A method and apparatus for reproducing MIDI music based on synchronization information are provided. The chassis comprises frame portions which are vertically displaced relative to each other, where the available vertical space for driving the displaceable crane part is limited particularly in the transition between said frame portions. The rear wheel steering actuator is coupled to a rear wheel of the vehicle and controls a steering angle of the rear wheel. The invention is simple in structure. Such compounds provide useful solvency to the cleaning formulations while having a relatively benign environmental profile.