimen containers. 
    
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
       In the drawings, identical reference numbers identify similar elements or acts. The sizes and relative positions of elements in the drawings are not necessarily drawn to scale. For example, the shapes of various elements and angles are not necessarily drawn to scale, and some of these elements may be arbitrarily enlarged and positioned to improve drawing legibility. Further, the particular shapes of the elements as drawn, are not necessarily intended to convey any information regarding the actual shape of the particular elements, and may have been solely selected for ease of recognition in the drawings. 
         FIG. 1  is a front, left, top isometric view of a mechanical system to pick and/or place specimen containers from an array of specimen containers, according to one illustrated implementation. 
         FIG. 2  is a front, right, bottom isometric view of the mechanical system to pick and/or place specimen containers of  FIG. 1 . 
         FIG. 3  is a front, left, top isometric view of a portion of the mechanical system to pick and/or place specimen containers of  FIG. 1 . 
         FIG. 4  is a front, right, bottom isometric view of a portion of the mechanical system to pick and/or place specimen containers of  FIG. 1 . 
         FIG. 5  is an enlarged view of the portion of the mechanical system to pick and/or place specimen containers of  FIG. 3  with two frame members removed to better illustrate an engagement head. 
         FIG. 6  is an isometric view of the engagement head of  FIG. 5 . 
         FIG. 7A  is a front, right, bottom isometric view of a vacuum-based system to pick and/or place specimen containers from an array of specimen containers along with a single one of the specimen containers partially received by a portion of the vacuum-based system, according to one illustrated implementation. 
         FIG. 7B  is a front, right, bottom isometric view of a mechanical system to pick and/or place specimen containers from an array of specimen containers along with a single one of the specimen containers partially received by a portion of the mechanical system, according to another illustrated implementation. 
         FIG. 8A  is an exploded view of the vacuum-based system to pick and/or place specimen containers of  FIG. 7A  along with the single one of the specimen containers. 
         FIG. 8B  is an exploded view of the mechanical system to pick and/or place specimen containers of  FIG. 7B  along with the single one of the specimen containers. 
         FIG. 9A  is a bottom, front, right side isometric view of a distal portion of a receiver of a pick and/or place head of the vacuum-based system of  FIGS. 7A and 8A , illustrated as a distal block or sleeve with a peripheral flange and with a set of feet or standoffs, according to at least one illustrated implementation. 
         FIG. 9B  is a top, front, right side isometric view of a distal portion of a receiver of a pick and/or place head of the vacuum-based system of  FIGS. 7A and 8A , illustrated as a distal block or sleeve with a peripheral flange and with a set of feet or standoffs, according to at least one illustrated implementation. 
         FIG. 10A  is a bottom, front, right side isometric view of an intermediate portion of a receiver of a pick and/or place head of the vacuum-based system of  FIGS. 7A and 8A , illustrated as an intermediate block or sleeve, according to at least one illustrated implementation. 
         FIG. 10B  is a top, front, right side isometric view of an intermediate portion of a receiver of pick and/or place head of the vacuum-based system of  FIGS. 7A and 8A , illustrated as an intermediate block or sleeve, according to at least one illustrated implementation. 
         FIG. 11A  is a bottom, front, right side isometric view of a proximate portion of a receiver of a pick and/or place head of the vacuum-based system of  FIGS. 7A and 8A , illustrated as an proximate block or sleeve having a tubular main body with a distal flange and a proximate flange, according to at least one illustrated implementation. 
         FIG. 11B  is a top, front, right side isometric view of a proximate portion of a receiver of a pick and/or place head of the vacuum-based system of  FIGS. 7A and 8A , illustrated as an proximate block or sleeve having a tubular main body with a distal flange and a proximate flange, according to at least one illustrated implementation. 
         FIG. 12  is a top, front isometric view of a pivot plate and a number of bearings of a pick and/or place head of the vacuum-based system of  FIGS. 7A and 8A , the pivot plate illustrated as a plate with a circular profile, a central passage and a number of arcuate slots spaced radially outward of the central passage which extend through the plate and in which the bearings ride, according to at least one illustrated implementation. 
         FIG. 13A  is a bottom, front, right side isometric view of a torque coupler of a pick and/or place head of the vacuum-based system of  FIGS. 7A and 8A , illustrated as having an annular base at a distal end, a plate at a proximate end with a number of arcuate slots extending through a thickness of the plate, and a number of strands that couple the annular base to the plate, according to at least one illustrated implementation. 
         FIG. 13B  is a top, front, right side isometric view of a torque coupler of a pick and/or place head of the vacuum-based system of  FIGS. 7A and 8A , illustrated as having an annular base at a distal end, a plate at a proximate end with a number of arcuate slots extending through a thickness of the plate, and a number of strands that couple the annular base to the plate, according to at least one illustrated implementation. 
         FIG. 14A  is a bottom, front, right side isometric view of a cover of a pick and/or place head of the vacuum-based system of  FIGS. 7A and 8A , illustrated as having a base and a number of arcuate projections with one or more throughholes, the arcuate projections sized, shaped, and positioned to be received through respective ones of the arcuate slots of the plate of the torque coupler, according to at least one illustrated implementation. 
         FIG. 14B  is a top, front, right side isometric view of a cover of a pick and/or place head of the vacuum-based system of  FIGS. 7A and 8A , illustrated as having a base and a number of arcuate projections with one or more throughholes, the arcuate projections sized, shaped, and positioned to be received through respective ones of the arcuate slots of the plate of the torque coupler, according to at least one illustrated implementation. 
         FIG. 15A  is a bottom, front, right side isometric view of a drive shaft of a pick and/or place head of the vacuum-based system of  FIGS. 7A and 8A , illustrated as having a rod with a head at a distal end thereof, the distal head including a number of throughholes to align with the throughholes of the arcuate projections of the cover, according to at least one illustrated implementation. 
         FIG. 15B  is a top, front, right side isometric view of a drive shaft of a pick and/or place head of the vacuum-based system of  FIGS. 7A and 8A , illustrated as having a rod with a head at a distal end thereof, the distal head including a number of throughholes to align with the throughholes of the arcuate projections of the cover, according to at least one illustrated implementation. 
         FIG. 16A  is a bottom, front, right side isometric view of a collar of a pick and/or place head of the vacuum-based system of  FIGS. 7A and 8A , illustrated as having a stem with a flange at a distal end thereof, the collar fastenable to the head of the drive shaft to form an enclosed volume therebetween, according to at least one illustrated implementation. 
         FIG. 16B  is a top, front, right side isometric view of a collar of a pick and/or place head of the vacuum-based system of  FIGS. 7A and 8A , illustrated as having a stem with a flange at a distal end thereof, the collar fastenable to the head of the drive shaft to form an enclosed volume therebetween, according to at least one illustrated implementation. 
         FIG. 17  is a cross-sectional view of a portion of the vacuum-based system of  FIGS. 7A and 8A  showing a single specimen container positioned in a receiver thereof, according to at least one illustrated implementation. 
         FIG. 18  is a schematic diagram of a control system to control the mechanical system of  FIGS. 1, 2, 7B and 8B  and/or the vacuum-based system of  FIGS. 7A and 8A , according to at least one illustrated implementation. 
         FIG. 19  is an isometric view of an exemplary specimen shelf that holds a plurality of specimen containers an array, according to at least one illustrated implementation. 
         FIG. 20  is a flow diagram showing a method of operating a mechanical system of  FIGS. 1, 2, 7B and 8B  with a pick and/or place head to pick a single one of the specimen containers from an array of specimen containers, according to at least one illustrated implementation. 
         FIG. 21  is a flow diagram showing a method of operating a mechanical system of  FIGS. 1, 2, 7B and 8B  with a pick and/or place head to place a single one of the specimen containers, according to at least one illustrated implementation. 
         FIG. 22  is a flow diagram showing a method of operating a vacuum-based system of  FIGS. 7A and 8A  with a pick and/or place head to pick a single one of the specimen containers from an array of specimen containers, according to at least one illustrated implementation. 
         FIG. 23  is a flow diagram showing a method of operating a vacuum-based system of  FIGS. 7A and 8A  with a pick and/or place head to place a single one of the specimen containers, according to at least one illustrated implementation. 
     
    
    
     DETAILED DESCRIPTION 
     In the following description, certain specific details are set forth in order to provide a thorough understanding of various disclosed implementations. However, one skilled in the relevant art will recognize that implementations may be practiced without one or more of these specific details, or with other methods, components, materials, etc. In other instances, well-known structures associated with wireless transponders, interrogators or interrogation systems, computer systems, server computers, and/or communications networks have not been shown or described in detail to avoid unnecessarily obscuring descriptions of the implementations. 
     Unless the context requires otherwise, throughout the specification and claims that follow, the word “comprising” is synonymous with “including,” and is inclusive or open-ended (i.e., does not exclude additional, unrecited elements or method acts). 
     Reference throughout this specification to “one implementation” or “an implementation” means that a particular feature, structure or characteristic described in connection with the implementation is included in at least one implementation. Thus, the appearances of the phrases “in one implementation” or “in an implementation” in various places throughout this specification are not necessarily all referring to the same implementation. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more implementations. 
     As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” include plural referents unless the context clearly dictates otherwise. It should also be noted that the term “or” is generally employed in its sense including “and/or” unless the context clearly dictates otherwise. 
     The headings and Abstract of the Disclosure provided herein are for convenience only and do not interpret the scope or meaning of the implementations. 
       FIGS. 1-6  show a mechanical system  100  to pick and/or place specimen containers, according to one illustrated implementation. 
