A synchronous digital hierarchy telecommunications system for transporting traffic with control bytes for indicating the sources of the traffic. The IO controller includes a calibration controller, which tests the combination of a particularly selected memory cell and a particular associated one of the array of sense amplifiers in view of then existing environmental conditions, to assure that the sense amplifier has an acceptable calibration. It is proposed that the rotor of the oil pump is connected to a shaft driven directly by the crankshaft. The copying and aggregating may occur as specified in a plurality of rule sets. Vertical mating surfaces with compliant seals are shaped to engage perpendicularly to the wall plane, so that the compliant seals clamp shut without in-plane relative motion, improving seal integrity. Each mechanical linkage having at least one degree of freedom is actuated by two motors via two flexible tendons with built-in stretch sensors.