Method of reducing vibrations using segmented acceleration

Abstract

Movement of the mechanical platform may be directed in x, y, and / or z dimensions such that excitation of the resonant frequency f is reduced. In particular, once the resonance frequency f is identified, the acceleration of the platform in the x, y and / or z dimensions may be divided into an even number of acceleration sections or intervals, the second acceleration section of each pair starting 1 / (2f) seconds after the starting point of the initial acceleration section. The acceleration interval may be defined by a start time, an amplitude distribution, and / or a duration. In some implementations, the amplitude and duration of each acceleration pulse may be different. Amplitude and duration of acceleration steps may be determined and adjusted to compensate for a particular resonant frequency of a single system, and programmed into a controller for the platform using motor programming control.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 411,084, filed on September 28, 2022, which is incorporated herein by reference in its entirety. Technical Field

[0003] The present disclosure relates to mechanical control of imaging systems, particularly imaging systems for rapid nucleic acid sequencing. Background Art

[0004] In a bioassay system or a nucleic acid sequencing system (such as a system manufactured by ILLUMINA, Inc.), a flow cell containing sample material can be positioned in a sample holder on a motion platform and irradiated to induce fluorescence from a reagent that can be associated with a sample. For example, a nucleic acid sample can be flowed into a flow cell and positioned in the flow cell for analysis. A complementary nucleotide with a detectable component (such as a fluorescent dye associated with a complementary nucleotide) can be associated with one or more nucleotides of a sample nucleic acid. An excitation radiation source (such as an excitation illumination source) can excite the fluorescent dye to emit fluorescence emission. Fluorescence can be collected by an imaging system and recorded by a camera system. The motion platform can scan in the x-dimension and y-dimension while performing image collection, wherein a portion of the imaging system is oriented in the z-dimension perpendicular to the xy motion plane, looking down at the flow cell. In some systems, the imaging system can also have a mechanical adjustment for the z-axis to ensure that the focus of the imaging system is well controlled, as well as the control of the x-axis motion and y-axis motion of the sample platform.

[0005] The system can be mounted using a large inertial mass and multiple vibration isolators to prevent external vibrations from affecting image focus and quality. However, as with any mechanical system, mechanical resonance of the inertial mass and imaging system can occur. In particular, rapid acceleration of motion in the y-axis can cause an equal and opposite reaction force against the inertial mass, and since the inertial mass may not be able to translate freely in the opposite y-axis direction, the energy can instead induce a rotation about the x-axis. This rotation about the x-axis can also have a motion component in the z-direction, and thus the inertial mass, as well as the attached imaging system and camera, can also experience motion in the z-direction.

[0006] Although the imaging system may have a mechanical servo to track and control the focus along the z-axis, if the motion on the xy stage excites mechanical resonances in the inertial mass, the rocking motion may be relatively large and the servo may be overwhelmed. This may cause the imaging system to oscillate along the z-axis, changing the focus during data collection and degrading the data quality.

[0007] Designs to reduce coupling or dampen z-axis vibrations are possible, but add cost, complexity, and weight to the machine. Likewise, more expensive servo systems for controlling the imaging system along the z-axis can be used, but the cost is considerable. Slowing down the scan to avoid exciting resonances can reduce z-axis vibrations, but can also result in longer data collection times, thus reducing performance.

[0008] Therefore, there is a need to manage the xy motion of the platform in a way that still allows rapid data collection while minimizing the excitation of resonances. Summary of the invention

[0009] The present application discloses a method and system for setting the motion of a mechanical platform in the x- and y-dimensions so as to reduce the excitation of at least one resonant frequency f in a coupled z-dimensional system. In particular, once the resonant frequency f is identified, the acceleration of the platform in the x- and / or y-dimensions is divided into an even number of acceleration segments, with the second acceleration segment in each pair of acceleration segments starting approximately 1 / (2f) seconds after the start point of the initial acceleration segment.

[0010] While in some implementations, the two pulses in each pair of pulses may be identical in amplitude and duration, in other implementations, the amplitude and duration of each acceleration pulse may be different. The amplitude and duration of the acceleration steps may be determined and adjusted to compensate for the specific resonant frequency of the individual system and programmed into the controller for the y-axis stage using motor programming control. The desired acceleration of the stage may occur within the same time interval as a single pulse, but the vibration induced in the system is greatly reduced, thereby improving the quality of image collection at substantially the same data collection speed or no reduction in data collection speed.

[0011] In some implementations, deceleration of the platform in the x- and y-dimensions after collecting imaging data is also divided into two deceleration segments, with the second deceleration segment in each pair of deceleration segments starting approximately 1 / (2f) seconds after the start of the initial deceleration segment.

[0012] In some implementations, the acceleration and / or deceleration of the platform in the x-dimension and the y-dimension is divided into two segments, wherein the timing of the second segment occurs 1 / (2f) seconds after the start of the first segment. However, if there are multiple resonant frequencies f1...f n , then the acceleration can be divided into multiple pairs of acceleration segments, where a pair of acceleration segments is designated as for each resonant frequency f n With a spacing of 1 / (2f n ) seconds starting time.

[0013] Certain aspects of the disclosed technology are described in the claims, specification and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A 3D stereoscopic view of a nucleic acid sequencing system is shown.

[0015] Figure 2A A cross-sectional view showing a 3D stereoscopic view of a nucleic acid sequencing system, and Figure 2B shows the platform scan Figure 2A system.

[0016] Figure 3 A schematic diagram showing an example of a flow cell.

[0017] Figure 4A , Figure 4B and Figure 4C Various scan patterns that can be used to image the flow cell are shown.

[0018] Figure 5 A graph showing the acceleration of the platform in the y-axis and the resulting vibration induced in the z-axis using a single acceleration interval.

[0019] Figure 6 shows imaging data collected from a flow cell using Figure 5 The single acceleration interval used to start the scan.

[0020] Figure 7 The waveform at the resonant response frequency is shown as Figure 5 Plot of a single accelerating pulse used.

[0021] Figure 8 A plot using two structured acceleration intervals, as well as plots of induced resonance waveforms and anti-resonance waveforms, are shown according to some implementations of the present disclosure.

[0022] Fig. 9 Plots of acceleration, velocity, and position for a platform undergoing motion are shown in accordance with some implementations of the present disclosure.

[0023] Fig.10 Plots showing acceleration of a platform on the y-axis and resulting vibration induced on the z-axis using a pair of acceleration intervals according to some implementations of the present disclosure.

[0024] Fig.11 A flowchart of a method according to a specific implementation of the present disclosure is shown.

[0025] Fig. 12A and Fig. 12B Possible acceleration intervals according to some specific implementations of the present disclosure are shown.

[0026] Fig.13A and Fig. 13B A plot showing possible acceleration and deceleration intervals and corresponding speeds and positions according to some implementations of the present disclosure.

