Communication interface for start-stop systems and methods

Systems and methods for implementing a start-stop feature on a vehicle powered at least in part by an internal combustion engine include receiving, at an electronic control unit (“ECU”) of the vehicle, an indication that the vehicle is in line at a drive-thru; determining, by the ECU, a number of startstop events anticipated during the drive-thru; determining, by the ECU, an approximate stop time for each of the number of start-stop events; determining, by the ECU, that a battery of the vehicle has enough remaining charge to power a plurality of vehicle components during implementation of the start-stop feature; implementing, by the ECU, the start-stop feature in which the internal combustion engine is turned off for at least a portion of the time when the vehicle is stopped

TECHNICAL FIELD

The present invention relates generally to automatically stopping and starting an internal combustion engine of a vehicle.

BACKGROUND

Many vehicles are powered by internal combustion engines. The internal combustion engines burn fuel to power the vehicle. The vehicle may be an automobile, a commercial truck, a military vehicle, a construction vehicle, construction equipment, and the like. Often, the internal combustion engines remain on in an idle operating state even when a vehicle is not moving (e.g., when a vehicle is stopped at a stop sign). In these situations, fuel is still consumed by the engines even though the vehicles are not moving. Some vehicles address this problem by employing a start-stop system that automatically shuts down and restarts the internal combustion engines under certain operating conditions in which the vehicle remains in idle for extended periods of time to reduce the amount of fuel consumed by the engines. For example, the engine may be shut off when the vehicle is stopped at a stop light, stopped a train crossing, placed in park, no longer performing construction tasks, etc. However, many potential stop situations may result in excessive battery usage or reduced throttle response. Accordingly, the engine control units (“ECUs”) can be configured to identify appropriate situations to activate the start-stop system, when to disable the start-stop system, and when to activate a stopped engine during a start-stop cycle.

However, some engines are used to provide power to other components, such as secondary systems and accessories of the vehicle. For example, the internal combustion engine of a construction vehicle may be used to provide power to the wheels (i.e., to propel the vehicle), to a hydraulic system to operate a construction device (e.g., a shovel, a crane, a blade, etc.), to an air conditioning unit, and the like. The internal combustion engine may be manufactured separately from the vehicle, and the ECU may not be specifically programmed for the construction vehicle. Further, other engines, particularly hybrid engines (e.g., diesel-electric, diesel-hydraulic, etc.) have a multitude of original equipment manufacturer (“OEM”) supplied components from various OEMs. The OEMs include secondary system providers, accessory providers, vehicle integrators, vehicle customizers, equipment providers, and the like. Accordingly, the ECU of the internal combustion engine may not have the proper programming to account for various systems driven by the internal combustion engine and the components of the engine supplied by other OEMs when making start-stop decisions. Allowing the OEM system controllers to communicate directly with the ECU can result in architectural challenges, such as performance degradation due to increased data latency. Further, embedding a mixture of controller software from multiple OEMs into a single control module potentially exposes each OEM's proprietary software and programming logic to other OEMs involved with the vehicle and/or internal combustion engine. It would be desirable to allow OEMs to contribute to stop-start control without causing performance degradation and without revealing potentially proprietary software and programming logic to other OEMs.

SUMMARY

Various embodiments relate to an internal combustion engine control system including a start-stop feature that automatically stops the internal combustion engine to conserve fuel. The system includes an internal combustion engine that drives a vehicle and provides power to other components of the vehicle. The system further includes an ECU configured to control the operation of the internal combustion engine. The ECU includes a processor, memory, a start-stop control module, and an OEM hardware interface. The start-stop control module includes programming and circuitry to allow the ECU to implement the start-stop feature that stops the internal combustion engine during periods of expected extended idling to conserve fuel. The OEM hardware interface allows the ECU to send and receive signals with the other components of the vehicle such that the other components can provide input into the start-stop control module to affect when the internal combustion engine is stopped and restarted.

