Robotic andor surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. The compositions comprise antisense compounds, particularly antisense oligonucleotides, targeted to nucleic acids encoding CD40 ligand. A sense amplifier has a first input, a second input, a first output, and a second output. During each transmission interval, a plurality of the beacon types are consecutively transmitted, wherein the different beacon types are consecutively spaced during transmission by a predetermined inter-frame spacing, wherein the predetermined inter-frame spacing is substantially less than an air-time duration of each transmission interval. Preferably the support is also flexible. The test probe structure defines a length and includes a cross-sectional area that is different at a plurality of positions along the length.