Various aspects of the present invention enable robust, reliable control functionality for effectors present on intraluminal, e. The system and method provides message exchanges between wireless devices to determine optimized communication routes with a minimum of overhead messages and buffered data. The substitution block includes a memory unit storing substitution values and ones-complement values that are corresponding ones-complements of the substitution values. The value of n plus r may range from 3 to about 30, and a ratio of n:r may have a value of about 2:1 to about 20:1. According to the invention, the strip is formed by a series of prismatic portions integral with each other wherein one of the two opposite faces is formed by a series of rectangular portions integral with each other so as to form a polygonal spring. The device can also further comprise a door for covering the opening, and wherein the opening can be selectively opened or closed to insert or remove the remains of the animal.