     The mechanical system  100  includes a pick and/or place head  102 . The pick and/or place head  102  is mounted to travel along a first rail  104   a . The first rail  104   a  may extend vertically, for example, allowing the pick and/or place head  102  to translate vertically. Such may, for example, allow the pick and/or place head  102  to be moved between an interior and an exterior of an enclosed cryogenic environment (e.g., cryogenic freezer, dewar or other cryogenic enclosure), for example via a door or access port at a top of cryogenic enclosure. 
     The pick and/or place head  102  includes a receiver  106 , a drive shaft  108 , an engagement head  110 , and one or more actuators, for example a translation motor  112   a  and a rotation motor  112   b.    
     The receiver  106  has a proximate end  114   a , a distal end  114   b , and a receptacle  116  having an opening  118  ( FIG. 2 ) at the distal end  114   b  of the receiver  106 . 
     As illustrated the receiver  106  and the receptacle  116  may be formed of two or more parts, although in some implementations the receiver  106  may take the form of a single-piece, unitary structure. As illustrated, the receiver  106  comprises a proximate portion  106   a  and a distal portion  106   b.    
     As best illustrated in  FIG. 5 , the distal portion  106   b  of the receiver  106  is illustrated as a block or sleeve  120  with a peripheral flange  122  extending lateral therefrom at a proximate end of the block or sleeve  120  and with a set of feet or standoffs  124  (only one called out in  FIG. 5 ) extending or projecting longitudinally therefrom at a distal end of the block or sleeve  120 . The block or sleeve  120  includes the opening  118  which provides access to an interior  126  of the block or sleeve  120 . The opening  118  and/or the interior  126  of the block or sleeve  120  have a profile that is/are sized and/or shaped to accommodate a profile of a single specimen container  1902  ( FIG. 19 ). The peripheral flange  122  of the block or sleeve  120  may have throughholes  128  (only one called out in  FIG. 5 ) to allow the distal portion  106   b  to be coupled to the proximate portion  106   a , for instance via one or more fasteners (not called out in  FIGS. 1-4 , and omitted from  FIG. 5 ). 
     The proximate portion  106   a  of the receiver  106  is illustrated as a frame or cage  130 , comprising a base  132   a , a top  132   b  and frame members or struts  134  that extend between the base  132   a  and the top  132   b , to define an interior  136  therebetween. (Four frame members or struts  134  are shown in  FIGS. 1-4 , two of the frame members or struts  134  are omitted from  FIG. 5 , to provide a better view of the interior  136  and of a portion of the engagement head  110 .) The interior  136  of the proximate portion  106   a  has a profile that is sized and/or shaped to accommodate a profile of a single specimen container  1902  ( FIG. 19 ), although may have higher fit tolerances than that of the interior  126  of the block or sleeve  120  or opening  118 . The interior  136  of the proximate portion  106   a , or a part thereof, may be open to an exterior or alternatively one or more sidewalls may enclose the interior  136 . The base  132   a  of the proximate portion  106   a  may have throughholes to allow the proximate portion  106   a  to be coupled to the distal portion  106   a , for instance via one or more fasteners (e.g., threaded fasteners for instance screws or bolts and nuts). The top  132   b  of the proximate portion  106   a  may have throughholes (not called out) to allow the proximate portion  106   a  to be coupled to other portions of the pick and/or place head  102  (described below), for instance via one or more fasteners ((e.g., threaded fasteners for instance screws or bolts and nuts, not called out in  FIGS. 1-4 , and omitted from  FIG. 5 ). 
     The receptacle  116  has a principal axis  138  and a set of lateral inner dimensions  140  measured laterally with respect to the principal axis  138 . The lateral inner dimensions  140  of the receptacle  116  are sized to accommodate a set of lateral outer dimensions  1914  ( FIG. 19 ) of at least a portion of a single container  1902  ( FIG. 19 ) therein. At least a portion of the receptacle  116  is sized to physically prevent rotation of the single one of the specimen containers  1902  ( FIG. 19 ) about the principal axis  138  while allowing translation with respect thereto. For example, the lateral inner dimensions  140  of the receptacle  116  at a smallest portion is sized to provide either a clearance fit or close fit (e.g., physically contact without deformation while preventing rotation) with a widest portion of the single container  1902  ( FIG. 19 ). For example, the receptacle  116  or a portion thereof may have a non-circular profile, for instance a D-shaped profile, rectangular profile, or as illustrated in  FIG. 5  the receptacle  116  has a square profile with two pairs of parallel sides (e.g., a rectangular cuboid) and rounded or arcuate corners between pairs of the sides. Such may receive a portion or all of a single specimen container  1902  ( FIG. 19 ), while preventing rotation of or restraining rotation of the single specimen container  1902  within a set angular range. 
     As best illustrated in  FIGS. 1-4 , the drive shaft  108  has a proximate end  142   a  and a distal end  142   b . The drive shaft  108  is a generally elongate member, and may take a variety of forms that allow transmission of translational displacement and rotation. The drive shaft  108  may, for example, take the form of a solid rod or a hollow rod. While illustrated as a cylindrical rod, the drive shaft  108  can have non-circular profiles, for example a D-shaped profile, rectangular profile including a square profile, or a polygonal profile such as a hexagonal or octagonal profile. The drive shaft  108  may be made of a metal, or a plastic, or a combination thereof. 
     The engagement head  110  is located at the distal end  142   b  of the driver shaft  108 , and translates and rotates along with the drive shaft  108 . The engagement head  110  may be an integral, unitary part of the drive shaft  108 , or may be a separate and distinct part physically coupled or otherwise attached directly, or indirectly to the drive shaft  108 . The engagement head  110  includes or more engagement features to engage a portion of a single one of the specimen containers  1902  ( FIG. 19 ) when the single one of the specimen containers  1902  is positioned in the receptacle  116  of the receiver  106 . For example, as best illustrated in  FIGS. 5 and 6 , the engagement head  110  includes a base  144  (called out in  FIG. 6 ) and a pair of lugs  146   a ,  146   b . Each of the lugs  146   a ,  146   b  comprises a stem  148   a ,  148   b  (called out in  FIG. 6 ) positioned at diametrically opposed locations at a periphery of the base  144  and extending longitudinally outwardly (e.g., perpendicularly) from the base  144 . Each of the lugs  146   a ,  146   b  comprises a finger  150   a ,  150   b  (called out in  FIG. 6 ) that extends angled radially inwardly from the respective stem  148   a ,  148   b , the fingers  150   a ,  150   b  each having a distal most portion that is spaced radially inwardly of the principal axis  138  of the receptacle  116 . The finger  150   a ,  150   b  of each of the lugs  146   a ,  146   b  is disposed in a same rotational direction about the principal axis  138  as the finger  150   a ,  150   b  of the other one of the lugs  146   a ,  146   b . The stems  148   a ,  148   b  provide for a gap to exist between the fingers  150   a ,  150   b  and the base  144 . 
     Where specimen containers  1902  ( FIG. 1 ) each include a vial and a cap, the cap having a handle, the cap threadedly coupled to vials, and the lugs are disposed about the principal axis  138  such that a counterclockwise rotation of the drive shaft  108  causes the lugs  146   a ,  146   b , and in particular fingers  150   a ,  150   b , to engage the handle of the cap in a direction in which the cap tightens to the vial, and such that a clockwise rotation of the drive shaft  108  causes the lugs  146   a ,  146   b  to disengage the handle of the cap. For an oppositely or reverse threaded cap and vial, the inverse directions would apply. 
     The pick and/or place head  102  may optionally include one or more bearings  152  (only one shown in  FIGS. 1 and 3 ) that support the drive shaft  108  for translation along the principal axis and rotation about the principal axis  138  of the receptacle  116 . The bearing(s)  152  may be supported via one or more brackets  154   a  ( FIGS. 1-4 ) attached for example to a support plate  156  ( FIGS. 1-4 ). The pick and/or place head  102  may optionally include a guide tube  158  ( FIGS. 1-4 ) through which a portion of the drive shaft  108  translates in moving between a retracted position the engagement head  110  and an extended position of the engagement head  110 . In the extended position, the engagement head  110  is positioned distally with respect to the retracted position, for example positioned to contact and engage a portion (e.g., handle on cap) of the single specimen container  1902  ( FIG. 1 ) that is located in the interior of the block or sleeve  120 . The guide tube  158  may be supported via one or more brackets  154   b , for example, attached to the support plate  156 . 
     The translation motor  112   a  and a rotation motor  112   b  may be coupled to the drive shaft  108  via respective drive trains or transmissions  160   a ,  160   b . For example, the translation motor  112   a  may be coupled to a second rail  104   b , to drive the drive shaft to translate along the second rail  104   b , in what would typically be a vertical direction. The translation motor  112   a , rotation motor  112   b , and/or the respective drive trains or transmissions  160   a ,  160   b  ( FIG. 2 ) may be supported by the support plate  156 . While illustrated as a translation motor  112   a  and a rotation motor  112   b , the actuators of the pick and/or place head  102  can take other forms, for example one or more of the actuators may take the form of one or more solenoids. The translation motor  112   a  and a rotation motor  112   b  may be controlled or operated via signals supplied by one or more control systems, for instance via one or more motor controllers  1838  ( FIG. 18 ). 
