Abstract: A brake/drive force control system includes: a requested acceleration calculating section; a powertrain control section calculating a minimum brake/drive force at the time of no fuel cut and a fuel-cut brake/drive force, generating larger one of a requested brake/drive force and the minimum brake/drive force when the requested brake/drive force is larger than the fuel-cut brake/drive force, and generating the fuel-cut brake/drive force when the requested brake/drive force is equal to or smaller than the fuel-cut brake/drive force; a brake control section generating a requested brake force; and a brake/drive force control section calculating the requested brake/drive force from requested acceleration, requesting the powertrain control section for the requested brake/drive force, acquiring the brake/drive force generated by a powertrain, and when the requested brake/drive force is smaller than the acquired brake/drive force, requesting the brake control section for a difference between the requested brake/drive

Abstract: An expanded powertrain interface and strategy for an autonomous driving controller to control powertrain torque (or vehicle acceleration/deceleration) capability at the current operating point, in addition to capability for subsequent operating points at a future time based on predictive assessment of powertrain energy management, subsystem contraints/limits, and capability in the future. The powertrain interface and strategy applies to a vehicle with electrified powertrain control (hybrid electric vehicle (HEV) or pure battery electric vehicle (BEV)) with an autonomous driving (AD) capability (either full or semi-automated driving). This powertrain interface and strategy may also be used with non-electrified powertrain (conventional) systems based on available combustion engine torque at the target vehicle speed and gear.

Abstract: A system for controlling vehicle speed in accordance with a current value of vehicle set-speed. The system responds to user input to change the current value of vehicle set-speed to a different value and is configured to store the current value of set-speed in a memory as a stored set-speed and to change the current value of set-speed in dependence on the user input. The speedometer indicates both the current and stored set-speeds. The system can return the current value of vehicle set-speed to the stored set-speed upon receipt of a “resume” or other user command. The system can enter into a descent control mode that applies braking torque but no drive torque and can also enter into a full functionality mode that provides either drive or braking torque to maintain the vehicle at the set-speed.

Abstract: A system and method for adjusting an engine throttle opening amount includes a slope-determining unit that determines an angle of inclination of a vehicle, a throttle request determining unit that determines a throttle request, and an engine control unit. The slope-determining unit may include a longitudinal g acceleration sensor. The engine control unit calculates a slope gain factor from the angle of inclination and compares the slope gain factor to a predetermined threshold. If the slope gain factor is greater than the predetermined threshold, the engine control unit generates a throttle command to increase the current throttle opening amount based on the throttle request and the slope gain factor. Alternatively, if the slope gain factor is less than or equal to the predetermined threshold, the engine control unit controls the throttle opening amount based on the throttle request and independently of the slope gain factor.

Abstract: A drive assist apparatus which performs driving assistance in a predetermined interval having a gradient, includes average gradient information acquisition means for acquiring average gradient information of the predetermined interval; driving status information acquisition means for acquiring driving status information of a host vehicle; and gradient estimation means for estimating a gradient of a certain point within the predetermined interval or an average gradient of a certain interval within the predetermined interval, based on the average gradient information acquired by the average gradient information acquisition means and the driving status information of the host vehicle that is acquired by the driving status information acquisition means, and performs driving assistance in the predetermined interval, using the gradient that is estimated by the gradient estimation means.

Abstract: An example method of operation comprises, selectively shutting down engine operation responsive to operating conditions and without receiving an engine shutdown request from the operator, maintaining the automatic transmission in gear during the shutdown, and during an engine restart from the shutdown condition, and with the transmission in gear, transmitting reduced torque to the transmission. For example, slippage of a forward clutch of the transmission may be used to enable the transmission to remain in gear, yet reduce torque transmitted to the vehicle wheels.

Abstract: An electronic control unit senses an actual shift range of a automatic transmission by executing a range determination operation, which determines the actual shift range of the automatic transmission based on a rotational position of a manual shaft that is sensed with an encoder. The control unit prohibits the execution of the range determination operation throughout a range determination operation prohibiting period, which is a predetermined time period and starts from a time point of starting rotation of the rotor of the electric motor unit toward the target rotational position.

