EP2288510A1 - Engine speed control method - Google Patents

Engine speed control method

Info

Publication number
EP2288510A1
EP2288510A1 EP09755142A EP09755142A EP2288510A1 EP 2288510 A1 EP2288510 A1 EP 2288510A1 EP 09755142 A EP09755142 A EP 09755142A EP 09755142 A EP09755142 A EP 09755142A EP 2288510 A1 EP2288510 A1 EP 2288510A1
Authority
EP
European Patent Office
Prior art keywords
engine
hydraulic
speed
controlled
controlled speed
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.)
Withdrawn
Application number
EP09755142A
Other languages
German (de)
French (fr)
Other versions
EP2288510A4 (en
Inventor
Martin Svensson
Anders BRÄNNSTRÖM
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Scania CV AB
Original Assignee
Scania CV AB
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Scania CV AB filed Critical Scania CV AB
Publication of EP2288510A1 publication Critical patent/EP2288510A1/en
Publication of EP2288510A4 publication Critical patent/EP2288510A4/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K25/00—Auxiliary drives
    • B60K25/06—Auxiliary drives from the transmission power take-off
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K25/00—Auxiliary drives
    • B60K25/02—Auxiliary drives directly from an engine shaft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
    • B60W30/1882—Controlling power parameters of the driveline, e.g. determining the required power characterised by the working point of the engine, e.g. by using engine output chart
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
    • B60W30/1886—Controlling power supply to auxiliary devices
    • B60W30/1888—Control of power take off [PTO]
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
    • F02B67/00—Engines characterised by the arrangement of auxiliary apparatus not being otherwise provided for, e.g. the apparatus having different functions; Driving auxiliary apparatus from engines, not otherwise provided for
    • F02B67/08—Engines characterised by the arrangement of auxiliary apparatus not being otherwise provided for, e.g. the apparatus having different functions; Driving auxiliary apparatus from engines, not otherwise provided for of non-mechanically driven auxiliary apparatus
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/04—Introducing corrections for particular operating conditions
    • F02D41/08—Introducing corrections for particular operating conditions for idling
    • F02D41/083—Introducing corrections for particular operating conditions for idling taking into account engine load variation, e.g. air-conditionning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/17—Construction vehicles, e.g. graders, excavators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0644—Engine speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators
    • B60Y2200/415—Wheel loaders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators
    • B60Y2200/416—Cranes

