# Appendix A

### VEHICLE A Curb

Wei g ht Operator

Onl y Operator &

Passen g e r GVW

Left Front Wei g ht ( lb ) 254 313 337 327

Ri g ht Front Wei g ht ( lb ) 281 308 370 354

Left Rear Wei g ht ( lb ) 314 431 430 630

Ri g ht Rear Wei g ht ( lb ) 356 364 494 693

Total Wei g ht ( lb ) 1205 1416 1631 2004

% Left Wei g ht 47.1% 52.5% 47.0% 47.8%

% Ri g ht Wei g ht 52.9% 47.5% 53.0% 52.2%

% Front Wei g ht 44.4% 43.9% 43.3% 34.0%

% Rear Wei g ht 55.6% 56.1% 56.7% 66.0%

Wheelbase 74.9 74.9 74.9 74.9

Avera g e Track Width ( in ) 43.3 44.1 44.8 45.4

CG Hei g ht ( in ) 23.1 24.9 25.5 26.2

SSF ( calculated ) 0.94 0.89 0.88 0.87

### VEHICLE B Curb

Wei g ht Operator

Onl y Operator &

Passen g e r GVW

Left Front Wei g ht ( lb ) 198 270 290 289

Ri g ht Front Wei g ht ( lb ) 232 252 318 329

Left Rear Wei g ht ( lb ) 287 383 409 548

Ri g ht Rear Wei g ht ( lb ) 302 331 431 561

Total Wei g ht ( lb ) 1019 1236 1448 1727

% Left Wei g ht 47.6% 52.8% 48.3% 48.5%

% Ri g ht Wei g ht 52.4% 47.2% 51.7% 51.5%

% Front Wei g ht 42.2% 42.2% 42.0% 35.8%

% Rear Wei g ht 57.8% 57.8% 58.0% 64.2%

Wheelbase 77.0 77.0 77.0 77.0

Avera g e Track Width ( in ) 41.9 42.5 43.1 43.4

CG Hei g ht ( in ) 20.1 21.9 22.2 22.6

SSF ( calculated ) 1.04 0.97 0.97 0.96

### VEHICLE C Curb

Wei g ht Operator

Onl y Operator &

Passen g e r GVW

Left Front Wei g ht ( lb ) 347 424 449 442

Ri g ht Front Wei g ht ( lb ) 370 398 481 474

Left Rear Wei g ht ( lb ) 346 438 453 717

Ri g ht Rear Wei g ht ( lb ) 393 410 500 772

Total Wei g ht ( lb ) 1456 1670 1883 2405

% Left Wei g ht 47.6% 51.6% 47.9% 48.2%

% Ri g ht Wei g ht 52.4% 48.4% 52.1% 51.8%

% Front Wei g ht 49.2% 49.2% 49.4% 38.1%

% Rear Wei g ht 50.8% 50.8% 50.6% 61.9%

Wheelbase 75.7 75.7 75.7 75.7

Avera g e Track Width ( in ) 51.2 51.6 51.7 51.7

CG Hei g ht ( in ) 21.9 24.3 26.3 26.8

SSF ( calculated ) 1.17 1.06 0.98 0.96

### VEHICLE D Curb

Wei g ht Operator

Onl y Operator &

Passen g e r GVW

Left Front Wei g ht ( lb ) 279 355 382 390

Ri g ht Front Wei g ht ( lb ) 307 330 403 411

Left Rear Wei g ht ( lb ) 343 448 452 937

Ri g ht Rear Wei g ht ( lb ) 382 388 498 996

Total Wei g ht ( lb ) 1311 1521 1735 2734

% Left Wei g ht 47.4% 52.8% 48.1% 48.5%

% Ri g ht Wei g ht 52.6% 47.2% 51.9% 51.5%

% Front Wei g ht 44.7% 45.0% 45.2% 29.3%

% Rear Wei g ht 55.3% 55.0% 54.8% 70.7%

Wheelbase 76.0 76.0 76.0 76.0

Avera g e Track Width ( in ) 49.7 50.3 50.3 50.7

CG Hei g ht ( in ) 24.1 26.8 28.1 29.0

SSF ( calculated ) 1.03 0.94 0.90 0.87

### VEHICLE E Curb

Wei g ht Operator

Onl y Operator &

