WO2012082121A1 - Printer time-out - Google Patents
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- WO2012082121A1 WO2012082121A1 PCT/US2010/060637 US2010060637W WO2012082121A1 WO 2012082121 A1 WO2012082121 A1 WO 2012082121A1 US 2010060637 W US2010060637 W US 2010060637W WO 2012082121 A1 WO2012082121 A1 WO 2012082121A1
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- 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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/26—Power supply means, e.g. regulation thereof
- G06F1/32—Means for saving power
- G06F1/3203—Power management, i.e. event-based initiation of a power-saving mode
- G06F1/3234—Power saving characterised by the action undertaken
- G06F1/325—Power saving in peripheral device
- G06F1/3284—Power saving in printer
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/26—Power supply means, e.g. regulation thereof
- G06F1/32—Means for saving power
- G06F1/3203—Power management, i.e. event-based initiation of a power-saving mode
- G06F1/3234—Power saving characterised by the action undertaken
- G06F1/3296—Power saving characterised by the action undertaken by lowering the supply or operating voltage
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/12—Digital output to print unit, e.g. line printer, chain printer
- G06F3/1201—Dedicated interfaces to print systems
- G06F3/1202—Dedicated interfaces to print systems specifically adapted to achieve a particular effect
- G06F3/1211—Improving printing performance
- G06F3/1217—Improving printing performance achieving reduced idle time at the output device or increased asset utilization
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/12—Digital output to print unit, e.g. line printer, chain printer
- G06F3/1201—Dedicated interfaces to print systems
- G06F3/1202—Dedicated interfaces to print systems specifically adapted to achieve a particular effect
- G06F3/1218—Reducing or saving of used resources, e.g. avoiding waste of consumables or improving usage of hardware resources
- G06F3/1221—Reducing or saving of used resources, e.g. avoiding waste of consumables or improving usage of hardware resources with regard to power consumption
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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
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management
Definitions
- the present exemplary embodiment relates to device operation where the device can exist in a plurality of modes, each consuming a different amount of energy. It finds particular application in conjunction with the prediction of time-outs for devices, such as printers, and will be described with particular reference thereto.
- Imaging devices such as printers and copiers, operate at different power consumption levels.
- an idle mode the device is ready to use for printing or copying, which typically requires most power.
- the device is cycled down to a power saving mode. These modes are sometimes known as standby modes, low power modes, or sleep modes.
- the power saving mode the device draws enough power to support certain functions of the device, but requires a warm up period before it is fully operation again. The warm up period is actuated, for example, when a print job is received for printing or a user selects a copying function or otherwise actuates the device.
- the device control system then activates components that draw additional power in preparation for use of the device.
- a printer or copier may heat a fuser roll and cause the marking material to be readied for use.
- this generally involves circulating the toner particles in a developer housing.
- the solid inks are heated to above their melting points.
- the device may remain in an idle mode at the higher power consumption level for some predetermined period of time (a timeout), to maintain one or more components within an operational temperature range or state.
- a timeout reduces the number of cycles experienced by the components, which helps preserve their operational life, and also reduces or eliminates waiting time for the customer. If the device is not in use again by the preset time-out, the device begins to cycle down to the power saving mode.
- the result of the evaluation method is the Typical Energy Consumption (TEC) value measured in k h and which must be under a certain level in order to obtain the Energy Star certification. For example, for a color multi-function device producing under 32 images per minute, its power consumption must be below (0.2 kWh * ipm) * +5kWh.
- TEC Typical Energy Consumption
- time-out values are still static values which, in most cases, are not adapted to the real usage of devices.
- a method of computing a time-out for a device includes acquiring data comprising a set of inter-arrival times for at least one device. This set of inter-arrival times values can be examined as the set of candidate time-outs. For each of a set of candidate time-outs, the method includes deriving a probability that an inter- arrival time from the set of inter-arrival times is greater than the candidate timeout.