Definitions

  • the present invention relates to a method and an apparatus for controlling the engine speed of a heavy vehicle.
  • the present invention relates to a method and apparatus for controlling the engine speed of a heavy vehicle where the engine powers a hydraulic pump adapted to power a hydraulic device.
  • Heavy vehicles can in many cases be provided with a hydraulic system driving a hydraulic device built on or connected to the heavy vehicle.
  • a hydraulic system driving a hydraulic device built on or connected to the heavy vehicle.
  • An example is a truck provided with a body work such as a hydraulically powered crane.
  • the engine of the heavy vehicle is adapted to power one or many hydraulic pumps which in turn generate a hydraulic flow that powers one or more hydraulic devices of the heavy vehicle.
  • Conventional systems for controlling the engine typically strive to maintain a preset speed of the engine when the hydraulic device is used.
  • the engine speed is controlled in response to both a currently demanded engine speed as demanded by the engine and an engine speed demanded by the hydraulic device.
  • the engine set speed can be determined to be the highest of the engine speeds demanded by the engine and the hydraulic device or a an engine set speed related thereto.
  • Using the method and device in accordance with the present invention will provide an improved control of the engine speed of a motorized vehicle provided with a hydraulic device such as a truck provided with a crane or a front loader or any other motorized vehicle having an engine driving a hydraulic pump for powering a hydraulic device. Because the engine speed required for powering the vehicle is continuously monitored and updated there is no need to set the engine speed to an unnecessary high speed, which in turn reduces fuel consumption. Also the working environment is improved in that the engine noise is kept at a minimum.
  • Fig. 1a is a general view of a system for controlling the engine speed of a motor vehicle provided with a hydraulically driven device
  • Fig. 2 is a flowchart illustrating steps performed when controlling the engine speed of a motor vehicle provided with a hydraulically driven device.
  • a view of a system 100 for controlling the engine speed of an engine 105 powering a vehicle provided with a hydraulic device 103 is depicted.
  • the system comprises a control module 109 for controlling the speed of the engine 105.
  • the control module 109 is programmed to receive real time control signals from an engine controller 107 such as an Electronic Control Unit (ECU) provided signals indicative of a current engine operational conditions.
  • the control module 109 is also connected to a controller 111 for controlling the hydraulic device 103.
  • the controller 111 is adapted to control the hydraulic device in accordance with user input signals received from a user for example using a control device (not shown).
  • the control module 109 receives signals from the controller 111 indicative of a currently demanded engine speed to power the hydraulic device 103. In accordance with one embodiment the controller emits a signal indicative of the current demanded flow in the hydraulic device 103. In accordance with one embodiment the hydraulic pump powering the hydraulic device is a pump with fixed capacity not being possible to adjust. In another embodiment the hydraulic pump powering the hydraulic device is a pressure compensating variable pump having a pressure controlled capacity. The control module is then programmed to convert the demanded flow to a preset engine speed for example using a look-up table. In accordance with another embodiment the controller 111 is adapted to emit a signal indicative of a demanded engine speed required for the demanded flow in the hydraulic device. - A -
  • the control module continuously sets the engine speed in response to at least both signals from the engine and the hydraulic device.
  • the engine speed is set to the highest of the engine speeds indicated by the engine controller signal and the hydraulic controller signal. For example if the signal from the engine controller indicates that the engine set speed should be 800 rpm and the demanded flow in the hydraulic device indicates that the engine set speed should be 900 rpm the controller module 109 sets the engine speed to the highest of the two, in this example the engine speed would be set to 900 rpm.
  • a flow chart illustrating some procedural steps performed when controlling the engine speed of motorized vehicle provided with a hydraulic device is shown.
  • the engine speed is set to a value in response to the engine speeds determined in steps 201 and 203.
  • the set value for the engine speed is set to the highest of the engine speeds determined in steps 201 and 203 or a value related to the highest value.
  • the procedure returns to step 201 to continuously update the engine speed in a step 207.
  • control method as described herein can advantageously be computer implemented and the control algorithm can be stored as programmed instructions in a computer program stored on a digital storage medium.
  • Using the method and system as described herein will provide an improved control of the engine speed of a motorized vehicle provided with a hydraulic device such as a truck provided with a crane or a front loader or any other motorized vehicle having an engine driving a hydraulic pump for powering a hydraulic device. Because the engine speed required for powering the vehicle is continuously monitored and updated there is no need to set the engine speed to an unnecessary high speed, which in turn reduces fuel consumption. Also the working environment is improved in that the engine noise is kept at a minimum.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Controls For Constant Speed Travelling (AREA)

Abstract

In a method and a system for controlling the set speed of an engine of a motorized vehicle equipped with a hydraulic device, the engine set speed is continuously determined in response to a speed demanded by the engine and a speed demanded by the hydraulic device.