DETAILED DESCRIPTION

Referring to the figures generally, a smart start-stop system for a vehicle is described. The vehicle is powered by an internal combustion engine (e.g., a diesel engine, a gas engine, a hydrogen engine, etc.). An engine control unit (“ECU”) controls the operation of the internal combustion engine. The ECU includes a start-stop feature that stops the internal combustion engine during periods of expected extended idling to conserve fuel. The periods of expected extended idling may include, for example, while the vehicle is stopped at a stop light, while the vehicle is not being used for a specific construction task, while the vehicle is stopped at a railroad crossing, while the vehicle is in line at a drive thru, and the like. The ECU includes an original equipment manufacturer (“OEM”) interface that allows OEM supplied components to provide input into the start-stop decisions of the ECU. The OEM supplied components are other components of the vehicle not necessarily provided by the engine manufacturer. The other components may include, for example, secondary systems powered by the internal combustion engine or battery system (e.g., hydraulic construction equipment), driver equipment powered by the internal combustion engine or battery system (e.g., displays, HVAC equipment, etc.), and accessories powered by the internal combustion engine or battery system (e.g., radio, lights, speakers, displays, cameras, etc.). The OEM supplied systems may include a separate OEM system controller that is different than the ECU. The separate OEM system controller is in communication with the ECU via the OEM interface. The OEM supplied systems may rely on the internal combustion engine for operational power (e.g., construction devices) or may work with the internal combustion engine to power the vehicle (e.g., hybrid engine systems). As used herein, an OEM can include any of include secondary system providers (e.g., hydraulic construction system providers), accessory providers (HVAC accessory providers, lighting accessory providers, etc.), vehicle integrators, vehicle customizers, equipment providers, and the like.

Referring toFIG. 1, a schematic view of a construction vehicle100is shown according to an example embodiment. The construction vehicle100is powered by an internal combustion engine102. The internal combustion engine102propels the construction vehicle100. The internal combustion engine102also provides power to a hydraulic motor104. The hydraulic motor104provides power to a construction device106(shown as a bulldozer blade). The internal combustion engine102is controlled by an ECU108. Accordingly, the ECU108includes a controller. In certain embodiments, the ECU108is structured to perform certain operations. In certain embodiments, the ECU108forms a portion of a processing subsystem including one or more computing devices having memory, processing, and communication hardware. The ECU108may be a single device or a distributed device, and the functions of the ECU108may be performed by hardware and/or as computer instructions on a non-transient computer readable storage medium. In certain embodiments, the ECU108includes one or more modules structured to functionally execute the operations of the ECU108. The description herein including modules emphasizes the structural independence of the aspects of the ECU108, and illustrates one grouping of operations and responsibilities of the ECU108. Other groupings that execute similar overall operations are understood within the scope of the present application. Modules may be implemented in hardware and/or as computer instructions on a non-transient computer readable storage medium, and modules may be distributed across various hardware or computer based components.

The ECU108also controls a start-stop feature of the internal combustion engine102. The start-stop feature selectively stops the internal combustion engine102during extended periods of idling to conserve fuel. The hydraulic motor104is controlled by a hydraulic motor controller110. In some situations, the hydraulic motor controller110may require power from the internal combustion engine102in situations in which the ECU108sends a stop signal to the internal combustion engine102to conserve fuel. Accordingly, the hydraulic motor controller110communicates with an OEM interface112of the ECU108to provide input and start-stop blocking signals to the ECU108.

Referring toFIG. 2, a block diagram of a hybrid powertrain200is shown according to an example embodiment. The hybrid powertrain200may be used to propel a vehicle and/or to power accessories mounted on the vehicle (e.g., a construction device). The hybrid powertrain200is powered by an internal combustion engine202and at least one electric motor204. The internal combustion engine202is controlled by an ECU206. The ECU206includes the same or similar structure as described above with respect to the ECU108. The ECU206also controls a start-stop feature of the internal combustion engine202. The start-stop feature selectively stops the internal combustion engine202during extended periods of idling to conserve fuel. The electric motor204is controlled by a motor controller208. The electric motor204is powered by at least one battery210. The battery210is a rechargeable battery. The charging of the battery210is controlled by a charging controller212. The battery210is charged based on electric power generated by an alternator214driven by the internal combustion engine202and based on kinetic energy capture from the electric motor204(e.g., via regenerative braking). The internal combustion engine202drives the vehicle or equipment via a transmission216. In some arrangements, the electric motor204also drives the vehicle or equipment via the transmission216. In other arrangements, the electric motor204directly drives the vehicle or equipment. The transmission216may have a transmission controller218, which controls gear selection within the transmission216.