- a cost function is computed, e.g., with a computer processor, based on the derived probability and a robustness term and a time-out identified for the at least one device as the one minimizing the cost function value.
- a computer implemented system for computing a time-out for a device includes data memory which stores acquired data comprising a set of inter-arrival times for at least one device, main memory which stores instructions which, for each of a set of candidate time-outs, derive a probability that an inter-arrival time from the set of inter-arrival times is greater than the candidate time-out, compute a cost function based on the derived probability and a robustness term, and identify a time-out for the at least one device for which the cost function is a minimum, and a processor in communication with the main memory which executes the instructions for processing the acquired data.
- a printing system includes a plurality of networked printers which each acquire inter-arrival data for print jobs.
- a time-out system receives the inter-arrival data from the printers, generates at least one histogram therefrom for a set of candidate time-outs, and computes a time-out for the plurality of printers by minimizing a cost function, the cost function including a robustness term which factors in adversarial behavior not included in the histogram.
- FIGURE 1 is a functional block diagram of an environment in which a system for computing a time-out for one or more devices, such as printers, operates in accordance with one aspect of the exemplary embodiment;
- FIGURE 2 is a flow chart of an exemplary method for computing a time-out for one or more devices in accordance with another aspect of the exemplary embodiment
- FIGURE 3 illustrates an exemplary histogram which may be derived from the inter-arrival times in minutes data from one or more devices
- FIGURE 4 illustrates a plot of a cost function derived from the histogram of FIGURE 3, showing the time-out at minimum cost (s m/n );
- FIGURE 5 is a flow chart illustrating steps in the method of operating a printer once a time-out has been established by the method of FIGURE 2;
- FIGURE 6 illustrates a plot comparing the costs of applying various time-out policies relative to that of a standard 30 minute time-out, for three policies using the exemplary time-out computation method, a first policy P1 in which the time-out is fixed for all 15 machines, a second policy P2 in which each machine operates with its own time-out; and a third policy P3 in which the acquired data is segmented by hour of the day and the time-out is computed for each printer for each hour of the day; and [0019]
- FIGURE 7 illustrates predicted time-outs for a set of 15 printers both with and without incorporation of a robustness term.
- the exemplary embodiment provides a system and method for setting a time-out s to reduce, e.g., minimize the expected power consumption of a device, such as a printer, by putting it in sleep mode after the time-out s is reached.
- a time-out can be adaptive.
- the time-out s can be considered as the time period that a device will wait after completing a job request (e.g., a print request) before transitioning between a first mode (generally referred to as an idle mode) and second mode in which power consumption is less than in first mode (generally referred to as a sleep mode), in the absence of arrival of additional job requests, such as print requests.
- a first mode generally referred to as an idle mode
- second mode in which power consumption is less than in first mode
- additional job requests such as print requests.
- the device can be assumed to be in the idle mode as soon as a job has been processed. In the idle mode, the device is ready to perform another job. In the sleep mode, the device is not immediately ready for processing another job but requires a warm up period in which one or more components are brought to a fully operational state. While in the exemplary embodiment, the device is described in terms of a printer and the jobs to be processed are therefore print jobs, it is to be appreciated that other devices are also contemplated, such as laptop or
- a printer can be a printer, copier, or a multifunction device.
- the printer in general, in executing a print job, the printer applies images to print media, such as paper, using marking materials, such as inks or toners.
- Exemplary printers include xerographic, inkjet, and thermal printers, although any type of printer may be considered.
- a "print job” or "document” is normally a set of related sheets, usually one or more collated copy sets, copied from a set of original print job sheets or electronic document page images, from a particular user, or otherwise related.
- the exemplary system and method rely on acquiring historical data from one or more printers concerning inter-arrival times, and in the case of print jobs, inter-print times of print jobs.
- the inter-arrival time X is the time between completion of a first job and the arrival of the next subsequent job to be processed. Thus, X is 0 when a second job is printed immediately after a first job is completed.
- Inter-arrival times can be acquired in different ways.
- the inter-arrival data is obtained directly from the device.