Description

ENGINE SPEED CONTROL METHOD
TECHNICAL FIELD
The present invention relates to a method and an apparatus for controlling the engine speed of a heavy vehicle. In particular the present invention relates to a method and apparatus for controlling the engine speed of a heavy vehicle where the engine powers a hydraulic pump adapted to power a hydraulic device.
BACKGROUND
Heavy vehicles can in many cases be provided with a hydraulic system driving a hydraulic device built on or connected to the heavy vehicle. An example is a truck provided with a body work such as a hydraulically powered crane.
The engine of the heavy vehicle is adapted to power one or many hydraulic pumps which in turn generate a hydraulic flow that powers one or more hydraulic devices of the heavy vehicle. Conventional systems for controlling the engine typically strive to maintain a preset speed of the engine when the hydraulic device is used.
There is a constant desire to improve the performance of heavy vehicle and to reduce fuel consumption. Hence there exists a need for an improved engine speed control of a heavy vehicle provided with a hydraulically driven device. SUMMARY
It is an object of the present invention to provide a method and a system that provides an improved engine speed control of a heavy vehicle provided with a hydraulically driven device.
This object and others are obtained by the method, device and computer program product as set out in the appended claims. Thus, in order to provide an efficient powering of a hydraulic device on a motorized vehicle, in particular a hydraulically powered bodywork of a truck such as a hydraulic crane, the engine speed is controlled in response to both a currently demanded engine speed as demanded by the engine and an engine speed demanded by the hydraulic device. In particular the engine set speed can be determined to be the highest of the engine speeds demanded by the engine and the hydraulic device or a an engine set speed related thereto.
Using the method and device in accordance with the present invention will provide an improved control of the engine speed of a motorized vehicle provided with a hydraulic device such as a truck provided with a crane or a front loader or any other motorized vehicle having an engine driving a hydraulic pump for powering a hydraulic device. Because the engine speed required for powering the vehicle is continuously monitored and updated there is no need to set the engine speed to an unnecessary high speed, which in turn reduces fuel consumption. Also the working environment is improved in that the engine noise is kept at a minimum.
BRIEF DESCRIPTION OF THE DRAWINGS
The present invention will now be described in more detail by way of non- limiting examples and with reference to the accompanying drawings, in which: - Fig. 1a is a general view of a system for controlling the engine speed of a motor vehicle provided with a hydraulically driven device, and
- Fig. 2 is a flowchart illustrating steps performed when controlling the engine speed of a motor vehicle provided with a hydraulically driven device.
DETAILED DESCRIPTION
In Fig.1 a view of a system 100 for controlling the engine speed of an engine 105 powering a vehicle provided with a hydraulic device 103 is depicted. The system comprises a control module 109 for controlling the speed of the engine 105. The control module 109 is programmed to receive real time control signals from an engine controller 107 such as an Electronic Control Unit (ECU) provided signals indicative of a current engine operational conditions. The control module 109 is also connected to a controller 111 for controlling the hydraulic device 103. The controller 111 is adapted to control the hydraulic device in accordance with user input signals received from a user for example using a control device (not shown).
The control module 109 receives signals from the controller 111 indicative of a currently demanded engine speed to power the hydraulic device 103. In accordance with one embodiment the controller emits a signal indicative of the current demanded flow in the hydraulic device 103. In accordance with one embodiment the hydraulic pump powering the hydraulic device is a pump with fixed capacity not being possible to adjust. In another embodiment the hydraulic pump powering the hydraulic device is a pressure compensating variable pump having a pressure controlled capacity. The control module is then programmed to convert the demanded flow to a preset engine speed for example using a look-up table. In accordance with another embodiment the controller 111 is adapted to emit a signal indicative of a demanded engine speed required for the demanded flow in the hydraulic device. - A -
Using the signals from the engine controller 107 and the hydraulic controller the control module continuously sets the engine speed in response to at least both signals from the engine and the hydraulic device. In accordance with one embodiment the engine speed is set to the highest of the engine speeds indicated by the engine controller signal and the hydraulic controller signal. For example if the signal from the engine controller indicates that the engine set speed should be 800 rpm and the demanded flow in the hydraulic device indicates that the engine set speed should be 900 rpm the controller module 109 sets the engine speed to the highest of the two, in this example the engine speed would be set to 900 rpm.
In Fig. 2 a flow chart illustrating some procedural steps performed when controlling the engine speed of motorized vehicle provided with a hydraulic device is shown. First in a step 201 an engine controlled engine speed as determined from engine signals is determined. Next in a step 203 a hydraulic controlled engine speed as determined from the currently requested flow in the hydraulic device is determined. Thereupon, the engine speed is set to a value in response to the engine speeds determined in steps 201 and 203. In particular the set value for the engine speed is set to the highest of the engine speeds determined in steps 201 and 203 or a value related to the highest value. Next, the procedure returns to step 201 to continuously update the engine speed in a step 207.
The control method as described herein can advantageously be computer implemented and the control algorithm can be stored as programmed instructions in a computer program stored on a digital storage medium.
Using the method and system as described herein will provide an improved control of the engine speed of a motorized vehicle provided with a hydraulic device such as a truck provided with a crane or a front loader or any other motorized vehicle having an engine driving a hydraulic pump for powering a hydraulic device. Because the engine speed required for powering the vehicle is continuously monitored and updated there is no need to set the engine speed to an unnecessary high speed, which in turn reduces fuel consumption. Also the working environment is improved in that the engine noise is kept at a minimum.

