CN102483079A - Position measuring device for capturing the position of at least one actuator of a fluidic system without a position sensor - Google Patents
Position measuring device for capturing the position of at least one actuator of a fluidic system without a position sensor Download PDFInfo
- Publication number
- CN102483079A CN102483079A CN2010800249090A CN201080024909A CN102483079A CN 102483079 A CN102483079 A CN 102483079A CN 2010800249090 A CN2010800249090 A CN 2010800249090A CN 201080024909 A CN201080024909 A CN 201080024909A CN 102483079 A CN102483079 A CN 102483079A
- Authority
- CN
- China
- Prior art keywords
- pressure sensor
- actuator
- sensor apparatus
- volume flowrate
- measurement device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 239000012530 fluid Substances 0.000 claims description 40
- 238000005259 measurement Methods 0.000 claims description 25
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 5
- 230000035939 shock Effects 0.000 claims description 2
- 230000002123 temporal effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 4
- 238000011156 evaluation Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 2
- 238000005336 cracking Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000002277 temperature effect Effects 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/28—Means for indicating the position, e.g. end of stroke
- F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
- F15B15/2838—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT with out using position sensors, e.g. by volume flow measurement or pump speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/632—Electronic controllers using input signals representing a flow rate
- F15B2211/6326—Electronic controllers using input signals representing a flow rate the flow rate being an output member flow rate
Abstract
The invention relates to a position measuring device for capturing the position of at least one actuator (19) of a fluidic system (10) without a position sensor arrangement, wherein at least one fluidic control valve (12) is provided for controlling the fluidic system (10). A volume flow and pressure sensor device (17) is connected in an infeed line (13) to the fluidic system (10) and directly connected to a controller (18). The controller (18) has means for calculating the position x of the actuator (19) according to the relationship (I).
Description
Technical field
The present invention relates under the situation of position-sensor-free, to be used to obtain the position-measurement device of position of at least one actuator (Stellglied) of fluid system.Position transducer and the stroke measurment system that is used for being controlled at fluid system, the especially motion of clutch release slave cylinder is known and to be used for process control be indispensable with variant miscellaneous.Under certain conditions, for example under very high temperature, the use of position transducer and stroke measurment system is very problematic and is that expense is many.Even there is not high temperature, temperature transducer and stroke measurment system embody cost factor, and it is not that too Gao Shiying is held low as far as possible requiring for measuring accuracy especially.
Background technique
Known by file DE 103 55 250 B4, arranged a kind of at volume flowrate and pressure sensor apparatus to the intake line of clutch release slave cylinder.But it is not used in position of piston and obtains, and confirms but be used for leaking through measured force value and volume flow value are compared with reference value.In order to confirm to leak, additionally need the end position switch.
Summary of the invention
The object of the present invention is to provide a kind of position-measurement device of position of at least one actuator that is used for confirming fluid system, therein, can abandon position transducer or stroke measurment system.
The position-measurement device of the characteristic of this purpose through having claim 1 is realized.
Especially have this advantage according to position-measurement device of the present invention, can abandon each position measurement sensor or stroke measurment system and can directly confirm (a plurality of) position through obtaining flow or volume flowrate and pressure.So sensing device need not arrange along the travel paths of actuator, but can be arranged in to the intake line of fluid system, promptly also be arranged in the outside, wherein, how much position is variable.This makes the variable geometric layout that under the situation of littler wiring expense, can carry out this assembly.Be used for the cost that the position obtains through replacing position transducer or stroke system to reduce by more cheap volume flow sensor and pressure transducer.
Fluid system especially is pneumatic system, and it utilizes pressurized air to move.
Through the measure of enumerating in the dependent claims, the favourable improvement project of illustrated position-measurement device is possible with improving in claim 1.
Volume flowrate and pressure sensor apparatus are configured to measurement module, have especially turned out to be particularly advantageous for Knockdown block (Anbaumodul) or setting-in module (Einbaumodul).This module can be installed in fluid system place or the fluid system with simple mode, perhaps is installed at least one control valve place or the control valve with variable mode.
If fluid system has at least one fluid actuated actuator (Aktor) or it is made up of at least one fluid actuated actuator; So volume flowrate and pressure sensor apparatus be arranged in an advantageous manner that in the lid of actuator one locates or one in, perhaps be arranged in its outside.