Abstract: In a linear solenoid 107n, an electromagnetic coil 71n, a pressure sensor 72n, and label resistors 73n and 74n for correcting an inherent variation in a pressure detection characteristic are integrated; the standard characteristic of the pressure sensor 72n is stored in a control module 120M; when driving is started, the resistance values of the label resistors 73n and 74n are read, the pressure detection characteristic of the utilized pressure sensor 72n is corrected, and an excitation current for the electromagnetic coil 71n is controlled in such a way that a target adjusted hydraulic pressure is obtained. Even when due to a change in the oil temperature, the valve opening characteristic of the linear solenoid 107n changes, the adjusted hydraulic pressure is controlled to be constant.

Abstract: A method of controlling an engine in a motor vehicle includes opening a throttle to an increased angle when conditions for fuel cut cycling are met. More specifically, when cruise control is on, the motor vehicle is moving downhill, and the current speed drops below a target speed, the engine control unit may choose to increase the angle of the throttle while maintaining fuel cut. Under other interrupting events, the engine control unit may choose to resume fueling control or reduce the throttle angle.

Abstract: A coasting control device for avoiding dangerous modes such as tire lock up upon the end of coasting control. The device, which performs coasting control to disengage the clutch and to reduce the engine revolutions per minute (RPM), also prevents a gearshift operation during coasting control.

Abstract: A system and method involves a machine having a power train including a continuously variable transmission (CVT) associated with a plurality of virtual gear ratios. To shift between the plurality of virtual gear ratios, the machine may include an operator input device that may be movable between a plurality of distinct positions. A first position may be associated with a neutral position in which no shifting of virtual gear ratios occurs. A second position of the operator input device may be associated with a first incremental rate for shifting between the virtual gear ratios. A third position may be associated with a second incremental rate for shifting between the virtual gear ratios which is different than the first incremental rate.

Abstract: Providing a control apparatus for a vehicular drive system, which is configured to implement a torque reduction control during a shifting action of an automatic transmission, and which permits reduction of the size and cost of an electric circuit including a smoothing capacitor. An electricity-generation-amount-variation restricting region A01 is predetermined such that a point of a vehicle running state lies in the electricity-generation-amount-variation restricting region A01 prior to a moment of determination to perform a shifting action of the automatic transmission, and electricity-generation-amount-variation restricting means 96 implements an electricity-generation-amount-variation restricting control to restrict a rate of increase of a total amount of an electric energy generated by first and second electric motors MG1 and MG2, to a predetermined upper limit value LTGN, when the point of the vehicle running state has moved into the electricity-generation-amount-variation restricting region A01.

Abstract: A system and method of controlling first and second electric motors of a vehicle having an electrically variable transmission during an engine start/stop operation. The system and method determine a type of shift being performed, determine if a first clutch is being applied or released during the shift, determine if a second clutch is being applied or released during the shift, determine an acceleration limit based on the shift being performed and which clutch is being applied and/or released, determine acceleration and speed profiles based on the shift being performed, which clutch is being applied and/or released and the acceleration limit, determine a first electric motor torque and a second electric motor torque based on the acceleration and speed profiles, and set the torques of the first and second electric motors to the determined first and second electric motor torques.

Abstract: In a method and a device for operating a drive unit, a first output variable of the drive unit is restricted; a setpoint value of a second output variable of the drive unit is specified; and an actual value of the second output variable of the drive unit is determined. The setpoint value is compared with the actual value, and if it is determined that the actual value does not exceed the setpoint value, then the first output variable is restricted to a first value. If it is determined that the actual value exceeds the setpoint value, then the first output variable is restricted to a second value smaller than the first value.

Abstract: A pulse signal output unit sends three-phase pulse signals according to movement of the movable member. A counter unit adds a first predetermined value or a second predetermined value to a count value or subtracts the first predetermined value or the second predetermined value from the count value, according to a combination of the pulse signals appearing when all the pulse signals are normal and a combination of the pulse signals appearing when one of the pulse signals malfunctions. A position detection unit detects the position of the movable member according to the count value.

Abstract: A motorized vehicle includes a transmission system and an inch/brake device providing at least two ranges of motion. An engagement force of the transmission system is provided in a first range of motion of the inch/brake device, and a braking force of the motorized vehicle is provided in a second range of motion of the inch/brake device. An accelerator device moves between two or more positions, wherein moving the accelerator device from one position to another position causes an amount of overlap between the first and second ranges of motion of the inch/brake device to vary.

