WO2009127232A1 - Scuffing detection - Google Patents
Scuffing detection Download PDFInfo
- Publication number
- WO2009127232A1 WO2009127232A1 PCT/EP2008/003090 EP2008003090W WO2009127232A1 WO 2009127232 A1 WO2009127232 A1 WO 2009127232A1 EP 2008003090 W EP2008003090 W EP 2008003090W WO 2009127232 A1 WO2009127232 A1 WO 2009127232A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- cylinder
- scuffing
- temperature
- alarm
- issued
- Prior art date
Links
- 238000001514 detection method Methods 0.000 title abstract description 8
- 238000000034 method Methods 0.000 claims abstract description 40
- 238000005461 lubrication Methods 0.000 claims description 32
- 238000011161 development Methods 0.000 claims description 8
- 230000000977 initiatory effect Effects 0.000 claims description 7
- 230000003247 decreasing effect Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 description 10
- 239000003921 oil Substances 0.000 description 10
- 239000000446 fuel Substances 0.000 description 6
- 239000010727 cylinder oil Substances 0.000 description 5
- 238000002347 injection Methods 0.000 description 4
- 239000007924 injection Substances 0.000 description 4
- 238000000926 separation method Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 2
- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical compound [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052717 sulfur Inorganic materials 0.000 description 1
- 239000011593 sulfur Substances 0.000 description 1
Classifications
-
- 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
- F02B77/00—Component parts, details or accessories, not otherwise provided for
- F02B77/08—Safety, indicating, or supervising devices
- F02B77/089—Safety, indicating, or supervising devices relating to engine temperature
-
- 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
- F02B77/00—Component parts, details or accessories, not otherwise provided for
- F02B77/08—Safety, indicating, or supervising devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D35/00—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for
- F02D35/02—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for on interior conditions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D35/00—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for
- F02D35/02—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for on interior conditions
- F02D35/025—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for on interior conditions by determining temperatures inside the cylinder, e.g. combustion temperatures
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M15/00—Testing of engines
- G01M15/04—Testing internal-combustion engines
- G01M15/042—Testing internal-combustion engines by monitoring a single specific parameter not covered by groups G01M15/06 - G01M15/12
-
- 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 present invention relates to a method for detecting scuffing in a large two-stroke diesel engine, in particular to method for detecting a pre-scuffing condition, a method for detecting a scuffing condition and to a method for detecting the end of a scuffing condition.
- Disturbances in the operation of large two-stroke diesel engines can lead to a reduction of power and to damage to the cylinders and pistons.
- the loss of power can be significant and if the engine has to be taken out of operation this can cause great problems, for example when the large two-stroke diesel engine is used as the main source of power in an oceangoing vessel.
- the piston rings and liner surface experience all three wear regimes as described by the Stribeck curve (figure 1) relating the (viscosity, load, speed) to the coefficient of friction. These three regimes are Boundary Lubrication, Mixed Lubrication and Hydrodynamic Lubrication. Hydrodynamic lubrication is the condition where there is full separation of the surfaces by an oil film. If the load is only partly carried by the oil film pressure and partly by contact by asperities the condition is named mixed lubrication. If the complete load is carried by asperities and the only separation is a molecular thin oil film, the condition is known as boundary lubrication.
- boundary lubrication is always present to a small extent around top dead Center (TDC) , where the velocity of the piston approaches zero. In case bore polish is taking place the amount of boundary lubrication may rise to a level where scuffing will occur.
- TDC top dead Center
- the existing countermeasures are costly since cylinder lubrication oil is relatively expensive and power reduction is also undesirable. Thus, it is important to determine whether scuffing condition has ceased to exist so that the countermeasures can be canceled in good time.
- the cylinder lubrication oil dosage can be increased relative to the normally required dosage to prevent a scuffing state to occur.
- Another possibility is to connect the alarm system to the electronic control system of the engine, which then can reduce the load on the cylinder concerned. This condition is called “High Friction Condition", cf. figure. If no proper actions are taken this condition will develop into scuffing with heavy wear of the cylinder liner. The liner temperature in the scuffing condition is stable at a high level.