If a plurality of control valves form valve groups (Ventilbatterie), it can be provided with one or be provided with a plurality of volume flowrates and pressure sensor apparatus aptly so, especially with the form of module.
Volume flowrate and pressure sensor apparatus also can advantageously be associated with a plurality of fluid actuated actuator as fluid system.When being useful on the device that the measurement signal that is obtained of volume flowrate and pressure sensor apparatus and the actuator of correspondingly being handled are associated in time, controling appliance makes that when utilizing volume flowrate and pressure sensor apparatus can obtain the position of actuator of a plurality of actuators, it at first is proved to be particularly advantageous so.
At least one fluid actuated actuator for example relates to a kind of Linear actuator (Linearantrieb), for example relates to a kind of clutch release slave cylinder, perhaps relates to a kind of rotating driver.
Description of drawings
Embodiments of the invention are shown in the drawings and in ensuing explanation, at length set forth.Wherein:
Fig. 1 has shown the schematic view through the clutch release slave cylinder of control valve control, and wherein, volume flowrate and pressure sensor apparatus are arranged among to the intake line of clutch release slave cylinder,
Fig. 2 shown the layout of two modular volume flowrates at valve group place and pressure sensor apparatus and
Fig. 3 has shown volume flowrate and the layout of pressure sensor apparatus in the cylinder cap of clutch release slave cylinder.
Embodiment
Among the embodiment who in Fig. 1, schematically shows; Fluid operating cylinder 10 is controlled via valve assembly 12 through the pressure source 11 with pressure P as the example of fluid system; Relate to 53 logical valves therein or relate to two independent valves, it is switched to two intake lines 13,14 of two chambers of fluid operating cylinder 10.Throttle non-return valve 15,16 is switched in two intake lines 13,14, and throttle non-return valve 15,16 is suitable design proposal, but is not that pressure is essential.In addition; The volume flowrate and the pressure sensor apparatus 17 that are configured to measurement module are switched among in two intake lines 13, measure the volume flow Q that is guided or draw back by the corresponding work chamber to clutch release slave cylinder 10 through volume flowrate and pressure sensor apparatus 17
NAnd corresponding pressure p.
The measured value Q of volume flowrate and pressure sensor apparatus 17
NBe transferred to controller 18 with p, it can be configured to outside control centre or be independent associated control device.But this conveying cable links ground or also can wirelessly realize.In this controller 18, from measured value Q
NWith p according to relation
The corresponding position x of the piston that is used as actuator 19 of evaluation work cylinder 10.At this, be the area of compression shock of the piston of clutch release slave cylinder 10 but A is an actuator 19, and Q
kBe the compression flow, it is according to relation
Q
K＝V·dp/dt
Proportional with actuator volume and variation in pressure, wherein, V is a volume, and it is by dead point volume (being the volume of pipeline, flexible pipe etc.) and depend on that the volume of cylinder of stroke constitutes.K
P1And K
P2For depend on pressure to volume flow Q
NWith compression flow Q
kCorrection factor.These correction factors have been considered current pressure and temperature effect/thermal effect, and it is considered with changeable coefficient (Polytropenkoeffizient).This coefficient automatically size of translatory velocity, variation in pressure and the pressure through cylinder is confirmed.The positional value x that is calculated is drawn by the integration of velocity of piston, thereby it also obtains through abandoning integration with simple mode thus.
Not only passing through during related intake line 13 incoming pressure media but also when the head pressure medium volume flowrate capable of using and pressure sensor apparatus 17.If measure during the fluid input and realize that then two correction factors are considered as positive value aptly.When fluid expulsive stage measurements, two correction factors are considered as negative value aptly.
Volume flowrate and pressure sensor apparatus 17 also can be switched in another (14) in two intake lines.Existence likewise correspondingly is switched to the possibility in whole intake line 13,14 with oneself volume flowrate and pressure sensor apparatus simultaneously, and they are connected to one and same controller 18 places aptly so.
Determined positional value x can show and/or store or be recorded in display unit and/or the recording device 20.
