A liquid ink composition includes a colorant, a charge control agent, an organosol, a carrier liquid, and a storage stabilizer. The initial voltage supplied to the IC maybe set to an initial value which takes chip-to-chip process variations into account and then dynamically adjusted according to temperature variations, DC offset andor aging effects. A control system connected to the crane includes a user interface electronically coupled to a command potentiometer and a programmable controller responsive to the command potentiometer for controlling the angular position of each of the first front wheel, the second front wheel, the first rear wheel and the second rear wheel to effect a steering mode selected through the user interface.