CN202243556U - Passenger transport line running data collecting and analyzing system based on ARM embedded system - Google Patents
Passenger transport line running data collecting and analyzing system based on ARM embedded system Download PDFInfo
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- CN202243556U CN202243556U CN2011203979275U CN201120397927U CN202243556U CN 202243556 U CN202243556 U CN 202243556U CN 2011203979275 U CN2011203979275 U CN 2011203979275U CN 201120397927 U CN201120397927 U CN 201120397927U CN 202243556 U CN202243556 U CN 202243556U
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Abstract
The utility model discloses a passenger transport line running data collecting and analyzing system based on an ARM embedded system, which comprises a GPS calculating chip, an inertial navigation unit and an ARM embedded platform, wherein the GPS calculating chip and the inertial navigation unit are respectively connected with the ARM embedded platform. The system is high in device stability and reliability, can not be interfered by outside environments such as caves, tunnels, stations, rainsheds and the like, is more complete in data collecting and high in data accuracy, can meet requirements of running map parameter testing in passenger transport line running tests.
Description
Technical field
The utility model relates to a kind of railway line for passenger traffic operating data acquisition analysis system based on the ARM embedded system.
Background technology
China is in high speed railway and builds period fast; Commissioning test is to finish the back in the equipment combined test to do the important stage that each item technology is prepared for formal operation, commissioning test need test section operation time-division, omnidistance operation time-division, rise additional time for stopping, following train at interval time-division, intermediate station to logical, logical gradation parameter when sending out the interval.At present, confirm that these parameters all are to vouch through manual work, use manual time-keeping.Under the situation of train running speed up to 300km/h, present test method data logging precision is not high, and is subject to artificial interference.
In addition; Device accuracy of positioning height such as traditional Train Location device, speed sensor, Doppler radar, the reception of ATP responser all need select for use specialised vehicles to carry out complex installation; Need to coordinate carshop and vehicle department of Railway Bureau; This process is loaded down with trivial details and the cycle is long, is not suitable on daily vehicle, carrying out random test.
Therefore, need that exploitation is a kind of easy to carryly not to be subject to vehicle, line condition and external environment condition restriction, test parameter comprehensively and possess the automatic acquisition equipment of certain precision badly.
Summary of the invention
The purpose of the utility model is to provide a kind of railway line for passenger traffic operating data acquisition analysis system based on the ARM embedded system, is intended to solve that the common test means fall behind in the test of present operation time-division, the record data precision is low, exist artificial interference and main equipment that problems such as trouble are installed.
For realizing above-mentioned purpose, the technical scheme that the utility model adopts is following:
A kind of railway line for passenger traffic operating data acquisition analysis system based on the ARM embedded system comprises that GPS resolves chip, inertial navigation unit and ARM embedded platform; Said GPS resolves chip, inertial navigation unit and all is connected with said ARM embedded platform.
Further, said system comprises that also said GPS resolves chip, inertial navigation unit and all connects the ARM embedded platform through the RS-232 serial cable.
Further, said inertial navigation unit comprises gyroscope, three accelerometer and processor of single chip computer that quadrature is installed that three quadratures are installed; Said gyroscope, accelerometer are connected with said processor of single chip computer respectively.
Further, said system also comprises the SD card reader; Said SD card reader connects said ARM embedded platform through the RS-232 serial cable.
Further, said system also comprises notebook PC; Said notebook PC is connected with said ARM embedded platform.
Further, said system also comprises supply unit, and said supply unit resolves chip, notebook PC, ARM embedded platform and inertial navigation unit with said GPS respectively and is connected.
Further, said inertial navigation unit is the XW-IMU5210 chip.
Further, to resolve chip be the LEA-5H chip to said GPS.
Further, said ARM embedded platform is the LJD-eWin7000 chip.
The said railway line for passenger traffic operating data of the utility model acquisition analysis system utilizes the ARM embedded data acquisition platform of industrial grade; Stabilization of equipment performance and degree of reliability are high; Do not receive the interference of external environments such as cavern, tunnel, station awning; Acquisition parameter is relatively more comprehensive, data precision is high, can satisfy the needs of running chart parameter testing in the railway line for passenger traffic commissioning test.