     The drive shaft  108  is translatable, via the translation motor  112   a  and respective drive train or transmission  160   a , parallel with the principal axis  138  to selectively position the engagement head  110  alternatingly distally from and proximate to a first portion of the single one of the specimen containers  1902  ( FIG. 1 ) when the single one of the specimen containers  1902  is positioned at least partially in the receptacle  116  of the receiver  106 . At least when positioned proximate to the first portion of the single one of the specimen containers  1902 , the drive shaft  108  is selectively rotatable, via the rotation motor  112   b  and respective drive train or transmission  160   b , alternatingly in a clockwise and a counterclockwise direction about the principal axis  138  to cause at least a portion (e.g., lugs  146   a ,  146   b ) of the engagement head  110  to alternatingly engage and disengage the first portion of the single one of the specimen containers  1902  while at least a portion of the receptacle  116  of the receiver  106  prevents the single one of the specimen containers  1902  from rotating about the principal axis  138 . 
     As previously noted, the pick and/or place head  102  may be driven to translate along the first rail  104   a , for example by one or more actuators, for example motors  162   a ,  162   b  drivingly coupled via one or more drive trains or transmissions  164   a ,  164   b  to translate the pick and/or place head  102 . The motors  162   a ,  162   b  may be controlled or operated via signals supplied by one or more control systems, for instance via one or more motor controllers  1838  ( FIG. 18 ). 
       FIGS. 7B and 8B  show portion of a mechanical system  100  to pick and/or place specimen containers, according to another one illustrated implementation. Some of the components are similar or even identical to those of the implementation of  FIGS. 1-6 , and hence the same reference numbers are employed for similar or identical components. Only some of the significant differences are discussed below. In particular, the receiver  106  in the implementation of  FIGS. 7B and 8B  has some differences with respect to the receiver  106  of the implementations of  FIGS. 1-6 , resulting in a simpler to manufacture design. 
     A proximate portion  106   d  of the receiver  106  in the implementation of  FIGS. 7B and 8B  is a block with a longitudinally extending cavity. The longitudinally extending cavity of the proximate portion  106   d  can be sized and shaped to receive an upper portion (e.g., cap  1902 ) of the single specimen container  1902  when drawn upward by the drive shaft  108 , and prevent rotation of the single specimen container  1902  about a longitudinal axis when received in the longitudinally extending cavity of the proximate portion  106   d.    
     A distal portion  106   e  of the receiver  106  in the implementation of  FIGS. 7B and 8B  is similar to the distal portion  106   b  of the receiver  106  of the implementation of  FIGS. 1-6 , if somewhat more elongated along the longitudinal axis thereof, and with arch shaped slots on the sides between each pair of feet or standoffs  124 . The distal portion  106   e  includes a longitudinally extending cavity. The longitudinally extending cavity of the distal portion  106   e  can be sized and shaped to receive a lower portion (e.g., vial portion  1904 ) of the single specimen container  1902  when drawn upward by the drive shaft  108 , and prevent rotation of the vial portion  1904  of single specimen container  1902  about a longitudinal axis when received in the longitudinally extending cavity distal portion  106   e . When drawn upward into a withdrawn position or configuration, a bottom of the vial portion  1904  may extend just beyond flush with respect to the cavity of the distal portion  106   e , protruding slightly therefrom. 
     An intermediate portion  106   f  of the receiver  106  in the implementation of  FIGS. 7B and 8B  is similar to the proximate portion  106   a  of the receiver  106  of the implementation of  FIGS. 1-6 . The intermediate portion  106   f  is illustrated as a frame or cage, comprising a set of frame members or struts  134  that extend between the proximate portion  106   d  and the distal portion  106   e , to define an interior  136  therebetween. (Only two of four frame members or struts  134  are visible in  FIGS. 7B and 8B .) The interior of the proximate portion  106   a  has a profile that is sized and/or shaped to accommodate a profile of a single specimen container  1902  ( FIG. 19 ). The interior of the intermediate portion  106   f , or a part thereof, may be open to an exterior or alternatively one or more sidewalls may enclose the interior. The intermediate portion  106   f  may have throughholes to allow the intermediate portion  106   f  to be coupled to the proximate portion  106   d  and/or distal portion  106   e , for instance via one or more fasteners (e.g., threaded fasteners for instance screws or bolts and nuts). 
     Also visible in  FIG. 8B  is a bushing  127  through which the drive rod  108  is received and rotatably mounted. The bushing typically is positioned above the distal end  142   b  and the engagement head  110  of the drive rod  108 , and is located in guide tube  158 . 
     Also visible in  FIGS. 7B and 8B  is tubing  129 . Tubing  129  supplies a flow of cryogenic fluid (e.g., liquid nitrogen) to the single specimen container  1902  in the event of an anomaly or error condition. Such can advantageously flood the single specimen container  1902  with liquid nitrogen in the event that the single specimen container  1902  cannot be successfully picked or placed, or the pick and/or place head  102  otherwise becomes stuck or non-operable. 
     The implementations of  FIGS. 1-6, 7B and 8B  can include one or more magnets positioned to exert an upward (i.e., against the force of gravity) magnetic force, directly or indirectly, on the shaft  108 , biasing and thereby retaining the shaft  108  in a retracted position unless actively driven downward by a motor (e.g., motors  162   a ) and thereby preventing the shaft  108  from falling downward in the event of a power failure or other loss of control. This can advantageously ensure that access to the containers, vial or beacons will remain at least manually accessible and not blocked by the pick and/or place head  102  during any contingencies. The one or more magnets can, for example take the form of permanent magnets or electric magnets, although permanent magnets may be preferred since such would not be adversely effected in the event of a loss of electrical power. 
     As described with reference to  FIG. 18 , below, the mechanical system  100 , the pick and/or place head  102  and/or a control system may include one or more sensors (e.g., mechanical encoders, optical encoders, magnetic encoders, electromagnetic induction encoders, rotary encoders, linear encoders, position encoders, level sensors, cameras, infrared transmitter and receiver pairs, Reed switches, Hall effect sensors, temperature sensors or thermocouples, humidity sensors, force sensors, pressure sensors, load cells, vibration sensors, flow rate or volume sensors) positioned to sense various conditions (e.g., position, orientation, mechanical resistance, presence or absence of frost). As described with reference to  FIG. 18 , below, the mechanical system  100  and/or the pick and/or place head  102  may include one or more defrosters selectively operable to defrost portions of the mechanical system  100 , portions of the pick and/or place head  102  and/or the specimen containers  1902  ( FIG. 19 ). 
     In at least some implementations, the mechanical system  100  of  FIGS. 1, 2, 7B and 8B  may include a manual override mechanism that manually dispenses the single one of the specimen containers from the receiver, for example even when frost buildup prevents the at least one actuator from successfully dispensing the single one of the specimen containers from the receiver. The manual override mechanism may, for example, include at least one handle, for instance a knob, that extends lateral from the drive shaft. The manual override mechanism may optionally include a slot in a side wall of the receiver and a cover that selectively provides access laterally into the interior of the receiver via the side wall, similar in some respects to a bolt action rifle. 
       FIGS. 7A and 8A  show a vacuum-based system  700  to pick and/or place specimen containers from an array of specimen containers, which is illustrate along with a single one of the specimen containers  1902  partially received by a portion of the vacuum-based system  700 , according to one illustrated implementation. 
     The vacuum-based system  700  includes a pick and/or place head  702 . The pick and/or place head  702  may be mounted to travel along a rail (e.g., first rail  104   a ,  FIG. 1 ). The first rail  104   a  may extend vertically, for example, allowing the pick and/or place head  702  to translate vertically. Such may, for example, allow the pick and/or place head  702  to be moved between an interior and an exterior of an enclosed cryogenic environment (e.g., cryogenic freezer, dewar or other cryogenic enclosure), for example via a door or access port at a top of cryogenic enclosure. 
     The pick and/or place head  702  includes a receiver  706 , a drive shaft  708 , a vacuum conduit  710 . The pick and/or place head  702  may include or may be coupled with one or more actuators, for example one or more solenoids or electric motors  1836   a ,  1836   b ,  1836   c  ( FIG. 18 ) and/or one or more vacuum source(s)  1842  ( FIG. 18 ). It is noted that use of the term vacuum herein and in the claims refers to a negative pressure, e.g., a pressure below atmospheric pressure or below ambient pressure in the adjacent surroundings, which typically is somewhat above an absolute vacuum or zero pressure. 
     The receiver  706  has a proximate end  714   a , a distal end  714   b , and a receptacle  716  (called out in  FIG. 8 ) having an opening  718   b  at the distal end  714   b  of the receiver  706 . 
     As illustrated, the receiver  706  and the receptacle  716  may be formed of two or more parts, although in some implementations the receiver  706  may take the form of a single-piece, unitary structure. As illustrated, the receiver  706  comprises a proximate portion  706   a , a distal portion  706   b , and an intermediate portion  706   c , the intermediate portion  706   c  positioned between the proximate portion  706   a  and the distal portion  706   b.    
     As best illustrated in  FIGS. 9A and 9B , the distal portion  706   b  of the receiver  706  is illustrated as a distal block or sleeve  720   b  with a peripheral flange  722  extending laterally therefrom at a proximate end of the distal block or sleeve  720   b  and with a set of feet or standoffs  724  extending or projecting longitudinally therefrom at a distal end of the distal block or sleeve  720   b . The distal block or sleeve  720   b  includes a through-passage  726   b  with openings  718   b  that provide access to an interior of the distal block or sleeve  720   b , for example from an exterior of the receiver  706 . The openings  718   b  and/or the through-passage  726   b  of the distal block or sleeve  720   b  have a profile that is/are sized and/or shaped to accommodate a profile of a single specimen container  1902  ( FIGS. 7A and 8A ). The peripheral flange  722  of the distal block or sleeve  720   b  may have holes  728   b  (e.g., threaded holes, only one called out in  FIGS. 9A and 9B ) to allow the distal portion  706   b  to be coupled to the intermediate portion  106   c , for instance via one or more fasteners (e.g., threaded fasteners, not called out in  FIGS. 7A and 8A ), and omitted from  FIGS. 9A and 9B ). 
