Abstract: A control system (300) for controlling an active suspension system (104) of a vehicle (100), the control system comprising one or more controller (301), wherein the control system is configured to: obtain (908) information indicative of relative traction levels between different wheels (FL, FR, RL, RR) of the vehicle; and in dependence on the information, control (912) the active suspension system to increase normal force through a wheel (FR) of the vehicle having relatively high traction compared to one or more other wheels (FL, RL, RR) of the vehicle, and decrease normal force through a wheel (FL) of the vehicle having relatively low traction compared to one or more other wheels (FR, RL, RR) of the vehicle.

Abstract: A control system (300) for controlling an active suspension system (104) of a vehicle (100), the control system comprising one or more controller (301), wherein the control system is configured to: detect (1004) a ramp (202) approached by an overhang of the vehicle; and in dependence on detecting the ramp, control (1020) the active suspension system to modify a relative ride height between a leading ride height at a set of leading wheels (FL, FR) of the vehicle and a trailing ride height at a set of trailing wheels (RL, RR) of the vehicle, to increase a ramp angle (?, ?) of the vehicle relative to the ramp.

Abstract: A control system (300) for controlling an active suspension system (104) of a vehicle (100), the control system comprising one or more controller (301), wherein the control system is configured to: determine (804) that an entry condition is satisfied; in dependence on satisfaction of the entry condition, transmit (806) a request to the active suspension system to create clearance beneath a first wheel (FL, RR) of the vehicle but not create clearance beneath a plurality of other wheels (FR, RL) of the vehicle.

Abstract: A control system (300) for controlling an active suspension system (104) of a vehicle (100), the active suspension system comprising suspension actuators (502), the control system comprising one or more controller (301), wherein the control system is configured to: in dependence on an activation signal (904), provide (908) a control signal to the active suspension system to cause the suspension actuators of the active suspension system to repetitively pulse vertical force through wheels (FR, FL, RR, RL) of the vehicle in a controlled pattern determined by the one or more controller, to vary wheel-to-surface contact patch forces, wherein the pattern comprises repetitively pulsing vertical force through at least one of the wheels at a first phase and through at least one other of the wheels at a second phase.

Abstract: A control system (300) for controlling an actuator arrangement (104) of a vehicle (100), the actuator arrangement being capable of modifying a camber angle of at least one wheel of the vehicle, the control system comprising one or more controller (301), wherein the control system is configured to: receive (1004) surface information indicative of a low-traction surface over which the vehicle is travelling; and independence on receiving the surface information, control (1012) the actuator arrangement of the vehicle such that a wheel-to-surface contact patch of the at least one wheel is laterally moved relative to the vehicle as a result of camber modification.

Abstract: A control system (300) for controlling an active suspension system (104) of a vehicle (100) to determine relative traction levels, the control system comprising one or more controller (301), wherein the control system is configured to (908): control the active suspension system to change normal force through a first subset of one or more wheels; determine a traction-dependent variable at each of the first subset of wheels to which known torque is applied; control the active suspension system to change normal force through a second subset of one or more wheels; and determine a traction-dependent variable at each of the second subset of wheels to which known torque is applied, wherein the traction-dependent variables indicate relative traction levels.

Abstract: A control system (300) configured to control an active suspension system (104) of a vehicle (100), the control system comprising one or more controller (301), wherein the control system is configured to: determine (702) that the vehicle is travelling on or approaching repeating surface undulations; determine (709) vehicle speed; determine (708) an indication of surface wavelength of the repeating surface undulations; and control (722, 728) the active suspension system to control at least one of a leading wheel suspension frequency and a trailing wheel suspension frequency in dependence on the vehicle speed and surface wavelength.

Abstract: A control system (300) for controlling an active suspension system (104) of a vehicle (100), the vehicle having one or more leading wheels (FL, FR) and one or more trailing wheels (RL, RR), the control system comprising one or more controller (301), wherein the control system is configured to: determine (708) that vehicle movement is impeded at a leading wheel (FR) of the vehicle; and in dependence on the determination, transmit (712) a transient force request to the active suspension system to transiently unload the leading wheel.

Abstract: Aspects of the present invention relate to a method and to a control system for controlling an active suspension of a vehicle, the control system comprising one or more controllers, the control system configured to: obtain information indicative of a change of gradient of a driving surface in a direction of travel; and control the active suspension to adjust relative ride height between a front and rear of a vehicle body of the vehicle above the driving surface beneath the vehicle in dependence on the change of gradient.

Abstract: The present invention relates generally to methods for enantiomeric separation of complex chemical mixtures using micelles of surfactant molecules that have a sulfate or sulfonate head group, a chiral selector, a linker, and a hydrophobic tail. Also provided are micelle compositions with sulfate or sulfonated head groups, methods of manufacture, and applications thereof. In particular, the micelles of the present invention provide an efficient enantiomeric separation and detection techniques for use in capillary electrophoresis and capillary electrophoresis with mass spectrometry.