[0027] Fig.14 A flowchart of a method according to a specific implementation of the present disclosure is shown.

[0028] Fig.15 A schematic diagram for adjusting a deceleration curve according to a specific implementation of the present disclosure is shown.

[0029] Fig.16 is a block diagram illustrating an example device. DETAILED DESCRIPTION

[0030] The following detailed description is made with reference to the accompanying drawings. Example implementations are described to illustrate the disclosed technology rather than to limit its scope as defined by the claims. A person of ordinary skill in the art will recognize various equivalent variations to the following description.

[0031] In the example of fluorescence-based nucleic acid sequencing systems, e.g. Figure 1 and Figure 2A As shown, chassis 110 may use a plurality of isolators 120 to support an isolated mass 200 comprising a detection system 210. The system 210 includes a motion platform 250 that moves within the x- and y-planes of the system using actuators 255, such as actuators for motion along the x-, y-, and / or z-axes.

[0032] The motion platform 250 can be designed with a support 270 to hold a sample containing an analyte, such as genetic material contained in one or more nucleic acid chains. The sample can be contained on or in a flow cell 280, such as a flow cell designed by ILLUMINA, Inc. The flow cell 280 can be a sample container including a patterned substrate or a non-patterned substrate. The patterned substrate can include depressions separated by gap regions, and surface chemicals positioned in the depressions. The depressions can be in the form of micropores or nanopores. Complementary reagents (such as complementary nucleic acids or reagents including other oligonucleotides with fluorescent components (such as fluorescent dyes)) can flow into the depressions of the flow cell 280 to bind or otherwise associate with an analyte of interest. The fluorescent component (such as a dye) can be irradiated with specially selected light or radiation (not shown) to emit a fluorescent response indicating a complementary reagent component associated therewith. The emitted fluorescence 290 can be collected by an imaging system 300, which includes one or more objective lenses 310 that can be controlled by a focus control system 320. The optical system 330 relays the collected light to one or more cameras 340, which convert the detected light into electronic signals for further computational processing.

[0033] Flow cell 280 can be mounted on motion platform 250 to provide movement and alignment of flow cell 280 relative to object lens 310. Sample platform can have one or more actuators to allow it to move in any one or more dimensions in three dimensions. For example, in terms of Cartesian coordinate system, the actuator can be set to allow platform to move in x direction, y direction and z direction relative to object lens 310. This can allow one or more sample positions on flow cell 280 to be positioned in optical alignment with object lens 310. Movement of motion platform 250 relative to object lens 310 can be achieved by moving motion platform 250, object lens 310, some other components of imaging system, or any combination of the aforementioned components. Other specific implementations can also include moving the entire imaging system in a fixed sample. Alternatively, flow cell 280 can be fixed during imaging.

[0034] In some implementations, the imaging system can include one or more structures or components that adjust the focus setting for the imaging system to observe the optical target to be imaged (e.g., fluorescent dye emission from a sample located on the flow cell 280). For example, the imaging system can include a focus component (on the z-axis) to control the positioning of the optical system 330 relative to the motion platform 250 in the focus direction (which can be referred to as the z-axis or z-direction). The focus component can be orthogonal to the xy plane. The focus component can include one or more actuators physically coupled to the optical system 330, the motion platform 250, or both to move the flow cell 280 on the motion platform 250 relative to the optical system 280 (e.g., to move the objective lens 310 or the optical system 330 or a component thereof relative to the flow cell 330 on the motion platform 350) to provide a suitable focus for the imaging operation. For example, the actuator can be physically coupled to the corresponding platform, such as, for example, by mechanical attachment, magnetic attachment, fluid attachment, or other attachment, or directly or indirectly contacting or contacting the platform. One or more actuators can be configured to move the platform in the z direction while maintaining the sample platform in the same plane (e.g., maintaining a stable or horizontal attitude perpendicular to the optical axis). One or more actuators can also be configured to tilt the platform. This can be done, for example, so that the flow cell 280 can be dynamically leveled to account for any slope in its surface.

[0035] The actuator for controlling the motion platform 250 can include a driver 255 to move the flow cell 280 in a scanning pattern within one or more of the xyz dimensions of the system. For example, the motion platform 250 can be designed with a driver 255 to move the flow cell 280 in the xyz dimension of the system. In some embodiments, a stepper motor can be used for the driver 255, while in other embodiments, a magnetic linear motor can be used. In some embodiments, one or more axes can be driven by a stepper motor, while one or more other axes can be driven by a magnetic linear motor. For example, the x-axis can be driven by a stepper motor, while the y-axis can be driven by a linear motor. The z-axis can also be driven by a stepper motor or a linear motor. Other platform motion controls and control systems can be implemented, as will be well known to those skilled in the art.

[0036] As motion platform 250 scans, rapid acceleration of motion in the direction of one of the axes (e.g., the y-axis) can cause an equal and opposite reaction force on isolation mass 200. Since isolation mass 200 is constrained by isolators 120 and cannot translate freely in the opposite y-axis direction, the energy can instead induce a rotation about the x-axis. Figure 2B . This rotation about the x-axis may also have a component of motion in the z-direction, and thus the attached imaging system and camera may also experience motion in the z-direction. Similarly, rapid acceleration of motion in the z-direction may cause a reaction force or rotation about the x-axis and / or y-axis, causing the attached imaging system and camera to experience motion in the x-direction and / or y-direction.

[0037] The scanning mode can scan in any order or direction. In some specific implementations, the scanning mode can be performed in a sequential mode, which can correspond to the layout of features (such as nanotraps) formed in the flow cell 280 to accommodate samples. The imaging system can be positioned above the motion platform 250 to collect fluorescence data from the flow cell 280. In other specific implementations, the imaging system can be positioned below the motion platform 250. The imaging system can be fixed or stationary relative to the motion platform 250, but can have its own servo control to adjust the focus along the z dimension of the system to ensure accurate data collection from the sample in the flow cell 280. In other specific implementations, the imaging system can be movable relative to the mobile stage 250. In a specific embodiment, the sample sequencing system is or includes a scanning time delay integration (TDI) system. In addition, the sequencing system can include "line scanning" of one or more samples so that the linear focus area of ​​the light is scanned across the sample, as described in U.S. Patent 7,329,860, which is incorporated herein by reference. The sequencing system can also move the point focus area of ​​the light across the sample in a grating pattern. Alternatively, one or more regions of the sample may be irradiated simultaneously in a "step and shoot" manner. In some embodiments, the sequencing system may include a dynamic autofocus operation as disclosed in U.S. Patent 9,404,737, which is incorporated herein by reference. The dynamic autofocus operation may analyze the focus setting at each displacement of the flow cell 280 during the scan / step and shoot, and generate a focus score based on at least one of contrast, spot size, signal-to-noise ratio, and / or mean square error between pixel values ​​for at least one image analyzed. Based on the focus score, the dynamic autofocus operation may affect the shift in the focus setting for the next scan / step and shoot step, which may include modulating the z position of the motion platform 250 relative to the objective lens 310 and / or the z position of the objective lens 310 relative to the optical target (e.g., the flow cell 280).