Abstract: A device comprising a processor that detects an autonomously sensed change in a vehicle's operational state from an initial state characterized by a sensed vehicle speed equal to about 0; to an immediately succeeding vehicle state characterized by sensed vehicle speed being greater than about 0 and, verification from a reverse operating mode sensor that longitudinal vehicle speed is in a reverse direction; and presumptively signals the thusly detected change of vehicle operational state as an instance of reverse operation of the associated vehicle.

Abstract: A method for controlling a vehicle's speed includes adopting a desired speed vset for the vehicle; determining by means of map data and location data a horizon for the intended itinerary which is made up of route segments with at least one characteristic for each segment; effecting the following during each of a number of simulation cycles (s) each comprising a number N of simulation steps conducted at a predetermined frequency f: making a first prediction of the vehicle's speed vpred—cc along the horizon with conventional cruise control when vset is presented as reference speed, which prediction depends on the characteristics of said segment; comparing the predicted vehicle speed vpred—cc with vmin and vmax, which demarcate a range within which the vehicle's speed is intended to be; making a second prediction of the vehicle's speed vpred—Tnew along the horizon when the vehicle's engine torque T is a value which depends on the result of said comparison in the latest preceding simulation cycle (s?1); determini

Abstract: A vehicle braking control system includes a vehicle brake associated with a wheel on the vehicle. A pedal activated by an operator of the vehicle controls application of the brake. An electronic control unit determines a grade mode of the vehicle and controls application of the brake independent of the operator activating the pedal while in an automatic braking mode. The electronic control unit sends a control signal to apply the brake in a manner to reduce brake fade while controlling a speed of the vehicle when the electronic control unit is in the automatic braking mode and the vehicle is in a downhill grade mode.

Abstract: A control system for a transmission of a vehicle including an engine includes a deceleration fuel cutoff (DFCO) module and an accumulator module. The DFCO module initiates a DECO period of engine operation. The accumulator module increases a working pressure of a transmission accumulator in response to a start of the DFCO period. A method for controlling a transmission of a vehicle including an engine includes initiating a DECO period of engine operation, and increasing a working pressure of a transmission accumulator in response to a start of the DFCO period.

Abstract: The present invention provides a method of selecting and implementing a shift schedule for a transmission in a vehicle that includes an output speed sensor and a controller. The method includes measuring output speed with the output speed sensor and comparing the measured output speed to an output speed threshold. The controller receives throttle percentage and compares the throttle percentage to a throttle threshold. The method also includes calculating output acceleration and transmission gear ratio with the controller. The shift schedule is selected based on the measured output speed, calculated output acceleration, calculated transmission gear ratio, and throttle percentage.

Abstract: The present invention provides a method of selecting and implementing a shift schedule for a transmission in a vehicle that includes an output speed sensor and a controller. The method includes measuring output speed with the output speed sensor and comparing the measured output speed to an output speed threshold. The controller receives throttle percentage and compares the throttle percentage to a throttle threshold. The method also includes calculating output acceleration and transmission gear ratio with the controller. The shift schedule is selected based on the measured output speed, calculated output acceleration, calculated transmission gear ratio, and throttle percentage.

Abstract: When employing an a cruise control system in a commercial or heavy-duty vehicle, an adaptive cruise control (ACC) system (14) is activated upon activation of a vehicle or set-speed cruise control (SSCC) system (16). The ACC (14) remains on, even after SSCC shutoff, to maintain a minimum following distance for a primary vehicle in which the ACC (14) is employed and a forward vehicle. The ACC (14) is deactivated after detection of an ACC shutoff trigger event, which may be driver application of the brakes of the primary vehicle, driver-initiated acceleration for a predefined time period, expiration of a predetermined time period, manual shutoff (e.g., via a switch or button), etc.

Abstract: A method of controlling a vehicle washing mode for a vehicle equipped with shift-by-wire shifting device, may include performing an N-range-off determining step that determines whether a shift lever is in an N-range when an engine stops, performing an ACC determining step that determines whether the vehicle is in an ACC state, and performing a shifting step that shifts a P-range state of a transmission to a N-range state thereof by operating an actuator, when the N-range-off determining step determines that the shift lever is in the N-range when the engine was stopped, and when the ACC determining step determines that the vehicle is in the ACC state.

