CN103712707A - 过程变量测量噪声诊断 - Google Patents
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Abstract
一种过程变量变送器,包括:模数(A/D)转换器,接收由感测过程变量的传感器提供的传感器信号,并将传感器信号转换为数字信号。处理器接收数字信号,并提供指示数字信号的测量输出。噪声检测器接收传感器信号,并产生第一值和第二值,所述第一值指示相对于正阈值的正噪声事件的数目,所述第二值指示相对于负阈值的负噪声事件的数目。处理器估计噪声计数,并基于第一和第二值产生指示检测到的噪声的噪声输出。
Description
技术领域
本发明涉及用于在过程控制和监测系统中测量温度的过程变量变送器。更具体地,本发明涉及在数字化过程变量的测量时监测测量电路内的噪声电平。
背景技术
过程变量变送器用于测量过程控制或监测系统中的过程参数。基于微处理器的变送器通常包括:传感器、用于将传感器的输出转换为数字形式的模数转换器、用于补偿数字化输出的微处理器、以及用于发送补偿输出的输出电路。当前,通常通过过程控制环(如,4-20毫安控制环)或以无线方式实现该发送。
这样的系统所测量的一个示例参数是温度。通过测量电阻性温度器件(RTD)的电阻或者热电耦输出的电压来感测温度,RTD有时也称为铂电阻温度计或(PRT)。当然,这些类型的温度传感器仅仅是示例,还可以使用其他温度传感器。类似地,温度仅仅是一个示例过程变量,还可以测量多种其他过程控制参数,如,压力、流量、pH等。因此,虽然关于温度传感器进行当前讨论,将意识到:关于其他传感器,可以一样容易地继续该讨论。
在传统测量电路中,在温度传感器和测量变送器之间存在可能发生故障或恶化的若干个连接点。在许多温度测量应用中,用户在控制策略中使用温度测量前了解温度测量何时不管出于什么原因而降级可能是非常重要的。恶化情形可以是由于各种不同的原因,包括:引线/传感器破损、过大的线路电阻、腐蚀或松动的连接等。
已在温度变送器中实现了若干诊断,以评估静态情形,如,引线电阻、过大的DC电压、或传感器破损。然而,这些静态情形中的任一个可能变为在处理测量期间发生的瞬态、动态、或非永久状态。这可能导致若干测量误差源。
例如,在数字化过程期间,对输入至测量模数(A/D)转换器的电压进行平均,并且不提供与数字化过程期间的噪声有关的信息。非对称噪声可能在提供至控制系统的输出中引起测量误差。
此外,噪声当前可能是以变送器的更新率在变送器内逐采样估计的,但在某些情况下,这样可能太慢。因此,以比更新率高的频率发生的测量噪声也可能引起误差。
此外,(传感器线路上或变送器内部)过大的线路电阻或测量电容可能影响测量电路的稳定时间(settling time)。如果稳定时间未设置得足够长,可能发生超过变送器精度规范的测量误差。然而,直接增加稳定时间降低了测量更新率。因此,在测量更新率和由于稳定稳定时间过短而发生的测量误差之间可能存在折中。
发明内容
一种过程变量变送器,包括:模数(A/D)转换器,接收由感测过程变量的传感器提供的传感器信号,并将传感器信号转换为数字信号。处理器接收数字信号,并提供指示数字信号的测量输出。噪声检测器接收传感器信号,并产生第一值和第二值,所述第一值指示相对于正阈值的正噪声事件的数目,所述第二值指示相对于负阈值的负噪声事件的数目。处理器估计噪声计数,并基于第一和第二值产生指示检测到的噪声的噪声输出。
附图说明
图1是示出了包括温度传感器在内的工业过程控制系统的简化图,所述温度传感器被配置为感测过程流体的温度。
图2是更详细地示出了图1的变送器的框图。
图3是示出了具有噪声检测器的模数转换器的部分框图、部分示意图。
图4是示出了图3所示的模数转换器的操作的一个实施例的流程图。
图5是噪声检测组件中的噪声计数累积器的图。
图6-8示出了计数相对于电压的图形曲线。
图9是除了多个传感器以外与图3所示框图类似的框图。
具体实施方式
噪声电平检测器检测过程变量变送器中的正和负噪声事件。即使当执行测量时检测器也进行该检测,使得能够检测到在测量期间改变的噪声事件。检测器向处理器输出噪声的指示,处理器可以表征噪声并建议维护。
