GB2483177B - An electric motor or generator - Google Patents

An electric motor or generator

Info

Publication number
GB2483177B
GB2483177B GB1118059.3A GB201118059A GB2483177B GB 2483177 B GB2483177 B GB 2483177B GB 201118059 A GB201118059 A GB 201118059A GB 2483177 B GB2483177 B GB 2483177B
Authority
GB
United Kingdom
Prior art keywords
generator
electric motor
motor
electric
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.)
Active
Application number
GB1118059.3A
Other languages
English (en)
Other versions
GB2483177A (en
GB201118059D0 (en
Inventor
Richard Thomas Burke
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.)
Protean Electric Ltd
Original Assignee
Protean Electric Ltd
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 Protean Electric Ltd filed Critical Protean Electric Ltd
Priority to GB1118059.3A priority Critical patent/GB2483177B/en
Publication of GB201118059D0 publication Critical patent/GB201118059D0/en
Publication of GB2483177A publication Critical patent/GB2483177A/en
Priority to EP12787515.1A priority patent/EP2771204B1/en
Priority to JP2014536358A priority patent/JP6030142B2/ja
Priority to IN1023KON2014 priority patent/IN2014KN01023A/en
Priority to KR1020147013065A priority patent/KR101673900B1/ko
Priority to PCT/IB2012/055309 priority patent/WO2013057614A2/en
Priority to US14/358,268 priority patent/US9431939B2/en
Priority to CN201210397926.XA priority patent/CN103066756B/zh
Application granted granted Critical
Publication of GB2483177B publication Critical patent/GB2483177B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
    • B60L15/025—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using field orientation; Vector control; Direct Torque Control [DTC]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
    • H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/009—Circuit arrangements for detecting rotor position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/10—Electrical machine types
    • B60L2220/14—Synchronous machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2270/00—Problem solutions or means not otherwise provided for
    • B60L2270/10—Emission reduction
    • B60L2270/14—Emission reduction of noise
    • B60L2270/142—Emission reduction of noise acoustic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2270/00—Problem solutions or means not otherwise provided for
    • B60L2270/10—Emission reduction
    • B60L2270/14—Emission reduction of noise
    • B60L2270/145—Structure borne vibrations
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
    • H02K2213/12—Machines characterised by the modularity of some components
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/28—Layout of windings or of connections between windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Brushless Motors (AREA)
GB1118059.3A 2011-10-19 2011-10-19 An electric motor or generator Active GB2483177B (en)

Priority Applications (8)

Application Number Priority Date Filing Date Title
GB1118059.3A GB2483177B (en) 2011-10-19 2011-10-19 An electric motor or generator
US14/358,268 US9431939B2 (en) 2011-10-19 2012-10-03 Electric motor or generator
IN1023KON2014 IN2014KN01023A (enExample) 2011-10-19 2012-10-03
JP2014536358A JP6030142B2 (ja) 2011-10-19 2012-10-03 電気モーター又は発電機
EP12787515.1A EP2771204B1 (en) 2011-10-19 2012-10-03 Electric motor or generator system
KR1020147013065A KR101673900B1 (ko) 2011-10-19 2012-10-03 전동기 또는 발전기
PCT/IB2012/055309 WO2013057614A2 (en) 2011-10-19 2012-10-03 An electric motor or generator
CN201210397926.XA CN103066756B (zh) 2011-10-19 2012-10-18 一种电动机或发电机

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB1118059.3A GB2483177B (en) 2011-10-19 2011-10-19 An electric motor or generator

Publications (3)

Publication Number Publication Date
GB201118059D0 GB201118059D0 (en) 2011-11-30
GB2483177A GB2483177A (en) 2012-02-29
GB2483177B true GB2483177B (en) 2013-10-02

Family

ID=45219953

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1118059.3A Active GB2483177B (en) 2011-10-19 2011-10-19 An electric motor or generator

Country Status (8)

Country Link
US (1) US9431939B2 (enExample)
EP (1) EP2771204B1 (enExample)
JP (1) JP6030142B2 (enExample)
KR (1) KR101673900B1 (enExample)
CN (1) CN103066756B (enExample)
GB (1) GB2483177B (enExample)
IN (1) IN2014KN01023A (enExample)
WO (1) WO2013057614A2 (enExample)

