Author: claimsbot

1. A harmonica comprising a pair of a blow reed and a draw reed in each of an upper part and a lower part of a hole and having four tone rows of a tone row for the upper blow reeds, a tone row for the upper draw reeds, a tone row for the lower blow reeds, and a tone row for the lower draw reeds, wherein one of the four tone rows is a pattern in which \u201cDo Mi Sol Ti-flat\u201d is repeated, one of the remaining three tone rows is a pattern in which \u201cRe Fa Sol Ti\u201d is repeated, one of the remaining two tone rows is a pattern in which \u201cRe-flat Sol-flat La-flat Ti-flat\u201d is repeated, and the remaining one tone row is a pattern in which \u201cMi-flat Fa La Do\u201d is repeated.
2. A harmonica comprising a pair of a blow reed and a draw reed in each of an upper part and a lower part of a hole and having four tone rows of a tone row for the upper blow reeds, a tone row for the upper draw reeds, a tone row for the lower blow reeds, and a tone row for the lower draw reeds, wherein one of the four tone rows is a pattern in which \u201cDo Mi Sol La\u201d is repeated, one of the remaining three tone rows is a pattern in which \u201cRe Fa Sol Ti\u201d is repeated, one of the remaining two tone rows is a pattern in which \u201cRe-flat Sol-flat La-flat Ti-flat\u201d is repeated, and the remaining one tone row is a pattern in which \u201cMi-flat Fa La Do\u201d is repeated.
3. A harmonica comprising a pair of a blow reed and a draw reed in each of an upper part and a lower part of a hole and having four tone rows of a tone row for the upper blow reeds, a tone row for the upper draw reeds, a tone row for the lower blow reeds, and a tone row for the lower draw reeds, wherein one of the four tone rows is a pattern in which \u201cLa Do Mi Fa-sharp\u201d is repeated, one of the remaining three tone rows is a pattern in which \u201cTi Re Mi Sol\u201d is repeated, one of the remaining two tone rows is a pattern in which \u201cDo-sharp Re-sharp Sol-sharp La-sharp\u201d is repeated, and the remaining one tone row is a pattern in which \u201cDo Re Fa La\u201d is repeated.
4. A harmonica comprising a pair of a blow reed and a draw reed in each of an upper part and a lower part of a hole and having four tone rows of a tone row for the upper blow reeds, a tone row for the upper draw reeds, a tone row for the lower blow reeds, and a tone row for the lower draw reeds, wherein one of the four tone rows is a pattern in which \u201cLa Do Mi Sol\u201d is repeated, one of the remaining three tone rows is a pattern in which \u201cTi Re Mi Sol-sharp\u201d is repeated, one of the remaining two tone rows is a pattern in which \u201cDo-sharp Re-sharp Fa-sharp La-sharp\u201d is repeated, and the remaining one tone row is a pattern in which \u201cDo Re Fa La\u201d is repeated.
5. A harmonica comprising a pair of a blow reed and a draw reed in each of an upper part and a lower part of a hole and having four tone rows of a tone row for the upper blow reeds, a tone row for the upper draw reeds, a tone row for the lower blow reeds, and a tone row for the lower draw reeds, wherein one of the four tone rows is a pattern in which \u201cLa Do Mi Sol\u201d is repeated, one of the remaining three tone rows is a pattern in which \u201cTi Re Mi Sol\u201d is repeated, one of the remaining two tone rows is a pattern in which \u201cDo-sharp Re-sharp Fa-sharp La-sharp\u201d is repeated, and the remaining one tone row is a pattern in which \u201cDo Re Fa La\u201d is repeated.

The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.

1. A method of treating inflammation that is associated with a metabolic disorder, wherein the metabolic disease is selected from the group consisting of Type II diabetes, insulin resistance, atherosclerosis, dyslipidemia, retinopathy associated with diabetic complications, nephropathy associated with diabetic complications, neuropathy associated with diabetic complications, and macular edema associated with diabetic complications, comprising administering to a patient in need thereof an effective amount of a compound of Formula I:
or a pharmaceutically acceptable salt, enantiomer, or stereoisomer thereof,
wherein:

R1, R2, R3, and R4 are each independently selected from the group consisting of H, Cl, F, CN, \u2014NH(C1-C3 alkyl), \u2014N(C1-C3 alkyl)2, \u2014NH(C(O)C1-C3 alkyl), \u2014N(C(O)C1-C3 alkyl)2, \u2014C(O)H, \u2014C(O)C1-C3 alkyl, \u2014C(O)OC1-C3 alkyl, \u2014C(O)NH2, \u2014C(O)NH(C1-C3 alkyl), \u2014C(O)N(C1-C3 alkyl)2, \u2014O\u2014C1-C3 alkyl;
W1 is NH and W2 is selected from null or NH;
– – – – – represents an optional bond that when present requires that Q is null;
a and c are each independently H, CH3, \u2014OCH3, \u2014OCH2CH3, or C(O)OH;
b is H, CH3, C(O)OH, or O\u2014Z;
d is H or C(O)OH;
each n, o, p, and q is independently 0 or 1;
each Z is H or
with the proviso that there is at least one
in the compound;
each r is independently 2 or 3;
each s is independently 5 or 6;
each t is independently 0 or 1;
Q is null, C(O)CH3, Z,
e is H or any one of the side chains of the naturally occurring amino acids;
W3 is null or N(R)\u2014;
R is H or C1-C3 alkyl; and
T is H, C(O)CH3, or Z.
2. The method of claim 1, wherein the compound is a compound wherein W2 is NH.
3. The method of claim 2, wherein the compound is a compound wherein r is 2, s is 6, t is 1, and Z is
4. The method of claim 3, wherein the compound is
5. The method of claim 1, wherein the compound is a compound wherein Q is Z.
6. The method of claim 1, wherein the compound is a compound wherein Q is
7. The method of claim 1, wherein the compound is a compound wherein Q is Z and Z is H.
8. The method of claim 1, wherein the compound is a compound wherein two of n, o, p, and q are each 1.
9. The method of claim 1, wherein the compound is a compound wherein r is 3, s is 5, t is 1, and Z is
10. The method of claim 1, wherein the compound is
11. A method of treating inflammation that is associated with an inflammatory bowel disease selected from the group consisting of ileitis, ulcerative colitis, Barrett’s syndrome, and Crohn’s disease, comprising administering to a patient in need thereof an effective amount of a compound of Formula I:
or a pharmaceutically acceptable salt, enantiomer, or stereoisomer thereof,
wherein:

R1, R2, R3 and R4 are each independently selected from the group consisting of H, Cl, F, CN, \u2014NH(C1-C3 alkyl), \u2014N(C1-C3 alkyl)2, \u2014NH(C(O)C1-C3 alkyl), \u2014N(C(O)C1-C3 alkyl)2, \u2014C(O)H, \u2014C(O)C1-C3 alkyl, \u2014C(O)OC1-C3 alkyl, \u2014C(O)NH2, \u2014C(O)NH(C1-C3 alkyl), \u2014C(O)N(C1-C3 alkyl)2, \u2014O\u2014C1-C3 alkyl;
W1 is NH and W2 is selected from null or NH;
– – – – – represents an optional bond that when present requires that Q is null;
a and c are each independently H, CH3, \u2014OCH3, \u2014OCH2CH3, or C(O)OH;
b is H, CH3, C(O)OH, or O\u2014Z;
d is H or C(O)OH;
each n, o, p, and q is independently 0 or 1;
each Z is H or
with the proviso that there is at least one
in the compound;
each r is independently 2 or 3;
each s is independently 5 or 6;
each t is independently 0 or 1;
Q is null, C(O)CH3, Z,
e is H or any one of the side chains of the naturally occurring amino acids;
W3 is null or \u2014N(R)\u2014;
R is H or C1-C3 alkyl; and
T is H, C(O)CH3, or Z.
12. The method of claim 11, wherein the compound is a compound wherein W2 is NH.
13. The method of claim 11, wherein the compound is a compound wherein r is 2, s is 6, t is 1, and Z is
14. The method of claim 11, wherein the compound is
15. The method of claim 11, wherein the compound is a compound wherein Q is Z.
16. The method of claim 11, wherein the compound is a compound wherein Q is
17. The method of claim 11, wherein the compound is a compound wherein Q is Z and Z is H.
18. The method of claim 11, wherein the compound is a compound wherein two of n, o, p, and q are each 1.
19. The method of claim 11, wherein the compound is a compound wherein r is 3, s is 5, t is 1, and Z is
20. The method of claim 11, wherein the compound is
21. A method of treating inflammation that is associated with a neurodegenerative disorder selected from the group consisting of Alzheimer’s disease, multiple sclerosis, and amyotrophic lateral sclerosis, comprising administering to a patient in need thereof an effective amount of a compound of Formula I:
or a pharmaceutically acceptable salt, enantiomer, or stereoisomer thereof,
wherein:

R1, R2, R3 and R4 are each independently selected from the group consisting of H, Cl, F, CN, \u2014NH(C1-C3 alkyl), \u2014N(C1-C3 alkyl)2, \u2014NH(C(O)C1-C3 alkyl), \u2014N(C(O)C1-C3 alkyl)2, \u2014C(O)H, \u2014C(O)C1-C3 alkyl, \u2014C(O)OC1-C3 alkyl, \u2014C(O)NH2, \u2014C(O)NH(C1-C3 alkyl), \u2014C(O)N(C1-C3 alkyl)2, \u2014O\u2014C1-C3 alkyl;
W1 is NH and W2 is selected from null or NH;
– – – – – represents an optional bond that when present requires that Q is null;
a and c are each independently H, CH3, \u2014OCH3, \u2014OCH2CH3, or C(O)OH;
b is H, CH3, C(O)OH, or O\u2014Z;
d is H or C(O)OH;
each n, o, p, and q is independently 0 or 1;
each Z is H or
with the proviso that there is at least one
in the compound;
each r is independently 2 or 3;
each s is independently 5 or 6;
each t is independently 0 or 1;
Q is null, C(O)CH3, Z
e is H or any one of the side chains of the naturally occurring amino acids;
W3 is null or \u2014N(R)\u2014;
R is H or C1-C3 alkyl; and
T is H, C(O)CH3, or Z.
22. The method of claim 21, wherein the compound is a compound wherein W2 is NH.
23. The method of claim 21, wherein the compound is a compound wherein r is 2, s is 6, t is 1, and Z is
24. The method of claim 21, wherein the compound is
25. The method of claim 21, wherein the compound is a compound wherein Q is Z.
26. The method of claim 21, wherein the compound is a compound wherein Q is
27. The method of claim 21, wherein the compound is a compound wherein Q is Z and Z is H.
28. The method of claim 21, wherein the compound is a compound wherein two of n, o, p, and q are each 1.
29. The method of claim 21, wherein the compound is a compound wherein r is 3, s is 5, t is 1, and Z is
30. The method of claim 21, wherein the compound is
31. A method of treating inflammation that is associated with Duchenne’s muscular dystrophy comprising administering to a patient in need thereof an effective amount of a compound of Formula I:
or a pharmaceutically acceptable salt, enantiomer, or stereoisomer thereof,
wherein:

R1, R2, R3 and R4 are each independently selected from the group consisting of H, Cl, F, CN, \u2014NH(C1-C3 alkyl), \u2014N(C1-C3 alkyl)2, \u2014NH(C(O)C1-C3 alkyl), \u2014N(C(O)C1-C3 alkyl)2, \u2014C(O)H, \u2014C(O)C1-C3 alkyl, \u2014C(O)OC1-C3 alkyl, \u2014C(O)NH2, \u2014C(O)NH(C1-C3 alkyl), \u2014C(O)N(C1-C3 alkyl)2, \u2014O\u2014C1-C3 alkyl;
W1 is NH and W2 is selected from null or NH;
– – – – – represents an optional bond that when present requires that Q is null;
a and c are each independently H, CH3, \u2014OCH3, \u2014OCH2CH3, or C(O)OH;
b is H, CH3, C(O)OH, or O\u2014Z;
d is H or C(O)OH;
each n, o, p, and q is independently 0 or 1;
each Z is H or
with the proviso that there is at least one
in the compound;
each r is independently 2 or 3;
each s is independently 5 or 6;
each t is independently 0 or 1;
Q is null, C(O)CH3, Z,
e is H or any one of the side chains of the naturally occurring amino acids;
W3 is null or \u2014N(R)\u2014;
R is H or C1-C3 alkyl; and
T is H, C(O)CH3, or Z.
32. The method of claim 31, wherein the compound is a compound wherein W2 is NH.
33. The method of claim 31, wherein the compound is a compound wherein r is 2, s is 6, t is 1, and Z is
34. The method of claim 31, wherein the compound is
35. The method of claim 31, wherein the compound is a compound wherein Q is Z.
36. The method of claim 31, wherein the compound is a compound wherein Q is
37. The method of claim 31, wherein the compound is a compound wherein Q is Z and Z is H.
38. The method of claim 31, wherein the compound is a compound wherein two of n, o, p, and q are each 1.
39. The method of claim 31, wherein the compound is a compound wherein r is 3, s is 5, t is 1, and Z is
40. The method of claim 31, wherein the compound is