图1是工业过程控制系统5的简化图。在图1中,过程管道7承载过程流体。过程变量变送器10被配置为耦合至过程管道7。变送器10包括过程变量传感器18,在一个实施例中,过程变量传感器18包括热电耦或其他温度传感器。然而,这仅仅是示例。变送器10向远程位置(如,过程控制室6)发送信息。该发送可以通过过程控制环(如,双线控制环11)。过程控制环可以根据任意期望格式,包括例如4-20mA过程控制环、承载数字通信的过程控制环、无线过程控制环等。在图1所示的示例中,过程控制环11由控制室6处的电源6A供电。该电源用于向过程变量变送器10供电。传感电阻器6B用于感测流经环路11的电流,虽然还可以使用其他机制。
图2是图1所示的工业过程控制系统5的一部分的框图,并且更详细地示出了变送器10。在图2中,传感器18示意地是从正在感测的过程接收输入14的过程变量传感器。该输入14示意地是流经管道7的过程流体,并且传感器18示意地是温度传感器。然而,传感器18还可以是不同类型的传感器,如,用于感测压力、pH、流量等的传感器。传感器18还可以是若干不同类型温度传感器中的一个。例如,传感器18可以是热电偶或电阻性温度器件(RTD)。在后一情况下,变送器10还包括向传感器18提供激励电流的可控电流源。在这些实施例中的任一个中,传感器18示意地向变送器10中的模数(A/D)转换器22提供模拟输出20,该输出20指示感测到的参数。
在一个实施例中,应注意到:来自传感器18的输出20可以示意地适合地提供给对模拟信号进行放大和滤波的电路(未示出)。这可以是传感器18或变送器10的一部分或者单独的电路。放大和滤波后的信号20接着被提供给A/D转换器22。A/D转换器22将数字化输出提供给处理器24,所述数字化输出是传感器18提供的模拟信号20的数字表示。处理器24具有相关联的存储器和时钟电路,并且提供与通过过程控制环11感测到的参数有关的信息。应注意的是,处理器24可以包括输入/输出(I/O)电路,或者可以单独提供I/O电路,I/O电路在环路11上以数字格式发送信息或者通过控制流经环路11的电流以模拟格式发送信息。
图2所示的实施例示意了A/D转换器22还包括噪声检测组件26。噪声检测组件26监控传感器输出20中的噪声电平,并被部署在A/D转换器22内部或外部。在图2所示的示例中,组件26被示为位于A/D转换器22内部,但这仅仅是以示例方式示出的。当A/D转换器22对输入信号20进行数字化时,噪声检测组件26监测噪声。
图3是A/D转换器22和噪声检测组件26的更详细的图。在图3所示的实施例中,A/D转换器22示意地包括差分放大器30和积分三角(sigma delta)转换器32。积分三角转换器32是以示例方式示出的,并且还可以使用其他转换机制。
图3还示出了噪声检测组件26示意地包括噪声检测器34、开关S1以及电容器C1。图3示出了具有两个引线36和38的传感器18,引线36和38可以分别耦合至输入端子40和42。在一个实施例中,端子40和42之间的电压指示传感器18感测到的温度。图3还示出了传感器18可以示意地是附加引线44和46耦合至附加端子48和50的四引线传感器。或者,附加传感器可以耦合至那些端子,并且可以使用复用器来选择用于测量的输入信号。然而,为了本示例,将参照具有分别与端子40和42相连的两个引线的传感器18继续描述。
以下参照图4和5描述噪声检测组件26的更详细的操作。然而,简言之,电压Vinput产生于端子40和42之间,并且表示传感器18感测到的温度。该输入电压被提供给差分放大器30,在差分放大器30中,该输入电压被放大并提供给转换器32,以转换为被提供给处理器24的数字信号。还以指定速率将Vinput锁存并保持在电容器C1两端。这是通过闭合开关S1实现的。在噪声检测器34中,在若干时钟周期内将Vinput与变送器指定的阈值电压比较。使用连个累积器(或计数器)。如果Vinput和变送器指定的阈值之间的电压差大于或小于阈值,两个累积器之一增加。累积器之一针对沿正向的噪声事件增加,而另一个累积器针对沿负向的噪声事件增加。累积器中的值称为噪声计数41。一旦转换器32已对Vinput进行了数字化,噪声计数41就从噪声检测器34被提供至处理器24,以用于表征检测到的噪声的类型。
图4是噪声检测器34的更详细的框图。图5是更详细地示出了噪声检测组件26的操作的流程图。下面,将图4和图5彼此结合更详细地对它们进行描述。
