The present disclosure utilizes Non-linear Proportional and Derivative control on a duty cycle of an applying clutch for stationary and rolling vehicle garage shifts. One embodiment is a compound having the structurein which R1, R3,R4,R5,R14,R15,R17, G, Q, k, v, x and y are as described herein. The method also includes drawing power from the computer system via the data connector and charging at least in part a battery associated with the hand-held DVC with the power drawn from the computer system, where the hand-held DVC remains coupled to the computer system via the data connector for the steps of transmitting, receiving, drawing and charging. The stroller is rear-facing such that when the child is positioned in the concavity, the child faces a direction of the handlebars. The dithering mask is stored as an alpha channel of the source image.