The said railway line for passenger traffic operating data acquisition analysis system based on the ARM embedded platform of the utility model is accurately located train through the integrated navigation technology; And judge that train passes through a station, the correct time of each block section comes the train operation time-division is calculated, realized commissioning test test middle rolling car automatic data collection and analysis; Simultaneously, the parameter of equipment collection is comprehensive, data are higher; This system can be applied to the various tests of railway line for passenger traffic running chart parameter, also can be applied to trace test.
Description of drawings
Fig. 1 is the constructional drawing based on the railway line for passenger traffic operating data acquisition analysis system of ARM embedded platform that the utility model embodiment provides.
The specific embodiment
For the purpose, technical scheme and the advantage that make the utility model is clearer,, the utility model is further elaborated below in conjunction with accompanying drawing.
As shown in Figure 1; A kind of railway line for passenger traffic operating data acquisition analysis system based on the ARM embedded platform comprises that inertial navigation unit IMU (Inertial Measure Unit), GPS resolve chip, ARM embedded platform, gps antenna, SD card reader and notebook PC.Inertial navigation unit IMU is that StarNet's space reaches the XW-IMU5210 chip.GPS resolves the LEA-5H chip that chip is Switzerland U-blox.The ARM embedded platform is the blue extra large LJD-eWin7000 of Microstar chip.Said GPS resolve chip through the carrier signal that gps antenna receives gps satellite resolve, externally outputting standard character string NEMA and UBX protocol statement are given described ARM embedded platform, the 16 scale coding data of X, Y, Z 3-axis acceleration and cireular frequency of testee exports to described ARM embedded platform in the inertial navigation unit when the gps satellite signal blocked; Said GPS resolves chip, inertial navigation unit and all connects the ARM embedded platform through the RS-232 serial cable, the notebook PC that said ARM embedded platform connects the SD card reader and is used to receive said ARM embedded platform canned data, realizes the data expanded application through the RS-232 serial cable.
Should also comprise the external RS-232 interface that is used to connect external equipment based on the railway line for passenger traffic operating data acquisition analysis system of ARM embedded system; Be connected output user-defined format data through the RS-232 serial cable with the data output end of said ARM embedded platform 3.
More excellent, above-described RS-232 serial cable all adopts 5 type shielding serial cables.
Described railway line for passenger traffic operating data acquisition analysis system based on the ARM embedded system also comprises:
Be used for resolving supply unit-storage battery that chip and ARM embedded platform provide operating voltage to said inertial navigation unit, GPS.More excellent, this accumulator capacity is between 2-4AH.
The said ARM embedded platform of the utility model resolves chip through the RS-232 serial cable with inertial navigation unit, GPS and links to each other; Resolve chip through inertial navigation unit and GPS and gather train running information, the various original driving coded message of collection is input in the ARM embedded platform through the RS-232 serial cable; The ARM embedded platform resolves inertial navigation unit of gathering and GPS 16 scale codings, NEMA standard characters and the UBX protocol statement of chip output; Carry out matching treatment; The data storage of gathering among the built-in SD card of SD card reader, and can be carried out the transmission of data through external RS-232 interface to external equipment.
Said inertial navigation unit comprises mems accelerometer and gyroscope; The gyroscope of installing comprising three quadratures to be measuring in the carrier movement around three axle rotational angular of carrier barycenter, and the mems accelerometer that three quadratures are installed is to measure the acceleration/accel of carrier barycenter along three axial motions.
The inertial navigation unit is core processor with the micro controller system, adopts the parallel AD conversion of high-precision multi-path, in conjunction with multiple filtering algorithm and multiple indemnifying measure, finally stablizes output accekeration and magnitude of angular velocity with the data update rate of 100Hz.This type of information transmits to the ARM embedded platform with 16 scale coding forms through the RS-232 serial cable.Concrete, the inertial navigation unit is acceleration/accel and the magnitude of angular velocity of three of X, Y, the Z of 16 scale codings to ARM embedded platform output transformat.
Said GPS resolves chip and connects gps antenna and RS-232 data cable; Receive gps satellite signal through gps antenna; Induced signal transferred to resolve chip; Through resolving chip carrier signal is resolved, obtain the information such as longitude and latitude and time of testee, this type of information transmits to the ARM embedded platform with the form of NEMA-0183 character string and UBX protocol statement through the RS-232 serial cable.