     As best illustrated in  FIGS. 10A and 10B , the intermediate portion  706   c  of the receiver  706  is illustrated as an intermediate block or sleeve  720   c . The intermediate block or sleeve  720   c  includes a through-passage  726   c  with openings  718   c  that provide access to an interior of the intermediate block or sleeve  720   c . The openings  718   c  and/or the through-passage  726   c  of the intermediate block or sleeve  720   c  have a profile that is/are sized and/or shaped to accommodate a profile of a single specimen container  1902  ( FIGS. 7A and 8A ). The intermediate block or sleeve  720   c  may have holes  728   c  (only two called out in each of  FIGS. 10A and 10B ) to allow the intermediate portion  706   c  to be coupled to the distal portion  706   a  and coupled to proximate portion  706   b , for instance via one or more fasteners (not called out in  FIGS. 7A and 8A ), and omitted from  FIGS. 10A and 10B ). As best illustrated in  FIG. 10B , one or more bearings  736  may be coupled to a proximate end of the intermediate portion  706   c  of the receiver  706 . 
     As best illustrated in  FIGS. 11A and 11B , the proximate portion  706   a  of the receiver  106  is illustrated as a proximate block or sleeve  720   b . The proximate block or sleeve  720   a  comprises a tubular main body portion  734  with a distal flange  732   a  extending laterally from a distal end thereof and a proximate flange  732   b  extending laterally from a proximate end thereof. The proximate block or sleeve  720   b  includes a through-passage  726   a  with openings  718   a  that provide access to an interior of the proximate block or sleeve  720   a . The openings  718   a  and/or through-passage  726   a  of the proximate portion  706   a  may have a profile that is sized and/or shaped to accommodate a profile of a single specimen container  1902  ( FIGS. 7A and 8A ), although may have higher fit tolerances than that of the openings  718   b  and/or through-passage  726   b  of the distal block or sleeve  720   b  or corresponding openings  718   c  and/or through-passage  726   c  of the intermediate block or sleeve  720   c . The interior or through-passage  736   a  of the proximate portion  706   a  is laterally enclosed, with the opening  718   c  at the proximate end providing a vacuum port which allows a vacuum or negative pressure to be established in the interior of the proximate portion  706   a , which can advantageously be used to draw a single specimen container  1902  ( FIGS. 7A and 8A ) inwards into the interior of the through-passage  726   a  from a position in which a portion of the single specimen container  1902  was received in the distal and/or intermediary blocks or sleeves  702   a ,  720   c.    
     The distal flange  732   a  of the proximate portion  706   a  may have holes  728   a  (e.g., threaded holes) to allow the proximate portion  706   a  to be coupled to the intermediate portion  706   c , for instance via one or more fasteners (e.g., threaded fasteners, for instance screws or bolts, not illustrated in  FIGS. 11A and 11   b ) and/or via one or more bearings  736  ( FIG. 10B ) and a pivot plate  1202  (as described below). The proximate flange  732   b  of the proximate portion  706   a  may have holes  728   a  to allow the proximate portion  706   b  to be coupled to a cover  1402  ( FIGS. 14A   14 B) of the pick and/or place head  102  (described below), for instance via one or more fasteners (e.g., threaded fasteners, not called out in  FIGS. 1-3 , and omitted from  FIGS. 11A and 11B ). 
     As noted above, the proximate end of the proximate portion  706   a  of the receiver  706  may be coupled to a pivot plate  1202 . As best seen in  FIG. 12 , the pivot plate  1202  may, for example, take the form of a disk, and has a central passage  1204 . The central passage  1204  has a profile that is sized and/or shaped to accommodate a profile of a single specimen container  1902  ( FIGS. 7A and 8A ). The central passage  1204  aligns with the through-passages  726   a ,  726   b ,  726   c  of the proximate portion  706   a , distal portion  706   b  and intermediate portion  706   c  of the receiver  706  ( FIGS. 7A and 8A ) such that single specimen container  1902  ( FIGS. 7A and 8A ) can pass within or extend through the distal portion  706   b , intermediate portion  706   c , pivot plate  1202 , and proximate portion  706   a.    
     The pivot plate  1202  may also have a number (e.g., four) of arcuate slots  1206   a ,  1206   b ,  1206   c ,  1206   d  (collectively  1206 ) spaced radially outward of central passage  1204 . The arcuate slots  1206  have a width sized to receive respective ones of the bearings  736 . The pivot plate  1202  allows pivoting through a defined range of angles. 
     The pivot plate  1202  also include a number of holes  728   d  (e.g., threaded holes) to allow the pivot plate  1202  to be physically coupled to a torque coupler  1302  ( FIGS. 13A, 13B ) described below. 
     As best illustrated in  FIGS. 13A and 13B , the torque coupler  1302  has a proximate end  1304   a , a distal end  1304   b . The torque coupler  1302  has an annular base  1306  at the distal end  1304   b  and a plate  1308  in the form of a disk at the proximate end  1304   a . The torque coupler  1302  has a plurality of strands  1310  (four shown) that couple the annular base  1306  with the plate  1308 . The strands  1310  are spaced radially outward of a longitudinal axis  1312 , to define a space  1314  in which the intermediate portion  706   c  ( FIGS. 11A, 11B ) can be received. Each of the strands  1310  may, for example, have a helical shape, the plurality of strands  1310  forming a helical cage  1316  about the intermediate portion  706   c . The plurality of strands  1310  are sufficiently stiff in rotation about the longitudinal axis  1312  to transmit torque, yet may be compliant to axial forces (e.g., compression and/or tension along the longitudinal axis  1312 ) to dampen vibration. 
     The annular base  1306  at the distal end  1304   b  of the torque coupler  1302  has a plurality of holes  728   e  (e.g., threaded holes,  FIG. 13A ), which allows the annular base  1306  to be physically coupled to the pivot plate  1202  ( FIG. 12 ), for instance via fasteners (not shown in  FIGS. 13A, 13B ), for instance threaded screws or bolts. 
     The plate  1308  at the proximate end  1304   a  of the torque coupler  1302  includes a number (e.g., three) arcuate slots  1318  spaced radially outward of the longitudinal axis  1312 . The arcuate slots  1318  extend through an entire thickness of the plate  1308  so constitute through-slots. The arcuate slots  1318  are sized, shaped and/or positioned to receive respective arcuate projections of the cover  1402  ( FIGS. 14A   14 B) described below, that is itself attached to the proximate portion  706   a  of the receiver  706  at the proximate end thereof, thereby rotationally coupling the torque coupler  1302  with the intermediate portion  706   c  of the receiver  706  and providing for fluid (e.g., airflow, negative pressure or vacuum) as described below. 
     As best illustrated in  FIGS. 14A and 14B , the cover  1402  includes a base  1404 , for example a circular plate having a number of arcuate projections  1406   a ,  1406   b ,  1406   c  (three shown, collectively  1406 ) extending upwardly (e.g., perpendicularly from a top surface  1408  of the base  1404 . The base  1404  may also include a number of holes  728   f  (e.g., threaded holes), which allows the base  1404  to be fastened to the proximate portion  706   a  of the receiver  706  at the proximate end thereof, hereby creating a chamber at the proximate end of the proximate portion  706   a  of the receiver  706 . 
     The arcuate projections  1406  are spaced radially outward of a longitudinal axis. The arcuate projections  1406  may each have an arcuate face  1410   a  that faces radially toward the longitudinal axis and an arcuate face  1410   b  that faces radially outward with respect to the longitudinal axis. The positions of the arcuate projections  1406  of the cover  1402  both radially and angular about the longitudinal axis, as well as the shape and size of the arcuate projections  1406  of the cover  1402  match the positions and shapes and sizes of the arcuate slots  1318  of the plate  1308  of the torque coupler  1302 , to mate with or be closely receive by respective ones of the arcuate slots  1318  of the plate  1308  of the torque coupler  1302 . 
     Each of the arcuate projections  1406  includes one or more throughholes  1412  (only a few called out) which also pass through the base to provide a conduit for an airflow or pressure (e.g., negative pressure or vacuum, positive pressure) to be applied to the interior (e.g., enclosed cavity) of the intermediate portion of the receiver. Thus, the cover  1402  may alternatively be described as a manifold. 
     Proximate-most portions of the arcuate projections  1406  of the cover  1402  interface with a distal surface of a head  1502  (described below) of the drive shaft  708  ( FIGS. 7A and 8A ), the drive shaft  708  and head  1502  best illustrated in  FIGS. 15A and 15B . 
     As best illustrated in  FIGS. 15A and 15 , the drive shaft  708  may take the form of an elongated member, for instance a rod, with a head  1502  at a distal end  1504  of the drive shaft  708 . The head  1502  may take the form of a plate  1506 , for example a disk, with an upstanding peripheral wall or edge  1508  to define a recess or interior volume  15010 . The drive shaft  708  may terminate at a floor  1512  or may extend through the plate  1506 . The plate  1506  has a number of throughholes  1514  that are positioned, oriented, sized, and/or shaped to align or couple with respective throughholes  1412  of the cover  1402 , to provide a fluidly conductive paths therethrough. 
     The head  1502  may also include a number of holes  728   g  (e.g., threaded holes) which allow the head  1502  to be physically coupled or fastened to a collar  1602  (best illustrated in  FIGS. 16A and 16B ), described below. 