[0038] In some implementations, as described herein, a sample can be contained in patterned nanopores in a flow cell 280, which can be formed in one or more channels. Each channel can include one or more linear strips of patterned nanopores. In some implementations, the patterned nanopores can be a hexagonal pattern, a linear pattern, or any other repeating pattern. An example of a flow cell 280 is shown in FIG. Figure 3 Flow cell 280 may include a plurality of channels 302, which may be further subdivided into a plurality of linear strips. Figure 3 A flow cell having eight channels 302 is shown, but each of the channels 302 may be subdivided into one or more linear strips, such as Figure 6Two strips 602a, 602b are shown (the strips are collectively referred to as strips 602), for a total of 16 linear strips 602.

[0039] The strips 602 are imaged by aligning the imaging system along the longitudinal axis of one strip 602a, then accelerating the motion platform 250 to move the sample flow cell 280 so that the strip 602a is positioned below and scanned by the imaging system until the end of the bag 602a has been reached. The motion platform 250 is then decelerated and stopped, and then changes position to align the next longitudinal axis of the next strip 602b for data collection. As described, once started, the movement along the strip is continuous, with images being collected as the platform moves at a constant or near-constant speed. In some implementations, each strip 602 may be further subdivided into linear tiles 604 (such as Figure 6 ) for further processing. This can continue until images for each of the strips 602 have been collected for the first surface. If flow cell 280 includes two or more surfaces to be imaged, the imaging system can be positioned to interrogate the second or subsequent surface, and the foregoing process can be repeated for the second or subsequent surface.

[0040] For some systems (and, for ease of notation, in this specification), the direction parallel to the stripes will be designated as the y-axis for that system.

[0041] like Figure 3 The movement of the platform illustrated for the series of parallel linear tracks in the flow cell diagram may be performed in any number of patterns as known to those skilled in the art. FIG. 4A to FIG. 4C A variety of possible scan patterns that can be used to image a flow cell are shown. Figure 4A In , a serpentine pattern is used, where the system moves in the positive y direction for the first strip 402a, translates along the x-axis to the second strip 402b, then moves in the negative y direction along the second strip 402b, and so on, until each of the strips has been imaged. Figure 4B In , raster scanning is used, where the system collects images only when scanning along the positive y direction of each of the first strip 402a, the second strip 402b, until each of the strips is imaged. The system can move back to the starting point of each strip before scanning in the positive y direction. Figure 4C In the example, a spiral pattern is used. Figure 4CAs shown, the system can move along the first strip 402a in the positive y direction. The system can translate along the x-axis to strip 402c and move along strip 402c in the negative y direction. The system can translate in the opposite direction along the x-axis to strip 402b and again move along strip 402b in the positive y direction. The system can continue to operate in a spiral pattern until an end condition is met. Although Figure 4C A system is shown operating from the outermost strips 402a, 402c and working inward, but the system can also start at one or more innermost strips and work outward to the outermost strips. Other scanning patterns can be known and used by those skilled in the art, depending on the design and construction of the flow cell and sample material holder used, and the repeatability and reliability of the specific stage control for positive and negative scanning in the x-direction, y-direction and / or z-direction.

[0042] When the system moves the flow cell containing the sample, the imaging system can have a z-axis servo control that controls the objective lens in the z-axis in response to the servo control signal to ensure that the analyte of interest and the complementary reagent in the flow cell remain within the focal depth of the imaging system. Although care can be taken to reduce the sensitivity of the z-axis control system to mechanical vibrations, any mechanical system will have some mechanical frequencies at which the system will resonate. Depending on the design and quality of the system, the induced motion can be small, or it can be quite large. Similarly, control of the flow cell and / or components of the imaging system in the z-axis can cause mechanical vibrations or resonances of the components in the x-direction and / or y-direction.

[0043] In many cases, the actuator can be used to perform x-axis, y-axis and / or z-axis control on the system. As described herein, the driver can be used to move the platform in the x-direction, y-direction and / or z-direction. Additionally, servo control can be implemented as a part of the z-axis control for the objective lens via a servo control signal to allow focus to be maintained. When the amplitude and frequency of the resonant motion in a given direction are small, the servo system can track the motion and maintain focus. However, when the resonant motion amplitude is large or the frequency is too high, the servo motor may be difficult to track and maintain focus. In some specific implementations, if the depth of focus budget or tolerance is small enough, it may be desirable to maintain precise focusing even in the case of small resonant motion, and z-axis control may not be enough.

[0044] As an example of a specific system, for example Figure 3 The flow cell shown was used as Figure 4AWith the serpentine scan pattern shown, a scan speed of 60 millimeters per second (mm / s) may be desired to increase data collection along a strip in the system (defined as parallel to the system's y-axis for purposes of illustration.) The system is aligned along the y-axis of the first strip 402a, and then a single acceleration pulse may be applied via y-axis control (in this example, a magnetically controlled linear motor is used to move the stage), and a single deceleration pulse may be applied to stop the scan when approaching the end of the strip 402a.

[0045] A pulse is applied accelerating to 60 mm / sec in 0.125 seconds. However, this is also very close to the period of the rocking resonance of the isolation mass at -8 Hz. The result of this acceleration is that the z-axis motion is excited at ~8 Hz (8.2 Hz for the system used in this particular example). This is Figure 5 This is shown in graph 500 where a first trace 502 is for the y-direction acceleration (or deceleration) of the stage in the y-direction and a second trace 504 is an indicator for the motion of the objective lens along the z-axis.

[0046] A single acceleration pulse acceleration at the start of a scan (shown at 506 on the first trace 502) triggers mechanical vibrations along the z-axis (shown at 508) that decrease in amplitude but persist throughout the scan, only to be re-excited by deceleration at the end of the scan and accelerated again at the start of the next scan.

[0047] This effect on the collected imaging data can be seen in Figure 6 This image shows the use of Figure 4B Composite image of a collection of strips 602 for a flow cell measured using the raster scan configuration shown, but with the flow cell having 16 strips 602 arranged in pairs. Figure 6 As shown, "ringing" for the focus at about 8 Hz is shown near the beginning of each scan (at the top of the image) after an initial single acceleration pulse. The "ringing" can be seen by fluctuations in motion from greater than 70 mm / s to about 80 mm / s. The "ringing" effect will gradually decrease as the scan progresses, but the consistency and quality of the data collected with such artifacts will also be reduced. Although examples are provided for acceleration and / or deceleration of the stage in the y-direction, and indicators for movement of the objective along the z-axis, it will be understood that movement of the stage and / or components of the imaging system along the z-axis may result in similar effects along the x-axis and / or y-axis.