Abstract: A first acceleration gear ratio is acquired for accelerating a host vehicle in a first acceleration zone following a first zone ahead of the host vehicle, and a second acceleration gear ratio is acquired for accelerating the host vehicle in a second acceleration zone following a second zone ahead of the first zone. A control is executed to set the gear ratio of the host vehicle to the first acceleration gear ratio in a first deceleration zone in order to decelerate the host vehicle before entering the first zone. A control is executed to set the gear ratio of the host vehicle to the second acceleration gear ratio when the host vehicle must decelerate with respect to the second zone while traveling in the first acceleration gear ratio.

Abstract: A method for actuating a friction clutch, in particular for a motor vehicle drivetrain. The friction clutch is acted on with a clutch pressure generated by a hydraulic actuator arrangement which has an electrically actuable fluid source and which has a hydraulic actuator whose state is characterized by an actuator actual value. The actuator actual value is related to the clutch pressure. The method has the steps: forming a regulation-oriented model of the actuator arrangement, which model has at least one fluid source actuating variable as an input and at least the actuator actual value as a flat output and which model can be inverted; forming an inverse model of the actuator arrangement; and inputting an actuator nominal value into the inverse model and using the model actuating variable which emerges therefrom for actuating the fluid source.

Abstract: A method for controlling a backing vehicle includes if a back-up sensor indicates that an obstacle is present behind the vehicle and a gear selector is moved to a reverse position, delaying reverse gear engagement and producing a warning signal, and producing a transmission tie-up if brakes are applied insufficiently to stop the vehicle.

Abstract: A vehicle control method for a vehicle having an internal combustion engine coupled to a torque converter is described. In one embodiment, the engine air flow and spark are adjusted to control torque converter operation. The method can improve vehicle response to driver accelerator commands.

Abstract: A method of regulating operation of a hybrid vehicle traveling on a surface having a grade includes determining a drive force of the hybrid vehicle, calculating a brake pressure value and determining whether a grade freeze condition exists based on the brake pressure value. The method further includes calculating a grade value of the surface based on the drive force when the freeze condition does not exist and regulating operation of the hybrid vehicle based on the grade value.

Abstract: A method for determining clutch temperature. The method provides an accurate real-time clutch temperature that can be used to improve shift quality and protect against failure due to clutch overheating. A counter is incremented every time the clutch exceeds a threshold temperature to track cumulative high temperature conditions. Determining the clutch temperatures includes taking account of heat generation, clutch cooling by transmission oil flow from a groove when the clutch is engaged, clutch cooling by open transmission oil flow when the clutch is disengaged, oil vaporization, and heat conduction.

Abstract: A method and device for controlling an automatic freewheeling function in a vehicle where a freewheeling function is active due to a prevailing freewheeling condition and where a control unit is programmed to: predict that the vehicle soon will travel in a steep downhill slope that is steeper compared to a prevailing downhill slope; simulate if less fuel will be consumed if the freewheeling function is inactivated in a a further position before the vehicle enters the steeper downhill slope, compared to if the vehicle enters the steeper downhill slope with the freewheeling function active; and inactivate the freewheeling function in the further position, that is, before the vehicle enters the steeper downhill slope if the simulation shows that less fuel will be consumed.

Abstract: Disclosed herein is a gear selection method and device for an automatic transmission for a traction phase (Z2) after a coasting phase (S) of a motor vehicle. According to the method, in a traction phase (Z1) before the coasting phase (S), a sliding average value of the rotational speed level (n) and/or of the traction force level (Fx) is formed depending on the particular velocity (v) and particular gradient (ST) and is taken into consideration for defining at least one gear choice of the automatic transmission for the traction phase (Z2) after the particular coasting phase (S).

Abstract: In a control apparatus for a continuously variable transmission, when the difference between a target transmission gear ratio calculated immediately after switching the control mode from a manual shift mode to an automatic shift mode and a current transmission gear ratio (that is, a fixed transmission gear ratio of the transmission gear stage selected in the manual shift mode immediately before the switching) is greater than or equal to a set value, a shift control unit sets a temporary target transmission gear ratio between the target transmission gear ratio and the current transmission gear ratio. If a temporary target transmission gear ratio is set, the shift control unit causes the transmission gear ratio obtained during transition of mode from the manual shift mode to the automatic shift mode to match the target transmission gear ratio stepwise via the temporary target transmission gear ratio.