在描述图5所示的操作前,首先简要讨论图4中的元素。图4中的Vinput是在(图3中的)传感器18两端产生并施加在引线40和42之间的输入电压。Vinput_latched是当开关S1闭合时(图3中的)电容器C1两端的电压。Vos_thresh是正和负阈值发生器60和62用于产生正和负阈值(Vpos_adjust和Vneg_adjust)的电压设置点。在所示实施例中,阈值发生器由求和节点60和62的集合组成。在求和节点60处将Vinput_latched与噪声阈值Vos_thresh相加,在求和节点62处从Vinput_latched中减去Vos_thresh。还应注意的是:噪声阈值Vos_thresh可以根据经验确定,或者可以随实现不同而改变。类似地,可以使用两个不同的阈值来产生Vpos_adjust和Vneg_adjust。在一个实施例中,Vos_thresh的值是以固件或者是在制造时设置的,因此用户无需对其进行设置或调节。进一步地,Vos_thresh的值可由用户调节,并且可以在执行期间决定具体的阈值电压。此外,阈值可以基于各种不同的参数(如,传感器信号的值或其他参数)而改变。
作为结果的正和负阈值电压(Vpos_adjust和Vneg_adjust)被提供至比较器64和66,在其中与Vinput进行比较。比较器64和66的输出被分别提供至计数器68和70的输入,计数器68和70从时钟72接收时钟输入。当Vinput沿正向超过Vpos_adjust时,并且当时钟72提供时钟脉冲时,计数器68加1。类似地,当Vinput沿负向超过Vneg_adjust时,并且当时钟72向计数器70提供时钟脉冲时,则计数器70加1。实质上,在时钟72的每个时钟周期期间,估计比较器64和66的输出,并且如果超过正和负噪声阈值电压(Vpos_adjust和Vnega_djust),使用噪声寄存器(或计数器)68和70累积与正和负噪声事件相对应的计数。还通过时钟72对刷新计数器73进行钟控,并且刷新计数器73提供以预定刷新率来刷新Vinput_latch的方法。刷新计数器数到刷新周期,在刷新周期中,其基于计数器73的输出以刷新率来刷新锁存在电容器C1两端的电压。
图4所示的实施例仅仅是说明性实施例,还可以使用其他方式。例如,在一些应用中,可以仅使用单个噪声计数器,并且单个噪声计数器对于正噪声事件增加而对于负噪声事件减少。例如,这可以用于表征噪声对称。
利用图4的说明,下面将参照图5来描述A/D转换器22在检测噪声时的全部操作。将图3-5彼此结合来对它们进行描述。
在一个实施例中,在检测噪声前,处理器24向计数器68和70提供重置信号,对噪声计数器进行重置。这由图5中的框80指示。处理器24还说明性地重置刷新计数器73。这由图5中的框82指示。
接着,处理器24通过闭合开关S1将Vinput锁存在电容器C1两端。这由图5中的框84指示。可以在转换器32对Vinput执行模数转换期间的某一时刻将Vinput锁存在电容器C1两端。在一个实施例中,在转换过程开始时锁存Vinput,但也可以间歇地对其进行刷新。即,处理器24可以断开开关S1,并且每X个刷新计数器73输出计数再次闭合开关。特定的刷新率可以根据经验来确定,或者基于应用或以其他方式进行调节。刷新率可以固件或在制造时进行设置,因此用户无需对其进行设置刷新率。进一步地,可以根据期望赋予用户重置刷新率的能力。
在任意情况下,一旦Vinput锁存在电容器C1两端,求和节点60和62就产生被施加至比较器64和66的正和负阈值电压Vpos_adjust和Vneg_adjust。如以上简要提到的,当Vinput沿正向超过Vpos_adjust时,则计数器68针对时钟72的每个时钟周期增加。类似地,当Vinput沿负向超过负阈值Vneg_adjust时,则计数器70针对时钟72的每个时钟周期增加。测试正和负噪声输出以及根据需要使计数器68和70增加由图5中的框86指示。在每个时钟周期后,确定刷新计数器73是否已经达到指示应刷新锁存电压Vinput_latched的计数值。如果已经达到,处理返回至框82,其中,刷新计数器73被设置为0。确定是否要重置刷新计数器由图5中的框88指示。
