Table 1.

Rule set for the fuzzy rotation vector.

Rule Number	X-axis	Y-axis	Z-axis	Output
1	X-negative diff.	Y-negative diff.	Z-negative diff.	Rotation detected
2	X-negative diff.	Y-negative diff.	Z-stable diff.	Go straight
3	X-negative diff.	Y-negative diff.	Z-positive diff.	Rotation detected
4	X-negative diff.	Y-stable diff.	Z-negative diff.	Rotation detected
5	X-negative diff.	Y-stable diff.	Z-stable diff.	Go straight
6	X-negative diff.	Y-stable diff.	Z-positive diff.	Rotation detected
7	X-negative diff.	Y-positive diff.	Z-negative diff.	Rotation detected
8	X-negative diff.	Y-positive diff.	Z-stable diff.	Go straight
9	X-negative diff.	Y-positive diff.	Z-positive diff.	Rotation detected
10	X-stable diff.	Y-negative diff.	Z-negative diff.	Rotation detected
11	X-stable diff.	Y-negative diff.	Z-stable diff.	Go straight
12	X-stable diff.	Y-negative diff.	Z-positive diff.	Rotation detected
13	X-stable diff.	Y-stable diff.	Z-negative diff.	Rotation detected
14	X-stable diff.	Y-stable diff.	Z-stable diff.	Go straight
15	X-stable diff.	Y-stable diff.	Z-positive diff.	Rotation detected
16	X-stable diff.	Y-positive diff.	Z-negative diff.	Rotation detected
17	X-stable diff.	Y-positive diff.	Z-stable diff.	Go straight
18	X-stable diff.	Y-positive diff.	Z-positive diff.	Rotation detected
19	X-positive diff.	Y-negative diff.	Z-negative diff.	Rotation detected
20	X-positive diff.	Y-negative diff.	Z-stable diff.	Go straight
21	X-positive diff.	Y-negative diff.	Z-positive diff.	Rotation detected
22	X-positive diff.	Y-stable diff.	Z-negative diff.	Rotation detected
23	X-positive diff.	Y-stable diff.	Z-stable diff.	Go straight
24	X-positive diff.	Y-stable diff.	Z-positive diff.	Rotation detected
25	X-positive diff.	Y-positive diff.	Z-negative diff.	Rotation detected
26	X-positive diff.	Y-positive diff.	Z-stable diff.	Go straight
27	X-positive diff.	Y-positive diff.	Z-positive diff.	Rotation detected