WO2014017817A1 - 3차원 구체 구동시스템 - Google Patents
3차원 구체 구동시스템 Download PDFInfo
- Publication number
- WO2014017817A1 WO2014017817A1 PCT/KR2013/006610 KR2013006610W WO2014017817A1 WO 2014017817 A1 WO2014017817 A1 WO 2014017817A1 KR 2013006610 W KR2013006610 W KR 2013006610W WO 2014017817 A1 WO2014017817 A1 WO 2014017817A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- ball
- sphere
- support frame
- bearing
- rigid ball
- Prior art date
Links
- 241000270281 Coluber constrictor Species 0.000 claims description 16
- OQZCSNDVOWYALR-UHFFFAOYSA-N flurochloridone Chemical compound FC(F)(F)C1=CC=CC(N2C(C(Cl)C(CCl)C2)=O)=C1 OQZCSNDVOWYALR-UHFFFAOYSA-N 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 5
- 238000013016 damping Methods 0.000 claims description 4
- 238000005339 levitation Methods 0.000 abstract description 6
- 238000009434 installation Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/285—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using momentum wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/283—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using reaction wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/32—Guiding or controlling apparatus, e.g. for attitude control using earth's magnetic field
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/04—Machines with one rotor and two stators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K17/00—Asynchronous induction motors; Asynchronous induction generators
- H02K17/02—Asynchronous induction motors
- H02K17/16—Asynchronous induction motors having rotors with internally short-circuited windings, e.g. cage rotors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/025—Asynchronous motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
- H02K5/173—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using bearings with rolling contact, e.g. ball bearings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
- H02K5/173—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using bearings with rolling contact, e.g. ball bearings
- H02K5/1737—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using bearings with rolling contact, e.g. ball bearings radially supporting the rotor around a fixed spindle; radially supporting the rotor directly
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/08—Structural association with bearings
- H02K7/086—Structural association with bearings radially supporting the rotor around a fixed spindle; radially supporting the rotor directly
- H02K7/088—Structural association with bearings radially supporting the rotor around a fixed spindle; radially supporting the rotor directly radially supporting the rotor directly
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
- H02K2201/18—Machines moving with multiple degrees of freedom
Definitions
- the present invention relates to a sphere driving system used to control the attitude of the satellite, and more particularly, by positioning the ball (Rigid Ball) used to control the attitude of the satellite in the three-axis direction in position.
- the present invention relates to a three-dimensional sphere driving system that enables accurate posture control.
- Satellites such as satellites, that acquire necessary information as they orbit around the earth, are equipped with attitude control devices to perform missions along a given orbit, which are generated by reaction wheels or thrusters as needed.
- the attitude of the satellite is controlled by applying the driving force to the satellite in the proper direction.
- driving force In order to precisely and precisely control the attitude of the satellite, driving force must be applied in three directions of X, Y, and Z axes. Recently, as shown in FIGS. 1A and 1B, the sphere is positioned at the center of the satellite body. By placing a plurality of electromagnets at intervals of 90 ° around them, the current is periodically applied to the electromagnets, thereby forming a rotating magnetic field on the sphere, resulting in a Lorentz force on the sphere, thereby creating three As the driving force is applied to the shaft at the same time, the research on the satellite attitude control device using the sphere which controls the attitude of the satellite with only one driver has been actively conducted.
- an electromagnet for giving rotational force to the sphere and two electromagnets for magnetic levitation of the sphere are arranged, and a magnetic field is formed by applying power to these two electromagnets simultaneously.
- the interference between the magnetic fields generated by the two electromagnets causes the rotational control of the sphere to be inaccurate and the position of the magnetic levitation of the sphere to be constant.
- the thrust force applied when the satellite is launched from the ground and the numerous flight vibrations that it receives until it enters normal orbit can damage the sphere from its normal position or hit it with components placed around it. It may not be able to control the posture accurately or may lead to an inoperable state.
- the present invention has been made to solve the problems of the conventional satellite body attitude control device as described above, it is possible to easily perform the simulation on the ground without using the magnetic levitation device, and also by the spur of the launch force and vibration, etc. It is an object of the present invention to provide a three-dimensional concrete drive system that can be precisely controlled by the attitude of the satellite is not damaged.
- the object of the present invention as described above is a three-dimensional sphere drive system, a polyhedral shaped support frame; A sphere positioned at an inner center of the support frame; A plurality of ball bearings installed at an inner edge of the support frame and in contact with the surface of the sphere; A plurality of electromagnets disposed around the ball bearing to rotate the sphere by forming a magnetic field; By controlling the electromagnet, it is achieved by configuring a control unit for controlling the rotational direction and the rotational speed of the sphere.
