Abstract: Methods and systems are described for sensing force information at a plurality of points on a continuous surface, and detecting contextual information about an object on the surface based on the distribution of force on the surface. For example, a plurality of sensors may be included below different points on such a substantially continuous surface, where the sensors are operable to sense force information. Then, a processor connected to the sensors may determine a location of the object relative to the surface, based on the force information from the sensors.

Abstract: A method and the associated device for ascertaining the center-of-gravity height of a motor vehicle, in which

Abstract: A rollover control method and a system thereof for accurately predicting the occurrence of a rollover and protecting passengers therefrom.

Abstract: A rollover prevention device and method detects an impending rollover situation for a vehicle (10) having a high center of gravity (cg). The system alerts the operator to potentially dangerous driving conditions and/or automatically slows the velocity of the vehicle (10) to prevent rollover. An electronic control unit for receives output signals from wheel velocity, engine revolution, and engine load sensors and then calculates lateral acceleration, wheel slip difference, and drive torque from the signals. A lateral acceleration limit is defined by plotting lateral acceleration, wheel slip difference and drive torque as a three dimensional surface.

Abstract: System for monitoring vehicle operating conditions and parameters and issuing warnings to the operator when a predetermined vehicle status is present. The predetermined vehicle status includes a variety of unsafe driving conditions and is responsive to a changing center of gravity. The warnings include visual, audible and tactile feedback. By way of the tactile feedback, the system can affect the operator's operation of the vehicle to prevent vehicle instability, rollover, loss of vehicle control or other unsafe driving conditions from occurring.

Abstract: An operating method for container quay cranes used to load and unload container ships by means of a PC with a monitor in a crane driver's cabin. The operating method is carried out by means of a touchscreen and enables the crane to reach its target according to specification in a fully or partially automatic manner.

Abstract: In order to improve a noise emission or noise emission which is caused by a vehicle, according to the invention the instantaneous load (L) of the vehicle (F) is determined with a method for controlling and/or regulating a load (L) of a vehicle (F) by means of a pickup unit (6, 6A to 6C) with reference to at least one operating variable (B) of the vehicle (F), the operating variable (B) being controlled and/or regulated by means of a control unit or regulator unit (2) as a function of a noise level (G(G), G(F), G(U)) resulting from the instantaneous load (L) of the vehicle (F).

Abstract: A control system (18) and method for an automotive vehicle (10) used for detecting lift of a wheel includes a passive wheel lift detector (58) that generates a passive wheel lift signal, an active wheel lift detector (60) that generates an active wheel lift signal, and an integrated wheel lift detector (62) coupled to the passive wheel lift detector (58) and the active wheel lift detector (60). The integrated wheel lift detector (62) generates a final wheel lift signal in response to the passive wheel lift signal and the active wheel lift signal. The final wheel lift signal may be used to control a safety device such as a rollover prevention system.

Abstract: An on-road balancing system is provided that includes an analyzer, vibration sensor, and rotation sensor. The rotation sensor is coupled to at least one vehicle wheel and the vibration sensor is coupled to a component within the vehicle. The analyzer is responsive to input from the rotation sensor and the vibration sensor to calculate a phasor quantity representative of vibrations transmitted from the wheel to the component.

Abstract: The machine determines, by first measurement sensor means (30), the axial position of at least one transverse balancing plane (P1, P2) in which the operator chooses to apply a respective balancing mass, and the radial position of points on the application surface (11a) corresponding with said balancing plane (P1, P2), while the machine monitors the angular position of the body (10); the body (10) is rotated and by suitable means the machine determines the imbalance means together with the data originating from the first and second sensor means, the value of each balancing mass and the position of its point of application on the application surface (11a) being determined.

Abstract: An on-road balancing system is provided that includes an analyzer, vibration sensor, and rotation sensor. The rotation sensor is coupled to at least one vehicle wheel and the vibration sensor is coupled to a component within the vehicle. The analyzer is responsive to input from the rotation sensor and the vibration sensor to calculate a phasor quantity representative of vibrations transmitted from the wheel to the component.

Abstract: A system for determining the height of the center of gravity of a vehicle includes an arrangement configured to determine a difference between wheel contact forces, an arrangement configured to determine a transverse acceleration, an arrangement configured to determine comparison values which compares the change in the difference between wheel contact forces with the change in the transverse acceleration, and an arrangement configured to evaluate a roll model which determines the height of the center of gravity from the comparison values. Furthermore, a corresponding method is for determining the height of the center of gravity of a vehicle.

