Abstract: Aspects of the present invention relate to control of front and rear axles of a vehicle, where the torque applied to at least one of the axles is reversed and so the axle must traverse lash. The axles may be driven such that the two axles do not suffer lash simultaneously, with one axle being driven to provide a compensation torque while the other is in lash. In this way, the movement of a vehicle may be smoother when torque applied to one or more axles is reversed.

Abstract: A control system (200), a method (600), and computer software (208) for controlling an engine (102) and an electric machine (106) of a vehicle (1). The method (600) comprises: receiving (606) a first input signal indicative of an engine idle torque requirement (TA) during engine idling; comparing (610) an instantaneous torque requirement (TA or TA+TB) with a reference engine idling torque (TC) associated with use of a base ignition retardation value; and outputting a control signal (612, 616, 618) to control output torque of the engine in dependence on the comparison, wherein if the instantaneous torque requirement (TA or TA+TB) is less than the reference engine idling torque (TC), the control signal requests (612) the reference engine idling torque (TC) with the base ignition retardation value, and the control system is configured to control the electric machine (106) to impose a retarding torque on the engine (102) to generate electrical energy, thereby reducing a net torque.

Abstract: The present invention generally relates to a support structure for Tidal Energy Converters (TECs), the support structure being for completely submerged deployment. A preferred support structure includes a single stanchion 4, extending in a first direction, and a cross arm 5, extending in a second direction perpendicular or substantially perpendicular to the first direction. The cross arm 5 is statically attached to the stanchion 4, and can support a plurality of TECs 3. A support structure also includes a support frame 7, which extends further in a third direction, perpendicular or substantially perpendicular to the first and second directions, than in the second direction. The support frame 7 is operable to anchor the support structure to a seabed.

Abstract: A garment including an outer shell, an inner liner, and a pocket extending vertically upward for receiving a grip of a golf club, the pocket being disposed between the outer shell and the liner.