- This object is achieved by providing a method for detecting a pre-scuffing condition in a large multi- cylinder turbocharged two-stroke diesel engine, the method comprising continuously or intermittently measuring the cylinder wall temperature in the upper region of the cylinders, determining if the temperature development of a cylinder fluctuates, and issuing a pre- scuffing alarm when the peaks or the dips of the temperature fluctuations of the cylinder concerned are separated by a time span that falls in a predetermined range and the temperature difference between the peaks and the dips of the temperature fluctuation exceeds a predetermined threshold.
- a pre-scuffing alarm is only issued when at least a sequence with a predetermined number of the fluctuations occurs.
- the number of false pre- scuffing alarms can be further reduced.
- the method may further comprise increasing cylinder lubrication level to a level above the level for normal operation for the cylinder for which the alarm is issued. This countermeasure serves to prevent further pre- scuffing events.
- the method may further comprise decreasing load level to a level below the level for normal operation for the cylinder for which the alarm is issued. This countermeasure serves to prevent further pre-scuffing events.
- the return to normal operation is performed gradually.
- a scuffing alarm is only issued when the cylinder wall temperature increase of a cylinder occurred with a temperature gradient that exceeds a predetermined threshold.
- the method may further comprise automatically increasing cylinder lubrication from a normal level to an increased level and reducing load of the cylinder concerned from a normal level to a reduced level for the cylinder for which the alarm was issued. It is another object of the invention to provide method for determining that a scuffing event in a large multi- cylinder two-stroke diesel engine has ended, comprising continuously or intermittently measuring the cylinder wall temperature in the upper region of the cylinders, determining if the cylinder wall temperature of the cylinder for which a scuffing alarm was issued exceeds the average cylinder wall temperature of the other cylinders by a value less than a given threshold, or the cylinder wall temperature of the cylinder for which a scuffing alarm was issued is below a predetermined fixed cylinder wall alarm temperature by a predetermined margin .
- the method further comprises automatically returning to normal operation of the cylinder for which the scuffing alarm was issued with a predetermined delay from the determination of the end of the scuffing event.
- the apparatus has at least one temperature sensor for each cylinder in the upper region of the cylinder wall coupled to a processor that is configured to determine if the temperature development of a cylinder fluctuates, and is configured to issue a pre-scuffing alarm when the peaks or the dips of the temperature fluctuations of the cylinder concerned are separated by a time span that falls in a predetermined range and the temperature difference between the peaks and the dips of the temperature fluctuation exceeds a predetermined threshold.
- figure 1 is a graph illustrating various lubrication regimes
- figure 2 is a detailed cross-sectional view of the top of a single cylinder of a multicylinder engine
- figure 3 is a diagrammatic overview of the cylinders, the injection system, the cylinder lubrication system, the temperature sensing system and the electronic control system of an engine according to an embodiment of the invention
- figure 4 is a graph illustrating the cylinder wall temperature development of the cylinder showing pre- scuffing events.
- Figure 1 illustrates the so called Stribeck curve.
- the piston rings and liner surface experience all three wear regimes as described by this curve relating the (viscosity, load, speed) to the coefficient of friction. These three regimes are Boundary Lubrication, Mixed Lubrication and Hydrodynamic Lubrication.
- Hydrodynamic lubrication is the condition where there is full separation of the surfaces by an oil film. If only partly of the load is carried by the oil film pressure and partly by contact by asperities the condition is named mixed lubrication. If the complete load is carried by asperities and the only separation is molecular thin oil film, the condition is known as boundary lubrication.
- boundary lubrication is always present to a small extent around top dead Center (TDC) , where the velocity of the piston is approaching zero. In case bore polish is taking place the amount of boundary lubrication may rise to a level where scuffing will occur.
- TDC top dead Center
- Figure 2 illustrates one of the cylinders 10 of a large multicylinder two-stroke diesel engine of the crosshead type.
- a piston 12 moves up and down in the cylinder 10.
- the top of the cylinder is covered by a cylinder cover 14.
- the cylinder cover 14 is provided with an exhaust valve 16 and with fuel injectors 18.
