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  ______     ___     _    _      ___     _    _   
 /_   _//   / _ \\  | || | ||   / _ \\  | |  | || 
 `-| |,-   / //\ \\ | || | ||  / //\ \\ | |/\| || 
   | ||   |  ___  ||| \\_/ || |  ___  |||  /\  || 
   |_||   |_||  |_|| \____//  |_||  |_|||_// \_|| 
   `-`'   `-`   `-`   `---`   `-`   `-` `-`   `-`

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Text this: Analyses, simulation and control of a wheeled-vehicle with AWIS (Auxiliary Wheels of Involute-Shape)