What is claimed is:

1. A cartridge type recording medium comprising:
a recording disk having a first hole formed in a center portion thereof for centering;
a cartridge for housing the recording disk; and
a hub integrally provided in the recording disk, and having a second hole of a diameter smaller than that of the first hole formed in a center portion thereof for centering the recording disk.
2. A cartridge type recording medium according to claim 1, further comprising a disk-shaped magnetic plate positioned in a space formed between the integrated hub and the recording disk so as to move in a thickness direction of the recording disk.
3. A cartridge type recording medium comprising:
a recording disk having a hole formed in a center thereof;
a cartridge for housing the recording disk and having an openedclosed shutter; and
a hub held in the cartridge in a movable state in a diameter direction of the recording disk, and having a hole of a diameter smaller than that of the hole in a center portion thereof.
4. A cartridge type recording medium according to claim 3, wherein when the cartridge type recording medium is loaded on a driving unit having a first centering member inserted into the hole for centering the recording disk, and a second centering member of a diameter smaller than that of the first centering member, the second centering member is inserted into the hole of the small diameter.
5. A cartridge type recording medium capable of recording andor reproducing by use of a first driving unit containing a centering member and a second driving unit containing a centering member, comprising:
a recording disk in which a first hole is provided for centering to the first driving unit with the centering member of the first driving unit abutting to the center portion of the recording disk;
a cartridge housing the recording disk and including a shutter capable of openingclosing; and
a hub held by the cartridge in a movable state in a direction of a diameter of the recording disk, which is constituted to be smaller in diameter than the first hole, which is capable for the centering member of the second driving unit to be inserted into, and in a center portion of which a second hole provided for centering to the second driving unit.
6. A disk-shaped recording medium comprising:
a recording disk having a first hole formed in a center portion thereof, and
a hub fixed to one of the surface of the recording disk, and having a second hole of a diameter smaller than that of the first hole,
wherein the hub is, with respect to the recording disk, positioned in a side opposite to a side facing a fixing member inserted into one of the first hole and the second hole to fix the recording disk to a driving unit.
7. A disk-shaped recording medium according to claim 6, wherein the recording disk and the hub can be housed in a box-shaped cartridge having an openedclosed shutter.
8. A disk-shaped recording medium capable of recording andor reproducing by use of a first driving unit containing a centering member and a second driving unit containing a centering member, comprising:
a recording disk in which a first hole is provided for centering to the first driving unit with the centering member of the first driving unit abutting to the center portion of the recording disk;
a hub containing a second hole in a center portion therein,
wherein the hole is integrally and concentrically configured with the recording disk, smaller in diameter than the first hole, capable for the centering member of the second driving unit to be inserted into, and provided for centering to the second driving unit.
9. A cartridge comprising:
a box-shaped cartridge body for housing a recording disk in the inside thereof;
a hub having a hole of a diameter smaller than that of a center hole formed in a center portion of the recording disk; and
a hub holding portion disposed in the cartridge body to hold the hub in a movable state in a diameter direction of the hole of the hub.
10. A cartridge according to claim 9, wherein the hub holding portion holds the hub in a movable state in a direction approximately orthogonal to a surface of the recording disk housed in the cartridge.
11. A driving unit for executing recordingreproducing to a recording disk, comprising in a disk holding portion for holding the recording disk:
a first centering member having a predetermined outer diameter;
a second centering member having an outer diameter smaller than that of the first centering member; and
a protrusion size changing mechanism for changing a protrusion size of the second centering member toward the recording disk with respect to the first centering member.
12. A driving unit according to claim 11, wherein as the protrusion size changing mechanism, an elastic member is provided to retreat the first centering member with respect to the second centering member, and return the first centering member to an original position.
13. A driving unit according to claim 11, wherein when the recording disk held by the disk holding portion has a center hole of a predetermined diameter formed in the center portion of the recording disk, and a centering hole formed in the hub fixed to the recording disk, the centering hole having a diameter smaller than that of the center hole, the disk holding portion centers the recording disk by coupling the second centering member into the centering hole.
14. A driving unit according to claim 11, wherein when the recording disk held by the disk holding portion has a center hole of a predetermined diameter formed in a center portion of the recording disk, and a hole formed in a hub provided to move with respect to the recording disk, the hole having a diameter smaller than that of the center hole, the disk holding portion centers the recording disk by coupling the first centering member into the center hole.
15. A driving unit for driving a cartridge type recording medium incorporating a recording disk in a cartridge, comprising:
a centering member coupled into a center hole of the recording disk to center the recording disk when the cartridge type recording medium incorporating the recording disk having the center hole formed in a center portion thereof, and a hub having a hole of a diameter smaller than that of the center hole is driven; and
a table member having a table surface on which one surface side of the recording disk is abutted.
16. A driving unit capable of recording andor reproducing to a first recording disk having a hole for centering and a second recording disk having a hole for centering, comprising in a disk holding portion for holding the first recording disk and the second recording disk:
a first centering member for centering the first recording disk having a predetermined outer diameter;
a second centering member for centering the second recording disk having an outer diameter thereof smaller than the first centering member; and
a protrusion size changing mechanism for changing a protrusion size of the second centering member against the first centering member toward the recording disk.
17. A driving method for a first recording medium housing a recording disk having a center hole and a hub integrated with the recording disk and having a hole of a diameter smaller than that of the center hole in a cartridge, and a second recording medium housing a recording disk having a center hole and a hub separated from the recording disk, the hub having a hole of a diameter smaller than that of the center hole, comprising the steps of:
positioning the recording disk by coupling the small centering member into the hole of a small diameter, when the first recording medium is driven by a driving unit having two large and small centering members;
positioning the recording disk by coupling the large centering member in the center hole, when the second recording medium is driven by a driving unit having two large and small centering members; and
positioning the recording disk by coupling the only one centering member into the center hole, when the first or second recording medium is driven by a driving unit having only one centering member.
18. A driving method by use of a driving unit constituting a first centering member and a second centering member smaller than the first centering member with regard to a first recording disk having a center hole for centering and a second recording disk in which a hub having a center hole of a diameter smaller than the first hole for centering is integrally provided,
wherein positioning is executed using the first centering member when driving the first recording disk and another positioning is executed using the second centering member when driving the second recording disk.