- it may be derived from job tracking data stored and available for retrieval on imaging devices.
- the data may be obtained from print servers or client workstations on which software monitoring the print activity is present (e.g., Xerox Job Tracking Agent).
- the inter-arrival data can be inferred simply if the time between completion of a first job and the arrival of the next subsequent job to be processed is available.
- most job tracking or monitoring systems do not track completion time, which means that the system will need to estimate the completion time by using the device's speed characteristics to infer the completion time.
- time-out s were to be selected parametrically, e.g., by fitting a conventional Weibull distribution to this expression, the time-out predicted is 0 minutes. This corresponds to a loss of over 50% of energy consumption relative to the optimum time-out for a device consuming 12 kj per wakeup, 80 W while idle, and 16 W while sleeping. The loss is the same if a Markov model is employed. The true optimum time-out is just over 2 minutes. [0027] In accordance with the exemplary method, a non-parametric model is used for computing an optimum time-out.
- a value of s is obtained by computing an expected cost function for operating the device over a set of candidate time-outs and selecting a value of s based on the minimum cost.
- the system proposes a time-out which is robust to changes in user behavior and in which s is also adaptive to behavior.
- FIGURE 1 an exemplary environment in which an automated time-out computing system 10 operates is shown by way of example.
- the system 10 determines a time-out s for a device by minimizing a cost function which takes into account historical data for inter-arrival times and a robustness term for accommodating behavior which does not fit the historical data, as described in greater detail below.
- the system 10 may be embodied in hardware, software, or a combination thereof.
- the system 10 includes main memory 12 and a processor 14 in communication therewith.
- Main memory 12 stores instructions for computing a time-out s for one or more devices 16, 18, here shown as printers, and which are executed by processor 14.
- the system 10 may be resident, for example, on a server which is linked to the printers 16, 18, by a network 22.
- each printer 16, 18 may have its own resident time-out computing system (e.g., in its digital front end) or the time-out computing system 10 may be located elsewhere on the network, for example, on a workstation 24, which may be linked to the printer(s) 6, 18 via the network 22.
- the system 10 may be remote from the network, e.g., accessed via the internet.
- computed time-outs may be manually set for each of the printers based on the output of the time-out computing system 10.
- the action of setting remotely the time-out over a network can be achieved by using standard protocols, such as SNMP or Web Services for Devices which are already available in order to perform remote device management. (See, e.g., RFC 1759 - Printer MIB, at http://www.faqs.org/rfcs/rfc1759.html).
- the network printing system illustrated in FIGURE 1 executes print jobs.
- print jobs comprising one or more documents to be printed are generated at workstations, such as workstation 24, or at the printer 16, 18 in the case of a copy job.
- the print jobs are routed to the selected printer for printing the job and printed by the selected printer in the printer's normal course, such as a first-in-first-out (FIFO) printing schedule.
- the jobs arrive at the printer for printing at variable times. For example, some print jobs may arrive at intervals of 1-2 minutes, while others may be many minutes or even hours apart.
- the time-out computing system 10 receives inter-arrival data 30 from each of the printer(s) 16, 18.
- the inter-arrival data may be a set of actual inter- print times or arrival/print time data from which a set of inter-arrival times can be computed. Additional information may also be acquired, such as the time of day, day of the week, ID of the person submitting the print job, and the like.
- the data 30 may be received for a fixed period of time, such as a day, week, month, etc, or the system 10 may receive such data continuously or semi-continuously.
- the data 30 may be received by the system 10 via the network 22, or in the case of an independent system, input by disk, manually, or otherwise.
- the data 30 may be stored in data memory 32 during processing, which may be combined with main memory 12 or be separate therefrom.
- Components 12, 14, 32 of the timeout computing system 10 may communicate via a data/control bus 34.
- the time-out computing system 10 Based on the inter-arrival times for a fixed period, such as a week, as well as stored cost information and a robustness term, the time-out computing system 10 computes an optimum time-out s for one or both of the printers 6,18.