Claims

1. A method of controlling the set speed of an engine of a motorized vehicle equipped with a hydraulic device, the hydraulic device being powered by a hydraulic pump powered by the engine, the method comprising the steps of: - determining an engine signal engine speed from at least one engine signal as an engine controlled speed,
- determining a hydraulic signal engine speed from a signal indicative of a current hydraulic flow as an hydraulic controlled speed, and
- continuously determining the set engine speed in response to the engine controlled speed and the hydraulic controlled speed, wherein the set engine speed is determined to be the highest of the engine controlled speed and the hydraulic controlled speed or a value related to the highest of the engine controlled speed and the hydraulic controlled speed.
2. The method according to claim 1 , wherein the hydraulic pump is a pump with fixed capacity.
3. The method according to claim 1 , wherein the hydraulic pump is a pump with pressure controlled capacity.
4. A controller for controlling the set speed of an engine of a motorized vehicle equipped with a hydraulic device, the hydraulic device being powered by a hydraulic pump powered by the engine, the controller comprising:
- means for determining an engine signal engine speed from at least one engine signal as an engine controlled speed,
- means for determining a hydraulic signal engine speed from a signal indicative of a current hydraulic flow as an hydraulic controlled speed, and
- means for continuously determining the set engine speed in response to the engine controlled speed and the hydraulic controlled speed, wherein the set engine speed is determined to be the highest of the engine controlled speed and the hydraulic controlled speed.
5. A vehicle comprising a hydraulically powered bodywork powered by a hydraulic pump and the controller according to claim 4.
6. The vehicle according to claim 5, wherein the heavy vehicle is a truck equipped with a hydraulically powered crane.
7. The vehicle according to any of claims 5 or 6, wherein the hydraulic pump is a pump with fixed capacity.
8. The vehicle according to any of claims 5 or 6, wherein the hydraulic pump is a pump with pressure controlled capacity.
9. A computer program product for controlling the set speed of an engine of a motorized vehicle equipped with a hydraulic device, the hydraulic device being powered by a hydraulic pump powered by the engine, wherein the computer program product comprises program segments that when executed on a computer causes the computer to perform the steps of:
- determining an engine signal engine speed from at least one engine signal as an engine controlled speed,
- determining a hydraulic signal engine speed from a signal indicative of a current hydraulic flow as an hydraulic controlled speed, and - continuously determining the set engine speed in response to the engine controlled speed and the hydraulic controlled speed, wherein the set engine speed is determined to be the highest of the engine controlled speed and the hydraulic controlled speed.
10. A digital storage medium having the computer program product according to claim 9 stored thereon.
EP09755142.8A 2008-05-29 2009-05-19 Engine speed control method Withdrawn EP2288510A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0801259A SE532428C2 (en) 2008-05-29 2008-05-29 Method for controlling the engine speed
PCT/SE2009/050566 WO2009145704A1 (en) 2008-05-29 2009-05-19 Engine speed control method

Publications (2)

Publication Number Publication Date
EP2288510A1 true EP2288510A1 (en) 2011-03-02
EP2288510A4 EP2288510A4 (en) 2018-04-11

Family

ID=41377334

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09755142.8A Withdrawn EP2288510A4 (en) 2008-05-29 2009-05-19 Engine speed control method

Country Status (4)

Country Link
EP (1) EP2288510A4 (en)
BR (1) BRPI0908655A2 (en)
SE (1) SE532428C2 (en)
WO (1) WO2009145704A1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE535475C2 (en) 2010-08-26 2012-08-21 Atlas Copco Rock Drills Ab Method and system for controlling a power source at a rock drilling device and rock drilling device
US12055107B2 (en) 2019-01-08 2024-08-06 Cummins Inc. Intelligent engine and pump controls

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Publication number Priority date Publication date Assignee Title
US4738104A (en) * 1985-03-23 1988-04-19 Barmag Ag Hydraulic power system
WO1988002441A1 (en) * 1986-10-05 1988-04-07 Hitachi Construction Machinery Co., Ltd. Driving control apparatus for hydraulic construction machines
WO1992014046A1 (en) * 1991-02-05 1992-08-20 Hitachi Construction Machinery Co., Ltd. System for controlling revolution frequency of prime mover in hydraulically driven vehicle
US6019702A (en) * 1998-05-14 2000-02-01 Caterpillar Inc. Automatic elevated idle speed control and method of operating same
US6276449B1 (en) * 2000-03-23 2001-08-21 Frederic M. Newman Engine speed control for hoist and tongs
JP3748759B2 (en) * 2000-05-16 2006-02-22 日立建機株式会社 Pump drive engine speed control device
JP4109405B2 (en) * 2000-05-19 2008-07-02 日立建機株式会社 Engine control device for construction machinery
JP3819699B2 (en) * 2000-10-20 2006-09-13 日立建機株式会社 Hydraulic traveling vehicle
WO2004029434A1 (en) * 2002-09-26 2004-04-08 Hitachi Construction Machinery Co., Ltd. Prime mover controller of construction machine

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Title
See references of WO2009145704A1 *

Also Published As

Publication number Publication date
SE0801259L (en) 2009-11-30
BRPI0908655A2 (en) 2015-08-11
SE532428C2 (en) 2010-01-19
WO2009145704A1 (en) 2009-12-03
EP2288510A4 (en) 2018-04-11

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