Hello Dirk,
some months ago there was a thread on the german "Liegeradforum" about the minq: http://f21.parsimony.net/cgi-bin/topic-indent.cgi?Nummer=37385&ThreadNummer=81340
A closer look to the negative steering angle can be found here: http://web.uct.ac.za/depts/psychology/bok/posneg.html
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