The present disclosure relates to fault management apparatus and method for an independently controlled steering system in a four wheel drive system. The brace includes an abdominal support panel substantially enclosed within a support envelope, a lumbar support panel having a dome-shaped protrusion that complements the lumbar contour of the user’s back, and a belt that places the abdominal support panel and the lumbar support panel in opposed biasing arrangement against the torso of a user. The breast may then be positioned within the clothing to maintain the desired appearance. The tool mode is entered once the user drags one or both of the scale endpoints onto the map. Specifically, waste is introduced into each inlet unit during an inlet charging phase; shaft charging vacuum is applied to the storage volume and is maintained continuously therein except when waste is removed from the storage volume; and the charging vacuum and atmospheric air is intermittently communicated to the inlet unit to charge the storage volume with the introduced waste. Phase and amplitude correlation can be done prior to subtraction.