Abstract: A method for estimating a mass of a vehicle including the steps of: correcting a wheel torque of a vehicle during running by using a preliminarily obtained wheel torque necessary for running on a flat surface at constant speed, obtaining a regression line of the corrected wheel torque and an acceleration/deceleration of the vehicle, and estimating a mass of the vehicle on the basis of a slope of the regression line. It is possible to estimate the mass of the vehicle at high accuracy.

Abstract: Methods and apparatus are provided for automated flight preparation. Methods and apparatus may be used to automatically determine gross weight, weight and balance, take-off distance, rate-of-climb, and flight dynamics, such as fuel, time and distance for an aircraft. In addition, information such as airspeed system calibration, and power-off stall speed in angle of bank may be calculated.

Abstract: A system for assessing the load state of a motor vehicle having at least one wheel (12) includes at least one sensor device (10), which records a quantity proportional to the vehicle weight and emits a signal (Si, Sa) representing the quantity, and an assessment system (14), which processes the signal (Si, Sa) representing the recorded quantity, and assesses a load state of the vehicle according to the result of the processing. According to the present invention, the sensor device (10) is a wheel-force sensor device (10) assigned to the at least one wheel (12) which records, as a value proportional to the vehicle weight, the center of tire force of the respective wheel (12) acting essentially between the road surface and the center of tire surface. The present invention also relates to a corresponding method.

Abstract: Systems and methods for controlling a device are disclosed. In one embodiment, the systems and methods allow for the control of a human transport device such that the human transport device remains in an upright position regardless of the surface being traversed. The systems and methods may include a plurality of operational modes where each mode has different characteristics. Additionally, systems and method for locating a center of gravity of a device are disclosed.

Abstract: A system for estimating vehicle mass includes a control circuit determining an instantaneous vehicle acceleration signal (VA) and an instantaneous vehicle drive force (FDW). As long as a number of preconditions are met, such as vehicle speed within speed range, fueling command above a fueling threshold, gear ratio within a predefined range and VA above an acceleration threshold, the control circuit computes a number of instantaneous vehicle mass estimates (VM) as a function of the VA and FDW values. When any one of the preconditions is no longer met, the control circuit computes a vehicle speed change during the next gear shift and disregards the number of vehicle mass estimates if this vehicle speed change is outside predefined boundaries. Otherwise, the control computer processes the number of vehicle mass estimates to form an updated vehicle mass estimate.

Abstract: A method and apparatus for determining the center of gravity of an aircraft having a plurality of wheels includes the steps of determining the load on one of the plurality of aircraft wheels, determining the aircraft inclination with respect to level, relating the wheel load to the aircraft center of gravity based on the aircraft inclination. The load determination may be conducted by measuring the load on the nose wheel or at some selected point along the longitudinal axis spaced from the main landing gear. An inclinometer is used to measure the aircraft inclination at the time the load is determined. A processor may be provided for receiving the load cell signal and inclination information, and determining wheel load.

Abstract: In the present invention, the distance from a predetermined point to the center of gravity of the load and a first portion of a work machine and the distance from that predetermined point to the center of gravity of the second portion of the work machine are compared, either singly or in a combination, to a predetermined value. Optionally, the articulation angle of the machine and weight and position of the load are combined with a vehicle weight value into a stability value and the stability value is compared to an alarm value. Should an instability condition be detected, an output signal is sent to an output device to alert the operator and/or affect the movement of the machine to prevent instability of the work machine.

Abstract: A method and apparatus for determining the center of gravity of an aircraft having a plurality of wheels includes the steps of determining the load on one of the plurality of aircraft wheels, determining the aircraft inclination with respect to level, relating the wheel load to the aircraft center of gravity based on the aircraft inclination. The load determination may be conducted by measuring the load on the nose wheel or at some selected point along the longitudinal axis spaced from the main landing gear. An inclinometer is used to measure the aircraft inclination at the time the load is determined. A processor may be provided for receiving the load cell signal and inclination information, and determining wheel load.