- the cost information may include, for example, the respective costs of maintaining the printer in idle mode and sleep mode, the cost of waking the printer up from the sleep mode to the idle mode and returning it to the sleep mode, and the annoyance cost associated with a user having to wait for the printer to be woken up. These costs may be the same for each network printer, or may be different.
- the time-out computing system 10 may output the time-out s to the printer, e.g., via the network 22. Alternatively, the time-out may be manually set by an operator, e.g., using a user input device 36, 38, such as a keyboard, touch screen, or the like.
- Each printer 16, 18 includes a respective time-out controller 40, 42 which adopts the time-out value s as its new time-out and operates the respective printer in accordance with the new time-out.
- a photoreceptor in the form of a belt or drum is charged to a uniform potential, selectively discharged to create a latent image, and then the latent image is developed by applying toner particles of a selected color or colors from a developer housing.
- the toner image thus formed is transferred to the print media and fused thereto with a fuser using heat and/or pressure.
- the fuser and developer housing are under the control of the time out controller 40, 42 and cycle between first and second modes in accordance with instructions therefrom.
- FIGURE 2 a method for computing a time-out s for a device, such as a printer, is shown.
- the method may be performed in the environment of FIGURE 1. The method begins at S100.
- a value r for accounting for the probability of adversarial activity is selected.
- the probability r may be from about 0.001 -0.1 on a scale of 0-1 .
- r may be about 0.005. This means that an adversary can influence the behavior up to about 0.5% of the time without pathologically affecting the time-out.
- This value may be generated from data acquired over a long time period, such as about one year, over one or multiple printers. All printers in the network may be assigned the same value of r, or may be assigned different values.
- the probability of adversarial activity is designed to account for unexpected print events rather than accounting for real adversarial or pathological behavior of users. It is to be appreciated that user print usage behavior is, by itself non pathological, and may be solely due to workload and requirements. The adversarial activity thus takes into account that a user may start using printers at unexpected rates or at hours of the day in which devices are normally unused.
- a set of print job inter-arrival times is acquired over a selected time period. The times may be acquired over any convenient time period, for example, over a week or a month.
- FIGURE 3 shows an exemplary histogram which could be generated using the inter-arrival times X, in which the probability P x>s of X being greater than s is plotted for a set of candidate values of s (e.g., in minutes varying between about 1 minute and 30 minutes).
- candidate values of s e.g., in minutes varying between about 1 minute and 30 minutes.
- a cost function is computed.
- the exemplary cost function has two (or more) terms: a first term which provides the cost of a particular time-out as a function, assuming that behavior fits the model.
- a second term is the costs of time-outs given an adversary, weighted by the probability of adversarial behavior.
- the expected costs for each of the set of time out periods are computed, e.g., in terms of energy consumed, and may be plotted.
- the costs can be normalized and any fixed costs, such as printing costs, can be ignored.
- the energy cost e.g., in joules
- computed over the test period e.g., 1 week
- a selected value of s can be divided by the same costs incurred by setting a standard timeout of, for example, 30 minutes.
- the first term of the cost function accounts for such costs as the cost of maintaining the printer in an idle mode, the cost of maintaining the printer in a sleep mode, which is typically less than the idle mode cost, the cost of waking the printer up to the idle mode. Additionally, the annoyance cost corresponding to a user having to wait for the printer to warm up, if it has been put into sleep mode, is also factored in. While not really an energy cost, there have been studies which put a value on the user's waiting/per unit time and such values can be used here.
- the annoyance costs may be weighted accordingly and/or increase exponentially with the time required by every device to transition from sleep mode to ready mode.
- the costs may be weighted, depending on the cumulative time that all the device users may have expended due to sleep mode to ready mode transitions in the last week or during some other suitable timeframe.
- a time-out s for the printer is set based on the time out period at minimum cost. For example, the computed time-out s min may be rounded up to the nearest number of minutes, or the like to generate s. All printers on the network may have the same set time-out. Or, each printer may be assigned its own time-out.