According to before described method or according to before illustrated relation measure when confirming the position and begin from the control signal that is used for valve assembly 12, through this control signal initialization volume flowrate.Through making pressure model and volume flowrate model submit to confidence level control, for pure end position confirms also can make the more reliable and more simplification of this method.For example, the measured value to pressure and volume flowrate equals zero when process begins.If actuator 9 leaves end position, pressure and volume flowrate reach its maximum value so.When arriving opposite end position through actuator 9, confirm final value for pressure, and the volume flowrate vanishing.
Utilize volume flowrate and pressure sensor apparatus 17 also can realize the diagnosis that adds, for example obtain on time via pressure transducer through the measuring pressure rise time.
The valve assembly that is configured to the valve group 21 as fluid system has been shown in Fig. 2, and its plate valve by many arrangements adjacent one another are (Plattenventil) 22 or other valve constitute.Two in the plate valve 22 correspondingly are equipped with volume flowrate and pressure sensor apparatus 17, and it is assembled into corresponding plate valve 22 places as Knockdown block.On the principle, each in the plate valve 22 also can be provided with volume flowrate and the pressure sensor apparatus 17 of oneself, wherein, except assembling, also can realize setting-in.Model through control signal can reduce the sensor cost in the assessment aspect controller 18 or other the control gear (also for example the control gear of the inside of valve island (Ventilinsel)).These control signals are Already in the valve group.Because seldom all valves are connected simultaneously, so according to current on-state, the measurement signal of volume flowrate and pressure sensor apparatus 17 is associated with the valve or the plate valve 22 that correspondingly activate that have corresponding actuator.Also can only be provided with unique volume flowrate and the pressure sensor apparatus 17 that is used for all valves or plate valve 22, it is arranged in the common fluid delivery pipeline for this reason.The corresponding electronic evaluation means (Auswerteelektronik) that has switch matrix (Schaltmatrix) can be integrated in the valve group equally.According to application, the quantity of volume flowrate and pressure sensor apparatus 17 can change.When interested in the end position, in the rough conclusion aspect the end position also evaluation volume flow measurement signal only, wherein, the pressure pressure transducer that obtains or be included in the module is optional so when only.
Show the part area that has it as the fluid operating cylinder 10 of the piston of actuator 19 with in Fig. 3, amplifying.Clutch release slave cylinder 10 has cylinder sleeve 23, and it seals through lid 24 at place, shown terminal area.Volume flowrate and pressure sensor apparatus 17 are integrated in the lid 24 that especially is configured to cylinder cap as the setting-in module.To this alternatively, it can be used as also that module groups is contained in the outside of lid 24 places or in the outside at cylinder sleeve 23 places.In an embodiment, show the fluid operating cylinder as fluid system.But the present invention also can be applicable on other the actuator as fluid system, and wherein, fluid system can have a plurality of actuators or clutch release slave cylinder.
As implementing, the object of the invention is for obtaining through use volume flowrate and the indirect position of pressure sensor apparatus in fluid system or actuator (like driver, cylinder etc.).At this, advantage is the reducing of vulnerability to jamming, debugging cost and the minimizing of wiring expense and maintenance cost still less.
The clutch release slave cylinder 10 that is shown has piston rod, but also can be configured to not have piston rod.Replace the clutch release slave cylinder 10 shown, also can have other fluid actuated actuator, for example rotating driver, nut-cracking device cylinder (Krustenbrecherzylinder), hand-operating device or clamp device.
Claims (10)
1. the position-measurement device of the position of at least one actuator (19) that is used under the situation that position-sensor-free is arranged, obtaining fluid system (12), it has at least one control valve for fluids (12 that is used to control said fluid system (12); 21), have the volume flowrate and the pressure sensor apparatus (17) that are switched to the intake line (13) of said fluid system (12), it directly is connected with controller (18), and wherein said controller (18) has and is used for according to relation
Calculate the device of the position x of said actuator (19), wherein, A is the area of the compression shock of said actuator (19), Q
NBe measured volume flowrate, K
P1And K
P2For depending on the correction factor of pressure, and Q
KFor depending on effective total volume V and depending on the compression flow of the temporal derivative of measured pressure p.
2. position-measurement device according to claim 1 is characterized in that according to Q
kThe compression flow of=Vdp/dt.
