WO2008043650A1 - Verfahren und vorrichtung zur überwachung einer funktionsfähigkeit einer motorsteuerung eines verbrennungsmotors - Google Patents
Verfahren und vorrichtung zur überwachung einer funktionsfähigkeit einer motorsteuerung eines verbrennungsmotors Download PDFInfo
- Publication number
- WO2008043650A1 WO2008043650A1 PCT/EP2007/059904 EP2007059904W WO2008043650A1 WO 2008043650 A1 WO2008043650 A1 WO 2008043650A1 EP 2007059904 W EP2007059904 W EP 2007059904W WO 2008043650 A1 WO2008043650 A1 WO 2008043650A1
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- execution units
- monitoring program
- monitoring
- execution
- controller
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Classifications
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- 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
- F02D41/22—Safety or indicating devices for abnormal conditions
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- 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
- F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
- F02D41/26—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using computer, e.g. microprocessor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D45/00—Electrical control not provided for in groups F02D41/00 - F02D43/00
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- 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
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Definitions
- the invention relates to a method for monitoring a functionality of a controller that runs on a system having a plurality of execution units.
- monitoring measures are therefore used to detect such errors.
- applications in which such monitoring is almost permanently necessary.
- monitoring functions are used which periodically, for example periodically or on a specific request, check whether the data processing system or other hardware components are still functioning correctly.
- FIG. 1 shows the structuring of a conventional monitoring method in the engine control area.
- fuel is injected into a combustion chamber by the injection system.
- this exemplary application is structured in the engine control area in three levels El, E2, E3.
- the application programs of the injection control form a base or a ground plane El, which includes the functions actually to be performed.
- the injection control indicates how much fuel is to be injected into the combustion chamber at exactly which point in time. In the event of a failure of the injection control, it could happen that the injection control injects too much or constantly fuel into the combustion chamber, so that the motor vehicle can accelerate very rapidly and an accident can occur.
- a monitoring level E2 which monitors whether the injection control operates on level El error-free.
- the monitoring level E2 is formed by additional programs or an additional software code, which optionally accesses additional sensors.
- the monitoring level E2 is usually formed by a continuous torque monitoring, in which it is monitored whether the moment of force currently generated by the engine does not exceed a certain threshold.
- the programs of the injection control plane El and the monitoring plane E2 run on the same hardware or on the same execution units. Since the application programs of injection control in level El and the application programs of force monitoring in level E2 run on the same execution unit or CPU, a hardware error in the execution unit can cause both injection control and force torque monitoring to fail simultaneously.
- a further safety level E3 is provided in conventional engine control systems, which in turn checks whether the monitoring level E2 functions properly.
- the security level E3 carries out a question-answer communication of the execution unit with an external hardware component, for example an ASIC, wherein in principle the functionality of the execution unit or the microcontroller, in particular the functioning of the application programs within the surveillance level E2 is checked.
- the application programs of the monitoring level E2 carry out a plausibility check. For example, the monitoring programs of the monitoring plane E2 read in an angular position ⁇ of the accelerator pedal.
- the monitoring program running on plane E2 detects that an error has occurred in the injection control and usually triggers the engine to be switched off security reasons.
- the monitoring level E2 additionally contains a torque monitoring program which monitors the force torque generated on the engine and deactivates the engine when a threshold value is exceeded.
- the code of the monitoring programs is duplicated as E2 '.
- the algorithm or the program of E2 ' is calculated with default data or test data.
- the safety program compares the response bit pattern with a reference bit pattern to determine if the monitor within the CPU is still functioning properly.
- the safety program within the user-specific integrated circuit runs on a different hardware, namely the ASIC, than the monitoring program, which runs on an execution unit or CPU. Therefore, this forms
- the conventional approach provides some security against hardware faults within the CPU.
- a disadvantage of the conventional security concept is that the monitoring programs for the command test must be present in copy with default or test values. Therefore, the memory space is required for storing the copied program instructions on the monitoring level E2 '.
- the invention provides a method for monitoring the operability of a controller running on a system with a plurality of execution units, wherein a monitoring program is executed in a comparison operating mode VM on a plurality of execution units of the system and wherein the execution of the monitoring program Execution units emitted signals to detect a fault are compared.
- An advantage of the method according to the invention is that no storage space for copied program instructions of a monitoring program is wasted.