     As best illustrated in  FIGS. 16A and 16B , the collar  1602  includes a stem  1604  with a flange  1606  that extends radially outward from a distal end of the stem  1604  and collar  1602 . The flange  1606  may include a number of holes  728   h  (e.g., threaded holes) which allow the collar  1602  to be physically coupled or fastened to the head  1502 . When coupled to the head  1502 , the collar  1602  and the head  1502  form a cavity therebetween. The stem  1604  has a central passage  1608  which provides a fluidly conductive path into an interior of the cavity formed by the collar  1602  and the head  1502 . 
     As best illustrated in  FIGS. 7A and 8A , a vacuum conduit  710  in the form of a tube or sheath receives a portion the drive shaft  708 , allowing rotation of the drive shaft  708  relative to the vacuum conduit  710 . The vacuum conduit  710  also provides a conduit for airflow, including a negative pressure or even a positive pressure, in a volume of the interior of the vacuum conduit  710  that is not occupied by the drive shaft  708 . The vacuum conduit  710  may have a coupler  750   a  at a proximal end thereof to provide a detachable or even permanent coupling to a supply line from a vacuum source (e.g., vacuum pump, Venturi). The vacuum conduit  710  may have a coupler  750   b  at a distal end thereof to provide a detachable or even permanent coupling to the collar  1602 . 
     The described pick and/or place head  702  of the vacuum-based system  700  provides a fluidly conductive path that allows a pressure (e.g., negative pressure or vacuum, positive pressure) generated or produced by a source to be communicated into the interior of the receiver  706 . For example, a vacuum is supplied at the proximate end of the vacuum conduit  710 . The vacuum is supplied by the central passage  1608  ( FIGS. 16A, 16B ) of the collar  1602  into the chamber formed by the head  1502  ( FIGS. 15A, 15B ) and cover  1402 . The throughholes  1514  in the base  1506  of the head  1502  supply the vacuum into the interior volume defined at the proximate end of the proximate portion  706   a  ( FIGS. 11A, 11B ) of the receiver  706 . The through-passage  726   a  of the proximate portion  706   a  of the receiver  706  fluidly communicatively couples the vacuum from the proximate portion  706   a  of the receiver  706  to the through-passage  726   c  of the intermediate portion  706   c  ( FIGS. 10A, 10B ) of the receiver  706 , which in turn fluidly communicatively couples the vacuum to the through-passage  726   b  of the distal portion  706   b  ( FIGS. 9A, 9B ) of the receiver  706 . Supplying a negative pressure at a proximate end can draw a single specimen container  1902  into, or further into, the receiver  706 , for example drawing a cap  1906  of the single specimen container  1902  ( FIG. 19 ) into the through-passage  726   a  of the proximate portion  706   a . Additionally, or alternatively, supplying a positive pressure at a proximate end, can push a single specimen container  1902  out of, or further out of the receiver  706 . 
       FIG. 17  illustrates a portion of the vacuum-based system  700  of  FIGS. 7A and 8A  showing a single specimen container  1902  positioned in a receiver  706  thereof, according to at least one illustrated implementation. 
     A cap  1906  of the single specimen container  1902  is positioned in the through-passage  726   a  of the proximal portion  706   a  of the receiver  706 , while most of the vial portion  1904  extends through the through-passages  726   c ,  726   b  of the intermediate and distal portions  706   c ,  706   b , respectively, of the receiver  706 . Notably, the cap  1906  may have larger outer dimensions than corresponding outer dimensions of the vial  1904  of the single specimen container  1902 . 
     In use, the torque coupler  1302  transmits rotation of the drive shaft  708  into rotation of the proximate portion  706   a  of the receiver  706 , while the intermediate and distal portions  706   c ,  706   b  of the receiver  706  remain fixed due to the pivot plate  1308 . The application of torque rotates the proximate portion  706   a . The internal passage  726   a  of the proximate portion  706   a  engages portions of the cap  1906 , hence the single specimen container  1902  rotates along with the proximate portion  706   a . The rotation of the single specimen container  1902  relative to the intermediate and distal portions  706   c ,  706   b , causes a profile of an opening at a proximate end of the intermediate portion  706   c  and/or through-passage  726   c  thereof to no longer align with a corresponding profile of a distal portion of the cap  1906  of the single specimen container  1902 , and thereby prevents translation of the single specimen container  1902  with respect to the longitudinal axis of the receiver  706 . At this point, application of the vacuum may be stopped since translation of the single specimen container  1902  is physically prevented. 
     In at least some implementations, the vacuum-based system  700  of  FIGS. 7A and 8A  may include a manual override mechanism that manually dispenses the single one of the specimen containers from the receiver, for example even when frost buildup prevents the at least one actuator from successfully dispensing the single one of the specimen containers from the receiver. The manual override mechanism may, for example, include at least one handle, for instance a knob, that extends lateral from the drive shaft. The manual override mechanism may optionally include a slot in a side wall of the receiver and a cover that selectively provides access laterally into the interior of the receiver via the side wall, similar in some respects to a bolt action rifle. 
       FIG. 18  shows a control system  1802  which may be part of, or communicatively coupled to the mechanical system  100  ( FIGS. 1, 2, 7B and 8B ) and/or the vacuum-based system  700  ( FIGS. 7A and 8A ), according to at least one illustrated implementation. 
     The control system  1802  may include one or more processors, for example one or more of: one or more microprocessors  1804 , one or more digital signal processors (DSPs)  1806 , one or more application specific integrated circuits (ASICs) and/or one or more field programmable gate array (FPGAs) operable to execute programmed logic. The control system  1802  may also include nontransitory processor-readable storage media, for example nonvolatile memory such as read only memory (ROM) and/or FLASH  1808  and/or volatile memory such as random access memory (RAM)  1810 . The ROM/FLASH  1808  and RAM  1810  are communicatively coupled to the microprocessor  1814  via one or more communications channels, for example a power bus, instruction bus, address bus, command bus, etc. The microprocessor  1804  executes logic, for example logic stored in the nontransitory processor-readable media (e.g., ROM/FLASH  1806 , RAM  1808 ) as one or more sets of processor-executable instructions and/or data. The microprocessor  1804  may also be communicatively coupled to a communications radio  1812  and associated antenna  1814  and/or wired communications port  1816  to provide information and data to external systems and/or to receive instructions therefrom. 
     The control system  1802  may include one or more sensors. 
     For example, the control system  1802  may include one or more position sensors  1818  (two shown) communicatively coupled with the processor(s)  1804 ,  1806 . The position sensor(s)  1818  may be positioned and/or oriented to detect a position of the pick and/or place head  102  ( FIGS. 1, 2, 7B and 8B ) or pick and/or place head  702  ( FIGS. 7A and 8A ), for example with respect to one or more specimen containers  1902 . The position sensor(s)  1818  may be positioned and/or oriented to detect a position of the engagement head  110  ( FIGS. 1, 2, 7B and 8B ) relative to the single one of the specimen containers  1902 . The position sensor(s)  1818  may be positioned and/or oriented to detect a position of the single one of the specimen containers  1902  with respect to the receiver  106  ( FIGS. 1, 2, 7B and 8B ),  706  ( FIGS. 7A and 8A ) or portion thereof. The processor(s)  1804 ,  1806  provide control signals based on positions detected by the position sensor(s)  1818 , for example providing control signals to at least one actuator (e.g., translation motor) to translate the pick and/or place head  102  ( FIGS. 1, 2, 7B and 8B ) or pick and/or place head  702  ( FIGS. 7A and 8A ), or a portion thereof (e.g., drive shaft  108 ). 
     For example, the control system  1802  may include one or more orientation sensors  1820  (two shown) communicatively coupled with the processor(s)  1804 ,  1806 . The orientation sensor(s)  1820  may be positioned and/or oriented to detect an orientation of the single one of the specimen containers  1902  or a portion thereof (e.g., handle  1912  on cap  1906 ) relative to a portion of the pick and/or place head  102  ( FIGS. 1, 2, 7B and 8B ) or pick and/or place head  702  ( FIGS. 7A and 8A ), for example with respect to one or more specimen containers  1902 . For instance the orientation sensor(s)  1820  may detect an orientation of the handle  1912  on cap  1906  with respect to the engagement head or lugs thereof. For instance, the control system  1802  can employ feedback from one or more encoders to determine an orientation of a specimen container  1902  and/or a handle  1912  on cap  1906  thereof, for example employing timing feedback from the encoder(s) that, for example, represents a stalling of a motor (e.g., rotation motor  162   b ) on engagement with a portion of the specimen container  1902  to determine the orientation of the specimen container  1902 . The processor(s)  1804 ,  1806  provides control signals based on positions detected by the orientation sensor(s)  1820 , for example providing control signals to at least one actuator (e.g., rotation motor) to rotate a portion of the pick and/or place head  102  ( FIGS. 1, 2, 7B and 8B ) or pick and/or place head  702  ( FIGS. 7A and 8A ), for instance to rotate a drive shaft  108 ,  708 . 
     For example, the control system  1802  may include one or more frost detectors that detects frost build up on one or more portions of the system, the at least one frost detector communicatively coupled with the processor(s)  1804 ,  1806 , wherein with the processor(s)  1804 ,  1806  provides control signals based at least in part on detected frost build up. The frost detectors can take a variety of forms, for example one or more frost sensors  1822  (two shown) and/or one or more resistance sensor(s)  1824 . 
     The frost sensors  1822  may detect a frost build up, for example on a portion of the receiver  106 ,  706 , on a drive shaft  108 ,  708  and/or a portion of a single specimen container  1902 . The frost sensor(s)  1822  may, for instance optically detect the presence and/or absence of frost, for example using ambient light or via active lighting of specific wavelengths that may differ from the mixture of wavelengths comprising conventional white light. The frost sensor(s)  1822  may for example employ LIDAR to detect not only a presence, but also an extend of frost buildup. 