3. position-measurement device according to claim 1 and 2 is characterized in that, said volume flowrate and pressure sensor apparatus (17) are switched between at least one said control valve (12,21) and the said fluid system (10).
4. according to each described position-measurement device in the aforementioned claim, it is characterized in that said volume flowrate and pressure sensor apparatus (17) are configured to measurement module, especially is Knockdown block or setting-in module.
5. according to each described position-measurement device in the aforementioned claim, it is characterized in that, said volume flowrate and pressure sensor apparatus (17) be arranged in that said fluid system (10) is located or said fluid system (10) in.
6. position-measurement device according to claim 5; It is characterized in that said fluid system (10) has at least one fluid actuated actuator, for example clutch release slave cylinder or rotating driver; Perhaps constitute by such actuator; Wherein, said volume flowrate and pressure sensor apparatus (17) be arranged in aptly that in the lid (24) of said fluid actuated actuator one locates or one in, perhaps be arranged in its outside.
7. according to each described position-measurement device in the claim 1 to 4, it is characterized in that, said volume flowrate and pressure sensor apparatus (17) be installed in that at least one said control valve (12,21) is located or said control valve (12,21) in.
8. position-measurement device according to claim 7 is characterized in that, a plurality of control valves (22) form valve group (21), and it is provided with at least one volume flowrate and pressure sensor apparatus (17).
9. according to each described position-measurement device in the aforementioned claim, it is characterized in that said volume flowrate and pressure sensor apparatus (17) are associated with a plurality of actuators as fluid system, especially clutch release slave cylinder or rotating driver.
10. position-measurement device according to claim 9; It is characterized in that said controller (18) has and is used for the measurement signal that is obtained of said volume flowrate and pressure sensor apparatus (17) and the said fluid system of correspondingly being handled, the device that is associated in time of actuator especially.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102009023168A DE102009023168A1 (en) | 2009-05-29 | 2009-05-29 | Position measuring device for detecting the position of at least one actuator of a fluidic system without position sensor |
| DE102009023168.4 | 2009-05-29 | ||
| PCT/EP2010/002973 WO2010136131A1 (en) | 2009-05-29 | 2010-05-14 | Position measuring device for capturing the position of at least one actuator of a fluidic system without a position sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102483079A true CN102483079A (en) | 2012-05-30 |
| CN102483079B CN102483079B (en) | 2015-06-17 |
Family
ID=42670512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201080024909.0A Active CN102483079B (en) | 2009-05-29 | 2010-05-14 | Position measuring device for capturing the position of at least one actuator of a fluidic system without a position sensor |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP2417364B1 (en) |
| CN (1) | CN102483079B (en) |
| DE (1) | DE102009023168A1 (en) |
| WO (1) | WO2010136131A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105209765A (en) * | 2012-12-03 | 2015-12-30 | 普莱格机器制造有限责任两合公司 | Method and device for position display of hydraulically actuated fittings |
| CN107939785A (en) * | 2017-11-21 | 2018-04-20 | 中国兵器装备集团自动化研究所 | One kind is used for cylinder method of controlling operation |
| CN112855632A (en) * | 2019-11-12 | 2021-05-28 | 许继电气股份有限公司 | Charging device and electrode control system thereof |
| CN116892985A (en) * | 2023-09-11 | 2023-10-17 | 瑞星久宇燃气设备（成都）有限公司 | Flow metering method and system based on flow characteristics of pressure regulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2975089B1 (en) * | 2011-05-10 | 2013-04-26 | Manitou Bf | TELESCOPIC HANDLING ARRAY MEASURING DEVICE |
| EP2767720B1 (en) * | 2011-10-11 | 2019-04-03 | Volvo Construction Equipment AB | Electro-hydraulic system for a construction machine |