Abstract: A method and device is disclosed for determining and detecting the rollover hazard of a vehicle through a dynamic detection of variations in the center of gravity of the vehicle. During cornering of the vehicle, first condition variables, which correspond to the respective wheel load, are detected on at least two wheels. The detected first condition variables are compared to reference values representative of the respective cornering maneuver. A corresponding change in the center of gravity is calculated from the differences between the detected first condition variables and the reference values.

Abstract: A device and method for determining values and/or generating signals, which can be used for closed-loop or open-loop controlling of the driving behavior of a vehicle equipped with a sensor system that detects wheel contact forces, includes determining the vehicle mass via the wheel contact forces that are detected, and further includes at least one of determining shifts in the wheel contact forces, and determining the required drive torque.

Abstract: An aerial work platform supported by a riser boom, a telescoping main boom, and a jib boom. Boom movement may be controlled by a platform control module or a ground control module connected to a controller by a controller area network (CAN). Movement of the platform and the jib boom are limited to a predefined envelope. If an operator attempts to move the platform outside the envelope, the controller automatically retracts the telescoping boom section or automatically levels the jib boom section in order to maintain the platform within the acceptable envelope. Boom section select switches permit the operator to select and move sequentially or simultaneously in different directions. Timers which are part of the system include various interlocks to accomplish safety and power saver features.

Abstract: A system for an automotive vehicle that includes a roll control system (16) and a wheel lift detector (20) is provided for an automotive vehicle (10). The automotive vehicle (10) has wheels (12) that when lifted from the road plane have less steering effort associated therewith. Preferably, each of the steered wheels (12) has a steering actuator (42) and an actuator sensor (30) for monitoring the steering effort. The load of the steering actuator (42) is monitored and the actuator (42) having the lightest load is determined. A steering perturbation is applied to the steering actuator and the steering effort is monitored during the perturbation. If the steering effort during the perturbation is lower than a lift threshold, then lift will be indicated. If the steering effort is greater than a lift threshold, then contact has been maintained with the road surface.

Abstract: Methods and apparatus are provided for automated flight preparation. Methods and apparatus may be used to automatically determine gross weight, weight and balance, take-off distance, rate-of-climb, and flight dynamics, such as fuel, time and distance for an aircraft. In addition, information such as airspeed system calibration, and power-off stall speed in angle of bank may be calculated.

Abstract: The attitude of a tiltable body is tracked and controlled on the basis of signals outputted from gyros and tilt sensors. The signals outputted from the gyros are transformed and integrated to produce estimated position information in the form of a modified quaternion in which the yaw component is constrained to a zero value. Modified quaternion information in the same form is also generated from signals outputted from the tilt sensor and is used to detect and correct an error component in the estimated position information. Gyro drift is also corrected based on the output of the tilt sensor.

Abstract: A method of monitoring the weight distribution on a vehicle includes measuring characteristic values of axles, comparing the measured values with expected values, and when the measured values differ from the expected values, sending warning signals that the vehicle may be experiencing a problem. The method of monitoring the weight distribution on a vehicle is used to determine the weight shift of cargo on the vehicle. The present invention allows the driver to check the weight distribution on the vehicle while operating the vehicle. Characteristic values include any value of the axles that are indicative an effect of weight on the vehicle. Such characteristic values may include acceleration, deceleration, stress, strain, and, of course, weight. Detectors measure the characteristic values on axles of a vehicle and send value signals to a control which receives the value signals, performs computations based on the measured values, and compares the computations with expected values of the axles.

Abstract: A method and apparatus for determining the center of gravity of an aircraft having a plurality of wheels includes the steps of determining the load on one of the plurality of aircraft wheels, determining the aircraft inclination with respect to level, relating the wheel load to the aircraft center of gravity based on the aircraft inclination. The load determination may be conducted on the aircraft nose wheel using a lever apparatus including a frame having a forward end and an aft end the aft end including an attachment device located at the aft end for providing detachable engagement with the wheel axle. The lever apparatus also includes a pivot arm having a first end and a second end, the first end pivotally attached to the frame at a pivot point located between the forward end and the aft end of the frame.

Abstract: An automatic leveling system for a vehicle supporting an articulable boom system. The automatic leveling system uses a microprocessor to monitor various inputs indicative of the current position of the vehicle and generates electrical drive signals to control the amount of extension of various outriggers extending from the vehicle.