- the ball bearing and the ball A bearing racer installed in the support frame and having a hemispherical groove formed therein;
- the bearing cage is coupled to the upper portion of the bearing racer and has a hemispherical guide groove formed therein, and the ball may be installed to be constrained to a groove formed by the groove of the bearing racer and the guide groove of the bearing cage.
- vibration damping member may be installed between the ball bearing and the support frame.
- the support frame has a longitudinal cross section ' It may be implemented as a 'shape.
- the present invention does not need to separately install a magnetic levitation device for floating the sphere in the air because the sphere installed inside the attitude control device for controlling the attitude of the satellite body is supported by a plurality of ball bearings.
- the sphere is mechanically supported by a plurality of ball bearings, the sphere is not damaged by vibration or the like, and the position of the sphere is maintained as it is, and as a result, the attitude of the satellite body can be accurately controlled.
- the vibration damping member is installed between the ball bearing and the support frame, the vibration caused by the rotation of the sphere is attenuated by this.
- the present invention does not interfere with the eddy currents formed on the surface of the sphere, and as a result facilitates the placement of the electromagnets used to form the magnetic field and at the same time minimizes the influence of the induced currents formed on the surface of the sphere.
- the driving accuracy is further improved.
- FIG. 1A and 1B are schematic diagrams for explaining a conventional concrete driving system
- FIG. 2 is a configuration diagram showing an example of a three-dimensional concrete drive system according to the present invention
- FIG. 3 is a perspective view showing an example of a three-dimensional sphere driving system according to the present invention.
- FIG. 4 is a perspective view showing an example of a support frame according to the present invention.
- FIG. 5 is a cross-sectional view showing another embodiment of the support frame according to the present invention.
- FIG. 6 is an exploded perspective view showing an example of a ball bearing according to the present invention.
- FIG. 7 is a schematic view showing an example for positioning a ball according to the present invention.
- the present invention is to provide a three-dimensional sphere driving system that can accurately control the attitude of the satellite, for this purpose, the sphere driving system of the present invention as shown in Figure 2, the support frame 10, sphere 20 , Ball bearing 30, the electromagnet 40 and the control unit 50.
- the support frame 10 is a hollow frame-shaped frame having a hollow inside, and a plurality of ball bearings 30 to be described later are provided therein, and the shape of the ball bearings 30 is shown in FIG.
- the triangular prism, cube, octahedron, dodecahedron, etc. can be changed.
- the support frame 10 will be described with an example that is configured in the form of a cube.
- the support frame 10 has a constant length, the cross section of the "a", “c” or “ ⁇ " shape of the shape of the connection to each other to be perpendicular to each other, the upper, lower, left, right, right, the back is respectively An open cube is constructed.
- the support frame 10 as shown in Figure 5 in the longitudinal direction ' It can be carried out by having a cross-section of the shape, by this configuration the support frame 10 is provided with an elastic restoring force, as a result of adding a uniform bearing force to the ball bearing 30 to be described later to the sphere 20 More sophisticated and accurate support
- a plurality of ball bearings 30 are installed on the inner side of the edge of the support frame 10 as described above, the ball bearing at the point where the sphere 20 located in the center of the support frame 10 by these ball bearings 30 It is in contact with and supported by the ball 31 of 30. Description of the method of determining the installation of the ball 31 will be described later.
- the sphere 20 installed in the center of the inner space of the support frame 10 and rotated is made of a metal material, wherein the size of the sphere 20 is in the inner space of the support frame 10 as shown in FIG. 3.
- An eddy current is generated on the surface by a magnetic field formed by the excitation of a plurality of electromagnets 40 installed around the sphere 20, having a volume that can be properly positioned, and as a result the sphere 30 Direction, the rotation direction and the rotation speed of the sphere 30 is controlled by the strength, phase and power supply order of the power applied to the electromagnet 40 by the control of the controller 50 to be described later. .
- the ball bearing 30 may be installed at each corner of the support frame 10 according to the number of installation thereof, or alternatively, may be installed only at some corners.
- ball bearing 30 has been described as being installed at the edge of the support frame 10, the ball bearing 30 may be installed in combination with the middle portion, or the middle portion of the support frame 10 as needed.