- the monitoring program is formed by a torque monitoring program which monitors a torque generated by a motor.
- control is formed by a motor control.
- the monitoring program is executed synchronously on the execution units. In an alternative embodiment of the method according to the invention, the monitoring program is executed asynchronously on the execution units.
- the system is switched to a performance operating mode in which the execution units execute different programs.
- the programs executed in the performance operating mode carry out the control.
- the monitoring program is executed periodically.
- an error in the execution of the monitoring program is detected if the signals emitted by the execution units during execution of the monitoring program deviate from one another.
- a unit controlled by the controller is switched off.
- the invention further provides a control with a plurality of execution units, wherein a monitoring program in a comparison operating mode VM is executed on a plurality of execution units and the signals emitted during execution of the monitoring program by the execution units are compared with each other for the detection of an error.
- the monitoring program is a torque monitoring program which monitors a torque generated by a motor.
- the controller is a motor controller.
- the execution units are implemented by a microprocessor, a co-processor, a digital signal processor DSP, a floating point calculation unit FPU or formed by an arithmetic logic unit ALU.
- Figure 1 is a diagram illustrating a conventional security concept with three levels
- FIG. 2 shows a block diagram of a method used in the method according to the invention
- FIG. 3 is a block diagram showing a possible embodiment of the controller according to the invention.
- FIG. 4 shows a flowchart for explaining the method according to the invention
- Figure 5 is a timing diagram for explaining a possible embodiment of the method according to the invention.
- a switching and comparison circuit 1 is connected on the input side to N + 1 execution units 2 and receives logic input signals E 0 , Ei, E 2 , E 3 ... E N from the execution units 2-i ,
- the switching and comparison unit 1 contains a comparison logic IA and a switching logic IB.
- the system shown in FIG. 2 can be operated in at least two operating modes.
- a first operating mode to increase performance also known as performance
- Operating mode PM is called, the execution units 1-i and cores process different programs or tasks in parallel.
- the execution units 2-i can be any execution units 2-i for executing a calculation instruction, for example a processor, a floating point calculation unit FPU, a digital signal processor DSP, a co-processor or an arithmetic logic calculation unit ALU.
- the execution of the programs by the various execution units 2-i in the performance mode PM can be carried out synchronously or asynchronously become. In the power mode, no redundant processing takes place, but the execution units 2-i carry out different calculations or programs in parallel. In pure performance mode PM, all input signals E, are switched to respective output signals A 1 and passed.
- the second reason for a multi-core architecture is to increase the security of the signal processing by having multiple execution units 2-i redundantly execute the same program.
- this second operating mode which is also referred to as safety mode or comparative mode VM
- the results or logic output signals of the execution units are compared by the switching and comparison circuit 1, so that an error or a signal deviation by a Comparison can be detected on agreement. Therefore, in the pure comparison operating mode VM all input signals E 1 will be directed to only just a single output signal A 1 or imaged. Mixed forms are possible.
- the configurable switching logic IB indicates how many output connections or output signals A 1 are provided. Furthermore, the switching logic IB stores which input signals E contribute to which of the output signals A 1 . In the switching logic IB thus a mapping function is stored, the input signals E, different output signals A, assign.
- the processing logic IA determines at each output signal A 1 how the input signals contribute to the respective output signal.
- the output signal A 0 is generated by the input signals Ei, ..., E N.
- a first possibility is that all signals are compared with each other and an error is detected in the presence of at least two different values, which is optionally signaled by the switching and comparison circuit 1.
- Another possibility is to make a K m selection, where K> M / 2.
- a first error signal is generated when one of the input signals is detected as being different from the other input signals.
- a second error signal different from the first error signal all three input signals may differ from one another.
- the input signal values are fed to a further calculation unit which, for example, has a mean value or calculates a median value or performs a fault-tolerant algorithm FTA.
- FTA fault-tolerant algorithm
- the extreme values of the input signal values are canceled or ignored and averaging over the remaining signal values.
- averaging occurs over the entire set of the remaining signal values.
- an averaging is carried out via a subset of the remaining signal values that is easy to form in the hardware.
- the various mentioned possibilities for signal processing to a signal represent comparison operations.
- the processing logic IA determines the exact design of the comparison operation to be performed for each output signal A, and thus also for the input signals E.
