A planetary engine includes a charge compression system for compressing a charge of air andor an air and fuel mixture that is precompressed by rotation of the rotors and supplied into a combustion chamber through a rotary valve that may be actively adjusted during operation of the engine to vary the intake valve opening size andor timing. Knuckles having second connections are secured to the first connections of the beam preferably by threaded fasteners. The bottom pieces comprise a base portion and a number of clips extending upwardly from the base portion and the top piece is clamped by the clips such that upward movement of the top piece is limited by the bottom piece. The system includes modules configured to control a processor to perform steps of the method. Several receivers may be used, for example, to process a differential clock signal and one or more single-ended data signals referenced to the clock signal andor differential data signals referenced to a single-ended clock signal.