Abstract: Described is a mobile apparatus (10) having at least one wheel (14) which is rotatable about a wheel axle (12). A main body (16) of the apparatus is mounted swingingly on the wheel axle (12). Oscillating movements of the main body (16) about the wheel axle (12) are compensated by means of a compensating weight (68) which is definedly movable out of the normal rest position by means of a regulator (56). A drive device (18) is provided on the main body (16) for driving the at least one wheel (14) of the mobile apparatus (10). The wheel axle (12) has at least one differential (20) which is operatively connected to the drive device (18) and which is arranged between the at least one wheel (14) and an associated pinion (36) which is operatively connected to the associated regulator (56) and to the corresponding compensating weight (68) or to the compensating weight (68) formed by the respective regulator (56).

Abstract: Sensors are mounted within a seat structure for measuring seat occupant weight. The sensors can be mounted in any one of various sensor configurations. So that common hardware can be used for each different sensor configuration, a virtual matrix is created and output from the sensors is mapped into the virtual matrix. The virtual matrix includes virtual cell locations that do not have a corresponding sensor output; i.e., there are fewer physical cells (sensors) than virtual cell locations in the virtual matrix. A weight output signal from each sensor is mapped into the corresponding position in the virtual matrix and the remaining virtual cell locations have values assigned to them based on data supplied by the surrounding physical cells. Seat occupant weight is determined based on output from the virtual matrix and the occupant is placed into one of the various occupant classifications. Deployment force of a restraint system is controlled based on the classification of the seat occupant.

Abstract: A system and method for operating a device in ascending or descending stairs. The device has a plurality of wheels rotatable about axes that are fixed with respect to a cluster arm, where the cluster arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and cluster arms are controlled according to separate control laws by a controller. Whether the device ascends or descends the stairs is governed by the pitch of the device relative to specified front and rear angles. Shifting the center of gravity of the combination of device and payload governs the direction of motion of the device.

Abstract: A method of pre-planning and loading of aircraft before physically loading pallets on the aircraft is disclosed. An identifier is entered into a processor to identify an aircraft to be loaded. Based on the identifier, a data file relating to the loading limitations of the aircraft to be loaded is retrieved from the database. Data regarding the amount of fuel upon departure is entered, as well as the weights of pallets to be loaded into pallet positions. A user selects a first option for calculating within the processor the optimum location of pallets and pallet positions to obtain the optimum center of gravity balance of the aircraft, or the user selects a second option for determining if the center of gravity of the aircraft based on the entered location of pallets and pallet positions are within the center of gravity limits of the aircraft.

Abstract: A hand-held computer that displays the aircraft floor plan with passenger and baggage compartments shown on a pad, with which a pilot can calculate the Center of Gravity (CG) of an aircraft by simply entering the load weights for different areas of an airplane. The floor plan can be changed for different aircraft. Next to each section of the plane is a button that, when pressed, allows a pilot to enter data for that section. As the pilot adds weight to each section, the computer can calculate the CG for the loaded aircraft. The computer can display the total weight, CG and other data related to the plane. The device can also printout the data for use as a manifest or for other documentation purposes. The device is the size and shape of a clipboard. In one version, the floor plan is fixed. In a second version, the floor plan can be changed for different aircraft.

Abstract: A rear axle which supports rear wheels is attached to the body of a vehicle in such a way as to be swingable up and down around a center pin. A controller detects the running state from detection values &thgr; and V of a sensor for detecting the tire angle of the rear wheels and a sensor for detecting a vehicle speed, and detects the load state from detection values H and w of a height sensor and a pressure sensor. When a determination value derived from the detection values &thgr; and V becomes equal to or greater than a set value which is determined in accordance with the detection values H and w, an electromagnetic changeover valve of a dumper is switched to carry out control to lock the rear axle. When a sensor is diagnoses as failing, maximum values &thgr;max and Vmax or the like are selected as most severe detection values.

Abstract: An electromagnetically actuated machine balancer including a plurality of peripherally placed magnetic circuits and a power driver which selectively interrupts the magnetic flux through the circuits, thereby moving unbalanced rotors in a desired manner to compensate for machine unbalance.