- Temperature sensors 20 and 20' are provided in the area where the movement of the piston 12 is reversed, the so- called Top Dead Center (TDC) .
- the temperature sensors 20,20' are located in the cylinder liner wall, and connected to an electronic control system ECS of the engine (figure 3) via signal cables 22.
- ECS electronice control system of the engine
- the temperature sensors 20,20' measure the cylinder wall temperature in the upper area of the perspective cylinder and the signal of the temperature sensors is transferred by the data cables 22 to the electronic control system.
- Cylinder lubricator ports 26 are also provided along the circumference of the cylinder. Typically three cylinder lubrication ports 26 are provided for each cylinder, although other numbers of cylinder lubrication ports could be used.
- the cylinder lubrication ports 26 are provided with cylinder oil by a cylinder oil pump 24 associated with each cylinder.
- the cylinder oil pump 24 adjusts the dosage of the cylinder oil to the operating conditions of the engine. During normal operation the dosage is set to be no more than adequate since cylinder oil is relatively expensive. The dosage will be influenced by the fuel quality and be higher when low- quality fuel with a high sulfur content is used and depends on the load and running speed of the engine or on the load of a specific cylinder.
- Figure 3 shows an engine according to an embodiment of the invention with five cylinders 10.
- the number of cylinders in this embodiment merely exemplary and invention could be used on multi-cylinder large two- stroke diesel engines with any other number of cylinders.
- the temperature sensors 20, 20' of each of the cylinders 10 are connected via the signal cables 22 to the electronic control system ECS of the engine.
- the cylinder lubrication pumps 24 of each of the cylinders 10 are also connected to the electronic control system.
- the cylinder wall temperature values supplied by the temperature sensors 20,20' of the cylinders 10 are measured and evaluated by the electronic control system.
- the electronic control system includes at least one processor that is configured to measure and analyze the cylinder wall temperature signals.
- the measurement of the cylinder wall temperatures may be intermittent, for example once every second or continuous.
- the processor analyzes the cylinder wall temperatures of each of the cylinders 10 and analyzes the development of these on the cylinder wall temperatures of each of the cylinders 10.
- the processor issues a pre-scuffing alarm if any of the cylinders displays a temperature development that is typical for a pre-scuffing event.
- Figure 4 illustrates a typical pre-scuffing event followed by hypothetical scuffing event (indicated by the interrupted line) for cylinder number four.
- the pre- scuffing event commences by cylinder wall temperature fluctuations with a magnitude of fluctuation in the range between approximately 25 to approximately 65°C.
- the time span between the peaks of the cylinder wall temperature fluctuations (or for that matter between the dips) is typically in the range between approximately 6 to approximately 18 minutes.
- the period of time in which these events take place in figure 4 is labeled "high friction condition". In this state friction is increased but not to the level of friction that occurs during actual scuffing.
- the range of the magnitude of the cylinder wall temperature fluctuations may vary from engine to engine may depend on engine size and design and can be determined empirically. This also applies to the range of the time span between the peaks of the temperature fluctuations .
- the processor is configured to issue a pre-scuffing alarm when it has determined that the temperature fluctuations match the characteristic of a scuffing event. Thus, the processor determines whether the time span between the peaks of the fluctuation falls within the predetermined range and determines whether the temperature fluctuations exceed a predetermined magnitude.
- pre-scuffing event countermeasures may include increasing the cylinder lubrication oil dosage to a level above that of normal operation. This increase is effected by a signal from the electronic engine control system ECS to the cylinder lubrication pump 24 of the cylinder for which the pre-scuffing alarm has been issued.
- the pre-scuffing event countermeasures may also include reducing the load on the cylinder for which the alarm has been issued. This countermeasure is effected by the electronic control system ECS by changing the amount and/or timing of the fuel injection via the respective signal cable 28.
- the pre-scuffing event countermeasures may also include reducing the engine speed.
- the processor is in an embodiment configured to apply a stricter control for the detection of a pre-scuffing event.
- the extra restriction is in the form of a minimum number of consecutive cylinder wall temperature fluctuations that have to occur before an alarm is issued.