如果在框88确定尚不需要重置刷新计数器,则处理器24确定转换器32是否已完成其对Vinput的测量。这由图5中的框90指示。如果尚未完成,处理返回至框86,其中,检测器34继续测试正和负噪声输出,并且根据需要使计数器68和70增加。
然而,如果在框90确定A/D转换已经完成,则将计数器68和70提供的计数41输出至处理器24。这由图5中的框95指示。处理器24继而能够基于计数41来表征检测到的噪声。
接着,处理器24能够基于来自计数器68和70的计数41,输出其识别出的噪声特性。输出噪声特性由图5中的框94指示。
虽然存在能够由处理器24基于计数41识别的多种不同噪声特性,下面将仅以示例为目的描述其中的若干噪声特性。
第一噪声特性称为噪声对称。如果正和负计数器68和70提供相等的计数,并且那些计数未超过阈值(即,计数不算过大),则处理器24可以确定噪声是对称的。这可以提供测量输出将受测量噪声影响的指示,但其允许处理器24向用户提供可能存在恶化情形的指示。这类噪声可由工厂环境中的热电偶退化而引起,其中,噪声电流导致在较高阻抗的线路上产生可测电压。这可以向用户通知他们应向他们的传感器测量环路提供维护或其他维护。
第二特性反映噪声频率。即,处理器24可以考虑定义了在电容器C1两端锁存Vinput的周期的刷新率,以及由计数器68和70输出的计数量。给定这些参数,可以确定近似的噪声频率。如果在测量过程内周期性地锁存新电压电平但仍累积噪声计数,这允许处理器24至少粗略地估计给定测量中的噪声量。
另一噪声特性是噪声电平。可以通过计数器68和70输出的计数量以及所选择的电压阈值电平Vos_thresh来估计噪声电平。阈值电平可以被调节为向处理器24并最终向用户提供关于系统中存在多大噪声的信息。当在RTD测量线路上产生热电动势(EMFs)时这可能是重要的。如果连接点腐蚀或者磨损并且在该连接两端存在温度梯度,可能在RTD测量上引起动态EMF情形。在该情况下,可以使用户意识到这点,使得他们能够对测量环路执行维护。处理器24可以产生消息,向用户通知该维护需求。
另一噪声特性反映稳定时间是否充足。即,如果在转换器32执行的数字化过程开始时将测量电压Vinput锁存在电容器C1两端,并且假设沿正向或负向(但并非沿双向)存在相对较大数目的噪声计数,则处理器24可以确定需要调节稳定时间。在调节了稳定时间后,可以计算新测量。该过程可以有助于初始化所连接的测量环路的稳定时间,从而以最佳更新率提供最高级别的精度。
图6-8是x轴上的计数器68和70相对于y轴上的电压的图。图6-8示出了一些噪声特性。在图6中,Vinput由线100指示,Vpos_adjust由线102指示,而Vneg_adjst由线104指示。图6示出了正常测量噪声的反映可以是怎样的。即,Vinput恰好在阈值电压102和104所建立的阈值内变化。可以看到:计数器68和70的输出都是0,这是由于Vinput在测量周期期间尚未越过阈值102或104。
图7类似于图6,并且对类似项目进行类似编号。然而,在图7中可以看到:Vinput100以特定次数越过阈值电压102和104。计数器68的正计数是29次,计数器70的负计数是25次。这指示噪声沿正向略非对称。
图8也类似于图6,并且对类似项目进行类似编号。然而,图8示出:除了测量周期的最开始,Vinput全部时间高于正阈值102。因此,计数器68输出的正计数是380,而不存在负计数。这倾向于指示:稳定时间是不精确地,且需要调节。
再次参照图5,框110指示令处理器24输出对与噪声对称相对应的噪声特性的指示。框112指示输出与噪声频率相对应的噪声特性,而框114指示输出关于噪声电平的指示,并且框116指示输出反映稳定时间问题的指示。当然,处理器24还可以产生指示其他噪声特性的其他输出118。
将意识到:处理器24或变送器10的其他组件也可以基于计数器68和70输出的计数来执行其他动作。执行这些其他动作由图5中的框120指示。例如,处理器24可以调节稳定时间(如框122所指示),或者其可以允许用户调节测量周期的积分周期(如框124所指示)。类似地,处理器24可以基于根据计数器68和70输出的计数41识别的噪声特性来产生测量系统的简档。这由图5中的框126指示。可以多种方式产生简档。例如,使用学习过程(如统计过程监测),处理器24可以产生可以随时间参照的测量系统的简档。这可以有助于理解应使用何种噪声电平、刷新率和稳定时间来配置每个特定用户安装。还可以使用启动时的噪声电平作为在时间上比较其他测量采样周期的基准。变送器10或其他组件还可以执行各种其他动作,并且这由图5中的框128指示。
