A device includes a body operatively connected to a plurality of wheels, with the plurality of wheels being positioned relative to a banked surface defining a bank angle (). A suspension system includes at least one suspension sensor configured to provide suspension displacement data. A controller is in communication with the at least one suspension sensor and has a processor and tangible, non-transitory memory on which is recorded instructions. The controller is configured to obtain the suspension displacement data and determine a roll angle () based at least partially on the suspension displacement data. The bank angle () is determined based at least partially on the roll angle (), a yaw rate (r), a longitudinal velocity (V.sub.x) and a plurality of predetermined parameters. Operation of the device is controlled based partly on at least one of the roll angle () and the bank angle ().

A device includes a body operatively connected to a plurality of wheels, with the plurality of wheels being positioned relative to a banked surface defining a bank angle (). A suspension system includes at least one suspension sensor configured to provide suspension displacement data. A controller is in communication with the at least one suspension sensor and has a processor and tangible, non-transitory memory on which is recorded instructions. The controller is configured to obtain the suspension displacement data and determine a roll angle () based at least partially on the suspension displacement data. The bank angle () is determined based at least partially on the roll angle (), a yaw rate (r), a longitudinal velocity (V.sub.x) and a plurality of predetermined parameters. Operation of the device is controlled based partly on at least one of the roll angle () and the bank angle ().

A device includes a plurality of tires, a suspension system operatively connected to the plurality of tires, at least one suspension sensor operatively connected to the suspension system and configured to provide suspension data (S), and a controller operatively connected to the at least one suspension sensor and having a processor for executing a method for determining respective tire normal forces (F.sub.zi(t), i=1 . . . n) for one or more of the plurality of tires, based at least partially on the suspension data (S), the respective tire normal forces being operative to adjust operation of the wheeled device. Execution of the instructions by the processor causes the controller to determine a transformation matrix (T.sub.s) based on a plurality of predefined parameters. The controller is configured to obtain the respective tire normal forces (F.sub.zi(t), i==1 . . . n) via the following equation:
{tilde over (F)}.sub.z=[T.sub.S+.sub.S(p)]{tilde over (S)}+T.sub.u.

A device includes a plurality of tires, a suspension system operatively connected to the plurality of tires, at least one suspension sensor operatively connected to the suspension system and configured to provide suspension data (S), and a controller operatively connected to the at least one suspension sensor and having a processor for executing a method for determining respective tire normal forces (F.sub.zi(t), i=1 . . . n) for one or more of the plurality of tires, based at least partially on the suspension data (S), the respective tire normal forces being operative to adjust operation of the wheeled device. Execution of the instructions by the processor causes the controller to determine a transformation matrix (T.sub.s) based on a plurality of predefined parameters. The controller is configured to obtain the respective tire normal forces (F.sub.zi(t), i==1 . . . n) via the following equation:

{tilde over (F)}.sub.z=[T.sub.S+.sub.S(p)]{tilde over (S)}+T.sub.u.

A combined anti-slip floor mat, including a mat body and a little mat, the mat body includes a leather, a PU self-skinning layer, and an anti-slip layer stacked together m that order. A recess is disposed in the middle of the top of the mat body, and the area of the recess is slightly less than the top area of the mat body; the little mat is matched to the recess in size. At least one opening is disposed on the middle of each side of the recess; wherein the opening passes through the floor mat; a cross notch is made on the bottom of the floor mat, by connecting each two opponent openings; the size of the little mat matches the recess on the mat body, and is separably embedded in the recess.

This invention provides an anti-slip floor mat with transparent top surface mainly includes a top surface, a PU self-skinning layer and an anti-slip layer stacked together in that order. The top surface is made of a transparent material. The PU self-skinning layer comprises foaming polyurethane and mainly formed by foaming an isocyanate with a polyether polyols intermixture, and the mass ratio of the isocyanate to the polyether polyols intermixture is 100:2050. A plurality of through holes passing through said anti-slip layer are defined in the anti-slip layer. A surface of said PU self-skinning layer adjacent to said anti-slip layer further comprises a plurality of rivets, said rivets pass through said through holes and extend to a surface of said anti-slip layer away from said PU self-skinning layer.