Passen g e r GVW

Left Front Wei g ht ( lb ) 305 369 395 382

Ri g ht Front Wei g ht ( lb ) 311 336 402 383

Left Rear Wei g ht ( lb ) 390 506 509 768

Ri g ht Rear Wei g ht ( lb ) 390 398 514 796

Total Wei g ht ( lb ) 1396 1609 1820 2329

% Left Wei g ht 49.8% 54.4% 49.7% 49.4%

% Ri g ht Wei g ht 50.2% 45.6% 50.3% 50.6%

% Front Wei g ht 44.1% 43.8% 43.8% 32.8%

% Rear Wei g ht 55.9% 56.2% 56.2% 67.2%

Wheelbase 76.0 76.0 76.0 76.0

Avera g e Track Width ( in ) 48.3 48.8 49.0 49.4

CG Hei g ht ( in ) 23.0 24.6 26.0 26.5

SSF ( calculated ) 1.05 0.99 0.94 0.93

### VEHICLE F Curb

Wei g ht Operator

Onl y Operator &

Passen g e r GVW

Left Front Wei g ht ( lb ) 286 366 370 337

Ri g ht Front Wei g ht ( lb ) 289 289 365 344

Left Rear Wei g ht ( lb ) 349 454 476 829

Ri g ht Rear Wei g ht ( lb ) 350 383 494 825

Total Wei g ht ( lb ) 1274 1492 1705 2335

% Left Wei g ht 49.8% 55.0% 49.6% 49.9%

% Ri g ht Wei g ht 50.2% 45.0% 50.4% 50.1%

% Front Wei g ht 45.1% 43.9% 43.1% 29.2%

% Rear Wei g ht 54.9% 56.1% 56.9% 70.8%

Wheelbase 75.0 75.0 75.0 75.0

Avera g e Track Width ( in ) 49.0 49.5 49.8 49.9

CG Hei g ht ( in ) 24.4 26.7 28.0 28.3

SSF ( calculated ) 1.00 0.93 0.89 0.88

### VEHICLE G Curb

Wei g ht Operator

Onl y Operator &

Passen g e r GVW

Left Front Wei g ht ( lb ) 355 420 447 459

Ri g ht Front Wei g ht ( lb ) 346 387 469 473

Left Rear Wei g ht ( lb ) 490 580 594 1052

Ri g ht Rear Wei g ht ( lb ) 516 532 621 1115

Total Wei g ht ( lb ) 1707 1919 2131 3099

% Left Wei g ht 49.5% 52.1% 48.9% 48.8%

% Ri g ht Wei g ht 50.5% 47.9% 51.1% 51.2%

% Front Wei g ht 41.1% 42.1% 43.0% 30.1%

% Rear Wei g ht 58.9% 57.9% 57.0% 69.9%

Wheelbase 79.1 79.1 79.1 79.1

Avera g e Track Width ( in ) 51.1 51.5 51.2 52.1

CG Hei g ht ( in ) 22.8 24.5 26.0 26.2

SSF ( calculated ) 1.12 1.05 0.98 0.99

### VEHICLE H Curb

Wei g ht Operator

Onl y Operator &

Passen g e r GVW

Left Front Wei g ht ( lb ) 259 332 335 332

Ri g ht Front Wei g ht ( lb ) 276 286 371 347

Left Rear Wei g ht ( lb ) 313 419 435 631

Ri g ht Rear Wei g ht ( lb ) 359 384 494 695

Total Wei g ht ( lb ) 1207 1421 1635 2005

% Left Wei g ht 47.4% 52.9% 47.1% 48.0%

% Ri g ht Wei g ht 52.6% 47.1% 52.9% 52.0%

% Front Wei g ht 44.3% 43.5% 43.2% 33.9%

% Rear Wei g ht 55.7% 56.5% 56.8% 66.1%

Wheelbase 74.9 74.9 74.9 74.9

Avera g e Track Width ( in ) 45.6 46.3 47.4 47.4

CG Hei g ht ( in ) 22.7 24.3 25.5 25.5

SSF ( calculated ) 1.00 0.95 0.93 0.93

### VEHICLE I Curb

Wei g ht Operator

Onl y Operator &

Passen g e r GVW

Left Front Wei g ht ( lb ) 260 339 390 393