- the combination of the information within the switching logic IB, ie the assignment function of the comparison operation per output signal or per function value specified in the processing logic IA, represents operating mode information and defines the operating mode. This information is usually multivalued and represented by more than one logical bit. In the event that only two execution units 2-i are provided, and thus only one comparison mode exists, all the information in the operating mode can be compensated for a single logical bit.
- a changeover of the system from the performance operating mode PM into a comparison operating mode VM is generally carried out in that the execution units 2-i, which are displayed in the performance operating mode PM on different signal outputs, in the comparison operating mode VM be mapped or switched to the same signal output.
- This is preferably achieved by providing a subset of execution units 2-i in which all input signals E "to be taken into account in the subset are switched directly to corresponding output signals A 1 in the performance operating mode PM, while the input signals In the comparison mode VM all are mapped to a single signal output or switched to this.
- a switch can be realized by changing pairings.
- the software can be used to switch dynamically during operation.
- the switching is triggered by the execution of special switching instructions, special instruction sequences, explicitly identified instructions, or by access to specific addresses by at least one of the execution units 2-i of the system.
- the switching device 1 carried for switching an identification the programs, application programs, program parts or even the program commands by an identifier which can be used to determine whether these program instructions are security-relevant, d. H. in the safety mode or comparative
- Operating mode VM have to be processed, or the power or performance mode PM can be made accessible.
- the identification can be done by a bit in the program instruction. Alternatively, the following sequence can be identified by a special program command.
- the calculation of the results or output signals of the execution units 2-i takes the same amount for synchronous execution on the different execution units 2-i.
- the results are then simultaneously available in the safety mode VM with synchronous processing of the switching device 1. If the results match, the corresponding data will be released. If there is a signal deviation, a predetermined error reaction occurs.
- the inventive method for monitoring the functionality of a controller running on a system with a plurality of execution units 2 at least one monitoring program is executed in a comparison operating mode VM on several or even all execution units of the system.
- the signals emitted during the execution of the monitoring program by these execution units 2 are compared with each other to detect an error.
- this has at least three execution units 2.
- the signal which has the largest signal deviation of the remaining signals is recognized as being defective, for example, by means of a majority decision.
- the signals in one embodiment are digital logic signals, in particular binary signals.
- the controller 4 according to the invention is a preferred zugten embodiment to a motor controller for controlling an internal combustion engine. In alternative embodiments, the controller 4 is a controller for driving an electric motor.
- the monitoring program is formed, for example, by a torque monitoring program which monitors a torque generated by the combustion or electric motor. In this case, the monitoring program can be executed synchronously or asynchronously on the execution units 2.
- the normal motor control application programs are executed in the performance mode PM, i. H.
- Each execution unit 2 of the system executes a program for the purpose of improving performance, while the other execution units 2, in turn, execute a different application program.
- the monitoring program running on level E2 is periodically called in a possible embodiment of the method according to the invention.
- the monitoring program is executed in a comparison operating mode VM on a plurality of execution units 2 of the system.
- the comparison operating mode VM several or all execution units 2 of the system execute the same monitoring program, whereby the output signals generated in this case are compared with one another to detect an error.
- a plurality of monitoring programs are executed at the level E2, which are called, for example, all periodically.
- All called monitoring programs are executed in the comparison operating mode VM.
- the monitoring programs are called in response to a particular request or request command, and subsequently executed in the comparison mode of operation VM by a plurality or at least two execution units 2 of the system.
- a request command for executing the monitoring program can be triggered, for example, by an interrupt.
- the system is switched back into a performance operating mode PM, in which the execution units 2 preferably execute different programs of the first level El, for example control programs.
- an error in the execution of the monitoring program in the plane E2 is detected if the signals emitted by the execution units 2 during the execution of the monitoring program in the comparison operating mode VM differ from one another. It is preferred after detecting an error in the execution of the monitoring program, a controlled by the controller 4 unit 5, such as a motor switched off.
- FIG. 3 shows a block diagram of a possible embodiment of the control system according to the invention.
- the control 4 according to the invention has two execution units 2A, 2B.
- the execution units 2A, 2B can be complete microprocessors or CPUs, co-processors, digital signal processors DSP, floating-point calculation units FPU or an arithmetic logic unit ALU.
- more than two execution units 2 are provided.
- the signals generated by the execution units 2A, 2B are respectively buffered in a buffer 3A, 3B.