类似地,可以使用计数来检测测量环路可以暴露于的线路频率。例如,在某些用户安装中,线路频率(如50Hz或60Hz)可以被耦合至测量线路中。在这样的安装中,可以向用户提供可设置参数,允许在该段时间对测量进行积分。
还将意识到:可以在给定的变送器10中提供多个噪声检测组件26。每个噪声检测组件26可以被配置为在测量周期期间处理不同的噪声特性。例如,一个噪声检测组件26可以被配置为具体识别稳定时间问题,而另一个噪声检测组件26可以关注噪声频率,并且再一个噪声检测组件26关注噪声电平,等等。
此外,即使在变送器10当前并未测量给定传感器输出时,噪声检测组件26也可用于独立地连续监测多个不同传感器中每个传感器上的噪声。图9示出了这样的实施例,其与图2所示实施例类似,只不过还示出了第二传感器19。当然,可以提供多个附加传感器,并且为了示例目的图9仅示出了两个传感器。在图9的实施例中,变送器10可以通过复用器一次接收一个传感器输入。因此,由于变送器10正在测量传感器19的输出,变送器10可能不在测量传感器18的输出。在该情况下,然而,噪声检测组件27仍在检测传感器18的输出上的操作。因此,当噪声检测组件26正在检测转换器22当前正在测量的传感器19上的噪声时,噪声检测组件27也正在检测传感器18的输出上的噪声,这是由于检测当前未被测量的传感器的输出上的噪声也可能是有意义且有帮助的。该实施例还可以允许系统标准不同传感器间的操作差异。
系统还能够有助于精确补偿感测噪声。一旦表征了噪声,补偿就变得更加精确。此外,可以控制用于对计数器进行钟控的时钟信号,以获得更多信息。如果时钟频率增加,可以检测到更高频率的噪声分量。因此,可以根据期望控制时钟频率。
虽然参照优选实施例描述了本发明,本领域技术人员将认识到:可以在不背离本发明精神和范围的前提下做出形式和细节上的改变。
Claims (22)
1.一种过程变量变送器,包括:
模数A/D转换器,接收由感测过程变量的传感器提供的传感器信号,并将所述传感器信号转换为数字信号;
处理器,接收所述数字信号,并提供指示所述数字信号的测量输出;以及
噪声检测器,接收所述传感器信号,并产生第一值和第二值,所述第一值指示相对于正阈值的正噪声事件的数目,所述第二值指示相对于负阈值的负噪声事件的数目;所述处理器估计噪声计数,并基于所述第一值和所述第二值产生指示检测到的噪声的噪声输出。
2.根据权利要求1所述的过程变量变送器,其中,所述噪声检测器包括:
正噪声阈值发生器,接收所述传感器信号,并产生正阈值作为正电压阈值;以及
负噪声阈值发生器,接收所述传感器信号,并产生负阈值作为负电压阈值。
3.根据权利要求2所述的过程变量变送器,其中,所述噪声检测器还包括:
正噪声计数器,接收所述传感器信号、时钟输入和正电压阈值,并在所述传感器信号沿正向超过所述正电压阈值时,随时钟信号上的每个时钟脉冲累积正计数。
4.根据权利要求3所述的过程变量变送器,其中,所述噪声检测器还包括:
负噪声计数器,接收所述传感器信号、时钟输入和负电压阈值,并在所述传感器信号沿负向超过所述负电压阈值时,随时钟信号上的每个时钟脉冲累积负噪声计数。
5.根据权利要求4所述的过程变量变送器,其中,所述处理器基于正和负噪声计数来产生噪声输出。
6.根据权利要求5所述的过程变量变送器,其中,所述处理器基于正和负噪声计数将噪声输出产生为对噪声的表征。
7.根据权利要求6所述的过程变量变送器,其中,所述处理器在所述A/D转换器正将所述传感器信号转换为所述数字信号时产生对噪声的表征。
8.根据权利要求6所述的过程变量变送器,其中,所述处理器通过分析正和负噪声计数来产生噪声输出,以识别噪声对称、噪声频率和噪声电平。
9.根据权利要求7所述的过程变量变送器,其中,所述A/D转换器在稳定时间内将所述传感器信号转换为所述数字信号;并且,所述处理器产生噪声输出,以标识稳定时间是否对测量误差做出贡献。
10.根据权利要求6所述的过程变量变送器,其中,所述处理器基于随时间对噪声的表征,来产生所述过程变量变送器的噪声简档。