Abstract: A balance control mechanism for an overhead traveling carrier includes a movable section disposed on a carrier body at a position below the fulcrum of a traveling wheel of the carrier such that the movable section can be moved laterally of the carrier body to thereby displace the center of gravity of the movable section laterally of the carrier body, a gravity center moving unit for moving the center of gravity of the movable section with respect to the carrier body, and a balance control unit for calculating a balancing position at which the center of gravity of the movable section is to be placed so that the moment of a centrifugal force turning around the fulcrum with an axis lying in a direction of travel of the carrier and applied to the carrier in its entirety upon travel of the carrier over a curved portion of the rail is counterbalanced by the moment of gravity, and then controlling the gravity center moving unit to cause the center of gravity of the movable section to be moved to the balancing positi

Abstract: The method of determining respective rotational position angles (&agr;x,&agr;y,&agr;z) of a vehicle includes measuring respective accelerations (ax, ay, az) of the vehicle (FZ) in the x, y and z directions; calculating first position angle values (&phgr;x1,&phgr;x2) and second position angle values (&phgr;y1,&phgr;y2) from the measured accelerations according to equations (1) and (2): &phgr;x1=arcsin {ay/g} &phgr;y1=arcsin {ax/g}  (1) &phgr;x2=arccos{az/g} &phgr;y2=arccos{az/g}  (2) wherein g is the acceleration of gravity; determining respective inertial position angles (&phgr;x,&phgr;y) as the smaller of the first position angle values (&phgr;x1,&phgr;x2) and of the second position angle values (&phgr;y1,&phgr;y2); measuring corresponding rotation rates (&ohgr;x,&ohgr;y,&ohgr;z) of the vehicle and determining the respective rotational position angles (&agr;x,&agr;y,&agr;z) by integration of corresponding rotation ra

Abstract: A crash detector activates a safety device (3, 4) such as an air-bag in a vehicle. The crash detector incorporates an acceleration sensor (10), the output of which must pass a threshold (11) before the signal is processed by a signal processor (2). The signal is processed optionally in conventional ways (13, 14; 16, 17) to activate the safety device. Activation of the safety device is inhibited by a slam algorithm generator (18). In the slam algorithm generator a control signal is generated which converges towards an average of the acceleration signal during periods of time in which the acceleration signal indicates an inward acceleration in excess of a predetermined level, the control signal being reduced at a substantially constant rate with time during periods in which the acceleration is not in excess of said predetermined level. The control signal is passed to a threshold means (19) which enables (15) actuation of the safety device (3, 4).

Abstract: Weight sensors coupled to the bed of a conventional haulage truck measure the weight applied to each tire strut as the truck is being loaded. Based on the weight applied to each strut, the exact position of the center of gravity of the load in the truck's bed is calculated and displayed on a monitor relative to a target position deemed optimal for uniform weight distribution. Based on this information, the operator of the loading machine can complete the loading operation in such a way as to shift the center of gravity toward the chosen target position. In another embodiment of the invention, an automated algorithm calculates and displays where the next bucket load should be dropped, based on its approximate weight, in order to shift the center of gravity toward the target location.

Abstract: An onboard system for use in measuring, computing and displaying the weight and center-of-gravity for aircraft, while keeping aircraft movement to a minimum. Pressure sensors are mounted in relation to each of the landing gear struts. An onboard pump and reservoirs are attached to each of the landing gear struts and are activated by a computer/controller, while landing gear strut pressures are monitored in the determination of strut stiction. The computer/controller calculates the stiction of each landing gear strut and compensates for the pressure distortions caused by landing gear strut stiction. Additional features include reducing strut stiction, measuring landing gear strut fluid levels, monitoring landing gear strut health, weight adjustments for external ice and de-icing fluids, weight adjustments for wind, monitoring aircraft landing gear strut movement.

Abstract: An apparatus for controlling the tilt of a rear axle of a forklift is disclosed. A locking mechanism, which includes a hydraulic damper and a shutoff valve, locks the rear axle against tilt. A controller determines that a locking condition for locking the rear axle is satisfied when at least one of the centrifugal acceleration acting on the forklift and the rate of change of the yaw rate is equal to or greater than a predetermined determination value. The controller estimates the location of the center of gravity in the fore-and-aft direction of the forklift based on the tilt angle of a forks, the height of the forks and weight of an object on the forks. When determining that the driving force of the drive wheels is not sufficiently transmitted to the road surface based on the estimated location of the center of gravity, the controller does not permit the locking of the rear axle even if the locking condition is satisfied.

