Abstract: Disclosed herein is a method of controlling traveling stability of a vehicle. In the present invention, a driver's desired yaw rate is estimated using a steering wheel angle and a reference speed of the vehicle while turning. The condition of a road surface the vehicle is traveling on is judged by comparing lateral acceleration of the vehicle, estimated using the estimated yaw rate and a reference vehicle speed, with lateral acceleration actually measured by a lateral acceleration sensor. A driver's desired reference yaw rate is determined according to the judged road surface condition. It is determined whether a vehicle is understeered or oversteered by comparing the determined reference yaw rate with an actual yaw rate measured by a yaw rate sensor. According to the determined result, braking force and driving force of the vehicle are controlled, thus obtaining excellent vehicle stability.

Abstract: The present invention relates to a method for the production of natural taurine-enriched milk using biological metabolism, in which a precursor for synthesis of taurine is prepared in the shape of a pallet or matrix resistant to degradation in the rumen of ruminants and added to a feedstuff, such that biosynthesis of taurine is induced by stimulation of a substrate. According to the method of the present invention, methionine or methionine precursor which is the precursor for taurine synthesis is coated with additives including an inert material and a filler, and thus protected from a rumen pH and an enzymatic action of rumen microorganisms. As a result, problems of the rumen degradation and the metabolism obstruction can be solved. Taurine-enriched milk according to the present invention contains taurine at a higher concentration than general milk, and hence, can be effectively used for the preparation of functional baby foods, and for the preparation of health foods.

Abstract: Disclosed herein is a method of controlling traveling stability of a vehicle. In the present invention, a driver's desired yaw rate is estimated using a steering wheel angle and a reference speed of the vehicle while turning. The condition of a road surface the vehicle is traveling on is judged by comparing lateral acceleration of the vehicle, estimated using the estimated yaw rate and a reference vehicle speed, with lateral acceleration actually measured by a lateral acceleration sensor. A driver's desired reference yaw rate is determined according to the judged road surface condition. It is determined whether a vehicle is understeered or oversteered by comparing the determined reference yaw rate with an actual yaw rate measured by a yaw rate sensor. According to the determined result, braking force and driving force of the vehicle are controlled, thus obtaining excellent vehicle stability.

Abstract: The present invention relates to a method for the production of natural taurine-enriched milk using biological metabolism, in which a precursor for synthesis of taurine is prepared in the shape of a pallet or matrix resistant to degradation in the rumen of ruminants and added to a feedstuff, such that biosynthesis of taurine is induced by stimulation of a substrate. According to the method of the present invention, methionine or methionine precursor which is the precursor for taurine synthesis is coated with additives including an inert material and a filler, and thus protected from a rumen pH and an enzymatic action of rumen microorganisms. As a result, problems of the rumen degradation and the metabolism obstruction can be solved. Taurine-enriched milk according to the present invention contains taurine at a higher concentration than general milk, and hence, can be effectively used for the preparation of functional baby foods, and for the preparation of health foods.