Ri g ht Front Wei g ht ( lb ) 293 335 406 404

Left Rear Wei g ht ( lb ) 376 459 458 687

Ri g ht Rear Wei g ht ( lb ) 394 406 495 743

Total Wei g ht ( lb ) 1323 1539 1749 2227

% Left Wei g ht 48.1% 51.9% 48.5% 48.5%

% Ri g ht Wei g ht 51.9% 48.1% 51.5% 51.5%

% Front Wei g ht 41.8% 43.8% 45.5% 35.8%

% Rear Wei g ht 58.2% 56.2% 54.5% 64.2%

Wheelbase 103.0 103.0 103.0 103.0

Avera g e Track Width ( in ) 50.2 50.8 51.3 52.0

CG Hei g ht ( in ) 23.4 23.9 25.1 25.4

SSF ( calculated ) 1.07 1.06 1.02 1.02

### VEHICLE J Curb

Wei g ht Operator

Onl y Operator &

Passen g e r GVW

Left Front Wei g ht ( lb ) 348 421 448 456

Ri g ht Front Wei g ht ( lb ) 345 378 462 469

Left Rear Wei g ht ( lb ) 488 567 582 1055

Ri g ht Rear Wei g ht ( lb ) 505 531 616 1121

Total Wei g ht ( lb ) 1686 1897 2108 3101

% Left Wei g ht 49.6% 52.1% 48.9% 48.7%

% Ri g ht Wei g ht 50.4% 47.9% 51.1% 51.3%

% Front Wei g ht 41.1% 42.1% 43.2% 29.8%

% Rear Wei g ht 58.9% 57.9% 56.8% 70.2%

Wheelbase 79.1 79.1 79.1 79.1

Avera g e Track Width ( in ) 51.1 51.4 51.7 51.5

CG Hei g ht ( in ) 21.8 24.0 24.9 25.8

SSF ( calculated ) 1.17 1.07 1.04 1.00

### VEHICLE K Curb

Wei g ht Operator

Onl y Operator &

Passen g e r GVW

Left Front Wei g ht ( lb ) 310 372 398 372

Ri g ht Front Wei g ht ( lb ) 319 341 399 381

Left Rear Wei g ht ( lb ) 382 502 504 697

Ri g ht Rear Wei g ht ( lb ) 403 418 546 733

Total Wei g ht ( lb ) 1414 1633 1847 2183

% Left Wei g ht 48.9% 53.5% 48.8% 49.0%

% Ri g ht Wei g ht 51.1% 46.5% 51.2% 51.0%

% Front Wei g ht 44.5% 43.7% 43.2% 34.5%

% Rear Wei g ht 55.5% 56.3% 56.8% 65.5%

Wheelbase 75.7 75.7 75.7 75.7

Avera g e Track Width ( in ) 48.8 49.0 49.2 49.1

CG Hei g ht ( in ) 23.5 24.6 25.5 25.6

SSF ( calculated ) 1.04 1.00 0.96 0.96

# Appendix BVehicle ASEA Right J-Turn w/ Robotic Steering Controller - SEA GVW w/ Outriggers - 30 MPH-200-180-160-140-120-100-80-60-40-200204060801001201401601802000123456Time (SEC)-1.00-0.90-0.80-0.70-0.60-0.50-0.40-0.30-0.20-0.100.000.100.200.300.400.500.600.700.800.901.00 Ax / Ground Plane AySteering (°)Roll Rate (°/Sec)Yaw Rate (°/Sec)Speed (MPH)Ax (g's)Ground Plane Ay (g's)

Steering / Speed / Roll Rate / Yaw RateVehicle BSEA Right J-Turn w/ Robotic Steering Controller - SEA GVW w/ Outriggers - 29 MPH-200-180-160-140-120-100-80-60-40-200204060801001201401601802000123456Time (SEC)-1.00-0.90-0.80-0.70-0.60-0.50-0.40-0.30-0.20-0.100.000.100.200.300.400.500.600.700.800.901.00 Ax / Ground Plane AySteering (°)Roll Rate (°/Sec)Yaw Rate (°/Sec)Speed (MPH)Ax (g's)Ground Plane Ay (g's)