- the bearing racer 32 supports the lower side of the ball 31 and is firmly installed and fixed to the inside of the corner of the support frame 10 through the coupling member, so that the ball 31 can be seated in the central portion thereof. Hemispherical grooves 32A are formed.
- the bearing racer 32 is installed at each corner of the frame, the bearing racer 32 is installed on a plane perpendicular to the line connecting the center of the sphere 20.
- the coupling member for fixing the bearing racer 32 to the edge of the support frame 10 is made of bolts and nuts to be mounted or detached or to be semi-permanently fixed through welding to the support frame 10. Can be.
- the bearing cage 33 is located on the upper side of the bearing racer 32 to surround the ball 31 seated in the groove 32A of the bearing racer 32 to prevent the ball 31 from detaching and at the same time the ball rotates smoothly.
- the bearing cage 33 has a hemispherical guide groove 33A in which the ball 31 is seated at the center thereof, and the bearing cage 33 is formed through the coupling member. It is firmly fixed to the bearing racer 32.
- the coupling member may be implemented by bolts and nuts or by welding, as in the bearing racer 32.
- the ball 31 is seated in a spherical groove formed by the hemispherical groove 32A of the bearing racer 32 and the hemispherical guide groove 33A of the bearing cage 33.
- a vibration damping member such as a damper or an isolator is installed between the ball bearing 30 and the support frame 10.
- the size of the ball bearing 30 is selected as the size of the interference with the eddy current formed on the surface of the sphere 20 by the excitation of the electromagnet 40, the size of the interference does not interfere with the eddy current sphere 20 It depends on the diameter, the distance between the electromagnet and the sphere 20 and the like.
- the ball bearing 30 has a structure symmetrical with each other by being installed at each corner of the support frame 10, as a result the sphere 20 is stably supported by the ball bearing 30 and at the same time the load applied to the sphere 20 This is uniformly dispersed.
- the sphere 20 is stably supported by the ball bearing 30 and at the same time the load applied to the sphere 20 is uniformly distributed as shown in FIG.
- the installation position of 30, that is, the installation position of the ball 31 of the ball bearing 30 should be determined so that the point contact with the surface of the sphere 20, which will be described below.
- Equation 1 the distances at (X, Y, Z), as shown in Equation 1 below, in the coordinate axis that originates at the center point of the sphere. It is located at a position apart from R), and thus the point where the sphere meets the coordinate axes (X, Y, Z) is expressed by Equation 2 below.
- R is the radius of the sphere 30
- X, Y, Z is the coordinate value of the point where the sphere 20 meets the X coordinate axis, the Y coordinate axis and the Z coordinate axis, respectively.
- Equation 2 the coordinate values of the point where the sphere 20 meets the X coordinate axis, the Y coordinate axis, and the Z coordinate axis are as shown in Equation 2 below.
- X, Y, Z is the coordinate value of the point where the center of the ball 31 of the ball bearing 30 is located, R is the radius of the sphere 20, r is of the ball 31 of the ball bearing 30 Radius.
- the controller 50 which is arranged around the sphere 20 and is connected to the electromagnet 40 that generates the magnetic force to rotate the sphere 20 to control the sphere driving system, has the rotational speed of the sphere 30 as described above. And a direction of rotation, and the like, and the controller 50 is provided with a speed meter such as a tachometer to detect and control the rotation speed of the sphere 30.
- the present invention does not require the installation of a magnetic levitation device for causing the sphere to float in the air because a sphere installed inside the attitude control device is supported by a plurality of ball bearings in order to control the attitude of the satellite body. Even if the sphere is not damaged and the position of the sphere is maintained as it is, the attitude of the satellite can be accurately controlled.
Abstract
Description
Claims (5)
- 다면체 형상의 지지프레임(10)과;상기 지지프레임(10)의 내부 중앙에 위치되는 구체(20)와;상기 지지프레임(10)의 내측 모서리에 설치되며, 상기 구체(20)의 표면과 접촉되는 복수의 볼베어링(30)과;상기 볼베어링(30)의 주위에 배치되어 자기장을 형성함으로써 상기 구체(20)를 회전시키는 복수의 전자석(40) 및;상기 전자석(40)을 제어함으로써 상기 구체(20)의 회전방향과 회전속도를 를 제어하는 제어부(50)로 이루어지는 것을 특징으로 하는 3차원 구체 구동시스템.