- time-out(s) s may be recomputed, at intervals, using new data. For example, steps S104-S1 12 are repeated at weekly or monthly intervals or other suitable time interval. This allows the computed time-out to account for behavior changes, e.g., due to vacations or changes in behavior due to the relocation of the device itself.
- the printer operates as illustrated in FIGURE 5.
- a first job arrives (S202) and at t, is printed (S204).
- the printer starts a timer clock (S206). If another job is received between t, and t 2 (S206), the arrival time of this job becomes t , the method returns to S204, and at , the new job is printed.
- the method illustrated in FIGURE 2 may be implemented in a computer program product that may be executed on a computer.
- the computer program product may be a non-transitory computer-readable recording medium on which a control program is recorded, such as a disk, hard drive.
- Common forms of computer-readable media include, for example, floppy disks, flexible disks, hard disks, magnetic tape, or any other magnetic storage medium, CD- ROM, DVD, or any other optical medium, a RAM, a PROM, an EPROM, a FLASH-EPROM, or other memory chip or cartridge, or any other medium from which a computer can read and use.
- the method may be implemented as a transmittable carrier wave in which the control program is embodied as a data signal.
- Suitable transmission media include acoustic or light waves, such as those generated during radio wave and infrared data communications, and the like.
- the exemplary method may be implemented on one or more general purpose computers, special purpose computer(s), a programmed microprocessor or microcontroller and peripheral integrated circuit elements, an ASIC or other integrated circuit, a digital signal processor, a hardwired electronic or logic circuit such as a discrete element circuit, a programmable logic device such as a PLD, PLA, FPGA, or PAL, or the like.
- any device capable of implementing a finite state machine that is in turn capable of implementing the flowchart shown in FIGURE 2, can be used to implement the method for computing a time-out.
- the expected cost will depend of the inter-arrival time X between two successive print jobs.
- E aKt P X>S * (lC * s + SD + WU + [E[X ⁇ X > S] - S)* SC)+ IC * P X ⁇ S * E[X ⁇ X ⁇ S]+ E PC where P X>S is the probability that X is greater than s,
- IC is the cost per unit time of the printer being in idle mode
- SC is the cost per unit time of being in the sleep mode
- SD is the cost associated with shutting down the device, i.e., from idle mode to sleep mode (which may be assumed to be an instantaneous operation);
- WU is the cost associated with waking up the device, i.e., from sleep mode to idle mode (which may be assumed to be an instantaneous operation);
- Epc is the expected print cost.
- the print cost E PC can be assumed to be a constant (independent of s).
- the shutdown and wakeup costs always occur together.
- Other terms are proportional to the idle cost. Therefore, if: (SD + WU)
- E C OST is proportional to P x>s (s + w) + E[X*I ⁇ X ⁇ s ⁇ ], up to a constant.
- E COST (IC - SC)*(P X>S * (s + w)) + SC * [E[X]- Six * l ⁇ X ⁇ s ⁇ + IC * E[x * l ⁇ X ⁇ s ⁇ ]+E P
- E CMT ⁇ IC - SC)*(P X>S * (s + w)+ E[X * I ⁇ X ⁇ s ⁇ j+SC * E[X]+E PC
- E K is a fixed cost and E[x] does not depend on s
- E ⁇ SL is proportional to P x>s (s + w) + E[X*I ⁇ X ⁇ s ⁇ , up to a constant.
- the value of w can be selected to meet Energy Star's model for users being annoyed by a short time-out implying more chances of having users impacted by printers coming out from sleep mode. In this case, w is approximately 15 minutes.
- the min_smax_F is an optimization of the robust cost function.
- the last factor, E[X] I s compensates for the fact that for shorter time-outs, an adversary can repeat a time-out/wake up cycle more frequently, relative to the typical expected cycle duration.
- K(s) ⁇ P X>S ( s + w ) + E[X * I ⁇ X ⁇ s ⁇ ]) + r w E[X] I s .