Concrete, described GPS resolves chip to information such as ARM embedded platform output longitude and latitude, position location satellite quantity, times, and transformat is a standard characters.
Said ARM embedded platform is the complete industrial computer platform that has CPU, internal memory, extension storage, very color touch display screen, communication serial port, USB interface.This platform resolves chip through the RS-232 serial cable with inertial navigation unit and GPS and links to each other, and on the ARM embedded platform, disposes exclusive data acquisition process software.
Described data acquisition process software can be gathered information such as the acceleration/accel that transmits, cireular frequency, longitude and latitude, speed, position location satellite number, time simultaneously through serial ports; When testee is in the thing influence that is not masked; Receive the sky positioning satellite signal in order the time; System adopts high sensitivity GPS receiver as signal source, accurately calculates luffing angle, position, speed and the UTC time of testee through GPS principle carrier wave measurement technique; When testee passes through tunnel, when culvert and station awning; When gps satellite signal is blocked; System gets into pure inertial navigation pattern; Gyroscope and 3 axis accelerometers in the inertial navigation unit carry out attitude correction and course maintenance, and total system still keeps good survey precision within a certain period of time.
The built-in data acquisition software of ARM embedded platform is resolved coded message through the coupling of two kinds of data sources is integrated automatically; Obtain train basis operation informations such as mileage, speed, time at last; And when render speed-mileage diagram of curves, ARM embedded platform are stored data to the built-in SD card of SD card reader; Transmit data through external serial ports to notebook PC, built-in driving data collection and analysis software in the notebook PC based on windows platform.
Should also can resolve based on driving data collection and analysis software of windows platform data stream, render speed-mileage diagram of curves, and omnidistance, interval time-division and various overtaking, tracking interval time analyzed.
The utility model has formed the Trinitarian combined inertial nevigation of GPS, gyroscope and accelerometer system through above-mentioned hardware structure; When testee is in the thing influence that is not masked; Receive the sky positioning satellite signal in order the time; System adopts high sensitivity GPS receiver as signal source, accurately calculates luffing angle, position, speed and the UTC time of testee through GPS principle carrier wave measurement technique; When testee passes through tunnel, when culvert and station awning; When gps satellite signal is blocked; System gets into pure inertial navigation pattern; Gyroscope and triaxial accelerometer in the inertial navigation unit carry out attitude correction and course maintenance, and total system still keeps good survey precision within a certain period of time.
The described railway line for passenger traffic operating data of the utility model acquisition analysis system radical function is following:
1. no matter have or not and block and to locate, continue to export test speed and carry out mileage and add up;
2. on the ARM embedded platform, dynamically show the main test interface of train run curve;
3. by inner storage automatically of ARM embedded platform realization and the two memory functions of external outputting communication;
4. utilize the satellite time service, it is consistent with ARM embedded platform clock school accent that inertial navigation unit, GPS are resolved chip, guarantees the clock conformability in different data acquisition source;
5. under the situation of no external source, can adopt internal battery power supply, have and to adopt built-in adapter to carry out the power source conversion power supply under the external source situation and can charge a battery; The ARM embedded platform has the embedded system of configurations such as internal processor, internal memory, touch screen, standard traffic serial ports.
Below the described related hardware equipment of the utility model fitting operation is specified as follows:
1. connect gps antenna
The magnetic-type antenna of gps antenna is received head is adsorbed on Bus window glass with the plastic cement sucker centre.
2. correctly put system equipment
System equipment is lain against the bottom surface of passenger vehicle, and wherein the Y axle of system equipment is consistent with the passenger vehicle working direction.
The Y shaft declivity on the XY plane of school adjusting system equipment makes Y axle initial acceleration less than 0.005g.
3. connected system device power supply (DPS)
System equipment power supply one end is connected 220V source of AC on the car, the power hole of an other end connected system equipment; Open the system power supply switch, system equipment starts the system interface to WinCE automatically.
4. connect notebook PC
The serial data interface of system equipment is connected on the notebook PC USB mouth through MOXA Uport-1150 serial data adapter; Must guarantee that notebook PC correctly installed the drive program of MOXA Uport-1150 adapter.
5. confirm port
Click my computer-attribute-hardware-equipment manager-port by mouse right button, watch two pairing port numbers of MOXA adapter in the equipment manager, the corresponding GPS equipment of one of them port.