     The resistance sensor(s)  1824  may detect a resistance or change of resistance to motion of one or more components of the pick and/or place head  102  ( FIGS. 1, 2, 7A and 8B ) or pick and/or place head  702  ( FIGS. 7A and 8A ), for instance resistance to or change of resistance in the translation and/or rotation of the drive shaft  108 ,  708 . The resistance sensor(s)  1824  may, for example, include circuitry (e.g., torque sensor or transducer, torque cell, strain gauge) that detects electromotive force or reaction torque. 
     The processor(s)  1804 ,  1806  provide control signals based on frost detected by the frost sensors  1822  and/or resistance sensor(s)  1824 , for example providing control signals to at least one actuator (e.g., translation motor, rotation motor) to translate and/or rotate a portion of the pick and/or place head  102  ( FIGS. 1, 2, 7B and 8B ) or pick and/or place head  702  ( FIGS. 7A and 8B ), for instance to translate or rotate a drive shaft  108 ,  708 . Additionally or alternatively, the processor(s)  1804 ,  1806  provide control signals based on frost detected by the frost sensors  1822  and/or resistance sensor(s)  1824  to, for instance, cause activation of one or more defrosters  1826  (two shown), to defrost a frost build up, for example on a portion of the receiver  106 ,  706 , on a drive shaft  108 ,  708  and/or a portion of a single specimen container  1902 . Additionally or alternatively, the processor(s)  1804 ,  1806  provide control signals based on frost detected by the frost sensors  1822  and/or resistance sensor(s)  1824  to, for instance cause a notification or alert to be presented, notifying an end user of a potential issue which may require manual service or manual intervention. 
     For example, the control system  1802  may include one or more optical sensors  1828  (two shown) communicatively coupled with the processor(s)  1804 ,  1806 . The optical sensor(s)  1828  may be positioned and/or oriented to detect the single one of the specimen containers  1902  or a portion thereof, and/or to detect or optically read information (e.g., one-dimensional or two-dimensional machine-readable symbols) carried by or on the single one of the specimen containers  1902 . The optical sensor(s)  1828  may be positioned and/or oriented to detect the single one of the specimen containers  1902  or a portion thereof, and/or to image an interior of the single one of the specimen containers  1902  to determine or assess the contents thereof. The optical sensor(s)  1828  may take a variety of forms. For example, the optical sensor(s)  1828  may take the form of a linear or two-dimensional array of charged-coupled devices (CCDs), for use with imaging of a machine-readable symbol using ambient lighting or active lighting. Also for example, the optical sensor(s)  1828  may take the form of a photo-diode, for use with “flying spot” machine-readable symbol reader using active lighting in which a spot of light is moved across the machine-readable symbol. The information may include information that uniquely identifies the single one of the specimen containers  1902  or the contents thereof. 
     For example, the control system  1802  may include one or more wireless interrogators  1830  communicatively coupled with the processor(s)  1804 ,  1806 . The wireless interrogator(s)  1830  may include one or more interrogation radios  1832  and one or more interrogation antennas  1834  communicatively coupled to the interrogation radios  1832 . The wireless interrogator(s)  1830  may include one or more mixers, filters, amplifier analog-to-digital converters and/or other electrical and electronic components operable to cause transmission of interrogation signals and processing of return signals, for example components employed in RFID interrogators. One or more processors, for example the DSP  1806  may be communicatively coupled to the interrogation radio  1832 , for example to control a transmitter section and to receive signals (e.g., I/Q signals) from a receiver section of the interrogation radio  1832 . The DSP  1806  may perform preprocessing on the received signals (e.g., I/Q signals) to extract information (e.g., unique identifier) from the received signals, for example including a baseband filter to filter a baseband from the received signals. 
     The interrogation antenna(s)  1834  may be positioned and/or oriented to interrogate wireless transponders (e.g., radio frequency identification (RFID) transponders) carried by or on the single one of the specimen containers  1902  when the single one of the specimen containers  1902  is correctly positioned in the receiver  106 ,  706 , to wirelessly detect or read information encoded in the wireless transponder(s) carried by or on the single one of the specimen containers  1902 . The information may include information that uniquely identifies the single one of the specimen containers  1902  or the contents thereof. The information may, for example, include any one or more of identification information (e.g., unique identifier for the specimen container  1902 , the specimen, patient name or identifier and/or date of birth, clinic identifier, clinician identifier, procedure, times, dates). 
     Sensors may, for example, include one or more of contact switches, momentary switches, optical detectors for instance an infrared light emitting diode and sensor pair, range finder, time of flight camera. 
     The interrogation (e.g., an interrogation cycle) or optical reading may by automatic and autonomous triggered, for example in response to detection of the specimen container  1902  being in a certain position (e.g., fully inserted) in the receiver  106 ,  706 . Automatic and autonomously triggered interrogation and/or optical reading may improve overall information capture since such is triggered based on correct positioning of the antenna of the wireless transponder carried by the specimen container  1902  with respect to the interrogation antenna(s)  1834 . The automatic and autonomous triggered optical capture of information from the specimen container  1902  may improve overall optical capture of information from the specimen container  1902  since such is triggered based on correct positioning of a portion of the specimen container  1902  bearing optically readable information with respect to the optical sensors  1828 . 
     The control system  1802  may include one or more actuators or transducers. 
     For example, the control system  1802  may include one or more electric motors (e.g., stepper motors)  1836   a ,  1836   b ,  1836   c . The electric motors  1836   a ,  1836   b ,  1836   c  may, for example correspond to the translation motor  112   a , rotation  112   b , and motors  162   a ,  162   b  ( FIGS. 1, 2, 7B and 8B ). For example, one or more motors (e.g.,  162   a ,  162   b ) can be drivingly coupled to move (e.g., translate) the pick and/or place head  102  along one or more rails with respect to a target (e.g., array of containers, vials or beacons), while one or more motors (e.g.,  112   a ) can be drivingly coupled to move (e.g., translate) the shaft  108  and hence the engagement head  110  thereof with respect to a target (e.g., a single container, vial or beacon) and one or more motors (e.g.,  112   b ) can be drivingly coupled to move (e.g., rotate) the shaft  108  and hence the engagement head  110  thereof with respect to a target (e.g., a single container, vial or beacon) to cause at least a portion (e.g., lugs  146   a ,  146   b ) of the engagement head  110  to alternatingly engage and disengage the first portion of the single one of the specimen containers  1902 . The control system  1802  may include one or more motor controllers  1838  communicatively coupled to receive control signals from the processor  1804 , and communicatively coupled to provide signals to control the motors  1836   a ,  1836   b ,  1836   c  accordingly. 
     For example, the control system  1802  may include one or more vacuum subsystems  1840  (one shown). The vacuum subsystem  1840  may, for example, include a vacuum source, for instance a vacuum pump  1842  or a Venturi, which is operated to generate a negative pressure. The vacuum subsystem  1840  may, for example, include a reservoir  1844  fluidly communicatively coupled to the vacuum source (e.g., vacuum pump  1842 ) to maintain a low pressure reservoir of fluid (e.g., air) thereon. The vacuum subsystem  1840  may, for example, include one or more ports  1846  fluidly communicatively coupleable to the vacuum conduit  710  of the pick and/or place head  702  to induce a negative pressure or vacuum therein. The port(s)  1846  may include any of a large variety of mechanical couplers, for example threaded couplers, bayonet couplers, detents, etc., which may allow detachable physical coupling or even permanent physical coupling. The vacuum subsystem  1840  may, for example, include one or more values  1848  operable to control fluid communication between the reservoir  1844  and the port(s)  1846 , for example either manually and/or in response to control signals provided by the processor  1804 . The valves  1848  may take any of a large variety of forms commonly employed with control of fluid flow, and in particular gas flow. 
     For example, the control system  1802  may include one or more defrosters  1826  selectively operable to defrost or remove a frost build up, for example on a portion of the receiver  106 ,  706 , on a drive shaft  108 ,  708  and/or a portion of a single specimen container  1902 . The defroster(s)  1826  may include one or more heat sources  1850  that is or are selectively operable to provide heat to at least one location in the system. The heat source(s)  1850  may take any of a large variety of forms, for instance electric-resistance radiant heat elements. The defroster(s)  1826  may include one or more blowers or fans  1852 , selectively operable to conductively circulate heat generated by the heat source(s)  1850  to one or more components on which frost has built up or on which frost is expected to buildup. The heat source(s)  1850  and/or blowers or fans  1852  may be communicatively coupled with the at least one processor  1804 , for control thereby. 
     The control system  1802  may include a user interface (UI)  1852 . The UI  1852  may include one or more user interface (UI) components, for example one or more switches, triggers, display screens (e.g., LCD display), lights (e.g., LEDs), speakers, microphones, haptic engines, graphical user interfaces (GUIs) with via a touch-sensitive display screen which displays user-selectable icons operable to allow input to the control system  1802  and/or output from the control system  1802 . The UI components allow a user to control operation and/or optionally to receive information. For example, a user may press a button, key or trigger to cause operation of pick and/or place head  102 ,  702 . 
     While the above is described and illustrated with respect to automated operation including translating the pick and/or place head  102  ( FIGS. 1, 2, 7B and 8B ),  702  ( FIGS. 7A and 8A ) along a rail  104   a , in some implementations the pick and/or place head  102  ( FIGS. 1   2 ,  7 A and  8 A),  702  ( FIGS. 7A and 8A ) may take the form of an end of arm tool or end effector (not illustrated) mounted to, or part of, a robotic appendage, and the positioning and triggering may be fully automated (i.e., performed autonomously by a robot), for example as part of a pick and place operation in response to signals from the at least one processor-based control system. 