Abstract: An exemplary control device includes an input torque detection unit that detects an input torque input to the input shaft; and a controller that: determines torque distribution of two of the friction engagement elements that form the shift speeds; and calculates a transmission torque of the two friction engagement elements based on the input torque and the torque distribution and sets the engagement pressure to obtain a torque capacity that can transmit the transmission torque, wherein the controller sets the engagement pressure such that slippage does not occur in the two friction engagement elements in a state where engagement of the two friction engagement elements forms the shift speeds and such that, even if an additional friction engagement element engages based on the line pressure while the two friction engagement elements are engaged, one of the three friction engagement elements is caused to slip.

Abstract: A range determination apparatus for preventing a shift range from being undefined during speed change states of an automatic transmission with no manual valve. The range determination apparatus includes a gear speed change mechanism and a plurality of friction engagement elements operative to have respective operation states changed between an engagement and a disengagement state. The range determination apparatus is used for automatic transmissions subject to speed changes via a torque transmission path of the gear speed change mechanism changed by the operation states of the friction engagement elements. A real shift range determination is carried out on the basis of the operation states of the friction engagement elements, where a T-ECU is operative to determine a current shift range based on detection results obtained by oil pressure sensors and operation patterns preliminarily memorized when the operation states of the friction engagement elements are not being changed.

Abstract: A vehicle having a cruise control device, a manual shift transmission without synchronizer assembly, and a gas pedal provided with a pedal sensor, which produces a power request signal as a function of a power request of the driver. The cruise control device is deactivated as a function of a speed at which the power request signal of the pedal sensor changes.

Abstract: A speed changing control system for a vehicle including a speed changing device for speed changing a rotational power from an engine and outputting the resultant power, a speed changing control unit for setting a speed change ratio of the speed changing device, and an engine control unit for setting an engine rotational speed of the engine. Based on an operational instruction in response to a driver's operation, a rotational speed reducing instruction is given to the engine control unit for reducing an engine rotational speed set by the engine control unit by a predetermined amount. Also, a speed changing ratio changing instruction is given to the engine control unit for requesting, to a speed changing control unit, a change of the speed change ratio for compensating for the reduction in the engine rotational speed by the rotational speed reducing instruction so as to maintain the vehicle speed.

Abstract: Systems and methods for assisted direct start control are provided. An example method varies engine torque, forward clutch engagement pressure, and wheel brake pressure during a vehicle launch responsive to longitudinal vehicle grade to improve launch performance.

Abstract: A constant speed control method for a vehicle and a device thereof are disclosed. The constant speed control method includes steps of: firstly examining if a constant speed switch of the vehicle is pressed by an electronic control unit; allowing the electronic control unit to enter a constant speed mode when the constant speed switch is pressed; and sending a signal by the electronic control unit, so as to lock a throttle locking device for maintaining an opening degree of a throttle valve, and to adjust an transmission ratio of an electric continuously variable transmission (ECVT) for maintaining the constant speed driving of the vehicle. The present invention is further related to a constant speed control device for implementing the above method.

Abstract: In a method for influencing the traction force during shifting operations of a manual transmission in vehicles having at least two drive axles, the drive system of the first axle is activated in such a way that the interruptions in traction force occurring at the second axle during shifting operations of the manual transmission are at least partially compensated for.

Abstract: A linear solenoid is configured with an electromagnetic coil and a label resistor that are integrated with each other; the label resistor has a resistance value corresponding to a correction coefficient based on the difference between the actual characteristic of the supply current vs. adjusted hydraulic pressure output of the electromagnetic coil and a standard characteristic; and data for correcting a characteristic variation in the command current vs. output current characteristic of an electromagnetic coil is preliminarily stored in a control module by use of an adjustment tool. When the operation is started, the resistance value of the label resistor is read and an output current corresponding to a utilized linear solenoid is supplied, so that a target adjusted hydraulic pressure is obtained.

Abstract: A vehicle power transmission system has a first electric motor, a differential section, a power interruption element forming part of a power transmission path, a second electric motor connected to a power transmission path, and a control device that maintains the output rotational speed of the differential section at a predetermined constant value or at a value within a predetermined range until the engagement of the power interruption element is completed, so as to control a rotational speed of a primary power source by the first electric motor during the period when the state of the vehicle power transmission system is being switched front a non-drive mode to a drive mode.

