Described are nonlinear optical crystals, including aluminum-borate NLO crystals, that have low concentrations of contaminants that adversely affect the NLO crystal’s optical properties, such as compounds that contain transition-metal elements andor lanthanides, other than yttrium, lanthanum, and lutetium. In one embodiment, a method of forming a semiconductor chip includes forming an opening for a through substrate via from a top surface of a first substrate. The remote storage server is virtually connected to a local storage server of the customer in response to receiving the virtual array site code. A mechanism is included for articulating the handles to an equilibrium position after the jaws are pivoted to an open position. One or more processors may obtain, when the robotic system powers on after being powered off, the updated angular position of the joint from the memory, where the incremental encoder provides the updated angular position to the memory while the robotic system is powered off. The radio frequency amplifier circuit includes plural first harmonic processing circuits and plural second harmonic processing circuits.