11.根据权利要求2所述的过程变量变送器,其中,所述处理器将所述传感器信号间歇地锁存在存储电容器两端;并且,所述正噪声阈值发生器和所述负噪声阈值发生器接收存储电容器两端的电压作为所述传感器信号。
12.根据权利要求11所述的过程变量变送器,其中,所述噪声检测器还包括:
刷新计数器,其中,所述处理器基于所述刷新计数器的输出,来刷新锁存在所述存储电容器两端的所述传感器信号。
13.根据权利要求1所述的过程变量变送器,其中,所述噪声检测器是A/D转换器的一部分。
14.根据权利要求1所述的过程变量变送器,其中,所述噪声检测器与A/D转换器分离。
15.根据权利要求1所述的过程变量变送器,其中,所述处理器通过过程控制环提供测量输出。
16.根据权利要求1所述的过程变量变送器,其中,所述传感器包括:从包括电阻性温度器件和热电偶在内的组中选择的至少一个温度传感器。
17.根据权利要求1所述的过程变量变送器,其中,所述噪声输出指示线路噪声。
18.根据权利要求1所述的过程变量变送器,其中,所述噪声检测器监测来自多个传感器信号的噪声。
19.一种在过程变量变送器中感测过程变量的方法,包括:
从传感器接收指示过程变量的模拟传感器信号;
将所述模拟传感器信号转换为数字信号;
在将所述模拟传感器信号转换为所述数字信号期间,在正噪声累积器中累积正噪声计数,在负噪声累积器中累积负噪声计数,所述正噪声计数指示超过正噪声阈值的噪声事件,所述负噪声计数指示超过负噪声阈值的噪声事件;
基于所述正噪声计数和所述负噪声计数,对所述模拟传感器信号上的噪声进行表征;以及
在过程控制环上产生输出,所述输出指示数字信号以及对所述模拟传感器信号上的噪声的表征。
20.根据权利要求17所述的方法,其中,累积正噪声计数包括:基于所述传感器信号产生所述正噪声阈值;并且,累积负噪声计数包括:基于所述传感器信号产生所述负噪声阈值。
21.根据权利要求18所述的方法,其中,产生指示对噪声的表征的输出包括:
产生输出,以标识对噪声对称、噪声频率、噪声电平的估计、噪声源、以及所述过程变量变送器的噪声简档中的至少一个。
22.一种过程变量变送器,包括:
模数A/D转换器,接收由感测过程温度的温度传感器提供的温度传感器信号,并将所述温度传感器信号转换为数字信号;
处理器,接收所述数字信号,并控制过程控制环上的电流,以提供指示所述数字信号的测量输出;以及
噪声检测器,接收所述温度传感器信号,并在将所述温度传感器信号转换为所述数字信号期间,产生第一计数值和第二计数值,所述第一计数值指示相对于正阈值的正噪声事件的数目,所述第二计数值指示相对于负阈值的负噪声事件的数目,所述处理器基于第一计数值和所述第二计数值产生噪声输出,所述噪声输出指示检测到的噪声的特性。
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BR112015006400A2 (pt) | 2017-07-04 |
CA2886533C (en) | 2018-01-02 |
AU2013323856A1 (en) | 2015-04-16 |
AU2013323856B2 (en) | 2016-07-28 |
EP2901226A1 (en) | 2015-08-05 |
CN103712707B (zh) | 2017-04-12 |
JP2015530675A (ja) | 2015-10-15 |
CA2886533A1 (en) | 2014-04-03 |
CN203148583U (zh) | 2013-08-21 |
EP2901226B1 (en) | 2018-11-07 |
RU2015115909A (ru) | 2016-11-20 |
US20140095095A1 (en) | 2014-04-03 |
RU2609758C2 (ru) | 2017-02-02 |
WO2014052232A1 (en) | 2014-04-03 |
JP6039087B2 (ja) | 2016-12-07 |
US9602122B2 (en) | 2017-03-21 |
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