Abstract: A vehicle steering system includes a first sensor sensing a pinion angle of a handwheel and a second sensor sensing a torsion bar windup angle. An autonomous steering module generates a steering command having an input torque signal. A steering angle controller is configured to determine a filtered handwheel acceleration based on the pinion angle and the windup angle. The steering angle controller also determines an offset torque based on the filtered handwheel acceleration. Further, the steering angle controller applies the offset torque to the input torque signal to define a refined torque signal that compensates for inertia and off-center mass of the handwheel.

Abstract: A vehicle steering system includes a first sensor sensing a pinion angle of a handwheel and a second sensor sensing a torsion bar windup angle. An autonomous steering module generates a steering command having an input torque signal. A steering angle controller is configured to determine a filtered handwheel acceleration based on the pinion angle and the windup angle. The steering angle controller also determines an offset torque based on the filtered handwheel acceleration. Further, the steering angle controller applies the offset torque to the input torque signal to define a refined torque signal that compensates for inertia and off-center mass of the handwheel.

Abstract: A vehicle steering system includes a first sensor sensing a pinion angle of a handwheel and a second sensor sensing a torsion bar windup angle. An autonomous steering module generates a steering command having an input torque signal. A steering angle controller is configured to determine a filtered handwheel acceleration based on the pinion angle and the windup angle. The steering angle controller also determines an offset torque based on the filtered handwheel acceleration. Further, the steering angle controller applies the offset torque to the input torque signal to define a refined torque signal that compensates for inertia and off-center mass of the handwheel.

Abstract: A system and method for use in used in oil and gas wellbores is provided. More specifically, the disclosure relates to barriers or seals used in downhole operations involving activities such as perforating operations and well abandonment operations. The system and method relate to sealing a borehole such as when a well is being abandoned at the end of its productive life. The embodiments are particularly applicable to boreholes containing casing with an inner wall and an outer wall wherein an annulus is formed between the outer wall of the casing and the borehole wall.

Abstract: A vehicle steering system includes a first sensor sensing a pinion angle of a handwheel and a second sensor sensing a torsion bar windup angle. An autonomous steering module generates a steering command having an input torque signal. A steering angle controller is configured to determine a filtered handwheel acceleration based on the pinion angle and the windup angle. The steering angle controller also determines an offset torque based on the filtered handwheel acceleration. Further, the steering angle controller applies the offset torque to the input torque signal to define a refined torque signal that compensates for inertia and off-center mass of the handwheel.

Abstract: A system and method for use in used in oil and gas wellbores is provided. More specifically, the disclosure relates to barriers or seals used in downhole operations involving activities such as perforating operations and well abandonment operations. The system and method relate to sealing a borehole such as when a well is being abandoned at the end of its productive life. The embodiments are particularly applicable to boreholes containing casing with an inner wall and an outer wall wherein an annulus is formed between the outer wall of the casing and the borehole wall.