6. start ARM platform driving data logging software
This ARM platform driving data logging software interface comprises following control:
Button: begin to gather, finish collection, train cycling start;
Train operation curve window: Y axle-current train speed, X axle-current train mileage;
Train operation state field: train running speed, correction mileage, accumulated distance, time;
Status of equipment field: X, Y, Z axle acceleration, GPS longitude, latitude, star number;
Mileage correction prompt column: show whether pass through the correction of key point mileage;
Historical data playback prompt column: historical data playback button, playback duration section are provided with;
Software main program deposit the path: my equipment-ResidentFlash-GUI-CRHRunStatusUI.exe
Speed mileage historical data is deposited the path: my equipment-SDMEM-DateFile+20110505091124 (time on date)
The time record deposit data that passes through a station path: my equipment--->SDMEM--->StationTimeRecord
+ 20110505091124 (times on date)
After the instrument connection finishes, can test, in test process, should not change the connection and the port setting of instrument.
Work operation sheet based on the railway line for passenger traffic operating data acquisition analysis system of ARM embedded platform is following:
A) select current of traffic
The screen of hybrid navigation equipment is a touch-screen, can directly on test interface, select current of traffic after starting main test program;
B) click start button
Behind each click start button, software system get into the new field of technical activity, spanned file name on the SD card, and port begins to receive data and judges, but does not carry out storage and the externally output of notebook PC PC on the SD card;
C) click the cycling start button
Do not clicking when opening the car button, the train actual speed does not change with the speed that GPS resolves chip or inertial navigation unit compensation, and speed is always 0, does not carry out adding up and increasing and decreasing of mileage;
After the car button was opened in click for the first time, this moment, system began to gather, calculate.Gps satellite signal does not have that speed obtains according to the speed that GPS resolves chip when blocking, and has at gps satellite signal that the speed according to the inertial navigation compensation obtains when blocking; Judge gps satellite signal have unscreened standard be receivable gps satellite number whether more than 5, be then not have to block, otherwise block; System carries out the calculating of accumulated distance and actual mileage in internal memory, on the SD card, do not store, but begin through serial ports external notebook PC transmission data;
D) revise mileage
Carried out just can beginning in the enterprising line data storage of SD card after the mileage correction for the first time; Revising for the first time fare register needs to click and revises before the button and all actual mileages are afterwards all revised; Correction mileage after the second time is then only revised the actual mileage after the click correction button;
E) click stop button
Behind each click stop button; This moment, train speed was forced to reduce to 0, and mileage also stops increase and decrease, and system is not in the enterprising line data storage of SD card; External notebook is not exported through serial ports yet; But still receiving the data that GPS resolves chip and inertial navigation unit on the backstage, and judging the acceleration/accel of satellite number and inertial navigation unit, remaining with accumulative mileage and actual mileage before suspending.
Stopping is that software is in halted state with the software temporary suspension, opens the car button until clicking once more, and system gets into the car state that opens again;
F) click conclusion button
After clicking conclusion button at every turn, accomplish the preservation data and behind the SD card, finish to finish all inside and outside communications when inferior test, all stored data zero clearings, software is in initial condition.
The built-in said driving recording software master interface based on windows platform of the external notebook PC of the utility model comprises:
Button: begin to gather, finish collection, port setting, data analysis, correction;
The station status window: advance notice passes through a station on the circuit;
Key point status window: watch key point in real time through situation;
Train operation state window: train running speed, mileage, time, phase-separating section information;
Status of equipment field: GPS mileage, time, longitude, latitude, speed, star number, pulse count;
Mileage correction prompt column: show whether pass through the correction of key point mileage.
Its utilization control step is following:
A) start-up routine
Launch for trial operation and at first will carry out the selection of Data Source, service direction behind the data acquisition and analysis system.Data Source should be selected according to test case, if there are the data of hybrid navigation equipment to insert, then is chosen as combined inertial nevigation equipment, if only have GPS to resolve chip then be chosen as GPS.Service direction should be selected according to the actual track service direction.
After all settings finish; Get back to program master interface, that clicks the main program interface begins to gather button, log-on data gatherer process; Software can be preserved image data automatically under the historic records catalogue, the year-moon when file is called recording start-day-hour-minute-second.