Steering / Speed / Roll Rate / Yaw RateVehicle CSEA Right J-Turn w/ Robotic Steering Controller - SEA GVW w/ Outriggers - 31 MPH-200-180-160-140-120-100-80-60-40-200204060801001201401601802000123456Time (SEC)-1.00-0.90-0.80-0.70-0.60-0.50-0.40-0.30-0.20-0.100.000.100.200.300.400.500.600.700.800.901.00 Ax / Ground Plane AySteering (°)Roll Rate (°/Sec)Yaw Rate (°/Sec)Speed (MPH)Ax (g's)Ground Plane Ay (g's)

Steering / Speed / Roll Rate / Yaw RateVehicle DSEA Right J-Turn w/ Robotic Steering Controller - SEA GVW w/ Outriggers - 30 MPH-200-180-160-140-120-100-80-60-40-200204060801001201401601802000123456Time (SEC)-1.00-0.90-0.80-0.70-0.60-0.50-0.40-0.30-0.20-0.100.000.100.200.300.400.500.600.700.800.901.00 Ax / Ground Plane AySteering (°)Roll Rate (°/Sec)Yaw Rate (°/Sec)Speed (MPH)Ax (g's)Ground Plane Ay (g's)

Steering / Speed / Roll Rate / Yaw RateVehicle ESEA Right J-Turn w/ Robotic Steering Controller - SEA GVW w/ Outriggers - 30 MPH-200-180-160-140-120-100-80-60-40-200204060801001201401601802000123456Time (SEC)-1.00-0.90-0.80-0.70-0.60-0.50-0.40-0.30-0.20-0.100.000.100.200.300.400.500.600.700.800.901.00 Ax / Ground Plane AySteering (°)Roll Rate (°/Sec)Yaw Rate (°/Sec)Speed (MPH)Ax (g's)Ground Plane Ay (g's)

Steering / Speed / Roll Rate / Yaw RateVehicle FSEA Right J-Turn w/ Robotic Steering Controller - SEA GVW w/ Outriggers - 30 MPH-200-180-160-140-120-100-80-60-40-200204060801001201401601802000123456Time (SEC)-1.00-0.90-0.80-0.70-0.60-0.50-0.40-0.30-0.20-0.100.000.100.200.300.400.500.600.700.800.901.00 Ax / Ground Plane AySteering (°)Roll Rate (°/Sec)Yaw Rate (°/Sec)Speed (MPH)Ax (g's)Ground Plane Ay (g's)

Steering / Speed / Roll Rate / Yaw RateVehicle GSEA Right J-Turn w/ Robotic Steering Controller - SEA GVW w/ Outriggers - 32 MPH-200-180-160-140-120-100-80-60-40-200204060801001201401601802000123456Time (SEC)-1.00-0.90-0.80-0.70-0.60-0.50-0.40-0.30-0.20-0.100.000.100.200.300.400.500.600.700.800.901.00 Ax / Ground Plane AySteering (°)Roll Rate (°/Sec)Yaw Rate (°/Sec)Speed (MPH)Ax (g's)Ground Plane Ay (g's)

Steering / Speed / Roll Rate / Yaw RateVehicle HSEA Right J-Turn w/ Robotic Steering Controller - SEA GVW w/ Outriggers - 31 MPH-200-180-160-140-120-100-80-60-40-200204060801001201401601802000123456Time (SEC)-1.00-0.90-0.80-0.70-0.60-0.50-0.40-0.30-0.20-0.100.000.100.200.300.400.500.600.700.800.901.00 Ax / Ground Plane AySteering (°)Roll Rate (°/Sec)Yaw Rate (°/Sec)Speed (MPH)Ax (g's)Ground Plane Ay (g's)

Steering / Speed / Roll Rate / Yaw RateVehicle ISEA Right J-Turn w/ Robotic Steering Controller - SEA GVW w/ Outriggers - 30 MPH-200-180-160-140-120-100-80-60-40-200204060801001201401601802000123456Time (SEC)-1.00-0.90-0.80-0.70-0.60-0.50-0.40-0.30-0.20-0.100.000.100.200.300.400.500.600.700.800.901.00 Ax / Ground Plane AySteering (°)Roll Rate (°/Sec)Yaw Rate (°/Sec)Speed (MPH)Ax (g's)Ground Plane Ay (g's)