- a minimum number of consecutive fluctuations could be set to be two or three fluctuations (at least two of three peaks) .
- the processor is also configured to automatically determine when to return to normal operation when countermeasures have been taken after a pre-scuffing cylinder alarm has been issued for one of the cylinders 10.
- the processor determines the time span that has passed since initiation of the countermeasures, and automatically returns to normal operation of the cylinder 10 for which the pre-scuffing alarm has been issued after the time span has exceeded a predetermined threshold. The return to normal operation is performed gradually.
- the processor is configured to issue a scuffing alarm when the temperature gradient ⁇ t/ ⁇ T of the cylinder concerned exceeds a given threshold for a minimum amount of time. Also if the cylinder wall temperature of a given cylinder exceeds the maximum alarm set point a scuffing condition alarm is issued.
- the processor is configured to detect that a scuffing condition is present and automatically issues a scuffing alarm. Further, the processor is in embodiment configured to automatically apply countermeasures, such as increasing the cylinder lubrication oil dosage significantly, for example to maximum level when a scuffing event is detected.
- the countermeasures may further include a reduction on the load of the cylinder for which the alarm is issued through manipulation of the fuel injection of the cylinder concerned.
- the processor may further be configured to automatically reduce the engine speed as a countermeasure after a scuffing alarm has been issued.
- the processor may in embodiment also be configured to determine when a scuffing event has ended.
- the processor is configured to cancel the scuffing alarm when the cylinder temperature of the cylinder for which the alarm was issued drops below the maximum alarm set point by a predetermined margin.
- the processor can also be configured to automatically end the scuffing countermeasures after a predetermined delay from the point of time at which the processor has determined that the scuffing event has ended. The automatic ending of the scuffing countermeasures by the processor can be performed gradually or step-by-step.
- the invention has numerous advantages. Different embodiments or implementations may yield one or more of the following advantages. It should be noted that this is not an exhaustive list and there may be other advantages which are not described herein.
- One advantage of the invention is that it provides a reliable method for detecting pre-scuffing events. Another advantage of the invention is that it provides for automatic initiation of countermeasures upon detection of pre-scuffing events. A further advantage of the invention is that it provides for automatic ending of countermeasures to a pre-scuffing event. Another advantage of the invention is that it provides for a reliable method for detecting a scuffing event. Another advantage of the invention is that it provides for a method for automatically initiating countermeasures upon detection of a scuffing event. A further advantage of the invention is that it provides for automatic detection of the ending of a scuffing event .
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Lubrication Details And Ventilation Of Internal Combustion Engines (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011504322A JP4729138B2 (en) | 2008-04-17 | 2008-04-17 | Scuffing detection |
KR1020127025704A KR101363340B1 (en) | 2008-04-17 | 2008-04-17 | Scuffing detection |
KR1020107025489A KR101267506B1 (en) | 2008-04-17 | 2008-04-17 | scuffing detection |
CN2008801291986A CN102027219B (en) | 2008-04-17 | 2008-04-17 | Scuffing detection |
PCT/EP2008/003090 WO2009127232A1 (en) | 2008-04-17 | 2008-04-17 | Scuffing detection |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/EP2008/003090 WO2009127232A1 (en) | 2008-04-17 | 2008-04-17 | Scuffing detection |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2009127232A1 true WO2009127232A1 (en) | 2009-10-22 |
Family
ID=40091511