[0048] Figure 7A graph 700 is shown schematically illustrating the acceleration of the platform in the y dimension that triggers a sinusoidal response in the z-axis direction. If the initial acceleration pulse has a time period consistent with the resonant frequency, the response may be more pronounced, such as the case where the acceleration pulse is applied within 0.125 seconds for a system with a rocking resonance of 8 Hz. As shown in graph 700, the system can initiate a pulse 701 to accelerate the platform to 60 mm / sec during the first 0.125 seconds of the scan, which can result in a mechanical resonance shown by a sine wave 702.

[0049] One way to solve this problem according to a specific implementation of the present disclosure is to perform input shaping to reduce vibration through controlled acceleration pulses at predefined times. Input shaping can be performed by dividing the acceleration of the xy stage into structured acceleration pulses. This can allow the desired mechanical xy acceleration to be achieved at approximately the same time, but can avoid exciting mechanical resonances.

[0050] This is Figure 8 In order to implement the embodiments according to the present disclosure, an initial acceleration pulse may be applied. Figure 8 As shown in the graph 800 in FIG. 8 , this may be a pulse 801 applied in ˜0.0625 seconds to accelerate the platform, for example, from 0 mm / sec to 30 mm / sec. As with any pulse applied to a mechanical system, vibrations at a resonant frequency 802 may be excited by the initial pulse 801. These vibrations are Figure 8 The sine wave of the resonant frequency 802 in the graph 800 is shown.

[0051] However, after the initial acceleration pulse 801, if a second pulse 803 of the acceleration platform is applied starting at time t=1 / (2f) (half a period of the resonant frequency 802), a second set of vibrations will be excited by the second pulse 803. These second vibrations will be 180° out of phase with the vibrations 802 triggered by the initial pulse 801, and these second vibrations can be shown as Figure 8 If the amplitude of the anti-resonance frequency 804 caused by the second pulse 803 is adjusted to be slightly smaller than the resonance frequency 802 caused by the initial pulse 801, then considering the attenuation of the initial vibration in the intermediate time, the resonant frequency 802 of the mechanical vibration excited by the initial pulse 803 can be accurately offset by the anti-resonance frequency 804 of the anti-vibration excited by the second pulse 801, and no net vibration occurs along the z-axis.

[0052] Fig. 9Example graphs 902, 904, 906 for an acceleration plan for scanning a strip of a flow cell using piecewise acceleration are shown. The plot of graph 902 shows the position of a platform moving as a function of time, in millimeters. The plot of graph 902 shows a smooth linear scan when the system is scanning different strips of a flow cell. The plot of graph 906 shows the applied acceleration of a platform with two pulses 920, 922 for acceleration at the beginning of the scan and two pulses 924, 926 for deceleration at the end of the scan, in minutes per second. The plot of graph 904 shows the speed of the flow cell, showing a rise to a peak speed 912 and a constant speed scan. The plot in graph 904 shows the change 910, 912 of the speed at the corresponding pulses 920, 922 for acceleration at the beginning of the scan, and the change 914, 916 at the corresponding pulses 920, 922 for deceleration at the end of the scan.

[0053] The results of this type of structured acceleration are provided in Fig.10 The curve diagram 1000 is shown in FIG. Figure 5 The same system as shown collects data, and as shown in graph 1002, the platform is again accelerated in the y-axis over time (in meters), reaching a scan speed of 60 mm / sec in a time interval of 0.125 seconds. However, now, the platform is accelerated in the y-axis using two acceleration pulses shown at 1002 and 1004, with the first motion shown at 1006 accelerating to a speed of 30 mm / sec, and then, after a brief pause, the second pulse shown at 1008 accelerating to a final speed of 60 mm / sec, the second pulse having a slightly smaller amplitude. The same final scan speed is achieved in the same amount of time as a single pulse, but the resonance caused by the two acceleration pulses shown at 1002 and 1004 will cancel, and the motion along the z-axis (shown by plot 1004) is at 8 Hz or with almost no motion between the acceleration / deceleration of each scan (as shown at 1010).

[0054] In this example, Fig. 9 and Fig.10 As shown, the deceleration at the end of the scan is also divided into two pulses (at Fig. 9 924, 926 and in Fig.10 1012, 1014 of the embodiment of the present invention), thereby achieving the goal of reducing the excitation of the z-axis resonance without significantly increasing the time used to scan in the xy plane. Again, the second pulse is applied at a time 1 / (2f) after the start of the initial deceleration pulse to allow the vibration triggered by the first deceleration pulse to be offset by the counter-vibration triggered by the second pulse with a phase difference of 180°.

[0055] Although the examples shown above show the acceleration pulse being divided into two segments, any number of acceleration segments may be used as long as the frequency content of the acceleration has reduced overlap with the mechanical resonance of the z-axis system. Additionally, although examples are provided for acceleration and / or deceleration of the platform in the y-direction and for movement of components along the z-axis, it will be understood that movement of the platform and / or components of the imaging system along the z-axis may cause similar effects along the x-axis and / or y-axis.

[0056] Segment acceleration

[0057] The disclosed technology may be practiced as a system, method, or article of manufacture.One or more features of an implementation described herein may be combined with other implementations.

[0058] Methods, systems, and articles of manufacture are described for implementing input shaping through piecewise acceleration of a platform in an imaging device. The piecewise acceleration of a platform in an imaging device may be as shown in the example process 1100. Fig.11 1100. One or more parts of process 1100 may be performed by one or more devices described herein. For example, one or more parts of process 1100 may be performed by one or more sequencing devices or other imaging devices. One or more parts of process 1100 may be stored in a memory as computer-readable instructions or machine-readable instructions that may be performed by a processor of one or more devices. Although process 1100 may be provided in a given sequence of steps, one or more steps may be performed in another sequence or order and / or one or more steps may be added or removed.

[0059] In a first step 1102, at least one mechanical resonant frequency f is determined. The one or more resonant frequencies may be determined using formal mechanical analysis tools described in more detail below, or by observation of experimental results, such as Figure 5 and Figure 6 As shown, or may be simply known in advance from previous experience. In some specific implementations, one or more image analysis characteristics, such as data quality or other characteristics, may be measured or detected. If the image analysis characteristic drops to or exceeds a predetermined threshold, the system may perform an analysis to detect whether the mechanical frequency f affects the change in the image analysis characteristic and the value of the mechanical frequency f. For example, a fast Fourier transform analysis may be performed on the image analysis characteristic and / or the motion profile of the x-stage, y-stage, and / or z-stage of the system to detect the mechanical frequency f.