- Each execution unit 2 preferably has its own intermediate memory 3 on the output side.
- the buffered results or output signals of the execution units 2A, 2B are supplied to a comparison unit 1.
- the comparison unit 4 can be formed, for example, by the switching and comparison circuit 1, as shown in FIG.
- the comparison of the cached output signals can be performed by running a corresponding comparison program and software or hardwired in hardware.
- FIG. 4 shows a flow chart of a possible embodiment of the method according to the invention for monitoring the functionality of a controller.
- the system After calling the monitoring program in the second level E2, the system is switched from the performance mode of operation PM to the comparison mode of operation VM in step S1. Subsequently, the two execution units 2A, 2B, as shown in FIG. 3, are activated to execute the same monitoring program in steps S2, S3 and execute the same monitoring program, for example a force-torque monitoring program.
- the two execution units 2A, 2B calculate asynchronously in steps S2, S3 a corresponding result signal, which is temporarily stored in steps S4, S5 in the respective latches 3A, 3B.
- the two execution units 2A, 2B in steps S2, S3 calculate the respective output signal or the result value in synchronism with one another.
- a comparison between the two output signals is preferably carried out by the switching and comparison circuit 1 in step S6. If the two signals deviate from one another, an error is detected and subsequent touchedd a corresponding error treatment.
- a unit 5 controlled by the controller 4 for example a motor, is switched off.
- the comparison in step S6 can either be performed by a corresponding comparison operation by software after subsequent readout of the buffer 3A, 3B, or in an alternative embodiment the comparison is made by a hard-wired circuit.
- FIG. 5 shows a timing diagram for explaining a possible embodiment of the method according to the invention.
- the monitoring program in period E2 is called periodically and executed in the comparison operating mode VM by several execution units 2 simultaneously. After execution of the monitoring program, the system returns in the performance mode PM and performs in the level El the actual control programs.
- the controller 4 always operates in the performance mode PM, wherein monitoring programs with at least two execution units 2 are calculated asynchronously.
- the output of the execution units results or output signals are compared with each other for error detection.
- the results must each be buffered and the results are then compared twice, namely once on the first execution unit 2A and on the second execution unit 2 B, to take into account any hardware errors of the two execution units 2. Therefore, this embodiment is more expensive than an embodiment in which the monitor program is executed in the comparative operation mode VM.
- the method according to the invention also allows the detection of operand-dependent errors.
- the inventive method leads to a significant saving of storage space compared to the conventional safety concept shown in Figure 1.
- the latter has at least three execution units 2, it being possible to ascertain by means of a majority decision in the event of a signal deviation which execution unit 2 presumably operates erroneously.
- This execution unit 2 then preferably performs a
- the execution unit 2 is deactivated when the self-test shows that the execution unit 2 has actually failed. In this embodiment, the system thus works even fault-tolerant.
- the execution of monitoring programs in the plane E2 in the comparison operating mode VM wherein in addition to further protection a security level E3 is provided, which also performs a command test to monitor the functioning of the monitoring programs.
- a security level E3 is provided, which also performs a command test to monitor the functioning of the monitoring programs.