The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.

1. In a hauling machine having a bed adapted to haul a payload, a method, implemented by a programmable controller, of determining whether an event loading the bed is occurring, the method comprising:
determining if the machine has been stationary for a given period,
determining if the bed is in a position to be loaded,
determining if other factors have contributed to movement of the machine,
filtering an accelerometer signal associated with movement of the machine to calculate an amplitude of bounce, and
comparing the amplitude of bounce with a predetermined constant reflecting a minimum amplitude of bounce.
2. The method of claim 1 further including identifying a loading event if the amplitude of bounce is greater than the predetermined constant reflecting a minimum amplitude of bounce, the machine has been stationary for a given period, the bed is in a position to be loaded, and other factors have not caused movement of the machine.
3. The method of claim 1 wherein the step of determining if other factors have contributed to movement of the machine includes determining whether a throttle of the machine has been less than a predetermined level for a given period.
4. The method of claim 3 wherein the step of determining if other factors have contributed to movement of the machine includes determining if the transmission is in a gear lower than a predetermined gear and has not been changed within a given period of time.
5. The method of claim 4 wherein the step of determining if other factors have contributed to movement of the machine includes determining if a yaw rate is less than a predetermined level for a given period in an articulated machine.
6. The method of claim 1 wherein the step of determining if other factors have contributed to movement of the machine includes at least one of determining if a yaw rate is less than a predetermined level for a given period in an articulated machine, and determining if the transmission is in a gear lower than a predetermined gear and has not been changed within a given period of time.
7. The method of claim 5 wherein the step of determining if the bed is in a position to be loaded includes determining if at least one hoist cylinder coupled to bed and adapted to effectuate dumping of a payload contained in the bed has been in a retracted position for a given period.
8. The method of claim 1 wherein the step of determining if the bed is in a position to be loaded includes determining if at least one hoist cylinder coupled to bed and adapted to effectuate dumping of a payload contained in the bed has been in a retracted position for a given period.
9. The method of claim 8 wherein the step of determining if at least one hoist cylinder coupled to bed and adapted to effectuate dumping of a payload contained in the bed has been in a retracted position for a given period includes determining if at least one hoist cylinder adapted to move a pivoted bed between a load position and a dump position is in a retracted position.
10. The method of claim 8 wherein the step of determining if at least one hoist cylinder coupled to bed and adapted to effectuate dumping of a payload contained in the bed has been in a retracted position for a given period includes determining if at least one hoist cylinder adapted to move an ejector plate of an ejector bed between a load position and a dump position is in a retracted position.
11. A non-transitory computer-readable medium including computer-executable instructions facilitating performing a method, implemented by a programmable controller, of determining the occurrence of an event loading the bed of a hauling machine, the method comprising:
determining if the machine has been stationary for a given period,
determining if the bed is in a position to be loaded,
determining if other factors have contributed to movement of the machine,
filtering an accelerometer signal associated with movement of the machine to calculate an amplitude of bounce, and comparing the amplitude of bounce with a predetermined constant reflecting a minimum amplitude of bounce.
12. The non-transitory computer-readable medium of claim 11 wherein the method further includes identifying a loading event if the amplitude of bounce is greater than the predetermined constant reflecting a minimum amplitude of bounce, the machine has been stationary for a given period, the bed is in a position to be loaded, and other factors have not caused movement of the machine.
13. The non-transitory computer-readable medium of claim 11 wherein the step of determining if other factors have contributed to movement of the machine includes determining whether a throttle of the machine has been less than a predetermined level for a given period.
14. The non-transitory computer-readable medium of claim 11 wherein the step of determining if other factors have contributed to movement of the machine includes at least one of determining if the transmission is in a gear lower than a predetermined gear and has not been changed within a given period of time, and determining if a yaw rate is less than a predetermined level for a given period in an articulated machine.
15. The non-transitory computer-readable medium of claim 11 wherein the step of determining if other factors have contributed to movement of the machine includes
determining whether a throttle of the machine has been less than a predetermined level for a given period, and
determining if the transmission is in a gear lower than a predetermined gear and has not been changed within a given period of time.
16. The non-transitory computer-readable medium of claim 11 wherein the step of determining if other factors have contributed to movement of the machine includes determining if a yaw rate is less than a predetermined level for a given period in an articulated machine.
17. The non-transitory computer-readable medium of claim 11 wherein the step of determining if other factors have contributed to movement of the machine includes
determining whether a throttle of the machine has been less than a predetermined level for a given period,
determining if the transmission is in a gear lower than a predetermined gear and has not been changed within a given period of time, and
determining if a yaw rate is less than a predetermined level for a given period in an articulated machine.
18. The non-transitory computer-readable medium of claim 11 wherein the step of determining if the bed is in a position to be loaded includes determining if at least one hoist cylinder coupled to bed and adapted to effectuate dumping of a payload contained in the bed has been in a retracted position for a given period.
19. A hauling machine comprising
a plurality of moveable ground engaging elements,
a bed adapted to carry a payload,
at least one hoist cylinder associated with the bed and adapted to move between a retracted position associated with a loaded position of the bed, and an extended position associated with a dump position of at least a portion of the bed,
a transmission adapted to operate in a plurality of gears,
an engine,
a throttle associated with the engine,
an accelerometer adapted to indicate bounce movement of the bed,
a programmable controller configured by computer-executable instructions to detect if a loading event is occurring, the programmable controller using a set of parameters including:
period of time in the current gear,
whether the gear is less than a predetermined gear,
movement of the machine within a given period,
throttle position,
hoist position,
amplitude of bounce movement of the bed, and
reference constants including
a predetermined constant reflecting maximum gear position,
a predetermined constant reflecting maximum throttle position,
a predetermined constant reflecting hoist position, and
a predetermined constant reflecting minimum amplitude of bounce.
20. The hauling machine of claim 19 further including front and rear frame portions articulated relative to one another, and a yaw sensor, and wherein the programmable controller is configured to use a set of parameters further including yaw rate and a predetermined constant reflecting a maximum yaw rate.