Abstract: A controller is provided for a vehicle having front and rear axles, each axle having two wheels, and first and second propulsion units. The controller controls the first and second propulsion units to generate a combined torque with reference to a total requested torque. The controller is configured to: receive a torque request signal; receive traction signals indicating available traction at at least one wheel; determine a traction torque range defined by a maximum and minimum torque for at least one of the at least first or second propulsion units in dependence on one or more of the traction signals; determine a proposed distribution of torque between each of the at least first and second propulsion units with reference to the total requested torque; and determine a proposed torque to be generated by each of the at least first and second propulsion units in dependence on the proposed distribution of torque.

Abstract: The present invention combines a small, compact, light-in-weight television receiver with a positioning mechanism that allows the television viewer to orient the television screen to suit her own comfort. The small size of the television receiver is intended to service only a few viewers at a time. Since the present invention utilizes a small, lightweight television receiver, a much more agile positioning mechanism can be employed.The television receiver is supported in space by the articulation mechanism. The articulation mechanism can be attached to a wall, the headboard of a bed, to a piece of medical equipment, or to any other fixed object. An umbilical cable is drawn through the articulation mechanism and connects the television receiver to a power adapter. The power adapter accepts utility power from household convenience outlets and draws television signals from an antenna or a cable television outlet.