WO2012036707A1 - Method for automated position verification - Google Patents
Method for automated position verification Download PDFInfo
- Publication number
- WO2012036707A1 WO2012036707A1 PCT/US2010/052987 US2010052987W WO2012036707A1 WO 2012036707 A1 WO2012036707 A1 WO 2012036707A1 US 2010052987 W US2010052987 W US 2010052987W WO 2012036707 A1 WO2012036707 A1 WO 2012036707A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- sensor
- signal
- under test
- object under
- uil
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
- F22B37/00—Component parts or details of steam boilers
- F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
- F22B37/003—Maintenance, repairing or inspecting equipment positioned in or via the headers
- F22B37/005—Positioning apparatus specially adapted therefor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21D—NUCLEAR POWER PLANT
- G21D3/00—Control of nuclear power plant
- G21D3/001—Computer implemented control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31288—Archive collected data into history file
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31304—Identification of workpiece and data for control, inspection, safety, calibration
-
- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
-
- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
-
- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- the disclosed and claimed concept relates generally to testing equipment and methodologies and, more particularly, to a method of automatically verifying a position of a sensor during performance of an evaluation procedure on an object under test.
- UILs Uniquely Identified Locations
- An example of an environment in which an object under test has numerous similar components that must be individually evaluated is in the case of a steam generator of a nuclear power plant.
- a steam generator might include ten thousand or more tubes that are in fluid communication with a primary loop of the nuclear power plant, and each of the tubes must be periodically evaluated for degradation in order to avoid the potential for leakage of primary coolant into a secondary loop.
- testing is performed by causing a robotically controlled eddy current sensor to be passed through the various tubes of the steam generator, and the signal from the eddy current sensor is compared with a historical signal that is stored in a storage in order to enable an evaluation to be made of possible degradation of the tube.
- the robot moves the probe at least once every four hours, say, to a UIL to ensure that the position of the sensor immediately prior to its movement to the UIL was the position where the system believed that the sensor has been situated.
- a UIL to ensure that the position of the sensor immediately prior to its movement to the UIL was the position where the system believed that the sensor has been situated.
- movement of the sensor to a UIL and then back to a component such as a tube has been time consuming and wasteful of resources. It thus would be desired to provide an improved system that overcomes these and other shortcomings associated with the known art.
- An improved method for verifying a position of a sensor with respect to an object under test includes detecting a signal from the sensor that is positioned at a given location on an object under test and comparing the signal from the sensor with a historical signal that is associated with a Uniquely Identified Location (UIL) on the object under test. If the two signals are consistent, and if the position of the sensor at the given location on the object under test is the same as the UIL, it is concluded that the position of the sensor is correct and the evaluation procedure can continue on the object under test.
- UIL Uniquely Identified Location
- an aspect of the disclosed and claimed concept is to provide an improved method of verifying a position of a sensor with respect to an object under test by relying upon a signal from the sensor to assess the sensor's position rather than moving the sensor to a known location on the object under test to evaluate its former position.
- Another aspect of the disclosed and claimed concept is to provide an improved method of testing that saves time and avoids the wasting of valuable resources.
- the general nature of the method can be stated as including detecting a signal from the sensor positioned at a location on the object under test, making a determination that the location on the object under test is the same as a Uniquely Identified Location (UIL) on the object under test, determining from a comparison of at least a portion of the signal from the sensor with at least a portion of a stored historical signal associated with the UIL that the signal from the sensor is consistent with the historical signal associated with the UIL and, responsive to the determining, concluding that the position of the sensor during the evaluation procedure is correct.
- UIL Uniquely Identified Location
- FIG. 1 is a schematic depiction of a facility that includes an object under test upon which an improved method in accordance with the disclosed and claimed concept can be performed:
- Fig. 2 is a flowchart depicting certain aspects of the improved method.
- FIG. 1 An exemplary object under test 6 of an exemplary facility 10 is depicted generally in Fig. 1. While for purposes of the disclosure herein, the object under test 6 is described as being a steam generator and the facility 10 is described as being a nuclear power plant, it is understood that other facilities and objects under test can be advantageously subjected to the improved method described herein without departing from the present concept.
- the exemplary facility 10 can be described as further comprising for a computer 14 that robotically controls an eddy current sensor 18 in order to move the sensor 18 among and through the various tubes of the exemplary steam generator, i.e., the exemplary object under test 6.
- the computer 14 comprises a processor and a storage, with one or more routines being stored in the storage for execution on the processor.
- the exemplary storage can be any one or more of RAM, ROM, EPROM, EEPROM, FLASH, and the like and in the depicted exemplary embodiment includes a machine readable storage medium such as the exemplary CD- ROM 22 depicted generally in Fig. 1
- a steam generator of a nuclear power plant includes a tube sheet that is in form of a plate of stainless steel or other metal that may be on the order of twenty-two inches thick.