As discussed above, the ECU206controls a start-stop feature of the internal combustion engine202. In some situations, the ECU206would normally issue a stop command (e.g., after the internal combustion engine202has been idling), and the stoppage of the internal combustion engine202would negatively affect the other components of the hybrid powertrain200. For example, in certain situations, the ECU206may issue a stop command if no stop-override command is received when the battery210needs charging from the alternator214. Accordingly, the various controllers from other OEM systems, such as the motor controller208, the charging controller212, and the transmission controller218, can communicate data with the ECU206via an OEM interface220of the ECU206.

Communication between OEM systems and an ECU (e.g., ECU108, ECU106, etc.) of an internal combustion engine via OEM interfaces (e.g., OEM interface112, OEM interface220, etc.) are described in further detail below with respect to a start-stop system provided by the ECU.

Referring toFIG. 3, a schematic diagram of an ECU300according to an example embodiment. The ECU300controls the operation of an internal combustion engine. The ECU300includes a start-stop control module302. The start-stop control module302provides the programming and circuitry necessary for the ECU300to provide a start-stop feature that stops the internal combustion engine during periods of expected extended idling to conserve fuel. The ECU300can implement the start-stop feature based on predicting an extended idling by the engine period by monitoring usage characteristics (e.g., engine speed, vehicle speed, transmission positions, operator input, steering position, brake pedal position, hydraulic joystick position and pressure, construction equipment positioning and movement, etc.) of the internal combustion engine or the vehicle powered by the internal combustion engine.

The ECU300includes an OEM interface304. The OEM interface304includes inputs to the start-stop control module302that are used by the start-stop control module302in making determinations as to whether to stop the internal combustion engine to save fuel and as to whether to restart the internal combustion engine after the engine has been stopped. For example, through the OEM interface304, the start-stop control module302may receive data from battery sensors, vehicle sensors (e.g., speed, transmission gear selection, fuel levels, accessory power requirements, etc.), driver input, steering wheel position, brake pedal position, hydraulic joystick position and pressure, construction equipment positioning, and the like. Additionally, the OEM interface304allows the start-stop control module302to receive signals from other systems that may be installed on the vehicle powered by the internal combustion engine. For example, the OEM interface304allows the start-stop control module302to receive signals from systems manufactured by a different manufacturers than the internal combustion engine manufacturer. These systems manufactured by the different manufactures may include, for example, hydraulic systems, construction equipment (e.g., forklift booms, shovels, bucket position, conveyors, etc.), and the like.

The signals received from other systems may permit controllers of the other systems to override potential start-stop commands from or to influence start-stop decisions made by the ECU300via the start-stop control module302without introducing data latency that can cause performance degradation. The signals may relate to engine shutdown inhibit signals (i.e., signals that prevent the internal combustion engine from being stopped), alternate shutdown condition signals, OEM shutdown/restart command signals, and the like. For example, a signal from a vehicle's steering wheel that indicates the position of the steering wheel is changing may indicate an operator intent to move the vehicle. The determination that the steering wheel is moving may be interpreted as a start-stop inhibit signal or a start signal (if the engine is stopped). As another example, The ECU300may monitor a signal indicating a position of an implement (e.g., bucket, fork, etc.) powered by the engine. If the position signal indicates that the implement is in use or about to be used, the signal can prevent engine stopping or trigger the starting of an already stopped engine. The OEM interface304may also send signals from the ECU300to the OEM systems. The output signals may relate to drive notification signals sent to a driver notification system (e.g., a dashboard indicator, a dashboard display, a mobile device in communication with the OEM interface304, etc.).

Referring toFIG. 4, a schematic diagram of how the OEM interface304interfaces with the various systems of the vehicle is shown according to an example embodiment. In some arrangements, the OEM interface304receives signals from an OEM control module402(e.g., controller110) associated with an engine driven accessory404(e.g., the hydraulic motor104). In some arrangements, there is a plurality of different OEM control modules402associated with a plurality of engine driven accessories404. The plurality of OEM control modules may be from a plurality of different OEMs. The signals received from the OEM control modules402may relate to engine shut down inhibit signals and engine restart request signals. In some situations, a lack of an engine shutdown inhibit signal from any of the coupled OEM control modules402may signal to the start-stop control module302an engine shutdown condition. In further arrangements, the OEM interface304receives signals from switches and sensors (e.g., a hood/service switch404) positioned on the vehicle. The signals from the various switches and sensors may relate to vehicle interlock signals.