[0060] The disturbance frequency can be determined / characterized / measured using an accelerometer. The disturbance frequency can be determined / characterized / measured by analyzing the z-stage position error signal or the current signal, and identifying the disturbance frequency and decay rate. This can then be fed into the design of the input shaping motion profile. Such removal can be that over time, as instrument degradation occurs, the disturbance frequency / amplitude / decay rate can change, so adjusting / updating the input shaping motion profile can result in maintaining the reduction ratio of the vibration amplitude to the same original value at the first design instance.

[0061] At 1104, at least two acceleration intervals are determined for components of the platform and / or imaging system, each acceleration interval having a start time, an acceleration amplitude distribution, and a duration. The amplitude distribution may indicate the amplitude of the corresponding acceleration interval over at least a portion of the duration. The acceleration intervals are specified in pairs, one acceleration interval for each frequency identified in the previous step, and for each first acceleration interval starting at t=t1, a second acceleration interval will start at approximately t2=t1+1 / (2f). By approximate, it is meant that t2 is typically within ±10% of t1+1 / (2f), although some success may be achieved even in systems where t2 is within ±30% of t1+1 / (2f) if the vibrations are small or the damping is large.

[0062] The length of the pause between acceleration intervals may also be set in this step, but in some implementations the time between pulses may be zero, since the second pulse begins immediately at the end of the first acceleration interval.

[0063] At 1106, the acceleration interval is converted into a command for the platform. In some implementations, the acceleration interval is converted into a table of desired positions as a function of time. The acceleration interval can be automatically determined by the device in response to receiving the acceleration interval and the pause time length. In another example, the acceleration interval can be received at the device via configuration information for configuring the acceleration of the platform.

[0064] At 1108, the platform and / or components of the imaging system are accelerated according to at least two acceleration intervals.

[0065] Determination of resonant frequency

[0066] Mechanical resonance frequency f1...f n It can be determined in a variety of ways.

[0067] Solid modeling programs (such as Dassault Systems' SOLIDWORKS) for designing large, complex equipment pieces can take the size, composition, and density of various connected components as input and perform computer predictions of various vibration modes that may occur. These modeling programs can be implemented on one or more computing devices or other devices described herein (such as sequencing devices or imaging devices described herein). Since solid modeling systems are often used in the design of mechanical imaging systems, frequency analysis may already exist for some systems. The resonant frequencies from such analyses can be used at least as an initial estimate of the mechanical resonance of an imaging system with a mobile platform.

[0068] The resonant frequency can also be measured experimentally. Placing an energy pulse acceleration into the system provides an approximation to a delta function mechanical input that can contain each of the frequency components. Measuring which mechanical vibrations cause "ringing" from such a pulse input using an accelerometer or the like can provide an indication of the resonant mechanical frequency. The "ringing" can be determined based on a threshold level of resonance within a threshold period of time.

[0069] like Figure 5 , Figure 6 and Fig.10 As shown, experience and / or measurement of the mechanical behavior of the system when in use can also produce measurements that indicate the resonant frequency. In a system with a servo control to adjust motion along the z-axis to maintain focus, a readout of the servo control error signal can provide an indication of the mechanical vibrations that the system is trying to correct. In a system with a drive or other actuator to adjust motion along the x-axis, y-axis, or z-axis, a readout of the drive or actuator error signal can provide an indication of the mechanical vibrations that the system is trying to correct. Artifacts in the measured data (such as Figure 6 Artifacts shown) can also provide an indication of mechanical resonant frequency.

[0070] Determination of acceleration range

[0071] Once one or more resonant frequencies f1...f are known n , the acceleration interval can be determined to avoid the excitation of those multiple frequencies.

[0072] Typically, acceleration intervals can be determined in pairs, one for each frequency, where if a first acceleration interval starting at time t1 begins to excite resonance at frequency f1, then a second acceleration interval will be timed to start at approximately t2=t1+1 / (2f1), which excites a resonant vibration that is 180° out of phase with the initial resonant vibration. The two excited resonances can cancel each other, resulting in no net vibration or a net vibration below a certain threshold.

[0073] In some specific implementations, the following may be implemented: Fig. 12A For example, there may be a resonant frequency of interest, and two initial acceleration intervals 1202, 1204 may be used to initiate motion with respective amplitudes a1, a2, so that acceleration of the platform occurs. In some implementations, the amplitude distribution of the acceleration intervals 1202, 1204 may follow a constant distribution—no acceleration until time t1, constant acceleration at a certain value a1 for a certain duration t1 within the interval 1202. d1 , then zero acceleration at the end of the first interval until at time t2=t1+1 / (2f1) the acceleration is again set to a constant value a2 for a second duration t in interval 1204 d2 Afterwards, the acceleration can be set to zero again.

[0074] The selection of amplitude a2 relative to the value of a1 can be set in any number of ways. In some implementations, a1=a2. In some implementations, a1>a2, where a2 is selected based on the reduction or attenuation of the vibration amplitude due to damping seen in the measured observations. The damping factor or attenuation factor for the resonant frequency observed in the data can be as follows: Figure 5 as shown, and can be used to set the value of a2 relative to a1.

[0075] More complex amplitude distributions can also be selected. For example, Fig. 12B As shown in the graph 1210 of FIG. 1 , the acceleration I may be started at time t1 and steadily increase within the acceleration interval 1206 until the predetermined value of the acceleration ai is reached, and then at time t a1 At the end of this time, the acceleration can steadily decrease at the end of interval 1206, rather than ending abruptly. Similarly, the second acceleration interval 1208 can start at time t2=t1+1 / (2f1) and steadily increase until a predetermined value of acceleration a2 is reached, and then maintained at this acceleration value for time ta2. At the end of this time, the acceleration can steadily decrease at the end of interval 1208, rather than ending abruptly.

[0076] In practice, most mechanical systems cannot be accelerated immediately, e.g. Fig. 12A As shown in the graph 1200, in practice, it is generally possible to implement Fig. 12B Some curves are similar to the curves shown in the graph 1210 of FIG. More complex functions describing the acceleration distribution may also be used, as they are found experimentally to be less likely to excite various mechanical resonances.

[0077] Likewise, in some implementations, t d1 =td2 , and for some specific implementations, t d1 ≠t d2 In some specific implementations, t d1 <1 / (2f) and t d2 <1 / (2 f ). And similarly, in some implementations, t a1 =t a2 , but for some specific implementations, t a1 ≠t a2 .

[0078] Fig. 12A and Fig. 12B Both diagrams show possible implementations, where there is a gap between the end of the first acceleration interval and the beginning of the second acceleration interval. In practice, the first acceleration interval can be selected to end at t2=t1+1 / (2f1), i.e., the starting point of the second acceleration interval, such as Fig. 9 In this case, t d1 =-t2-t1.

