Embodiments of the invention generally include multi-component catalyst systems, polymerization processes and heterophasic copolymers formed by the processes. In one example, the NOx sensor structure andor signals are modified to improve distance transmission of NOx sensor output signals so that at least some processing electronics can be relocated remote to the sensor and in an engine control unit, or other such control unit utilizing the NOx sensor signals, and controlling the NOx sensor heaters, if applicable. Associated costs are calculated for each of the intra modes are used to select the output of the best intra mode. A control unit controls at least some of the valves and an ignitor connected to the combustion chamber to control the generation of the vortex rings.