| DE102012202903A1 (en) * | 2012-02-27 | 2013-08-29 | Zf Friedrichshafen Ag | Method for determining an operating state of a form-locking switching element of a transmission device |
| DE102014004879B4 (en) | 2014-04-04 | 2022-02-17 | Festo Se & Co. Kg | Actuator, fluid drive system and method for determining a position of a working piston |
| DE102014004876B3 (en) * | 2014-04-04 | 2015-09-17 | Festo Ag & Co. Kg | Drive system and method for operating a drive system |
| DE102014004877B3 (en) * | 2014-04-04 | 2015-09-17 | Festo Ag & Co. Kg | Drive system and method for operating a drive system |
| DE102016122632A1 (en) * | 2016-11-23 | 2018-05-24 | Bizerba SE & Co. KG | Device for separating an article |
| DE102019211880A1 (en) * | 2019-08-07 | 2021-02-11 | Tadano Faun Gmbh | Method for determining a stroke path of a telescoping system, telescopic boom for a crane and crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4220333A1 (en) * | 1992-06-22 | 1993-12-23 | Marco Systemanalyse Entw | Measuring piston displacement in hydraulic working cylinder - determining flow of hydraulic medium through cylinder from pressure difference measurement across choke |
| WO2001066954A2 (en) * | 2000-03-08 | 2001-09-13 | Rosemount Inc. | Piston position measuring device |
| DE10355250B4 (en) * | 2003-11-26 | 2005-09-01 | Festo Ag & Co. | Method for determining leaks of a pressure fluid in a pressure actuated machine using a mathematical equation relating pressure and flow volume and comparing actual values to a reference value |
| CN101061320A (en) * | 2004-11-19 | 2007-10-24 | 费斯托合资公司 | Diagnosis device for at least one pneumatic valve actuator arrangement |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2001245483A1 (en) * | 2000-03-08 | 2001-09-17 | Rosemount, Inc. | System for controlling hydraulic actuator |
-
2009
- 2009-05-29 DE DE102009023168A patent/DE102009023168A1/en not_active Ceased
-
2010
- 2010-05-14 CN CN201080024909.0A patent/CN102483079B/en active Active
- 2010-05-14 WO PCT/EP2010/002973 patent/WO2010136131A1/en active Application Filing
- 2010-05-14 EP EP10722606A patent/EP2417364B1/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4220333A1 (en) * | 1992-06-22 | 1993-12-23 | Marco Systemanalyse Entw | Measuring piston displacement in hydraulic working cylinder - determining flow of hydraulic medium through cylinder from pressure difference measurement across choke |
| WO2001066954A2 (en) * | 2000-03-08 | 2001-09-13 | Rosemount Inc. | Piston position measuring device |
| DE10355250B4 (en) * | 2003-11-26 | 2005-09-01 | Festo Ag & Co. | Method for determining leaks of a pressure fluid in a pressure actuated machine using a mathematical equation relating pressure and flow volume and comparing actual values to a reference value |
| CN101061320A (en) * | 2004-11-19 | 2007-10-24 | 费斯托合资公司 | Diagnosis device for at least one pneumatic valve actuator arrangement |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105209765A (en) * | 2012-12-03 | 2015-12-30 | 普莱格机器制造有限责任两合公司 | Method and device for position display of hydraulically actuated fittings |
| CN105209765B (en) * | 2012-12-03 | 2017-08-15 | 普莱格机器制造有限责任两合公司 | Method and apparatus for the position display of the equipment of hydraulic operation |
| CN107939785A (en) * | 2017-11-21 | 2018-04-20 | 中国兵器装备集团自动化研究所 | One kind is used for cylinder method of controlling operation |
| CN107939785B (en) * | 2017-11-21 | 2019-09-20 | 中国兵器装备集团自动化研究所 | One kind being used for cylinder movement control method |
| CN112855632A (en) * | 2019-11-12 | 2021-05-28 | 许继电气股份有限公司 | Charging device and electrode control system thereof |
| CN112855632B (en) * | 2019-11-12 | 2024-03-01 | 许继电气股份有限公司 | Charging device and electrode control system thereof |
| CN116892985A (en) * | 2023-09-11 | 2023-10-17 | 瑞星久宇燃气设备（成都）有限公司 | Flow metering method and system based on flow characteristics of pressure regulator |
| CN116892985B (en) * | 2023-09-11 | 2023-11-21 | 瑞星久宇燃气设备（成都）有限公司 | Flow metering method and system based on flow characteristics of pressure regulator |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2417364B1 (en) | 2013-03-20 |
| DE102009023168A1 (en) | 2010-12-02 |
| CN102483079B (en) | 2015-06-17 |
| EP2417364A1 (en) | 2012-02-15 |
| WO2010136131A1 (en) | 2010-12-02 |
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