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ES2679345T3 (es) * 2013-07-22 2018-08-24 Iveco France S.A.S. Vehículo para el transporte de pasajeros que comprende al menos un eje que tiene ruedas exteriores que incluye un aparato de recuperación de energía
FR3017961B1 (fr) * 2014-02-24 2017-11-03 Lohr Electromecanique Procede de mesure du viellissement d'aimants permanents d'une machine synchrone equipee d'un capteur de position angulaire
FR3018014B1 (fr) 2014-02-24 2016-03-25 Lohr Electromecanique Machine synchrone equipee d'un capteur de position angulaire
FR3017959B1 (fr) 2014-02-24 2017-08-25 Lohr Electromecanique Procede de detection d'un court-circuit dans une machine synchrone equipee d'un capteur de position angulaire
US9613539B1 (en) * 2014-08-19 2017-04-04 Amazon Technologies, Inc. Damage avoidance system for unmanned aerial vehicle
DE102015108617A1 (de) * 2015-06-01 2016-12-01 Brose Fahrzeugteile GmbH & Co. Kommanditgesellschaft, Würzburg Bürstenloser Gleichstrommotor
US9705436B2 (en) * 2015-12-04 2017-07-11 Texas Instruments Incorporated Linear hall device based field oriented control motor drive system
GB2552385B (en) 2016-07-22 2021-09-15 Cmr Surgical Ltd Calibrating position sensor readings
GB2553112B (en) * 2016-08-23 2018-10-03 Protean Electric Ltd A rotor for an electric motor or generator
CN109716630B (zh) 2016-09-13 2021-01-22 核科学股份有限公司 多连杆电传动系统
CH712932A2 (de) * 2016-09-16 2018-03-29 NM Numerical Modelling GmbH Verfahren zur Bestimmung der Position eines Positionsgebers eines Positionsmesssystems.
US10277084B1 (en) 2016-10-19 2019-04-30 Waymo Llc Planar rotary transformer
IT201600112719A1 (it) * 2016-11-09 2018-05-09 Metalrota S R L Un sensore magnetico per macchine elettriche rotanti.
TWI638512B (zh) * 2017-09-22 2018-10-11 陳富民 使用預測誤差修正技術的雙電壓向量無模型式預測電流控制法則應用於內嵌式永磁同步電動機驅動系統
JP6967040B2 (ja) * 2019-07-25 2021-11-17 株式会社ソニー・インタラクティブエンタテインメント 電気角算出装置、電気角算出方法およびプログラム
DE112021006313A5 (de) * 2020-12-04 2023-10-05 Schaeffler Technologies AG & Co. KG Verfahren zur Ermittlung einer Drehposition, Verfahren zur Ermittlung einer elektrischen Winkelposition und Verfahren zur Ansteuerung eines Elektromotors
CN116569474A (zh) * 2020-12-04 2023-08-08 舍弗勒技术股份两合公司 用于确定旋转位置的方法、用于确定电角度位置的方法以及用于驱动电动马达的方法
US11654780B2 (en) 2020-12-17 2023-05-23 Consolidated Metco, Inc. Vehicle electronic control unit and method
WO2024025848A1 (en) * 2022-07-24 2024-02-01 Navia Energy Inc. Controlled energy system
FR3148977A1 (fr) * 2023-05-22 2024-11-29 Robert Bosch Automotive Steering Vendôme Actionneur électromecanique de pilotage d’un bras rétractable de colonne de direction a fiabilité augmentée

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DE3240580A1 (de) * 1982-11-03 1984-05-03 Ebm Elektrobau Mulfingen Gmbh & Co, 7119 Mulfingen Kollektorloser gleichstromaussenlaeufermotor
JPS6218956A (ja) * 1985-02-07 1987-01-27 Sanyo Electric Co Ltd モ−タの回転角度検出装置
US20080258584A1 (en) * 2007-04-17 2008-10-23 Delta Electronics, Inc. Motor and control circuit thereof

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JP4725109B2 (ja) * 2005-01-12 2011-07-13 パナソニック株式会社 ブラシレスモータ
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JP4954325B2 (ja) * 2008-04-07 2012-06-13 三菱電機株式会社 ブラシレスモータ位置検出装置
GB2472297B (en) * 2010-07-19 2014-04-23 Protean Electric Ltd Electric motor

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3240580A1 (de) * 1982-11-03 1984-05-03 Ebm Elektrobau Mulfingen Gmbh & Co, 7119 Mulfingen Kollektorloser gleichstromaussenlaeufermotor
JPS6218956A (ja) * 1985-02-07 1987-01-27 Sanyo Electric Co Ltd モ−タの回転角度検出装置
US20080258584A1 (en) * 2007-04-17 2008-10-23 Delta Electronics, Inc. Motor and control circuit thereof

Also Published As

Publication number Publication date
EP2771204A2 (en) 2014-09-03
GB2483177A (en) 2012-02-29
IN2014KN01023A (enExample) 2015-10-09
WO2013057614A3 (en) 2015-01-08
JP6030142B2 (ja) 2016-11-24
WO2013057614A2 (en) 2013-04-25
EP2771204B1 (en) 2024-11-27
KR20140079833A (ko) 2014-06-27
GB201118059D0 (en) 2011-11-30
CN103066756B (zh) 2016-03-02
JP2015507910A (ja) 2015-03-12
US20140265970A1 (en) 2014-09-18
KR101673900B1 (ko) 2016-11-08
CN103066756A (zh) 2013-04-24
US9431939B2 (en) 2016-08-30

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