[0079] Fig.13A A graphical illustration 1302a, 1304a, 1306a of a pair of acceleration intervals 1322a, 1320a and corresponding plots of their speed and position are shown in more detail. The plot of graph 1302a shows the position of the platform moving as a function of time, in millimeters. The plot of graph 1302a shows a smooth linear scan when the system is scanning different strips of the flow cell. The plot of graph 1306a shows the applied acceleration of the platform with two pulses 1320a, 1322a of acceleration at the beginning of the scan, in minutes per second. The plot of graph 1304a shows the speed of the flow cell over time. The plot in graph 1304a shows the change in speed over the corresponding pulses 1320a, 1322a of acceleration at the beginning of the scan.

[0080] Fig. 13B Similar graphical illustrations 1302b, 1304b, 1306b of a pair of deceleration intervals 1322b, 1320b and corresponding plots of their speed and position are shown. The plot of graph 1302b shows the position of the platform moving as a function of time, in millimeters. The plot of graph 1306b shows the applied acceleration of the platform with two pulses 1320b, 1322b for deceleration at the end of the scan, in minutes per second. The plot of graph 1304b shows the speed of the flow cell over time. The curves in graph 1304b show the speed changes within the corresponding pulses 1320b, 1322b for deceleration at the end of the scan.

[0081] Position data (such as those shown in these diagrams) can be converted into a table of position versus time and provided as input to an actuator (e.g., a motor) that drives the y-axis of the platform using a standard programming interface provided. Similar position data can be converted into a table of position versus time and provided as input to an actuator that drives the x-axis or z-axis of the platform.

[0082] In some implementations, deceleration may occur after the scan is complete, allowing time for any vibration caused by the deceleration to settle before proceeding to the next scan (if any). This may be a simpler approach in some cases, since imaging data may not be collected after the scan of the swath is complete, and thus additional ringing and vibration may not affect data collection.

[0083] However, in some implementations, waiting for any ringing caused by deceleration to subside may require additional time, and data collection may be more efficient if deceleration also occurs using segmented deceleration intervals. These deceleration intervals may also be timed so that if the first interval begins at time t3, the second interval begins at t4=t3+1 / (2f1) to again excite anti-resonance at a phase difference of 180° from the first deceleration interval, eliminating any vibration caused by the first deceleration interval, for example, as Fig. 13B shown.

[0084] In the example process 1400 shown Fig.14 A modified process presenting this aspect is shown in the flowchart of . One or more parts of process 1400 can be performed by one or more devices described herein. For example, one or more parts of process 1400 can be performed by one or more sequencing devices or other imaging devices. One or more parts of process 1400 can be stored in a memory as computer-readable instructions or machine-readable instructions that can be executed by a processor of one or more devices. Although process 1400 can be provided in a given order of steps, one or more steps can be performed in another order or sequence, and / or one or more steps can be added or removed.

[0085] like Fig.14 As shown, at 1402, a mechanical resonant frequency f may be determined. At 1404, at least two acceleration intervals may be determined. The steps of determining any resonant frequency at 1402 and determining two acceleration intervals at 1404 may be as described in detail with reference to FIG. Fig.11Steps 1102 and 1104 are performed similarly as described in . However, after (or simultaneously with) determining the acceleration intervals, deceleration intervals may also be determined at 1406. Each deceleration interval may include a start time, an amplitude distribution, and / or a duration. The first interval start time may be equal to t3. The second interval start time may be equal to t3+1 / (2f).

[0086] At 1408, the acceleration intervals and deceleration intervals can be converted into commands for the platform. In some implementations, the acceleration intervals can be converted into a table of desired positions as a function of time.

[0087] At 1410, the platform may be accelerated according to a table of position and time calculated from at least two acceleration intervals. The acceleration intervals may be calculated at the device or received at the device via configuration information for configuring acceleration of the platform.

[0088] After speeding up and reaching a predetermined scan speed, at 1412, a scan of the swath may be performed and data may be collected by the imaging system.

[0089] After the scan has reached its end point, the platform may be decelerated according to a table of position versus time calculated from at least two deceleration intervals at 1414. The deceleration intervals may be calculated at the device or received at the device via configuration information for configuring the deceleration of the platform.

[0090] As described above for the acceleration profile, the deceleration profile may follow a variety of forms in various implementations, sometimes with equal values, and sometimes with different deceleration values ​​for the two intervals, selected to allow for the cancellation of the damping oscillation triggered by the initial deceleration pulse.

[0091] Deceleration can present particular problems when the alignment of the strips of the flow cell is not exactly parallel to the scan axis, as can occur if the flow cell is at a slight angle. Fig.15 As shown in the graph 1500 of , the ends of the strips may be slightly offset from each other. Programming the deceleration of the stage as if the strips were aligned in parallel would mean that at the end of the motion there is an offset dY that can be corrected to align with the next strip. This may require additional time, thereby increasing the overall scan speed.

[0092] When programming the deceleration intervals, if this offset dY is known, compensation for this offset can be programmed into the position vs. time table generated by the deceleration intervals. If there is a known dY to be added to the end of the scan swath, such as for Fig.15The interval dY can be divided evenly within the deceleration interval, as shown by strip 1 in the graph 1500 of For example, if there are 250 positions to be commanded in the deceleration interval, an additional position of dY / 250 can be added for each position in the deceleration interval, allowing the deceleration sweep to end in precise alignment with the y position of the next strip without the need for additional motion steps.

[0093] Similarly, for deceleration in the opposite direction, dY / 250 may be subtracted for each position in the deceleration interval, thereby ensuring that the scan stops early at the y position to start scanning the next strip.

[0094] Although any resonance excited by the additional translation segments may be less than perfectly eliminated, no data is collected during this portion of the scan, so some additional vibration can be tolerated in tradeoff with more efficient positioning alignment in preparation for the next swath.

[0095] Move the platform according to the acceleration interval

[0096] Once the acceleration profile has been determined, motion commands may be generated to direct the motion of the platform in accordance with the acceleration profile.

[0097] In some gene sequencing systems, control of the platform along the direction of the channel in the flow cell (commonly referred to as the y dimension) is performed using a magnetic linear motor. Control of the platform in the x dimension and / or z dimension can similarly be performed using a magnetic linear motor. Linear motors can be implemented because magnetic drives can operate with reduced backlash and friction and provide better accuracy and repeatability for position control.

[0098] Programming software for such linear motors can be provided for commercial linear motor units, and programming interfaces allowing specification of position as a function of time are common.Once determined, the desired acceleration and deceleration intervals can be entered using standard programming interfaces.