Abstract: An on-board aircraft system for determining the weight and load-related characteristics of an aircraft having landing gear struts (which each have a strut cylinder, a strut piston, and a working fluid in the strut cylinder) includes an accelerometer associated with each gear strut for measuring acceleration. The system further includes a pressure-adjustment means coupled to each strut cylinder for selectively adjusting the pressure in each strut cylinder to cause each landing gear strut to extend and retract; a plurality of pressure transducers coupled to the plurality of landing gear struts for measuring a pressure in each strut cylinder; and a computer. The computer is operable to cause retracting and extending the strut, to store pressure measurements of the strut cylinder during the retraction and extension of the strut, to store acceleration measurements corresponding to each pressure measurement taken, and to calculate the weight based on the pressure measurements and the acceleration measurements.

Abstract: A double-inverted wheeled passenger carrier (WPC) that is actively stabilizing on two or more axially-spaced wheels through a controller that senses and adjusts three degrees of freedom that allows the WPC to actively stabilize itself to keep a passenger essentially upright during movement, including traversing stairs and the like. The WPC (10) includes a wheel assembly (12) having at least two axially-spaced wheels (14), each wheel having an axis of rotation (15), a frame (16) having a first pivot (18) and second pivot (22), and a chair (20). The frame (16) is attached to the wheel assembly (12) at the first pivot (18). The chair (20) is attached to the frame (16) at the second pivot (22), allowing the chair (20) to rotate independently of the wheels (14).

Abstract: There is provided, in a preferred embodiment, a vehicle for transporting a payload (which may but need not include a human subject) over ground having a surface that may be irregular. This embodiment has a support for supporting the payload. A ground-contacting module, movably attached to the support, serves to suspend the payload in the support over the surface. The orientation of the ground-contacting module defines fore-aft and lateral planes intersecting one another at a vertical. The support and the ground-contacting module are components of an assembly. A motorized drive, mounted to the assembly and coupled to the ground-contacting module, causes locomotion of the assembly and the payload over the surface. A CG modifying arrangement is provided for actively modifying the location of the center of gravity of the assembly.

Abstract: There is provided, in a preferred embodiment, a transportation vehicle for transporting an individual over ground having a surface that may be irregular. This embodiment has a support for supporting the subject. A ground-contacting module, movably attached to the support, serves to suspend the subject in the support over the surface. The orientation of the ground-contacting module defines fore-aft and lateral planes intersecting one another at a vertical. The support and the ground-contacting module are components of an assembly. A motorized drive, mounted to the assembly and coupled to the ground-contacting module, causes locomotion of the assembly and the subject therewith over the surface. Finally, the embodiment has a control loop, in which the motorized drive is included, for dynamically enhancing stability in the fore-aft plane by operation of the motorized drive in connection with the ground-contacting module.

Abstract: The present invention relates to an apparatus to provide a monitoring device for detecting problems associated with the wheels of trucks and trailers. The apparatus comprises one or more individual axle spindle sensors, a programmable micro processor for receiving and processing the sensor signals to detect an alarm condition and alarm means to alert the driver of a problem with one or more of the wheels.

Abstract: A monorail vehicle used for material handling purposes comprises a number of cars which run on a track. The cars are linked together in one or more trains and each train has a master car and several slave cars. An embedded computer in the master car keeps track of the location on the train on the track by means of pulses from a Hall effect sensor in a brushless DC motor which powers the train. A central computer in an off board work station issues commands to the train and by monitoring its position on the track loop, the embedded computer in the master car of the train determines when to execute the command. A special jumper is used to connect the cars of the train together which distributes control signals to the various cars in the train without regard to the position of the cars in the train.

Abstract: There is provided, in a preferred embodiment, a transportation vehicle for transporting an individual over ground having a surface that may be irregular. This embodiment has a support for supporting the subject. A ground-contacting module, movably attached to the support, serves to suspend the subject in the support over the surface. The orientation of the ground-contacting module defines fore-aft and lateral planes intersecting one another at a vertical. The support and the ground-contacting module are components of an assembly. A motorized drive, mounted to the assembly and coupled to the ground-contacting module, causes locomotion of the assembly and the subject therewith over the surface. Finally, the embodiment has a control loop, in which the motorized drive is included, for dynamically enhancing stability in the fore-aft plane by operation of the motorized drive in collection with the ground-contacting module.