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- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Hardware Redundancy (AREA)
- Safety Devices In Control Systems (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
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Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020097007279A KR101326316B1 (ko) | 2006-10-10 | 2007-09-19 | 내연 기관의 엔진 제어 장치의 기능을 모니터링하기 위한 방법 및 장치 |
CN2007800377608A CN101523038B (zh) | 2006-10-10 | 2007-09-19 | 用于对内燃机的发动机控制系统的功能能力进行监控的方法和装置 |
US12/308,184 US8296043B2 (en) | 2006-10-10 | 2007-09-19 | Method and device for monitoring a functional capacity of an engine controller of an internal combustion engine |
JP2009515899A JP2009541636A (ja) | 2006-10-10 | 2007-09-19 | 内燃機関のエンジン制御部の機能を監視するための方法および装置 |
EP07820348A EP2079917B1 (de) | 2006-10-10 | 2007-09-19 | Verfahren und vorrichtung zur überwachung einer funktionsfähigkeit einer motorsteuerung eines verbrennungsmotors |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102006048169.0 | 2006-10-10 | ||
DE102006048169A DE102006048169A1 (de) | 2006-10-10 | 2006-10-10 | Verfahren zur Überwachung einer Funktionsfähigkeit einer Steuerung |
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WO2008043650A1 true WO2008043650A1 (de) | 2008-04-17 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/EP2007/059904 WO2008043650A1 (de) | 2006-10-10 | 2007-09-19 | Verfahren und vorrichtung zur überwachung einer funktionsfähigkeit einer motorsteuerung eines verbrennungsmotors |
Country Status (8)
Country | Link |
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US (1) | US8296043B2 (de) |
EP (1) | EP2079917B1 (de) |
JP (1) | JP2009541636A (de) |
KR (1) | KR101326316B1 (de) |
CN (1) | CN101523038B (de) |
DE (1) | DE102006048169A1 (de) |
RU (1) | RU2453903C2 (de) |
WO (1) | WO2008043650A1 (de) |
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JP5341957B2 (ja) | 2011-07-20 | 2013-11-13 | トヨタ自動車株式会社 | 内燃機関の制御装置 |
WO2013038472A1 (ja) | 2011-09-12 | 2013-03-21 | トヨタ自動車株式会社 | 内燃機関の制御装置 |
US9488115B2 (en) | 2011-10-04 | 2016-11-08 | Toyota Jidosha Kabushiki Kaisha | Control device of internal combustion engine |
JP5614395B2 (ja) * | 2011-10-26 | 2014-10-29 | トヨタ自動車株式会社 | 内燃機関の制御装置 |
AU2012362593B2 (en) * | 2011-12-29 | 2016-02-04 | Ge Global Sourcing Llc | Apparatus and method for controlling an internal combustion engine |
US9058419B2 (en) * | 2012-03-14 | 2015-06-16 | GM Global Technology Operations LLC | System and method for verifying the integrity of a safety-critical vehicle control system |
DE102012207215A1 (de) * | 2012-04-30 | 2013-10-31 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Überwachung von Funktionen eines Rechnersystems, vorzugsweise eines Motorsteuersystems eines Kraftfahrzeuges |
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KR20070062568A (ko) * | 2004-10-25 | 2007-06-15 | 로베르트 보쉬 게엠베하 | 적어도 2개의 처리 유닛들을 갖는 컴퓨터 시스템에서 모드전환 및 신호 비교를 위한 방법 및 장치 |
WO2006045775A1 (de) * | 2004-10-25 | 2006-05-04 | Robert Bosch Gmbh | Verfahren und vorrichtung zur umschaltung bei einem rechnersystem mit wenigstens zwei ausführungseinheiten |
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KR20070085278A (ko) * | 2004-10-25 | 2007-08-27 | 로베르트 보쉬 게엠베하 | 적어도 2개의 실행 유닛을 구비한 컴퓨터 시스템의 전환방법 및 그 전환 장치 |
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2006
- 2006-10-10 DE DE102006048169A patent/DE102006048169A1/de not_active Withdrawn
-
2007
- 2007-09-19 US US12/308,184 patent/US8296043B2/en not_active Expired - Fee Related
- 2007-09-19 RU RU2009117704/07A patent/RU2453903C2/ru not_active IP Right Cessation
- 2007-09-19 KR KR1020097007279A patent/KR101326316B1/ko active IP Right Grant
- 2007-09-19 EP EP07820348A patent/EP2079917B1/de active Active
- 2007-09-19 JP JP2009515899A patent/JP2009541636A/ja active Pending
- 2007-09-19 WO PCT/EP2007/059904 patent/WO2008043650A1/de active Application Filing
- 2007-09-19 CN CN2007800377608A patent/CN101523038B/zh active Active
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Also Published As
Publication number | Publication date |
---|---|
RU2453903C2 (ru) | 2012-06-20 |
CN101523038A (zh) | 2009-09-02 |
CN101523038B (zh) | 2012-11-07 |
EP2079917A1 (de) | 2009-07-22 |
EP2079917B1 (de) | 2012-11-21 |
US20100004841A1 (en) | 2010-01-07 |
RU2009117704A (ru) | 2010-11-20 |
US8296043B2 (en) | 2012-10-23 |
JP2009541636A (ja) | 2009-11-26 |
KR101326316B1 (ko) | 2013-11-11 |
DE102006048169A1 (de) | 2008-04-17 |
KR20090077773A (ko) | 2009-07-15 |
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