- 청구항 1에 있어서,상기 볼베어링(30)은 볼(31)과; 상기 지지프레임(10)에 설치되며 상기 볼(31)이 안착되는 반구 형상의 홈(32A)이 형성된 베어링레이서(32)와; 상기 베어링레이서(32)의 상부에 결합되며 내부에 반구 형상의 가이드홈(33A)이 형성된 베어링케이지(33)를 포함하고,상기 볼(31)은 상기 베어링레이서(32)의 홈(32A)과 상기 베어링케이지(33)의 가이드홈(33A)이 만나 이루는 홈에 구속되도록 설치되는 것을 특징으로 하는 3차원 구체 구동시스템.
- 청구항 2에 있어서,상기 볼(31)의 중심은 아래의 수학식 3에 의해 정해지는 지점에 위치하는 것을 특징으로 하는 3차원 구체 구동시스템.[수학식 3]여기서, X, Y, Z는 볼베어링(30)의 볼(31)의 중심이 각각 위치하는 지점의 좌표값이고, R은 구체(20)의 반지름, r은 볼베어링(30)의 볼(31)의 반지름이다.
- 청구항 2에 있어서,상기 볼베어링(30)과 상기 지지프레임(10) 사이에는 진동감쇠 부재가 설치되는 것을 특징으로 하는 3차원 구체 구동시스템.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015524175A JP6023326B2 (ja) | 2012-07-25 | 2013-07-24 | 三次元球体駆動システム |
US14/414,852 US9751644B2 (en) | 2012-07-25 | 2013-07-24 | Three-dimensional rigid ball driving system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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KR1020120081146A KR101372807B1 (ko) | 2012-07-25 | 2012-07-25 | 3차원 구체 구동시스템 |
KR10-2012-0081146 | 2012-07-25 |
Publications (1)
Publication Number | Publication Date |
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WO2014017817A1 true WO2014017817A1 (ko) | 2014-01-30 |
Family
ID=49997563
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/KR2013/006610 WO2014017817A1 (ko) | 2012-07-25 | 2013-07-24 | 3차원 구체 구동시스템 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9751644B2 (ko) |
JP (1) | JP6023326B2 (ko) |
KR (1) | KR101372807B1 (ko) |
WO (1) | WO2014017817A1 (ko) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2017025778A1 (en) | 2015-08-12 | 2017-02-16 | Uab "Pazangus Pozicionavimo Sprendimai" | Satellites attitude control system |
CN108591196A (zh) * | 2018-05-09 | 2018-09-28 | 哈尔滨工业大学 | 用于微纳卫星的兼具电磁连接、转位及分离功能的机构 |
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KR101421949B1 (ko) * | 2014-05-12 | 2014-08-13 | 한국항공우주연구원 | 구체 자기부상시스템 및 구체 자기부상시스템 운영방법 |
KR101491682B1 (ko) * | 2014-12-10 | 2015-02-25 | 한국항공우주연구원 | 구체의 3차원 회전속도벡터 측정방법 |
CN105207430B (zh) * | 2015-09-15 | 2017-11-14 | 清华大学 | 一种磁轮驱动的磁悬浮动量球 |
US10151606B1 (en) * | 2016-02-24 | 2018-12-11 | Ommo Technologies, Inc. | Tracking position and movement using a magnetic field |
US11643225B2 (en) * | 2017-07-21 | 2023-05-09 | The Aerospace Corporation | Interlocking, reconfigurable, reconstitutable, reformable cell-based space system |
GB201812074D0 (en) * | 2018-07-24 | 2018-09-05 | Space Talos Ltd | Spacecraft radiation shield system |
KR101921243B1 (ko) | 2018-09-12 | 2018-11-22 | 에이씨케이(주) | 공중부양형 방향제 분사 장치 |
US10688405B2 (en) * | 2018-11-07 | 2020-06-23 | Cristian Moreno | Levitating ball assembly |
GB2587818A (en) * | 2019-10-03 | 2021-04-14 | Space Talos Ltd | A spacecraft attitude control system and a spacecraft comprising such an attitude control system |
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JPS62225500A (ja) * | 1986-03-26 | 1987-10-03 | 工業技術院長 | 物体の姿勢制御装置 |
JPS6468775A (en) | 1987-09-09 | 1989-03-14 | Sharp Kk | Image forming device |
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JP2015527860A (ja) | 2015-09-17 |
US9751644B2 (en) | 2017-09-05 |
JP6023326B2 (ja) | 2016-11-09 |
KR101372807B1 (ko) | 2014-03-12 |
US20150166200A1 (en) | 2015-06-18 |
KR20140014634A (ko) | 2014-02-06 |
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