[0099] For some nucleic acid sequencing systems, the x-axis, y-axis, and / or z-axis motion may be controlled by magnetic linear motors, such as the Parker 110-2N-NC-WD3P-8 linear motor. For such systems, a motion controller, such as the ECMsa from ACS Motion Control, may be used. Such controllers are equipped with a standard interface protocol that may include a table input for position as a function of time, as may be calculated in the methods described above.

[0100] Once derived, it can be a fairly simple calculation to convert the acceleration (or deceleration) interval into a position table for regulating motion commands. Table 1 below provides a calculation formula for a method for this conversion. Other formula conversion methods using various mathematical tools such as MatLab may be known to those skilled in the art.

[0101] Other variations and implementations

[0102] This section expands upon and can be combined with the summary and detailed description provided above. Other implementations, variations, and equivalents may be apparent to those skilled in the art.

[0103] In some implementations, the resonant frequency can occur in the range of 1 Hz to 250 Hz.

[0104] In some implementations, the resonant frequency can occur in the range of 7 Hz to 10 Hz.

[0105] In some implementations, the resonant frequency can occur between 3 Hz and 15 Hz.

[0106] In some implementations, multiple resonant frequencies can occur that are not harmonics of each other.

[0107] In some implementations, resonant frequencies can occur at 3.1 Hz, 8.2 Hz, and 13 Hz.

[0108] t const =t pulse -2*t ramp , v max =(t cost ·a peok )+2*v(t ramp )

[0109]

[0110] Table I: Examples of formulas for calculating position s and velocity v for a given acceleration curve a .

[0111] In some implementations, even within the same scan, the values ​​of the parameters used to specify the acceleration intervals can be different from the values ​​of the parameters used to define the deceleration intervals.

[0112] In some implementations, two acceleration intervals can overlap, where one acceleration interval is longer in duration than 1 / (2f) seconds.

[0113] In some implementations, a scan in a positive direction (e.g., x, y, or z) can use different parameter values ​​for acceleration intervals and deceleration intervals than a scan in a negative direction (e.g., x, y, or z).

[0114] In some implementations, a mechanism that provides an indication of the resonant frequency (such as an objective lens servo controller or other onboard accelerometer) can be monitored during scanning, and the vibration frequency components analyzed in real time. Modifications to the acceleration intervals and deceleration intervals can be made while scanning a given scan swath, or to a subsequent swath to compensate for vibrations detected while measuring a previous swath.

[0115] In some implementations, a mechanism providing an indication of the resonant frequency, such as an objective servo controller or other onboard accelerometer, may be monitored over a longer period of time, and the acceleration and deceleration intervals may be modified to accommodate changes in the resonant frequency as the system ages.

[0116] In some implementations, a mechanism providing an indication of the resonant frequency, such as an objective servo controller or other onboard accelerometer, can be monitored over a longer period of time, and the acceleration and deceleration intervals can be modified to accommodate changes in the resonant frequency as the system encounters different environmental conditions.

[0117] The disclosed method implementations optionally include one or more of the features described above. The methods may also include the features described in conjunction with the disclosed methods. For the sake of brevity, alternative combinations of system features are not enumerated separately. Features applicable to systems, methods, and articles of manufacture are not repeated for each set of essential features of the statutory classification. The reader will understand how the features identified in this section can be easily combined with essential features in other statutory classifications.

[0118] A system implementation of the disclosed technology includes one or more processors coupled to a memory. The memory is loaded with computer instructions to move a component (such as a platform) of an imaging device having at least one mechanical resonance with a frequency of f Hz and a time period of 1 / f seconds using an even number of acceleration intervals, each acceleration interval having a start time, an amplitude distribution, and a duration; wherein among the even number of acceleration intervals, for each first acceleration interval, there is a second acceleration interval having a start time 1 / (2f) seconds after the start time of the first acceleration interval.

[0119] Fig.161 is a block diagram illustrating an example device 1600. One or more devices, such as one or more devices 1600, may implement one or more features for performing as described herein. For example, device 1600 may include one or more of a sequencing device, an imaging device, or another computing device. Fig.16 As shown, device 1600 may include a processor 1602, a memory 1604, a storage device 1606, an I / O interface 1608, and / or a communication interface 1610, which may be communicatively coupled by way of a communication infrastructure 1612. Device 1600 may include Fig.16 For example, the device 1600 may additionally or alternatively include Figure 1 , Figure 2A and Figure 2B One or more components of imaging system 300 are shown.

[0120] The processor 1602 may include hardware for executing instructions, such as those constituting a computer application or system. In an example, to execute instructions for performing operations as described herein, the processor 1602 may retrieve (or extract) instructions from an internal register, an internal cache, a memory 704, or a storage device 1606, and decode and execute the instructions. The memory 1604 may be a volatile memory or non-volatile memory for storing data, metadata, computer-readable instructions or machine-readable instructions, and / or programs for execution by the processor to perform operations as described herein. The storage device 1606 may include a storage device for storing data or instructions for performing methods as described herein, such as a hard disk, a flash drive, or other digital storage device.

[0121] The I / O interface 1608 may allow a user to provide input to the device 1600, receive output from the device 1600, and / or otherwise transmit data to and receive data from the device 1600. The I / O interface 1608 may include a mouse, a keypad or keyboard, a touch screen, a camera, an optical scanner, a network interface, a modem, other known I / O devices, or a combination of such I / O interfaces. The I / O interface 1608 may include one or more devices for presenting output to a user, including but not limited to a graphics engine, a display (e.g., a display screen), one or more output drivers (e.g., a display driver), one or more audio speakers, and one or more audio drivers. The I / O interface 1608 may be configured to provide graphical data to the display for presentation to the user. The graphical data may represent one or more graphical user interfaces and / or any other graphical content.

[0122] The communication interface 1610 may include hardware, software, or both. In any case, the communication interface 1610 may provide one or more interfaces for communication (such as, for example, packet-based communication) between the device 1600 and one or more other computing devices and / or networks. The communication may be wired communication or wireless communication. As an example, and not by way of limitation, the communication interface 1610 may include a network interface controller (NIC) or network adapter for communicating with an Ethernet or other wired-based network, or a wireless NIC (WNIC) or wireless adapter for communicating with a wireless network such as WI-FI.

[0123] Additionally, the communication interface 1610 can facilitate communication with various types of wired or wireless networks. The communication interface 1610 can also facilitate communication using various communication protocols. The communication infrastructure 1612 can also include hardware, software, or both that couple the components of the device 1600 to each other. For example, the communication interface 1610 can use one or more networks and / or protocols to enable multiple computing devices connected by a specific infrastructure to communicate with each other to perform one or more aspects of the process described herein. For illustration, the sequencing process can allow multiple devices (e.g., client devices, sequencing devices, and server devices) to exchange information such as sequencing data and error notifications.