Abstract: A vehicle cruise control apparatus includes a vehicle speed adjusting device that adjusts a vehicle speed to a set target vehicle speed, a brake operation detecting device that detects brake operation performed by a driver, and a first controller that controls the vehicle speed adjusting device based on a target driving force that maintains a vehicle in a stopped condition, when the brake operation performed by the driver is detected.

Abstract: A method for actuating a clutch in the drive train of a motor vehicle, including: generating a respective position setpoint for each predetermined target interval to actuate the clutch; in each predetermined target interval, actuating the clutch in a plurality of predetermined controller sampling intervals; discretizing a respective position setpoint change into a plurality of intermediate position setpoints; determining a number of intermediate position setpoints in the plurality of intermediate position setpoint depending on the ratio of the target interval to the controller sampling interval; and specifying the respective position setpoint changes in steps to actuate the clutch.

Abstract: A parameter ?(OUT) having an accelerator pedal position, a vehicle speed and a drive force as components is set according to information representing a driver's operation and information representing running environment of a vehicle. A gear is set according to the parameter ?(OUT) and a map determining the gear based on the accelerator pedal position, the vehicle speed and the drive force. A gear shift line is defined such that a rate of increase of the drive force with respect to the vehicle speed is zero or more. A down-shift line is defined such that the drive force decreases with increase in accelerator pedal position. Down-shift after up-shift as well as the up-shift after the down-shift are inhibited when both a condition that an amount of change of the accelerator pedal position after last gear shift is larger than a threshold and a condition that an amount of change of the drive force after the last gear shift is larger than the threshold are satisfied.

Abstract: An adaptive vehicle control system that classifies a drivers driving style based on vehicle headway control. The system reads sensor signals to identify the range and range rate between a subject vehicle and a preceding vehicle, where the range rate is close to zero if the distance between the subject vehicle and the preceding vehicle is relatively steady, the range rate is negative when the subject vehicle is closing in on the preceding vehicle and the range rate is positive when the subject vehicle is falling behind the preceding vehicle. The range rate, the subject vehicle speed and other signals are used to classify the drivers driving style based on how fast the subject vehicle closes in on the preceding vehicle or falls behind, and the following distance between the subject vehicle and the preceding vehicle. The system can then classify the headway-control maneuver using selected discriminant features.

Abstract: A machine includes a drive train with an electronically controlled transmission in communication with an electronic engine controller. The machine ground speed is limited by executing a vehicle speed limit algorithm in the electronic transmission controller. This algorithm generates an engine control message that is communicated to the electronic engine controller. The power output of the engine is reduced responsive to the engine control message. The machine responds by not exceeding a prescribed speed limit programmed into the electronic transmission controller. This vehicle speed limiting strategy is particularly applicable to machines without a vehicle speed limiting algorithm resident in the electronic engine controller.

Abstract: An adaptive cruise control system for a vehicle includes a deceleration module, a downshift trigger module, and a shift module. The deceleration module determines a deceleration rate based on a speed of at least one of the vehicle and an engine of the vehicle. The downshift trigger module generates a threshold signal based on the deceleration rate. The shift module generates a downshift signal when the speed is less than the threshold signal and while the vehicle is operating in a manual transmission mode.

Abstract: A vehicle control method for a vehicle having powertrain with an internal combustion engine and a transmission having a clutch, the method comprising of transitioning through a lash region of the transmission during clutch slipping conditions in response to a driver tip-in; and during the transition, first retarding ignition timing past maximum torque timing while increasing engine airflow, and then second, advancing ignition timing from the retarded timing while continuing to increase engine airflow.

Abstract: An agricultural vehicle and method of operating the same, where the agricultural vehicle has an engine, a continuously variable transmission, a processor, an inching controller, and a speed controller. The speed controller sends a first signal to the processor, and the processor controls the transmission to operate the vehicle at a first speed based on the first signal. The inching controller sends a second signal to the processor, and the processor controls the transmission to move the agricultural vehicle in a forward or reverse direction, depending on the second signal. If the first speed based on the first signal is zero, the second signal triggers the processor to control the transmission to move the agricultural vehicle in the forward or reverse direction a predetermined first distance. The control of the vehicle to be at zero speed or to be in a particular position is effectuated by a position control mechanism.