     While the above is described with respect to automatic or autonomous operation, in some implementations the interrogation device or system may allow manual operation of one or more aspects. 
       FIG. 19  shows a holder  1900  include a plurality of specimen containers  1902  arranged in an array, according to one illustrated implementation. 
     The holder  1900  may include an array of positions  1900   a  (only one called out) in which respective ones of the specimen containers  1902  may be located and held, for example in a vertical orientation. 
     Each specimen container  1902  may comprises a vial  1904  and cap  1906 . The vial  1904  is generally tubular, and includes one or more walls that delineate an interior or interior volume from an exterior thereof. The wall or a portion thereof may, for example, be transparent. The vial  1904  typically includes an opening (not visible) at a top thereof which provides access to the interior from the exterior. The vial  1904  may include a coupler feature (not visible) proximate the top thereof to detachable secure the cap  1906  thereto. The coupler feature may, for example, take the form of a thread, a detent, or a portion of a bayonet mount. 
     While illustrated as having a square with rounded corners cross-section or profile, the vial  1904  may in some implementations have other non-circular cross-sections or profiles, for example an oval cross-section or profile, a rectangular cross-section or profile, a square cross-section or profile, a D-shape cross-section or profile, hexagonal cross-section or profile, or octagonal cross-section or profile. In some instances, the vial  1904  may have a two or more different cross-sections or profiles that vary from one another along a longitudinal axis or length thereof. 
     The cap  1906  couples to the vial at a top thereof, and is moveable to provide and alternatingly prevent access to the interior from the exterior. In some implementations, the cap  1906  is completely removably from the vial  1904 , while in other implementations the cap  1906  may remain tethered to the vial  1904  even when removed from the opening. The cap  1906  may include a complementary coupler feature  1908 , that is complementary to the coupler feature of the vial  1904 . The complementary coupler feature may, for example, take the form of a thread, a detent, or a portion of a bayonet mount sized, positioned or otherwise configured to engagingly mate with the coupler feature of the vial  1904 . 
     The specimen container  1902  including the vial  1904  and cap  1906  may take any of a large variety of forms, and may be composed of any of a large variety of materials (e.g., plastics), for example materials which are suitable to withstand cryogenic temperatures and/or repeated cycling between room temperatures and cryogenic temperatures. The vial  1904  and/or the cap  1906  may include one or more ports  1910  a and/or vents  1910   b  to allow ingress and egress of fluid (e.g., liquid nitrogen, air) into and out of the interior of the vial. In some implementations, the cap  1906  may include one or more engagement features that facilitate engagement, for example a handle  1912 . 
     The specimen container  1902  has a set of outer dimensions  1914  that represent the outer dimensions of at least one portion (e.g., cap  1906 , vial  1904 ) of the specimen container  1902  measure at one or more positions along a longitudinal axis of the specimen container  1902 . For example,  FIG. 19  illustrates a set of outer dimensions  1914  of the cap  1906 , which includes a first dimension between outer portions of a first pair of parallel sides, a second dimension between outer portions of a second pair of parallel sides, and a third dimension between outer portions of two corners that extend between perpendicular sides (e.g., third dimension extends across diametrically opposed corners). The set of outer dimensions  1914  may, for example, be the outer lateral dimensions of a largest portion of the single one of the specimen containers  1902  to be received in the receiver  106 ,  706 . In at least some implementations, the vial  1904  and the cap  1906  will have the similar or even the same profile, although the outer lateral dimensions of the cap  1906  will typically be slightly larger than the corresponding outer lateral dimensions of the vial  1904 . As noted earlier, an interior passage of the receiver  706 ,  706  has a shape or profile and interior dimensions that allow the outer dimensions of at least a portion of a single one of the specimen containers  1902  to be received therein, and in at least some implementations prevent or restrain the single one of the specimen containers  1902  from rotating within the receiver  106 ,  706 . For instance, the interior passage  726   a  of the proximate portion  706   a  of the receiver  706  may have inner lateral dimensions to closely receive the outer lateral dimensions of the cap  1906 . In contrast the receiver  106  may not restrain rotation of the single one of the specimen containers  1902 , relying rather on the engagement head  110  to restrain such. Thus, the receiver  106  may have inner lateral dimensions to loosely receive the outer lateral dimensions of the cap  1906 . 
     The specimen container  1902  may hold one or more specimen holders (not visible), which may take any of a large variety of forms capable of retaining a biological specimen, according to one illustrated implementation. For example, the specimen holders may take the form of cryopreservation straws, cryopreservation tubes, sticks or spatulas. The specimen holders may be composed of any of a large variety of materials (e.g., plastics), for example materials which are suitable to withstand cryogenic temperatures and/or repeated cycling between room temperatures and cryogenic temperatures. 
     One or more wireless transponders (not visible), for example radio frequency identification (RFID) transponders, are physically associated with the specimen container  1902 . For example, one or more wireless transponders may be physically secured to the vial  1904 , for instance molded thereon, secured thereto via adhesive and/or fasteners, or via an interference fit or even a shrink fit. Also for example, one or more wireless transponders may be physically secured to the cap  1906 , for instance molded thereon, secured thereto via adhesive and/or fasteners, or via an interference fit or even a shrink fit. Additionally or alternatively, one or more wireless transponders may, for example, be physically secured to the specimen holders  102 , for instance molded thereon, secured thereto via adhesive and/or fasteners, or via an interference fit or even a shrink fit. 
     Typically, the wireless transponder(s) will have an antenna and will be secured to the such that a principal axis of transmission of the antenna is aligned with the longitudinal axis or length of the vial  1904 , although such is not necessary to operation of the described embodiments. The antenna of the wireless transponder(s), whether attached to the vial  1904 , cap  1906 , or specimen holders will also be located at a defined distance along the longitudinal axis or length of the vial  1904  from some fixed point (e.g., a top of the cap  1906 , or top of the vial  1904 ). 
     One or more optically readable symbols (not visible), for example machine-readable symbols (e.g., one- or two-dimensional machine-readable symbols for instance barcode symbols or QR code symbols) and/or human-readable symbols (e.g., alphanumeric symbols) may be carried by or inscribed in or on the specimen container  1902 . 
       FIG. 20  shows a method  2000  of operating a mechanical system  100  ( FIGS. 1, 2, 7B and 8B ) with a pick and/or place head  102  to pick a single one of the specimen containers from an array of specimen containers, according to at least one illustrated implementation. 
     The method may start at  2002 , for example in response to a powering ON event, a user input, or an invocation from a calling routine. 
     At  2004 , a pick and/or place head  102  is moved to be positioned over a location of selected single specimen container in an array of specimen containers. 
     At  2006 , a control system of the mechanical system  100  determines a rotational orientation of the selected single one of the specimen containers or portion thereof. For example, the control system may employ an image (e.g., image of top plane view) of a portion (e.g., handle of cap) of the selected single one of the specimen containers, performing image processing to determine an orientation of the portion. 
     At  2008 , the control system of the mechanical system  100  positions the receiver over/about at least portion of selected single specimen container in an array of specimen containers or portion thereof, with at least the portion of the selected single specimen container received within a portion of receptacle. For example, the control system may send signals to a motor controller that causes a motor to translate the pick and/or place head  102  toward (e.g., downward) the single specimen container until at least a portion of the single specimen container is positioned within the internal passage of a portion of the receiver  106 . 
     At  2010 , the control system of the mechanical system  100  positions the engagement head proximate a portion (e.g., handle on cap) of the single specimen container. For example, the control system may send signals to a motor controller that causes a motor to extend the drive shaft toward (e.g., downward) the handle on the cap of the single specimen container. The control system may translate the drive shaft a defined distance, or may rely on signals from one or more sensors to determine when the engagement head is properly positioned with respect to the portion of the portion of the single specimen container. 
     At  2012 , the control system of the mechanical system  100  the rotates the drive shaft to cause a portion (e.g., lugs) of engagement head to engage a portion (e.g., handle on cap) of the single specimen container. For example, the control system may send signals to a motor controller that causes the motor to rotate (e.g., counterclockwise, clockwise) the drive shaft such that the lugs physically engage the handle on the cap of the single specimen container. 
     At  2014 , the control system of the mechanical system  100  retracts the drive shaft to withdraw container from array and further into the receiver. For example, the control system may send signals to a motor controller that causes a motor to retract the drive shaft (e.g., upward) with the lugs physically engaged with the handle on the cap of the single specimen container. The control system may translate the drive shaft a defined distance, or may rely on signals from one or more sensors to determine when the engagement head is properly positioned with respect to a portion of the receiver. 
     At  2016 , the control system of the mechanical system  100  withdraws or retracts the pick and/or place head  102 , for example to move the pick and/or place head  102  out of the cryogenic freezer or dewar along with the single specimen container located in the receiver. For example, the control system may send signals to a motor controller that causes a motor to translate the pick and/or place head  102  away (e.g., upward) from the array of specimen containers, for example until the pick and/or place head  102  is clear of the array and optionally clear of the cryogenic freezer or dewar. 
     The method  2000  may terminate at  2018 , for example until invoked again. Alternatively, the method  2000  may repeat to pick or retrieve additional specimen containers from the array of specimen containers. 
       FIG. 21  shows a method  2100  of operating a mechanical system  100  ( FIGS. 1, 2, 7B and 8B ) with a pick and/or place head  102  to place a single one of the specimen containers, according to at least one illustrated implementation. 
     The method may start at  2102 , for example in response to a powering ON event, a user input, or an invocation from a calling routine. 