[0124] The disclosed system implementations and other systems optionally include one or more of the features described above. The system may also include the features described in conjunction with the disclosed method. For the sake of brevity, alternative combinations of system features are not enumerated separately. Features applicable to systems, methods, and articles of manufacture are not repeated for each statutory classification essential feature set. The reader will understand how the features identified in this section can be easily combined with essential features in other statutory classifications.

[0125] Other implementations may include a non-transitory computer-readable storage medium storing instructions executable by a processor to perform the functions of the method or system described above.

[0126] The computer readable medium (CRM) of the disclosed technology specifically implements a non-transitory computer readable storage medium or machine readable storage medium imprinted with computer program instructions, which, when executed on a processor, implement the method described above. The instructions may be stored on one or more computer readable storage media or machine readable storage media installed on the same or different devices.

[0127] Each of the features discussed in this specific implementation section for the first system implementation is equally applicable to the CRM implementation. As indicated above, all system features are not repeated here and should be considered repeated by reference.

[0128] It will be appreciated that while specific implementations may be presented, elements discussed in detail with respect to some implementations may also be applied to other implementations.

[0129] Although specific materials, designs, configurations, and manufacturing steps have been set forth herein to describe a number of implementations, such descriptions are not intended to be limiting. Modifications and variations will be apparent to those skilled in the art.

Claims

1. A method for controlling the motion of a platform of an apparatus for imaging having at least one mechanical resonance with a frequency of f Hz and a time period of 1 / f seconds, the method comprising: using motion commands to move a component of the apparatus, wherein the component includes a stage configured to hold an object to be imaged within a flow cell, and wherein the motion commands are derived from an even number of acceleration intervals, each acceleration interval having a start time, an amplitude profile, and a duration, wherein the amplitude profile indicates an amplitude of a respective acceleration interval over at least a portion of the duration; Among the even-numbered acceleration intervals, for each first acceleration interval, there exists a second acceleration interval whose starting time is approximately 1 / (2f) seconds after the starting time of the first acceleration interval.

2. The method according to claim 1, wherein: The first acceleration interval excites a first vibration, and the second acceleration interval excites a second vibration, and a phase difference between the second vibration and the first vibration is approximately 180 degrees.

3. The method according to claim 1 or 2, wherein: Approximately defined as a range of ±30%.

4. The method according to claim 1 or 2, wherein: Approximately defined as a range of ±10%.

5. The method according to claim 1, further comprising: Moving the component includes movement in the xy plane; and Wherein the mechanical resonance affects a structure for adjusting a focus setting for an imaging system positioned to observe the object to be imaged.

6. The method according to claim 5, wherein: Stage motion occurs in the xy plane, and the structure that adjusts the focus setting controls the focus of an objective lens aligned along a z-axis orthogonal to the xy plane.

7. The method according to claim 5, further comprising: an indicator for measuring mechanical movement of the structure for adjusting focus settings while the component is moving; as well as The amplitude distribution and the duration of at least some of the acceleration intervals are determined based at least in part on the measured indicator.

8. The method according to claim 7, wherein: The indicator includes a servo control signal.

9. The method according to claim 7, wherein: The indicator is used to determine the mechanical resonance frequency f in Hertz.

10. The method according to claim 7, wherein: The indicator is used to determine a vibration damping at the mechanical resonance frequency fHz, and the determined vibration damping is used to set one or more amplitude profiles for at least some of the acceleration intervals.

11. The method according to claim 1, further comprising: Moving the component includes movement in the z-plane; and Wherein the mechanical resonance affects a structure for adjusting a focus setting for an imaging system positioned to observe the object to be imaged.

12. The method according to claim 11, wherein: The structure for adjusting a focus setting controls the focus of an objective lens aligned along the z-axis orthogonal to the xy plane.

13. The method according to claim 1, further comprising: The mechanical resonance frequency f Hz is determined, and the start time, the amplitude distribution and the duration of at least some of the acceleration intervals are set before moving the component.

14. The method according to claim 13, wherein: Determining the mechanical resonance frequency f Hz comprises using a simulation program for a frequency analysis of a solid model.

15. The method of claim 1, wherein: The duration for at least one acceleration interval is less than or equal to half of the time period 1 / f seconds.

16. The method of claim 1, wherein: A portion of the amplitude distribution for each acceleration interval has a constant acceleration value.

17. The method of claim 1, wherein: At least some of the acceleration intervals correspond to negative accelerations of the component.

18. The method of claim 1, wherein: The mechanical resonance frequency f is between 1 Hz and 250 Hz.

19. The method of claim 1, wherein: The mechanical resonance frequency f is between 3 Hz and 15 Hz.

20. The method of claim 1, wherein: The mechanical resonance frequency f is between 7 Hz and 10 Hz.

21. The method of claim 1, wherein: The plurality of acceleration intervals include a first acceleration interval and a second acceleration interval, each acceleration interval having a duration less than 1 / (2f) seconds and separated by a time interval without acceleration, and wherein an amplitude of the second acceleration interval is less than an amplitude of the first acceleration interval.

22. The method of claim 1, wherein: The motion command has a table format that relates target positions to time.

23. A method for controlling the motion of a platform for a sequencing system, the system comprising 1) a platform holding a sample containing genetic material, the platform being programmable for motion in an xy plane or an xyz plane; and 2) an imaging system comprising a camera and an objective lens aligned along a z-axis orthogonal to the xy plane to form an image of the sample, the system having at least one mechanical resonance with a frequency of f Hz and a time period of 1 / f seconds, the method comprising: setting a start time, an amplitude distribution and a duration for at least two acceleration intervals for the motion of the platform, wherein the duration of each of the two acceleration intervals is less than half of the time period 1 / f seconds, and wherein the amplitude distribution indicates an amplitude of the respective acceleration interval over at least a portion of the duration, and wherein for each first acceleration interval there is a second acceleration interval having a start time approximately 1 / (2f) seconds after the start time of the first acceleration interval; moving the platform of the sequencing system according to the at least two acceleration intervals; and Imaging data is collected from the sample while the stage continues to move.

24. The method according to claim 23, further comprising: Before setting the start time, the amplitude distribution and the duration of at least two acceleration intervals, the mechanical resonance frequency fHz is determined.

25. The method according to claim 23, further comprising: setting a start time, an amplitude distribution and a duration for at least two deceleration intervals for the motion of the platform, wherein the duration of each of the at least two deceleration intervals is less than half of the time period 1 / f seconds, and For each first deceleration interval, there is a second deceleration interval having a start time approximately 1 / (2f) seconds after the start time of the first deceleration interval; and After the imaging data has been collected, the platform of the gene sequencing system is moved according to the at least two deceleration intervals.

26. The method according to claim 25, further comprising: Before setting the start time, the amplitude distribution and the duration of at least two deceleration intervals, the mechanical resonance frequency fHz is determined.

Images