B) data handing
Click the data analysis button on the main interface, will eject the data handing dialog box, operations such as data handing and data acquisition, operation diplopia can walk abreast.The data handing dialog box be intended to through modes such as chart automatically, analysis part operational factor accurately, for the tester reduces labor intensity.
Click " opening file " button in the dialog box, select dialog box to load history data, can load multi-column data and analyze simultaneously through file.
The train operation document format data is the .TXT form, and content of text is to be the multirow data of unit with " mileage 1/tab mileage 2/tab longitude/tab dimension/tab speed/tab time ", in the train test process, is generated by Automatic Program.Choose a certain train title in the combobox; Can this train be made as the current active train; And operate as follows: click " deletion train " button and can delete this train; Click " change color " button and can change this train color in the drawings, click in analysis diagram that " preservation " result can preserve this train " analysis result " folder under the current directory.
C) generate chart
The results of data processing can be represented by following form: speed-mileage chart, running chart, key point are through table, friction speed grade percentum table.Click " render speed-mileage chart " button; Program will be drawn out all speed-mileage charts that load train in the volume picture box of left side; In like manner can click " drafting running chart " and draw out running chart; Choose certain train this moment in combobox, the key point that can in two the forms forms in right side, show train respectively has the current point information indicating through table and friction speed grade percentum table when mouse moves.
D) data output
Click " preservation chart " button, data processed result will be saved in " analysis result " folder under the current directory with the picture of .jpg form or the text of .txt form respectively.
Carry out the while in test, program generate automatically in will " historic records " folder under current directory with time+text of direction name, and before EOT, append the driving data to it with the 10hz frequency.
The utility model is that the train operation data acquisition software under the ARM embedded platform or under the notebook PC windows platform all can generate historical record data automatically.Each train number data are pasted among the Excel, require to save as the Excel file according to the train operation data sheet.The input data of data processing software are two Excel forms, i.e. train operation data form and station mileage form.Carry out the train operation data processing software, click " running chart analysis " tab, be the quantitative data input interface; This train operation data processing software comprises following function:
A) load basic data
" train data " button in the click data inputting interface, system ejects file and selects dialog box, opens destination file and can see corresponding data in first form in the quantitative data input interface; " signal data " button in the click data inputting interface, system ejects file and selects dialog box, opens destination file and can see corresponding data in second form in the quantitative data input interface.
B) parameter setting
There are 4 parameters that the space is set in the quantitative data input interface; Check box " drafting minute lattice " is used for being provided with running chart and whether draws minute lattice; Edit box " setting stopping distance (rice) " is used for being provided with train and crosses mileage from crucial deceleration point to the theory of stopping; " abscissa per second pixel " and " every meter pixel of ordinate " are used for adjusting the Aspect Ratio of running chart, more than 4 parameter recommendations Use Defaults.
C) data output
After the loading basic data finishes; " drawing running chart/rise time table " button in the click data inputting interface; System will call AutodeskCAD2008 automatically and Excel2007 accomplishes the drafting of running chart and the statistical work of time schedule successively; And ejection CAD2008 and Excel interface; Before ejecting the Excel interface, should avoid to click from the CAD2008 in the work, drag, operation such as preservation, share mistake in order to avoid trigger, after ejecting the Excel interface, can make amendment and preserve operation running chart and time schedule;
The output data of software comprises train diagram and Excel file of a CAD form, and can carry out pitch time to two row following trains and calculate.
D) check the tracking interval time
After running chart and data sheet complete; To fill all train numbers automatically in " front truck train number " in the quantitative data input interface and " back car train number " combobox; Click two row and want the train number added up; Click " time in counting period " button then, will list the tracking interval time-division of this two train in the form of below, comprise " I sends out, I chases after, I to " three.
The above only is the preferred implementation of the utility model; Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the utility model principle; Can also make some improvement and retouching, these improvement and retouching also should be regarded as the protection domain of the utility model.
Claims (9)
1. the railway line for passenger traffic operating data acquisition analysis system based on the ARM embedded system is characterized in that, comprising: GPS resolves chip, inertial navigation unit and ARM embedded platform; Said GPS resolves chip, inertial navigation unit and all is connected with said ARM embedded platform.