In some arrangements, the OEM interface304receives input from a driver input module or an equipment operator module configured to provide feedback signals to the ECU300via the OEM interface304relating to positions and pressures of driver or operator control devices. The driver or operator control feedback signals may include, for example, a brake pedal position indicator, a hydraulic joystick position indicator, a hydraulic joystick pressure indicator, a steering wheel position indicator, a transmission position indicator, or the like. The feedback signals may be analog or digital electrical signals. In some arrangements, the feedback signals are generated by pressure sensors installed within hydraulic lines of the hydraulically powered equipment controlled by the driver or operator. The driver or operator control feedback signals can be used to start a stopped engine (e.g., if the operator moves a joystick and the engine is stopped) or serve as an inhibit signal to prevent the engine from being stopped.

The OEM interface304can send signals to an indicator or driver notification406. The indicator or driver notification406may include a dashboard light, a display screen, an alarm, or the like. The OEM interface304may include additional data ports that are not initially used to allow for future equipment that may be added to the vehicle to communicate with the engine's ECU300.

The signals sent to and from the OEM interface304may be sent via the Society of Automotive Engineers (“SAE”) J1939 vehicle bus system. A schematic view of an example J1939 bus system for use with a start-stop system (e.g., as described above) is shown inFIG. 5.

Referring toFIG. 6, a flow chart of a method600of providing a start-stop system via an ECU (e.g., ECU108, ECU206, ECU300, etc.) for an internal combustion engine is shown according to an example embodiment. Method600is performed by the ECU. The ECU has an OEM interface, such as OEM interface304as described above. Method600details when a running internal combustion engine may be stopped by the start-stop system to conserve fuel, and when a stopped internal combustion should be restarted based on internal logic of the ECU and signals received from external devices (e.g., systems manufactured by a different manufacturer than the internal combustion engine manufacturer as described above with respect toFIGS. 1-5).

In some situations, the internal combustion engine controlled by the above-described ECU300is part of a hybrid drivetrain (e.g., diesel-electric, diesel-hydraulic, etc.). In such arrangements, the basic design of the OEM interface304allows an external control module to provide, via digital communications, desired power split (e.g., between the internal combustion engine and the secondary engine or motor) in the form of either percentage allocations or absolute values. The percentages are not necessarily based on the exact and instantaneous total power demand; therefore, the external control is not inserted in the prime mover control loop and does not introduce and data latency to the control.

Referring toFIG. 7, a bar graph representation700of fuel savings is shown according to an example. The bar graph representation700demonstrates the various amounts of fuel savings possible through the use of the above-described start-stop systems. As shown in the representation700, the most amount of fuel savings occur when all possible drive cycle idle events are eliminated (“Entitlement”). However, the Entitlement savings are not realistically possible because not all idle conditions are appropriate for stopping of the engine (i.e., not every idle situation corresponds to a shutdown condition). The next highest amount of fuel savings is what would happen if all possible opportunities where the engine is shut down for all shutdown conditions (“Achievable Fuel Savings”). However, the Achievable Fuel Savings estimate does not account for the fact that the internal combustion engine is used to power accessories and other components of the vehicle (e.g., a hydraulic system, a battery charger for a hybrid drivetrain, etc.). The lowest amount of fuel savings occurs when the internal combustion engine is shutdown only when the external OEM controllers indicate a shutdown condition (“OEM Specific Fuel Savings”). However, the OEM Specific Fuel Savings scenario does not necessarily optimize fuel savings with actual equipment usage. For example, there may be times when certain OEM systems are idle and are not being used, but the OEM systems do not provide a shutdown signal to the ECU. The actual fuel savings are demonstrated when opportunities for engine shutdown after the engine, automatic transmission, and system capability conditions are met (“Fuel Savings”).

Accordingly, the ECU is programmed to provide an interface for each OEM system to provide input into the start-stop functionality to customize the performance of the system in a given application for customer requirements. For example, if an OEM customer wants the air conditioning (“A/C”) of a vehicle to be unaffected by the start-stop system, at the expense of fuel savings, the interface allows that OEM to override engine shutdown. Or, alternatively, that OEM can decide to run an electric A/C during engine off conditions (e.g., based on a battery charge level) and not inhibit the engine shutdown for an optimized solution for that OEM. On the other hand, another OEM may determine that its customers are more concerned with fuel savings than operator comfort, and would simply not provide an override or inhibit if A/C is running. The interface thereby allows OEM differentiation with the exact same engine start-stop system.