     At  2104 , a pick and/or place head  102  is moved to be positioned over a destination location at which a single specimen container will be placed, for example placed into an array of specimen containers. 
     At  2106 , the control system of the mechanical system  100  positions the pick and/or place head  102  along a Z-axis with respect to the target location. For example, the control system may send signals to a motor controller that causes a motor to translate the pick and/or place head  102  toward (e.g., downward) the target location, positioning a distal end of a receiver proximate the target location. 
     At  2108 , the control system of the mechanical system  100  the rotates the drive shaft to cause a portion (e.g., lugs) of engagement head to disengage from a portion (e.g., handle on cap) of the single specimen container. For example, the control system may send signals to a motor controller that causes the motor to rotate (e.g., clockwise, counterclockwise) the drive shaft such that the lugs physically disengage the handle on the cap of the single specimen container. 
     Optionally at  2110 , the control system of the mechanical system  100  pushes the single specimen container out of the receiver  106 . For example, the control system may send signals to a motor controller that causes a motor to extend the drive shaft toward (e.g., downward), for example overcoming any natural resistance or resistance due to the formation of frost. The control system may translate the drive shaft a defined distance, or may rely on signals from one or more sensors to determine when the engagement head is properly positioned with respect to pushing the single specimen container out of the receiver. 
     At  2112 , the control system of the mechanical system  100  moves the pick and/or place head  102  into a standby position, for example translating the pick and/or place head  102  along the Z-axis, away from the target location. For example, the control system may send signals to a motor controller that causes a motor to translate the pick and/or place head  102  away (e.g., upward) the target location. As part of such, the control system may also, optionally, translate the engagement head of the drive shaft upward to a proximate portion of the receiver. 
     The method  2100  may terminate at  2014 , for example until invoked again. Alternatively, the method  2100  may repeat to pick or retrieve additional specimen containers from the array of specimen containers. 
       FIG. 22  shows a method  2200  of operating a vacuum-based system  700  ( FIGS. 7A and 8A ) with a pick and/or place head  702  to pick a single one of the specimen containers from an array of specimen containers, according to at least one illustrated implementation. 
     The method may start at  2202 , for example in response to a powering ON event, a user input, or an invocation from a calling routine. 
     At  2204 , a pick and/or place head  702  is moved to be positioned over a location of selected single specimen container in an array of specimen containers. 
     At  2206 , the control system of the mechanical system  100  positions the receiver over/about at least portion of selected single specimen container in an array of specimen containers or portion thereof, with at least the portion of the selected single specimen container received within a portion of receptacle. For example, the control system may send signals to a motor controller that causes a motor to translate the pick and/or place head  702  toward (e.g., downward) the single specimen container until at least a portion of the single specimen container is positioned within the internal passage of a portion of the receiver  706 . 
     At  2208 , the control system of the mechanical system  100  applies a negative pressure or vacuum to withdraw a single one of the specimen containers from array and further into the receiver  706 . For example, the control system may send signals to control a vacuum source and/or a valve controller that causes the negative pressure or vacuum to be applied via the through-passage of the proximate portion  706   a  of the receiver  706 . 
     At  2210 , the control system of the mechanical system  100  the rotates the drive shaft to cause a portion of receiver to prevent translation (e.g., downward or outward of receiver) of the single specimen container. For example, the control system may send signals to a motor controller that causes the motor to rotate (e.g., counterclockwise, clockwise) the drive shaft  708  such that the proximate portion  706   a  of the receiver  706  rotates with respect to an intermediary portion  706   c  and/or distal portion  706   b  of the receiver  706 , where an inner profile of a through-passage  726   c ,  726   b  thereof no longer aligns with an inner profile of a through-passage of the proximate portion  706   a  and/or an outer profile of the single specimen container. 
     Optionally at  2212 , the control system of the mechanical system  100  stops the application of the negative pressure or vacuum, with the single one of the specimen containers physically retained in the receiver  706 . For example, the control system may send signals to control a vacuum source and/or a valve controller that causes application of the negative pressure or vacuum to be stopped. 
     At  2214 , the control system of the mechanical system  100  withdraws or retracts the pick and/or place head  702 , for example to move the pick and/or place head  702  out of the cryogenic freezer or dewar along with the single specimen container located in the receiver  706 . For example, the control system may send signals to a motor controller that causes a motor to translate the pick and/or place head  702  away (e.g., upward) from the array of specimen containers, for example until the pick and/or place head  702  is clear of the array and optionally clear of the cryogenic freezer or dewar. 
     The method  2200  may terminate at  2216 , for example until invoked again. Alternatively, the method  2200  may repeat to pick or retrieve additional specimen containers from the array of specimen containers. 
       FIG. 23  shows a method  2300  of operating a vacuum-based system  700  ( FIGS. 7A and 8A ) with a pick and/or place head  702  to place a single one of the specimen containers, according to at least one illustrated implementation. 
     The method may start at  2302 , for example in response to a powering ON event, a user input, or an invocation from a calling routine. 
     At  2304 , a pick and/or place head  702  is moved to be positioned over a destination location at which a single specimen container will be placed, for example placed into an array of specimen containers. 
     At  2306 , the control system of the mechanical system  100  positions the pick and/or place head  702  along a Z-axis with respect to the target location. For example, the control system may send signals to a motor controller that causes a motor to translate the pick and/or place head  702  toward (e.g., downward) the target location, positioning a distal end of a receiver proximate the target location. 
     Optionally at  2308 , the control system of the mechanical system  100  stops the application of the negative pressure or vacuum, with the single one of the specimen containers physically retained in the receiver  706 . For example, the control system may send signals to control a vacuum source and/or a valve controller that causes application of the negative pressure or vacuum to be stopped. 
     At  2310 , the control system of the mechanical system  100  the rotates the drive shaft to cause a portion of receiver to stop preventing translation (e.g., downward or outward of receiver) of the single specimen container. For example, the control system may send signals to a motor controller that causes the motor to rotate (e.g., clockwise, counterclockwise) the drive shaft  708  such that the proximate portion  706   a  of the receiver  706  rotates with respect to an intermediary portion  706   c  and/or distal portion  706   b  of the receiver  706 , where an inner profile of a through-passage  726   c ,  726   b  thereof aligns with an inner profile of a through-passage of the proximate portion  706   a  and/or an outer profile of the single specimen container. 
     At  2312 , the control system of the mechanical system  100  moves the pick and/or place head  702  into a standby position, for example translating the pick and/or place head  702  along the Z-axis, away from the target location. For example, the control system may send signals to a motor controller that causes a motor to translate the pick and/or place head  702  away (e.g., upward) the target location. 
     The method  2300  may terminate at  2014 , for example until invoked again. Alternatively, the method  2300  may repeat to pick or retrieve additional specimen containers from the array of specimen containers. 
     The foregoing detailed description has set forth various implementations of the devices and/or processes via the use of block diagrams, schematics, and examples. Insofar as such block diagrams, schematics, and examples contain one or more functions and/or operations, it will be understood by those skilled in the art that each function and/or operation within such block diagrams, flowcharts, or examples can be implemented, individually and/or collectively, by a wide range of hardware, software, firmware, or virtually any combination thereof. In one implementation, the present subject matter may be implemented via Application Specific Integrated Circuits (ASICs). However, those skilled in the art will recognize that the implementations disclosed herein, in whole or in part, can be equivalently implemented in standard integrated circuits, as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems), as one or more programs running on one or more controllers (e.g., microcontrollers) as one or more programs running on one or more processors (e.g., microprocessors), as firmware, or as virtually any combination thereof, and that designing the circuitry and/or writing the code for the software and or firmware would be well within the skill of one of ordinary skill in the art in light of this disclosure. 
     Those of skill in the art will recognize that many of the methods or algorithms set out herein may employ additional acts, may omit some acts, and/or may execute acts in a different order than specified. 
     In addition, those skilled in the art will appreciate that the mechanisms taught herein are capable of being distributed as a program product in a variety of forms, and that an illustrative implementation applies equally regardless of the particular type of signal bearing media used to actually carry out the distribution. Examples of signal bearing media include, but are not limited to, the following: recordable type media such as floppy disks, hard disk drives, CD ROMs, digital tape, and computer memory. 
     The various implementations described above can be combined to provide further implementations. To the extent that they are not inconsistent with the specific teachings and definitions herein, all of the U.S. patents, U.S. patent application publications, U.S. patent applications, foreign patents, foreign patent applications and non-patent publications referred to in this specification, including: U.S. Application Ser. No. 63/087,000; U.S. application Ser. No. 16/593,062, now published as US2020-0107541; U.S. Application Ser. No. 62/927,566; U.S. Application Ser. No. 62/936,133; U.S. Application Ser. No. 63/026,526; U.S. application Ser. No. 29/748,815; International (PCT) Application Serial No. PCT/US2019/054722; U.S. application Ser. No. 17/082,359; U.S. application Ser. No. 17/083,179; U.S. Application Ser. No. 63/082,789; U.S. Application Ser. No. 63/106,533; U.S. Application Ser. No. 63/136,886; and U.S. Application Ser. No. 63/253,856, are incorporated herein by reference, in their entirety. Aspects of the implementations can be modified, if necessary, to employ systems, circuits and concepts of the various patents, applications and publications to provide yet further implementations. 
     These and other changes can be made to the implementations in light of the above-detailed description. In general, in the following claims, the terms used should not be construed to limit the claims to the specific implementations disclosed in the specification and the claims, but should be construed to include all possible implementations along with the full scope of equivalents to which such claims are entitled. Accordingly, the claims are not limited by the disclosure.