- the two ends of each tube pass through the tube sheet and are affixed to the tube sheet by being hydraulically expanded into engagement with a hole formed in the tube sheet.
- the pattern of expansion of the tube into engagement with the tube sheet is typically unique, and the patter of expansion as a function of distance along the tube can therefore be stored in the storage for subsequent retrieval.
- the stored pattern of expansion can be relied upon as a Uniquely Identified Location (UIL) and, more particularly, as a UIL tube. That is, while any steam generator may include a number of locations such as plugged tubes, support rods, painted tubes, and the like that might serve as conventional UILs, in the present concept the tubes themselves are UILs and, more particularly, are UIL tubes based upon the uniqueness of the pattern of expansion of the tube metal into engagement with the tube sheet.
- UIL Uniquely Identified Location
- the sensor 18 is passed through each tube and its signal is recorded and stored in the storage for future retrieval and comparison with another signal from the same tube at a later time. Such comparison is performed in order to assess the degradation or other change of the tube as a function of time.
- the historical signal stored in the storage can also be employed to designate the tube as a UIL tube if the pattern of expansion as represented by the historical signal is sufficiently unique from other historical signals of other nearby tubes.
- Each such historical signal stored in the storage will be associated with a particular tube of the steam generator, and more particularly, with the location of the tube on the steam generator.
- location and variations thereof shall refer generally to the place where a portion of the object under test 6 is situated
- the expression "position” and variations thereof shall refer generally to the place where the sensor 18 is situated.
- the eddy current sensor 18 is robotically manipulated by the computer 14 to pass through all of the tubes of the steam generator, which is the exemplary object under test 6. It is noted that the position of the sensor 18 may also be referred to as the working point of the robot.
- the eddy current sensor 18 typically has numerous data channels which enable output signals from the eddy current sensor 18 in different frequency bands to be simultaneously detected and recorded. Signals from some of the signal channels of the sensor 18 are usable for comparison with a retrieved historical signal for the same tube in order to evaluate the possible degradation of the tube. Signals from other signal channels of the sensor 18 are usable for comparison with certain aspects of the retrieved historical signal in order to verify the position of the sensor 18.
- the plurality of signal channels of the sensor 18 enable both an evaluation of possible degradation of the tube with certain of the channels as well as confirmation of the position of the sensor 18 with other channels.
- Each tube is evaluated for possible degradation.
- typically only those tubes which are designated as UIL tubes are additionally evaluated for purposes of verifying the position of the sensor 18.
- Any of a wide variety of criteria can be employed in establishing certain tubes as being UIL tubes. For example, a given tube might have one or more dents formed therein at specific locations along its length, and such dents likely will be sufficiently unique that they can serve as a signature of that particular tube.
- one or more particular instances of wear of a tube and/or one or more instances of buffing of a tube may additionally or alternatively be employed in assessing a given tube as having a unique signal and therefore designating the tube as a UIL tube.
- the tubes are likely to be largely free of dents, wear, and buffing, and thus the tubes that are designated as UIL tubes typically will be the tubes having the most unique pattern of expansion of the tube against the tube sheet.
- the historical location signal for any given UIL tube will be in the form a signal having an amplitude that varies as a function of distance into the tube.
- the various locations of the UIL tubes on the steam generator are compiled in a list 26 that is stored in the storage and that is accessible to the computer 14. Most typically, when the computer 14 robotically moves the sensor 18 to a new tube for purposes of evaluating the tube, the location of the tube on the object under test 6 is compared with the list 26 to make a determination whether the location of the tube is the same as a UIL, meaning that the tube at the location is actually a UIL tube. If the tube is determined to not be a UIL tube, the sensor 18 is passed through the length of the tube and the signal from the sensor 18 is compared with a historical degradation signal that is stored in the storage and that is retrieved for purposes of evaluating the degradation of the tube.
- the signal from the sensor 18 is used both to evaluate degradation of the tube as well as to confirm the position of the sensor 18. That is, signal components from certain signal channel of the sensor 18 are compared with a historical degradation signal that has been stored in the storage and that is associated with the tube in order to evaluate degradation, and other signal components from other signal channels of the sensor 18 are compared with a historical location signal that is also stored in the storage. If the location signal components from the sensor 18 are determined to be consistent with the historical location signal that was retrieved from the storage, the position of the sensor 18 is verified and the evaluation procedure continues. That is, the position of the sensor 18 is verified in the course of performing the evaluation operation on a tube and without resort to movement of the sensor 18 to and from a conventional UIL.
- the requirements of the facility 10 typically require that the position of the sensor 18 be verified periodically and with a certain level of frequency.
