Among other things, techniques are described for steering angle calibration. An autonomous vehicle receives a steering angle measurement and a yaw rate measurement, and estimates a steering angle offset using the steering angle measurement, the yaw rate measurement, and a wheel base of the autonomous vehicle. An estimated yaw rate is determined based on a yaw rate model, the steering angle measurement and the estimated steering angle offset. The yaw rate measurement and the estimated yaw rate are compared and an action is initiated on the autonomous vehicle in response to the comparing.

Among other things, techniques are described for steering angle calibration. An autonomous vehicle receives a steering angle measurement and a yaw rate measurement, and estimates a steering angle offset using the steering angle measurement, the yaw rate measurement, and a wheel base of the autonomous vehicle. An estimated yaw rate is determined based on a yaw rate model, the steering angle measurement and the estimated steering angle offset. The yaw rate measurement and the estimated yaw rate are compared and an action is initiated on the autonomous vehicle in response to the comparing.

A current collector protective glue includes a solvent and an adhesive. The solvent is selected from one or more of water, ethanol, NMP, acetone, and butanone. The adhesive is selected from one or more of cellulose, polyacrylic acid, styrene-butadiene rubber, styrene butadiene rubber, and nitrile rubber.

A current collector protective glue includes a solvent and an adhesive. The solvent is selected from one or more of water, ethanol, NMP, acetone, and butanone. The adhesive is selected from one or more of cellulose, polyacrylic acid, styrene-butadiene rubber, styrene butadiene rubber, and nitrile rubber.

Compositions having low quantities of volatile organic compounds (VOCs) and uses thereof are generally disclosed. In some embodiments, the compositions are aqueous compositions, such as aqueous suspensions, suitable for use as coating or paint compositions. In some embodiments, the compositions are aqueous compositions that include, among other components, a film-forming polymer and a coalescing aid. In some embodiments, the coalescing aids are derived from a renewable feedstock. Methods and systems for making such compositions are also disclosed. Novel coalescing aids are also disclosed.

Compositions having low quantities of volatile organic compounds (VOCs) and uses thereof are generally disclosed. In some embodiments, the compositions are aqueous compositions, such as aqueous suspensions, suitable for use as coating or paint compositions. In some embodiments, the compositions are aqueous compositions that include, among other components, a film-forming polymer and a coalescing aid. In some embodiments, the coalescing aids are derived from a renewable feedstock. Methods and systems for making such compositions are also disclosed. Novel coalescing aids are also disclosed.

The present invention relates to a process for producing an aqueous polymer dispersion by free-radically initiated aqueous emulsion polymerization, by polymerizing, in an aqueous medium, (a) 40 to 75 parts by weight of at least one vinylaromatic compound and (b) 24.9 to 59.9 parts by weight of at least one conjugated aliphatic diene (c) 0.1 to 10 parts by weight of at least one monomer comprising acid groups and (d) 0 to 20 parts by weight of at least one other monoethylenically unsaturated monomer, the amounts of the monomers (a) to (d) adding up to 100 parts by weight, in a monomer feed process in the presence of a free-radical initiator, with the proviso that the vinylaromatic compound is metered in under polymerization conditions in a continuous mass flow over a period of at least 120 minutes, the metering of the conjugated aliphatic diene is started at a time at which at least 5% and not more than 30% of the vinylaromatic compound has already been metered in in a continuous mass flow and optionally, the polymerization is initiated in an aqueous polymerization mixture comprising up to 5% of the vinylaromatic compound and comprising no aliphatic diene, and also to the aqueous polymer dispersions produced by the process and to the use of these as a binder, adhesive, sizing agent for fibers, for the production of coatings or for the production of a paper coating slip.

The present invention relates to a process for producing an aqueous polymer dispersion by free-radically initiated aqueous emulsion polymerization, by polymerizing, in an aqueous medium, (a) 40 to 75 parts by weight of at least one vinylaromatic compound and (b) 24.9 to 59.9 parts by weight of at least one conjugated aliphatic diene (c) 0.1 to 10 parts by weight of at least one monomer comprising acid groups and (d) 0 to 20 parts by weight of at least one other monoethylenically unsaturated monomer, the amounts of the monomers (a) to (d) adding up to 100 parts by weight, in a monomer feed process in the presence of a free-radical initiator, with the proviso that the vinylaromatic compound is metered in under polymerization conditions in a continuous mass flow over a period of at least 120 minutes, the metering of the conjugated aliphatic diene is started at a time at which at least 5% and not more than 30% of the vinylaromatic compound has already been metered in in a continuous mass flow and optionally, the polymerization is initiated in an aqueous polymerization mixture comprising up to 5% of the vinylaromatic compound and comprising no aliphatic diene, and also to the aqueous polymer dispersions produced by the process and to the use of these as a binder, adhesive, sizing agent for fibers, for the production of coatings or for the production of a paper coating slip.

The present invention provides a binder composition comprising a first binder comprising by dry weight based on total dry weight of the first binder, from 5% to 98% of polymer particles, from 0.3% to 10% of a first polysaccharide, from 0.01% to 5% of a crosslinker, from 0.3% to 6% of a water-soluble metal cation, and from 0.05% to 3% of a cationic polyelectrolyte. The binder composition may further comprise a second binder comprising by dry weight based on total dry weight of the second binder, from 0.3% to 20% of the first polysaccharide, from 0.5% to 20% of a second polysaccharide. And in that case, the wet weight ratio of the first binder to the second binder is from 1:20 to 20:1. The present invention further provides a paint formulation comprising the binder composition.

A method for coating a metal substrate with a white, off-white or gray colored autodeposited coating comprising water, polymeric resin, HF and pigment particles comprising a core of titanium dioxide, an intermediate zirconia and/or alumina layer, and an outer organic layer, optionally the particles are treated with an anionic surfactant.