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algebraic simulation analog computer analysis antilock system brake torque calculated coefficient Computer Simulation crash curve cycle cylinder degrees of freedom described developed distance effect emission profile empty vehicles engine speeds equations exhaust valve Federal Highway Administration flow frequency friction function GPSS heading angle Highway Safety Research HVHP Hybrid Computer inlet track inlet valve input internal combustion engines intersection lane Lateral acceleration linear longitudinal manoeuvres maximum Mechanical merge Michigan Ann Arbor motion Motors Technical Center nonlinear operating optimal OPTION output parameters passenger performance Personal Rapid Transit predict pressure queue lengths rail vehicle ratio rear axle Research Institute University response road rotational Safety Research Institute shown in Figure simulation model Southdale sprung mass station steer angle stochastic stopline suspension tion torque traffic Transportation truck University of Michigan validation values variable vehi vehicle dynamics Vehicle Handling velocity vertical VHTP volumetric efficiency wheel xxxx