In some arrangements, ECU300includes a logging module structured to maintain a log start-stop events, where the engine is temporarily shut down to conserve fuel before being restarted, and canceled start-stop events, where primary start-stop conditions are met but a potential start-stop event is not implemented. Each entry in the log includes a time (e.g., a date, a time, etc.) and a description of the logged event. The description includes the OEM signals received via the OEM interface302at the time of the start-stop event or at the time of the potential start-stop event that is not implemented (e.g., because of a start-stop inhibit signal received from an OEM system). The log may be retrieved by a technician and provides insight useful for service diagnostics or for warranty claims relating to unexpectedly high fuel consumption claims.

The above-described interface allows implementation of a start-stop system in which the engine manufacturer is not involved in the manufacturing of the piece of equipment powered by the engine. For example, construction equipment is often powered by an internal combustion engine manufactured by a third-party that is different than the construction equipment manufacturer. In these situations, the construction equipment manufacturer (along with any individual component manufacturers) can provide use-specific and customer-specific start-stop signal input into the internal combustion engine ECU for a given application (e.g., a fork lift, an excavator, etc.) that factor into the ECU's decision to implement a start-stop feature. The ECU can maximize the fuel savings by shutting the engine off as often as possible without affecting the operation of the equipment because the OEM can provide OEM start-stop inhibits and limitations to the ECU for a given piece of equipment powered by the engine. The high level of customization of the described start-stop systems also permits the OEM or machine builder to install the start-stop system in one-off applications without investing much time or money in developing individual start-stop systems for custom machinery.

Referring toFIGS. 8A and 8B, circuit diagrams of a start-stop system are shown according to an example embodiment. The circuit diagram ofFIGS. 8A and 8Bshow a specific implementation of the above-described start-stop system.

Referring toFIG. 9, a flow diagram of a method of determining when an engine should be stopped based on a start stop feature is shown according to an example embodiment. The method ofFIG. 9is performed by an ECU, such as ECU300. Referring toFIG. 10, a flow diagram of a method of determining when a stopped engine should be restarted is shown according to an example embodiment. The method ofFIG. 10is performed by an ECU, such as ECU300. The methods ofFIGS. 9 and 10describe the operation of a start-stop system, such as the systems described above. When implementing the described methods, the ECU monitors operator input sensors, machine functions, machine operating parameters, environmental conditions, and detected operator intents of a vehicle (e.g., an off-road vehicle) to implement the engine start-stop feature. The inputs may include any of steering control pressure/position, joystick control pressure/position, altitude, PTO rotation speed, remote throttle position, A/C compressor pressure, parking brake position, FNR Lever Position, duty cycle, seat position, fluid Pressure, fluid temperature, implement position, implement load, air pressure, ambient air temperature, incline, date, cabin temperature, light, air quality, fluid level and fluid flow in order to detect operator/machine/system intent. Generally, the engine is stopped when operator input sensors indicate a sustained lack of activity, and the engine is restarted when any operator input is excited or activated. Example monitoring criteria are described in further detail below.

In implementing the start-stop feature, the ECU monitors the steering control pressure, which when the steering is manipulated the pressure will be measured in order to detect operator intent. Sustained low steering control pressure indicates non-use, and the engine may be stopped by the ECU. Any significant increase in pressure would trigger an engine restart or a start-stop inhibit signal to the ECU.

In implementing the start-stop feature, the ECU monitors the steering control position (e.g., position of a steering wheel or lever), which when the steering is manipulated the position will be measured in order to detect operator intent. Sustained lack of movement indicates non-use, and the engine may be stopped by the ECU. Any significant change in position would trigger an engine restart or a start-stop inhibit signal to the ECU.

In implementing the start-stop feature, the ECU monitors the joystick control pressure of a joystick used to control a piece of equipment powered by the engine, which when the joystick is manipulated the pressure will be measured in order to detect operator intent. Sustained low pressure indicates non-use, and the engine may be stopped by the ECU. Any significant increase in pressure would trigger an engine restart or a start-stop inhibit signal to the ECU.

In implementing the start-stop feature, the ECU monitors the joystick control position, which when the joystick is manipulated the position will be measured in order to detect operator intent. Sustained lack of movement indicates non-use, and the engine may be stopped. Any significant change in position would trigger an engine restart or a start-stop inhibit signal to the ECU.

