In order for leading industrial companies to remain competitive, the process of product developement constantly needs to improve. In order to shorten development time -- that is the time from idea to product -- simulations of products in-house is becoming a popular method. This method saves money and time since expensive prototypes become unnecessary. Today the calibration of steering gears is done in test vehicles by experienced test drivers. This is a time consuming process that is very costly because of expensive test vehicles. This report investigates possibilities and difficulties with transfering the calibrations from field to rig. A steering rig has been integrated with a car simulation program. Comparisons between simulation in the loop (SIL) and hardware in the loop (HIL) have been made and differences between different configurations of steering gears have been evaluated. An automatic process including calibration of parameters, testing and analysis of the test results has been implemented. The work laid the foundation of calibration of steering parameters and showed correlation between calibration parameters and objective metrics.

This thesis describes the steering system parts, the most common used parts and rates their advantages and disadvantages. These findings are then transferred into the Formula Student steering system design. The thesis also presents procedures leading to determine load of steering system, which is taken into account in steering system design. The final version of steering system is analyzed of stiffness.

Section 43 of the Constitution of the Republic of South Africa, 1996 allocates the national legislative authority to Parliament. The Constitutional Court acknowledged in the Certification of the Constitution of the RSA, 1996 judgment that the South African application of the doctrine will be unique, because there is “no universal model of the separation of powers”. Each branch of government has a different role to play during the legislative process. Political steering can be defined as “the intentional intervention of political actors in legal subsystems including the legislative system”. Executive political steering can be a useful tool for cooperation, but when taken too far, could infringe on the doctrine of the separation of power. From the case studies, it was evident that executive political steering can be a twoedged sword. On face value, it may seem as if the executive is intervening, albeit by using the departmental experts and specialists, to ensure that their vision for legislation remains largely intact. When Bills are accepted “as is” from the Executive, and without substantially interrogating each proposal, the Portfolio Committees and Parliament are not exercising their authority to the fullest extent. However, it is accepted that there is an acute shortage of legislative drafters, and that national departments employ content specialists. Parliamentarians cannot be specialists in all the fields that they have to legislate on, and it is not cost-effective to replicate the national department’s structures in Parliament to provide such expertise to the members. / Dissertation (LLM)--University of Pretoria, 2014. / gm2014 / Public Law / unrestricted

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Autonomous vehicles offer means to complete unsafe military operations without endangering the lives of soldiers. Such solutions have fueled many efforts towards designing autonomous, or unmanned, systems. Military and academic research efforts alike continue to focus on developing these systems. While many different autonomous vehicles have been introduced, however, such complex systems have limited drive-by-wire operability. The complete process to up-fit a vehicle to fully autonomous operation involves the design, up-fit, testing and verification of many different subsystems. The objective of this thesis is to design and model an autonomous steering system requiring little modifications to an existing steering system. It is desirable to still operate the vehicle manually as well as preserve the vehicle's visual appearance. Up-fit and implementation of the designed steering system and verification of its functionality has been documented as well. Utilization of the supplied controller and software has enabled the testing and characterization of the system. The proposed design offers a solution to a wide variety of wheeled vehicles steered via the traditional and common steering wheel method. In addition, modifications have been made to an existing simulation of an unmanned vehicle in a military testbed environment (Fort Benning). The simulation accounts for the control methodology as it has been designed and tested with, which offers the ability to analyze the dynamics of the unmanned system. / Master of Science

In this work torque vectoring methods are used to compensate for a low performance steer-by-wire system. Currently a number of vehicle manufacturers are considering introducing steer-by-wire into their range of vehicles. Some of the key concerns for the manufacturers are safety and cost. The safety can be subdivided in the integrity of the steering system and the effect on handling. The focus of this study is the use of low cost steering actuators on a vehicle and identify its effects on the vehicle's handling response. The test vehicle is dune buggy modified to accommodate the low performance steer-by-wire system without a direct mechanical link between the steering wheel and the wheels and equipped with various sensors to data recording. In order to investigate the influence of torque vectoring system on the steer-by-wire, an eight degrees of freedom vehicle model in Matlab/Simulink has been developed. The eight degrees of freedom are longitudinal and lateral translations, yaw and roll motion and rotation of each wheel. The Matlab/Simulink model also includes the dynamics of the actuators, which is validated against the experimental data. The actuator was shown to have a bandwidth of less than 0.3 Hz. The eight degrees of freedom model's response was validated against experimental data for both steady state and transient response up to 0.5 g. The tyre forces and moments are implemented by using the Dugoff tyre model, which has been validated against experimentally measured data. The torque vectoring system uses the cascade approach based on a reference model, which uses a two degrees of freedom (bicycle model) to generate the reference signal for control purposes. The upper level yaw controller is based on the optimal control theory and uses the LQR (Linear-quadratic regulator) approach. The lower level wheel slip controller is based on a slidingmode structure and prevents tyre force saturation. The simulation results show that the vehicle augmented with the torque vectoring system outperforms the low performance steer-by-wire vehicle and also the vehicle with conventional steering arrangement.