- the requirements of the facility 10 may be that the position of the sensor must be verified every four hours at a minimum.
- a "clock" is reset and the position of the sensor 18 will then need to be verified again within the next four hours (according to the example parameter set forth herein). It is understood that various other parameters may be required by the facility 10 to be met in order for the evaluation procedure to continue on the object under test 6.
- FIG. 2 A flowchart is depicted in Fig. 2 detailing certain aspects of an improved method of verifying a position of the sensor 18 with respect to the object under test 6 in accordance with the disclosed and claimed concept.
- the method can be generally said to begin, as at 104, where the computer 14 robotically moves the sensor 18 to a tube of a steam generator and multiple signal components from multiple signal channels of the sensor 18 are detected.
- the exemplary facility 10 is a nuclear power plant and the exemplary object under test 6 is a steam generator of the nuclear power plant, but it is reiterated that the method described herein can be advantageously employed in other types of facilities and other objects under test without departing from the present concept.
- the signal components detected at 104 typically we be degradation signals, and such degradation signals are employed, as at 108, to evaluate degradation of the tube.
- a historical degradation signal that is associated with the tube is retrieved from the storage, and a comparison is performed between the retrieved historical degradation signal and the degradation signal received from the sensor 18.
- one or more signal channels of the sensor 18 that form a location signal are compared with a retrieved historical location signal that is associated with the UIL tube in order to verify the position of the sensor 18. If it is determined, as at 116, that the location signal from the sensor 18 is consistent with the historical location signal, processing continues, as at 124, where the system concludes that the position of the sensor 18 is correct and is therefore verified. In such a situation, the "clock" or other parameter of the facility 10 is reset and the evaluation procedure continues. Processing thereafter continues, as at 104.
- the tube that is being evaluated is not a UIL tube, and in fact this is the more likely scenario in the present exemplary embodiment. That is, since in the exemplary embodiment the position of the sensor 18 needs to be verified only once every four hours, and since the computer 14 can evaluate approximately three hundred tubes per hour, roughly only one in about twelve hundred tubes on average must be designated as a UIL tube. For reasons of simplicity, however, probably at least twice as many tubes will be designated as UIL tubes in order to avoid an unnecessary cessation of the evaluation procedure.
- the position of the sensor 18 can be verified by using signals, i.e., location signals from the sensor 18, that are generated and detected during the course of the evaluation procedure.
- the designation of such UIL tubes thus avoids the need for the sensor 18 to be periodically moved to a LTIL such as a blocked tube, a support rod, or a painted tube in order to verify the position of the sensor 18, which results in saved time and reduced cost.
- the automation of such position verification of the sensor 18 avoids the need for a technician to independently evaluate visually, for instance, the position of the sensor 18 once it has been moved from a tube to a UIL such as a plugged tube, a support rod, or a painted rod, which spares expense and avoids the wasting of limited labor resources.
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA2808387A CA2808387C (en) | 2010-09-13 | 2010-10-18 | Method for automated position verification |
EP10857403.9A EP2616825B1 (en) | 2010-09-13 | 2010-10-18 | Method for automated position verification |
ES10857403T ES2703797T3 (en) | 2010-09-13 | 2010-10-18 | Automated position verification procedure |
KR1020137006244A KR101756503B1 (en) | 2010-09-13 | 2010-10-18 | Method for automated position verification |
JP2013528179A JP5729787B2 (en) | 2010-09-13 | 2010-10-18 | Method for automated localization |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US38204710P | 2010-09-13 | 2010-09-13 | |
US61/382,047 | 2010-09-13 | ||
US12/900,819 US8412483B2 (en) | 2010-09-13 | 2010-10-08 | Method for automated position verification |
US12/900,819 | 2010-10-08 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2012036707A1 true WO2012036707A1 (en) | 2012-03-22 |
Family
ID=45807542
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2010/052987 WO2012036707A1 (en) | 2010-09-13 | 2010-10-18 | Method for automated position verification |