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2008/003090 WO2009127232A1 (en) | 2008-04-17 | 2008-04-17 | Scuffing detection |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP4729138B2 (en) |
KR (2) | KR101363340B1 (en) |
CN (1) | CN102027219B (en) |
WO (1) | WO2009127232A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11280291B2 (en) | 2019-12-31 | 2022-03-22 | Mahle International Gmbh | Cylinder liner with temperature sensor |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2620607B1 (en) * | 2012-01-30 | 2015-08-12 | Wärtsilä Schweiz AG | Piston-cylinder unit and method for supplying lubricant to a piston of a piston-cylinder unit for a reciprocating piston combustion engine |
CN102536458B (en) * | 2012-02-13 | 2013-10-02 | 华为技术有限公司 | Method, device and system for prejudging wear condition of engine |
CN106438040A (en) * | 2016-12-20 | 2017-02-22 | 中国船舶重工集团公司第七研究所 | Diesel engine cylinder scoring fault early warning device and diesel engine cylinder scoring fault early warning method |
CN111058944B (en) * | 2019-12-27 | 2020-11-10 | 中广核研究院有限公司北京分公司 | Method and system for detecting temperature abnormity of cylinder of diesel generating set |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE742697C (en) * | 1941-10-21 | 1943-12-09 | Kloeckner Humboldt Deutz Ag | Device for monitoring internal combustion engines |
US4122720A (en) * | 1977-04-07 | 1978-10-31 | Alnor Instrument Company | Diesel engine exhaust temperature monitor |
JPS6032941A (en) * | 1983-08-01 | 1985-02-20 | Mazda Motor Corp | Abnormal temperature detecting device of engine |
DE4018639A1 (en) * | 1990-06-11 | 1991-12-12 | Motoren Werke Mannheim Ag | Monitoring IC engine w.r.t. rate of temp. change - processing temp. measurements at intervals for prodn. of alarm signal or shut=down of engine |
JPH0626393A (en) * | 1992-02-26 | 1994-02-01 | Diesel United:Kk | Wear detection device for cylinder |
EP0652426A1 (en) * | 1993-11-09 | 1995-05-10 | New Sulzer Diesel AG | Method of recognising disturbances during the operation of a diesel engine |
KR20080050798A (en) * | 2006-12-04 | 2008-06-10 | 현대자동차주식회사 | Method of detecting the damage to the cylinder liner |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002021629A (en) | 2000-07-06 | 2002-01-23 | Mitsubishi Heavy Ind Ltd | Abnormality detection device for cylinder liner |
-
2008
- 2008-04-17 JP JP2011504322A patent/JP4729138B2/en active Active
- 2008-04-17 KR KR1020127025704A patent/KR101363340B1/en active IP Right Grant
- 2008-04-17 KR KR1020107025489A patent/KR101267506B1/en active IP Right Grant
- 2008-04-17 CN CN2008801291986A patent/CN102027219B/en active Active
- 2008-04-17 WO PCT/EP2008/003090 patent/WO2009127232A1/en active Application Filing
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE742697C (en) * | 1941-10-21 | 1943-12-09 | Kloeckner Humboldt Deutz Ag | Device for monitoring internal combustion engines |
US4122720A (en) * | 1977-04-07 | 1978-10-31 | Alnor Instrument Company | Diesel engine exhaust temperature monitor |
JPS6032941A (en) * | 1983-08-01 | 1985-02-20 | Mazda Motor Corp | Abnormal temperature detecting device of engine |
DE4018639A1 (en) * | 1990-06-11 | 1991-12-12 | Motoren Werke Mannheim Ag | Monitoring IC engine w.r.t. rate of temp. change - processing temp. measurements at intervals for prodn. of alarm signal or shut=down of engine |
JPH0626393A (en) * | 1992-02-26 | 1994-02-01 | Diesel United:Kk | Wear detection device for cylinder |
EP0652426A1 (en) * | 1993-11-09 | 1995-05-10 | New Sulzer Diesel AG | Method of recognising disturbances during the operation of a diesel engine |
KR20080050798A (en) * | 2006-12-04 | 2008-06-10 | 현대자동차주식회사 | Method of detecting the damage to the cylinder liner |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11280291B2 (en) | 2019-12-31 | 2022-03-22 | Mahle International Gmbh | Cylinder liner with temperature sensor |
Also Published As
Publication number | Publication date |
---|---|
KR101363340B1 (en) | 2014-02-14 |
CN102027219B (en) | 2013-11-13 |
CN102027219A (en) | 2011-04-20 |
KR101267506B1 (en) | 2013-05-24 |
KR20120126119A (en) | 2012-11-20 |
KR20110007189A (en) | 2011-01-21 |
JP2011517746A (en) | 2011-06-16 |
JP4729138B2 (en) | 2011-07-20 |
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