In implementing the start-stop feature, the ECU monitors the altitude, in order to determine operational conditions for start-stop status. Operating in high altitude may inhibit the automated start-stop function due to lower air density.

In implementing the start-stop feature, the ECU monitors the power takeoff (“PTO”) rotation speed for various components powered by the engine. When the PTO is manipulated the speed will be measured in order to detect operator intent. Sustained lack of rotation indicates nonuse, and the engine may be stopped by the ECU. Sustained rotation speed indicates use, which serves as a start-stop inhibit signal such that the engine cannot be stopped.

In implementing the start-stop feature, the ECU monitors the remote throttle position, which when the remote is manipulated the position will be measured in order to detect operator intent. Sustained lack of movement indicates non-use, and the engine may be stopped by the ECU. Any significant change in position would trigger an engine restart or a start-stop inhibit signal to the ECU.

In implementing the start-stop feature, the ECU monitors the A/C compressor pressure, in order to determine operational conditions for start/stop status. Sustained low pressure indicates non-use, and the engine may be stopped by the ECU. Any significant increase in pressure would trigger an engine restart or a start-stop inhibit signal to the ECU.

In implementing the start-stop feature, the ECU monitors the parking brake position, which when the parking is manipulated the position will be measured in order to detect operator intent. Sustained application of the parking brake informs the ECU that the engine may be stopped. Release of the parking brake would trigger an engine restart or a start-stop inhibit signal to the ECU.

In implementing the start-stop feature, the ECU monitors the position of the transmission lever (e.g., forward, neutral, reverse or “FNR” lever position), which when the FNR lever is manipulated the position will be measured in order to detect operator intent. Sustained lack of movement indicates non-use, and the engine may be stopped by the ECU. Any significant change in position would trigger an engine restart or a start-stop inhibit signal to the ECU.

In implementing the start-stop feature, the ECU monitors the duty cycle, in order to determine operational conditions for start-stop status. Duty cycle is determined by monitoring frequency of start-stop events. The duty cycle could be used to increase engine shut down delay or inhibit the start-stop function for a period of time in order to achieve a target number of start-stop events.

In implementing the start-stop feature, the ECU monitors the seat position, which when the seat is manipulated the position will be measured in order to detect operator presence. If an operator is not present, the start-stop function will remain in current state (either engine stopped or engine on).

In implementing the start-stop feature, the ECU monitors the fluid pressure (e.g., hydraulic fluid pressure, oil pressure, fuel pressure, etc.), which when the fluid is manipulated the pressure will be measured in order to detect operator intent. Sustained high or low fluid pressure indicates non-use, and the engine may be stopped by the ECU. Any significant change in fluid pressure would trigger an engine restart or a start-stop inhibit signal to the ECU.

In implementing the start-stop feature, the ECU monitors the fluid temperature (e.g., hydraulic fluid temperature, oil temperature, fuel temperature, etc.), which when fluid temperature fluctuates the temperature will be measured in order to determine operational conditions for start-stop status. Sustained high or low fluid temperature indicates non-use, and the engine may be stopped by the ECU. Any significant change in fluid temperature would trigger an engine restart or a start-stop inhibit signal to the ECU.

Not all vehicles or equipment will have each of the above-identified systems to be monitored. For example, a van may not have a hydraulically powered system. Accordingly, the above-described list of features that are monitored by the methods ofFIGS. 9 and 10is not required nor is exhaustive. In implementing the start-stop feature, each of the systems should be in a “may be stopped” arrangement before the ECU stops the engine. If any system requires the power from the engine, the engine should not be stopped except as otherwise described above (e.g., if the A/C is the only system stopping the engine stop situation and the OEM has programmed start-stop system to ignore the A/C requirements). Further, if the engine is stopped, any one system may trigger the restart of the engine.

Example and non-limiting module implementation elements include sensors providing any value determined herein, sensors providing any value that is a precursor to a value determined herein, datalink and/or network hardware including communication chips, oscillating crystals, communication links, cables, twisted pair wiring, coaxial wiring, shielded wiring, transmitters, receivers, and/or transceivers, logic circuits, hard-wired logic circuits, reconfigurable logic circuits in a particular non-transient state configured according to the module specification, any actuator including at least an electrical, hydraulic, or pneumatic actuator, a solenoid, an op-amp, analog control elements (springs, filters, integrators, adders, dividers, gain elements), and/or digital control elements.