A DC to DC converter includes a comparator, a driver, and a pair of switches. The method comprises: executing system software; launching a run-time engine; processing dynamic instruction sets; and, in response to processing the dynamic instruction sets, managing the downloading of system software updates received via an airlink interface using management functions selected from the group including recovery status monitoring, back up, compacting, and update ordering. The method further includes evaluating a direction of the thumb-up vector during at least a portion of the simulated motion of the manipulator and the end effector, and excluding the selected individual grasp pattern from use by the robot if the direction of the thumb-up vector during the simulated motion is outside of one or more predetermined thresholds. The device enables one to make changes in\u2014regard to the position of a speaker\u2014or other peripheral devices mounted thereon\u2014relative to one or more of the aforementioned movements without altering other aspects of speaker position, if desired. X is cleaved extracellularly, preferably under physiological conditions.