The textbook is one of the instruments that teachers and students have available in their teaching. For many years has textbook regarded as being too controlling and as a barrier to students development in mathematics. Textbooks primary mission is to promote learning. My study aims to provide an overview of how effective teachers use the textbook in mathematics education as well as the pros and cons they see with their work. The work includes interviews with five active mathematics teachers. The results of the survey showed that every teacher in the study uses the textbook as the basis for their teaching. Teachers indicate that the textbook is not the starting point when planning their teachings but the textbook is used as an aid in teaching mathematics. / Läroboken är ett av de medel som lärare och elever har till förfogande i undervisningen. I många år har läroboken ansetts vara allför styrande och som ett hinder för elevernas utveckling i ämnet matematik. Läroböckers främsta uppgift är att främja lärandet. Min undersöknings syfte är att få en överblick om hur verksamma lärare använder sig av läroboken i matematikundervisning samt vilka för och nackdelar de anser med respektive arbetssätt. Arbetet innehåller intervjuer med fem verksamma matematiklärare som jobbar på högstadiet 7-9. Resultatet av undersökningen visade att varje lärare i undersökningen använder sig av läroboken som grund för sin undervisning. Lärarna anger att läroboken inte är utgångspunkten när de planerar sina undervisningar utan läroboken används som ett stöd i matematikundervisning.

Active safety vehicle systems are continuously being researched to make vehicles safer to drive. Active steering is a new active safety system that involves controlling the vehicle steering angle during the vehicle's loss of stability. The steering signal, which an active steering system intervenes with, is brought to study in this thesis. Using a pulsed signal instead of a constant signal as the output of an active steering system arises new areas to study. This thesis focuses on the effect that the different pulse parameters have on the yaw and roll dynamics of a passenger vehicle. The parameters of a pulse consist of its frequency, amplitude, and pattern. Simulations were done with different vehicle models in different simulation softwares to assess the effect that each of the pulse parameters has on the vehicle dynamics. These simulation softwares include DynaFlexPro, Matlab/Simulink and Adams/Car. In addition, a whole test bed was designed and assembled to carry out Hardware-In-the-Loop (HIL) simulation experiments involving active steering systems. The test bed was used to firstly validate the results obtained from the simulations, and secondly to assess the applicability of a pulsed active steering system. Conclusions of the obtained results as well as future work are mentioned at the end of this thesis.

Active safety vehicle systems are continuously being researched to make vehicles safer to drive. Active steering is a new active safety system that involves controlling the vehicle steering angle during the vehicle's loss of stability. The steering signal, which an active steering system intervenes with, is brought to study in this thesis. Using a pulsed signal instead of a constant signal as the output of an active steering system arises new areas to study. This thesis focuses on the effect that the different pulse parameters have on the yaw and roll dynamics of a passenger vehicle. The parameters of a pulse consist of its frequency, amplitude, and pattern. Simulations were done with different vehicle models in different simulation softwares to assess the effect that each of the pulse parameters has on the vehicle dynamics. These simulation softwares include DynaFlexPro, Matlab/Simulink and Adams/Car. In addition, a whole test bed was designed and assembled to carry out Hardware-In-the-Loop (HIL) simulation experiments involving active steering systems. The test bed was used to firstly validate the results obtained from the simulations, and secondly to assess the applicability of a pulsed active steering system. Conclusions of the obtained results as well as future work are mentioned at the end of this thesis.

The all-terrain vehicle (ATV) has been popular due to its simplicity in controlling, high recreational value, and sports utility, Furthermore, seating comfort and control aptness are affected mainly by the suspension and steering mechanism. Therefore, this research is directed towards the ATV¡¦s front suspension and steering mechanism, bearing in mind a set of systematized design procedures as the design and development basis of the front suspension and steering mechanism. First, we will investigate the papers on the front suspension and steering mechanism in order to make an induction on its characteristics and demand. Then, the theories of kinematic analysis of the front suspension and steering mechanism are established. The aided analyzing computer program we edit using the theories, moreover could be the design basis. And, to carry out the creative design of the front suspension and steering mechanism using the systematized procedure of creative mechanism design. In this investigation, we have successfully constructed atlas of the creative mechanism, and the result supplies the following design to select; Finally, we complete the kinematic design of the front suspension and steering mechanism based on the Genetic algorithm (GA), and we can obtain the better mechanism dimensions than Yamaha 660 ATV.