Country Status (7)
Country | Link |
---|---|
US (1) | US8412483B2 (en) |
EP (1) | EP2616825B1 (en) |
JP (1) | JP5729787B2 (en) |
KR (1) | KR101756503B1 (en) |
CA (1) | CA2808387C (en) |
ES (1) | ES2703797T3 (en) |
WO (1) | WO2012036707A1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9423407B2 (en) * | 2011-09-30 | 2016-08-23 | Westinghouse Electric Company Llc | Automated analysis coverage verification (AACV) |
US10319484B1 (en) | 2011-11-17 | 2019-06-11 | Nuscale Power, Llc | Method for imaging a nuclear reactor |
Citations (5)
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US6853200B2 (en) | 2000-03-24 | 2005-02-08 | Fraunhofer-Gesellschaft Zur Forderung Der Angewandten Forschung E.V. | Method for retrieving predetermined locations in sewer and pipeline systems |
US20060109001A1 (en) * | 2004-11-19 | 2006-05-25 | Suh Ui W | Methods and apparatus for testing a component |
WO2008089341A2 (en) | 2007-01-19 | 2008-07-24 | Farkas Alexander T | System for fault determinations for high frequency electronic circuits |
US20090237091A1 (en) * | 2008-03-21 | 2009-09-24 | Electro Scientific Industries | Electrical tester setup and calibration device |
US7706999B2 (en) * | 2007-03-29 | 2010-04-27 | Princeton Technology Corporation | Circuit testing apparatus |
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JPS56142455A (en) * | 1980-04-09 | 1981-11-06 | Toshiba Corp | Automatic supersonic flaw detecting device |
US4763274A (en) * | 1986-06-24 | 1988-08-09 | Westinghouse Electric Corp. | Machine implemented analysis eddy current data |
JP2892406B2 (en) * | 1989-12-28 | 1999-05-17 | 株式会社日立製作所 | Movement control method of working robot in heat exchanger |
JPH07281753A (en) * | 1994-04-15 | 1995-10-27 | Toshiba Corp | Moving robot |
JP2003269945A (en) * | 2002-03-20 | 2003-09-25 | Toshiba Corp | Wall surface self-propelled plate thickness measurement device and position identification method using it |
US6914427B2 (en) * | 2003-03-14 | 2005-07-05 | The Boeing Company | Eddy current probe having sensing elements defined by first and second elongated coils and an associated inspection method |
JP4383237B2 (en) * | 2004-04-28 | 2009-12-16 | 株式会社日立製作所 | Self-position detection device, in-furnace inspection method and in-furnace inspection device using the same |
JP2007046944A (en) * | 2005-08-08 | 2007-02-22 | Hitachi Ltd | Remote visual inspection method, and self-travel type imaging device |
US7560920B1 (en) * | 2005-10-28 | 2009-07-14 | Innovative Materials Testing Technologies, Inc. | Apparatus and method for eddy-current scanning of a surface to detect cracks and other defects |
JP4984497B2 (en) * | 2005-11-10 | 2012-07-25 | 株式会社日立製作所 | Underwater inspection device |
US8494762B2 (en) * | 2006-06-28 | 2013-07-23 | Georgia Tech Research Corporation | Sub room level indoor location system using wideband power line positioning |
-
2010
- 2010-10-08 US US12/900,819 patent/US8412483B2/en active Active
- 2010-10-18 CA CA2808387A patent/CA2808387C/en not_active Expired - Fee Related
- 2010-10-18 EP EP10857403.9A patent/EP2616825B1/en not_active Not-in-force
- 2010-10-18 WO PCT/US2010/052987 patent/WO2012036707A1/en active Application Filing
- 2010-10-18 KR KR1020137006244A patent/KR101756503B1/en active IP Right Grant
- 2010-10-18 ES ES10857403T patent/ES2703797T3/en active Active
- 2010-10-18 JP JP2013528179A patent/JP5729787B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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US6853200B2 (en) | 2000-03-24 | 2005-02-08 | Fraunhofer-Gesellschaft Zur Forderung Der Angewandten Forschung E.V. | Method for retrieving predetermined locations in sewer and pipeline systems |
US20060109001A1 (en) * | 2004-11-19 | 2006-05-25 | Suh Ui W | Methods and apparatus for testing a component |
WO2008089341A2 (en) | 2007-01-19 | 2008-07-24 | Farkas Alexander T | System for fault determinations for high frequency electronic circuits |
US7706999B2 (en) * | 2007-03-29 | 2010-04-27 | Princeton Technology Corporation | Circuit testing apparatus |
US20090237091A1 (en) * | 2008-03-21 | 2009-09-24 | Electro Scientific Industries | Electrical tester setup and calibration device |
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Title |
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Also Published As
Publication number | Publication date |
---|---|
CA2808387A1 (en) | 2012-03-22 |
CA2808387C (en) | 2018-02-20 |
KR20130138198A (en) | 2013-12-18 |
EP2616825A1 (en) | 2013-07-24 |
JP2013545075A (en) | 2013-12-19 |
EP2616825B1 (en) | 2018-10-10 |
EP2616825A4 (en) | 2014-08-06 |
US8412483B2 (en) | 2013-04-02 |
US20120065927A1 (en) | 2012-03-15 |
JP5729787B2 (en) | 2015-06-03 |
KR101756503B1 (en) | 2017-07-10 |
ES2703797T3 (en) | 2019-03-12 |
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