2. the railway line for passenger traffic operating data acquisition analysis system based on the ARM embedded system according to claim 1 is characterized in that, also comprises: said GPS resolves chip, inertial navigation unit and all connects the ARM embedded platform through the RS-232 serial cable.
3. the railway line for passenger traffic operating data acquisition analysis system based on the ARM embedded system according to claim 1; It is characterized in that said inertial navigation unit comprises: three gyroscope, three accelerometer and processor of single chip computer that quadrature is installed that quadrature is installed; Said gyroscope, accelerometer are connected with said processor of single chip computer respectively.
4. the railway line for passenger traffic operating data acquisition analysis system based on the ARM embedded system according to claim 1 is characterized in that, also comprises: the SD card reader; Said SD card reader connects said ARM embedded platform through the RS-232 serial cable.
5. the railway line for passenger traffic operating data acquisition analysis system based on the ARM embedded system according to claim 4 is characterized in that, also comprises: notebook PC; Said notebook PC is connected with said ARM embedded platform.
6. the railway line for passenger traffic operating data acquisition analysis system based on the ARM embedded system according to claim 5; It is characterized in that; Also comprise: supply unit, said supply unit resolve chip, notebook PC, ARM embedded platform and inertial navigation unit with said GPS respectively and are connected.
7. according to each described railway line for passenger traffic operating data acquisition analysis system based on the ARM embedded system of claim 1-6, it is characterized in that: said inertial navigation unit is the XW-IMU5210 chip.
8. according to each described railway line for passenger traffic operating data acquisition analysis system based on the ARM embedded system of claim 1-6, it is characterized in that: it is the LEA-5H chip that said GPS resolves chip.
9. according to each described railway line for passenger traffic operating data acquisition analysis system based on the ARM embedded system of claim 1-6, it is characterized in that: said ARM embedded platform is the LJD-eWin7000 chip.
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| CN2011203979275U CN202243556U (en) | 2011-10-19 | 2011-10-19 | Passenger transport line running data collecting and analyzing system based on ARM embedded system |
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| CN2011203979275U CN202243556U (en) | 2011-10-19 | 2011-10-19 | Passenger transport line running data collecting and analyzing system based on ARM embedded system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103213605A (en) * | 2013-03-28 | 2013-07-24 | 西南交通大学 | Train block and attitude monitoring method based on multi-sensor data fusion |
| CN103625509A (en) * | 2012-08-24 | 2014-03-12 | 河南蓝信科技有限公司 | Device and method for judging whether train is driven into siding |
| CN112578395A (en) * | 2021-01-12 | 2021-03-30 | 贵州理工学院 | Laser radar system for helicopter electric power line patrol |
| CN115140125A (en) * | 2022-08-19 | 2022-10-04 | 中国人民解放军国防科技大学 | Train positioning method based on LDV (Low Voltage differential Voltage), UWB (ultra Wide band) and MEMS (micro electro mechanical System) combination |
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2011
- 2011-10-19 CN CN2011203979275U patent/CN202243556U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103625509A (en) * | 2012-08-24 | 2014-03-12 | 河南蓝信科技有限公司 | Device and method for judging whether train is driven into siding |
| CN103625509B (en) * | 2012-08-24 | 2016-07-13 | 河南蓝信科技股份有限公司 | Train enters side line discriminating gear and train enters side line method of discrimination |
| CN103213605A (en) * | 2013-03-28 | 2013-07-24 | 西南交通大学 | Train block and attitude monitoring method based on multi-sensor data fusion |
| CN112578395A (en) * | 2021-01-12 | 2021-03-30 | 贵州理工学院 | Laser radar system for helicopter electric power line patrol |
| CN112578395B (en) * | 2021-01-12 | 2024-01-26 | 贵州理工学院 | Laser radar system for helicopter power line inspection |
| CN115140125A (en) * | 2022-08-19 | 2022-10-04 | 中国人民解放军国防科技大学 | Train positioning method based on LDV (Low Voltage differential Voltage), UWB (ultra Wide band) and MEMS (micro electro mechanical System) combination |
| CN115140125B (en) * | 2022-08-19 | 2023-08-18 | 中国人民解放军国防科技大学 | Train positioning method based on LDV, UWB, MEMS combination |
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Granted publication date: 20120530 |