- E[X] can be rather large if not many jobs are submitted. In practice, the system may require that s may be at most, 30 minutes. Hence for a device where there have always been long intervals between jobs, the optimum time-out setting will be about 30 minutes.
- step S106 may thus include obtaining histograms of l s . and hence E[X ⁇ X ⁇ s ] , E[X] by sampling over some period, such as 1 week.
- each of a set of printers can have its own timeout, computed from its own historical data, or several printers can pool data and used the same computed time-out.
- the time-out can vary over the course of a day or week by segmenting the inter-arrival data according to time of day/week.
- the first policy (P1 ) uses a fixed time-out equal to the value on the X- axis.
- the second policy (P2) uses the optimal fixed time-out per machine over the whole year.
- the third policy (P3) discretizes the time of day into 24 bins and selects the optimal time-out per machine for this time of day over the whole year. [0069] The policies save between 28% and 31 %. Policy 1 , the computationally simplest of the three, was still very effective. Given that even in an environment which shows a very clear dependence on time of day, there is really very little additional energy saving between the second and third policies, while having to model time of day would add an order of magnitude to the overall complexity, it is reasonable to ignore time of day data.
- r prevents short time-outs, hence makes the system more robust to any behavior changes. For instance, were there to be a sudden flurry of jobs at 1 minute intervals, the non-robust policy with a time-out of 0.26 minutes would put the printer to sleep after each of them, wasting a vast amount of energy, yet the robust policy loses nothing extra in the average case.
- An advantage of the exemplary system and method is that it provides non-pathological behavior of the time-out mechanism given arbitrary user activity, yet good behavior given typical user activity.
- Another advantage is that it allows efficient implementation without having to solve non-convex optimization problems (like fitting HMMs or Weibulls).
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Abstract
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Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
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AU2010365378A AU2010365378B2 (en) | 2010-12-16 | 2010-12-16 | Printer time-out |
PCT/US2010/060637 WO2012082121A1 (en) | 2010-12-16 | 2010-12-16 | Printer time-out |
JP2013544439A JP5734454B2 (en) | 2010-12-16 | 2010-12-16 | Method for calculating timeout value and computer-implemented system |
CN201080071226.0A CN103354918B (en) | 2010-12-16 | 2010-12-16 | Printer time-out |
KR1020137015374A KR101728315B1 (en) | 2010-12-16 | 2010-12-16 | Printer time-out |
GB1310324.7A GB2501194A (en) | 2010-12-16 | 2010-12-16 | Printer time-out |
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PCT/US2010/060637 WO2012082121A1 (en) | 2010-12-16 | 2010-12-16 | Printer time-out |
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KR (1) | KR101728315B1 (en) |
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- 2010-12-16 AU AU2010365378A patent/AU2010365378B2/en not_active Ceased
- 2010-12-16 WO PCT/US2010/060637 patent/WO2012082121A1/en active Application Filing
- 2010-12-16 GB GB1310324.7A patent/GB2501194A/en not_active Withdrawn
- 2010-12-16 KR KR1020137015374A patent/KR101728315B1/en active IP Right Grant
- 2010-12-16 CN CN201080071226.0A patent/CN103354918B/en not_active Expired - Fee Related
- 2010-12-16 JP JP2013544439A patent/JP5734454B2/en not_active Expired - Fee Related
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Also Published As
Publication number | Publication date |
---|---|
CN103354918A (en) | 2013-10-16 |
CN103354918B (en) | 2016-10-26 |
JP2014502929A (en) | 2014-02-06 |
GB2501194A (en) | 2013-10-16 |
KR101728315B1 (en) | 2017-04-19 |
AU2010365378B2 (en) | 2016-04-21 |
KR20140043301A (en) | 2014-04-09 |
GB201310324D0 (en) | 2013-07-24 |
AU2010365378A1 (en) | 2013-07-18 |
JP5734454B2 (en) | 2015-06-17 |
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