Abstract: A method for controlling a vehicle driveline uses sensors to estimate a need for powering secondary wheels for each of a plurality of conditions. The estimates are scaled and the scaled estimates summed. Only primary wheels are powered when the summed estimates are less than a reference value. Both the primary and secondary wheels are powered when the summed estimates exceed the reference value.

Abstract: The invention concerns a method for transferring a load between a target position on board a vessel (40) and an outboard position outboard said vessel. The invention further concerns a motion compensation device (1) applying the method. In the method the load is being transferred by a crane (30) carried by a motion compensation device arranged on board the vessel. The motion compensation device comprises a carrier frame (2), a base (3) and an actuator system (8, 9) for moving the carrier frame with respect to the base; the base being fixed to the vessel and the crane being carried by the carrier frame. During picking up a load from the vessel or placing a load on the vessel, the actuator system is being driven in an on board mode such that the carrier frame is being compensated for x-axis rotational movement and y-axis rotational movement of the vessel, and follows, viewed in the vertical direction, the vertical movement of the target location.

Abstract: The invention concerns a method for transferring a load between a target position on board a vessel (40) and an outboard position outboard said vessel. The invention further concerns a motion compensation device (1) applying the method. In the method the load is being transferred by a crane (30) carried by a motion compensation device arranged on board the vessel. The motion compensation device comprises a carrier frame (2), a base (3) and an actuator system (8, 9) for moving the carrier frame with respect to the base; the base being fixed to the vessel and the crane being carried by the carrier frame. During picking up a load from the vessel or placing a load on the vessel, the actuator system is being driven in an on board mode such that the carrier frame is being compensated for x-axis rotational movement and y-axis rotational movement of the vessel, and follows, viewed in the vertical direction, the vertical movement of the target location.

Abstract: A method for controlling a vehicle driveline uses sensors to estimate a need for powering secondary wheels for each of a plurality of conditions. The estimates are scaled and the scaled estimates summed. Only primary wheels are powered when the summed estimates are less than a reference value. Both the primary and secondary wheels are powered when the summed estimates exceed the reference value.

Abstract: A method for controlling a vehicle driveline includes using current conditions to estimate wheel slip probability and vehicle dynamics handling support requirements, producing two-wheel drive operation, if said slip probability and handling support requirement is low and a condition for forced driveline connection is absent, and producing four-wheel drive operation, if said slip probability and/or handling support requirement is high and a condition for forced driveline disconnection is absent.