Steering / Speed / Roll Rate / Yaw RateVehicle JSEA Right J-Turn w/ Robotic Steering Controller - SEA GVW w/ Outriggers - 30 MPH-200-180-160-140-120-100-80-60-40-200204060801001201401601802000123456Time (SEC)-1.00-0.90-0.80-0.70-0.60-0.50-0.40-0.30-0.20-0.100.000.100.200.300.400.500.600.700.800.901.00 Ax / Ground Plane AySteering (°)Roll Rate (°/Sec)Yaw Rate (°/Sec)Speed (MPH)Ax (g's)Ground Plane Ay (g's)

Steering / Speed / Roll Rate / Yaw RateVehicle KSEA Right J-Turn w/ Robotic Steering Controller - SEA GVW w/ Outriggers - 29 MPH-200-180-160-140-120-100-80-60-40-200204060801001201401601802000123456Time (SEC)-1.00-0.90-0.80-0.70-0.60-0.50-0.40-0.30-0.20-0.100.000.100.200.300.400.500.600.700.800.901.00 Ax / Ground Plane AySteering (°)Roll Rate (°/Sec)Yaw Rate (°/Sec)Speed (MPH)Ax (g's)Ground Plane Ay (g's)

Steering / Speed / Roll Rate / Yaw Rate

# Appendix CSEA Left J-Turn w/ Robotic Steering Controller - SEA Driver & Passenger w/ Outriggers - 30 MPH-200-180-160-140-120-100-80-60-40-200204060801001201401601802000123456Time (SEC)-1.00-0.90-0.80-0.70-0.60-0.50-0.40-0.30-0.20-0.100.000.100.200.300.400.500.600.700.800.901.00 Ax / Ground Plane AySteering (°)Roll Rate (°/Sec)Yaw Rate (°/Sec)Speed (MPH)Ax (g's)Ground Plane Ay (g's)

Steering / Speed / Roll Rate / Yaw RateSEA Left J-Turn w/ Robotic Steering Controller - SEA Driver & Passenger w/ Outriggers - 30 MPH-200-180-160-140-120-100-80-60-40-200204060801001201401601802000123456Time (SEC)-1.00-0.90-0.80-0.70-0.60-0.50-0.40-0.30-0.20-0.100.000.100.200.300.400.500.600.700.800.901.00 Ax / Ground Plane AySteering (°)Roll Rate (°/Sec)Yaw Rate (°/Sec)Speed (MPH)Ax (g's)Ground Plane Ay (g's)

Steering / Speed / Roll Rate / Yaw Rate

# Appendix DVehicle BSEA Right J-Turn w/ Robotic Steering Controller - SEA GVW w/ Outriggers - 29 MPH-220-200-180-160-140-120-100-80-60-40-200204060801001201401601802002200123456Time (SEC)-1.10-1.00-0.90-0.80-0.70-0.60-0.50-0.40-0.30-0.20-0.100.000.100.200.300.400.500.600.700.800.901.001.10 Ax / Ground Plane AySteering (°)Roll Rate (°/Sec)Yaw Rate (°/Sec)Speed (MPH)Ax (g's)Ground Plane Ay (g's)

Steering / Speed / Roll Rate / Yaw RateVehicle DSEA Right J-Turn w/ Robotic Steering Controller - SEA GVW w/ Outriggers - 30 MPH-220-200-180-160-140-120-100-80-60-40-200204060801001201401601802002200123456Time (SEC)-1.10-1.00-0.90-0.80-0.70-0.60-0.50-0.40-0.30-0.20-0.100.000.100.200.300.400.500.600.700.800.901.001.10 Ax / Ground Plane AySteering (°)Roll Rate (°/Sec)Yaw Rate (°/Sec)Speed (MPH)Ax (g's)Ground Plane Ay (g's)

Steering / Speed / Roll Rate / Yaw RateVehicle KSEA Right J-Turn w/ Robotic Steering Controller - SEA Driver & Passenger w/ Outriggers - 30 MPH-220-200-180-160-140-120-100-80-60-40-200204060801001201401601802002200123456Time (SEC)-1.10-1.00-0.90-0.80-0.70-0.60-0.50-0.40-0.30-0.20-0.100.000.100.200.300.400.500.600.700.800.901.001.10 Ax / Ground Plane AySteering (°)Roll Rate (°/Sec)Yaw Rate (°/Sec)Speed (MPH)Ax (g's)Ground Plane Ay (g's)

Steering / Speed / Roll Rate / Yaw Rate

# Appendix E

# Appendix F