WO2015025013A1 - Maschine und verfahren zur diagnose einer maschine - Google Patents
Maschine und verfahren zur diagnose einer maschine Download PDFInfo
- Publication number
- WO2015025013A1 WO2015025013A1 PCT/EP2014/067850 EP2014067850W WO2015025013A1 WO 2015025013 A1 WO2015025013 A1 WO 2015025013A1 EP 2014067850 W EP2014067850 W EP 2014067850W WO 2015025013 A1 WO2015025013 A1 WO 2015025013A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- information
- machine
- output
- pictographic
- unit
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/0703—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation
- G06F11/0766—Error or fault reporting or storing
- G06F11/0769—Readable error formats, e.g. cross-platform generic formats, human understandable formats
-
- 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
- G05B19/406—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 monitoring or safety
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/0703—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation
- G06F11/0706—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation the processing taking place on a specific hardware platform or in a specific software environment
- G06F11/0721—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation the processing taking place on a specific hardware platform or in a specific software environment within a central processing unit [CPU]
-
- 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
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24055—Trace, store a working, operation history
-
- 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
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35266—On error display code, message for recovery from fault
-
- 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
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35291—Record history, log, journal, audit of machine operation
Definitions
- the invention relates to a machine, in particular a machine tool, with a Wegkennungs- and / or information unit and at least one output, said error detection and / or In ⁇ formation unit when a fault or other information needs in the operation of the Ma ⁇ machine for outputting an information code is set up at the exit.
- Such machines are known and used in production plants to allow error detection in machines in operation or. to facilitate.
- the machine provides a digit code at the output, which the user must translate into a manual and / or instruction in a manual. Since the machines are very complex and have a wealth of functions, these error descriptions and instructions usually fill several volumes of a manual. It has become common practice for machines, for example automatic placement machines, connecting machines or machine tools, such as forming machines, turning machines, Grinding machines, milling machines or other machines for the machining and / or non-machining of workpieces, are monitored in processing plants of processors, with one operator monitors several machines. It is often desirable to allow such monitoring also be taught- ⁇ staff.
- the invention further relates to a method for diagnosis, in particular failure diagnosis of a machine, in particular egg ⁇ ner machine tool, wherein an information code is automatic ⁇ table generated when an error occurs or other information needs.
- the invention is based on the object to simplify the effort in monitoring the operation of machines and to reduce the requirements for required personnel for Bedie ⁇ tion of the machines.
- an output unit which is set up to output a predetermined number of pictographic and / or audible information
- a control unit for controlling the output unit to output a desired pictographical and / or acoustic information from the predetermined number of pictographical and / or a- custica information is set up by means of a control command that in a readable by the control unit database, an assignment of information codes to control commands is provided and that the Ansteu ⁇ réelle unit for reading an information code from set up the output and to execute an associated to a read information code control command is.
- the advantage here is that a reduction of Informa ⁇ tion fullness for error detection is possible.
- Festle ⁇ supply a predetermined number of ever possible piktographi Service information error detection and error handling and / or a response to a machine-generated information with the machine also of people is ⁇ nal can be carried out, which has lower qualifications.
- a detailed understanding of the internal func ⁇ onsablaufs the machine is no longer required in many cases. Rather, it is sufficient in many cases to internalize instructions on the pictorial information provided.
- the use of pictorial information, in contrast to written instructions, has the advantage that a user can derive the associated instruction from the pictographical symbol himself independently of the language.
- the information code an error code or other pointing Hin ⁇ , for example, a maintenance notice to be.
- the output can thus be an error output or at least be usable as such.
- the output unit can be configured as a display unit ⁇ in this case if piktographisehe information is output. However, the output unit can also be set up to output acoustic signals.
- the piktographi Service symbols can be formed by a charac ⁇ specific shape and / or color. For example, color areas or shapes which in a greatly simplified form characterize an activity, a tool belonging to or required for an activity and / or a part of a machine belonging to an activity, or combinations thereof, can be used.
- the pictorial information can also be encoded in a form coded by dot and / or line patterns, for example in the form of binary coding in the manner of binary coding in binary clock displays or in the form of a binary code Point pattern of the eyes of a dice game, be shown.
- the output unit has a display.
- the output unit can be formed as a display unit.
- This has the advantage that a large Fle ⁇ bility for display tillster pictographic information is provided in the form of piktographi Service symbols.
- a plurality of piktographi Service information in a small space can be displayed, wherein the j e wells displayed pictorial information beispielswei ⁇ se a symbol or several symbols, at the adosein ⁇ uniform filling or exploiting ligand, it can be displayed and can be displayed.
- the output unit has a number of Leuchtfeidern each reproducing a pictographic information.
- the output unit can be formed as a display unit.
- This has the advantage that the piktographi Service information each associated with a light field, which is acti ⁇ allocatebar by turning. The operator can thus already recognize from a distance at the spatial position of the light field which in each case lights up, as to which pictorial information is concerned. This allows the operator, who is responsible, for example, to monitor several machines, to make preparations for the necessary measures remotely, even remotely.
- the luminous fields of the output unit are formed flat.
- a space-saving output ⁇ unit is provided, which can be attached, for example, to a Ge ⁇ housing part of the machine.
- the luminous fields of the output unit emit in a full circle.
- the above-mentioned luminous fields may be taltet so as bushs- for example, that to be output pictographic Informati ⁇ is printed on or firmly formed in some other way in order to enable displaying the information piktographi Service upon illumination of the associated light field.
- the light ⁇ fields may alternatively or additionally be designed as color surfaces in different colors.
- the output unit is designed as a shadowboard with at least one tool or Optimizteilaufnähme and one of the horrendo- the Optimizteilaufnähme associated Signalmaschineselernent.
- the advantage here is that by the pic ⁇ graphic information, which is displayed in the form of an activated Signalmaschineselernents to j eschreib contour of the tool ⁇ or the spare part, in addition the associated tool for the action measure or. the corresponding Er clause part for this action is provided on the detected error out.
- Shadow under a board an array of receptacles for tools and / or spare parts is meant here, in which the eology recordings have such contours which the male or respectively with correct Be Shel ⁇ development tool.
- a shadowboard therefore has the advantage over other principles of order that a correct filling of the shadowboard is already recognizable is that the respectively inserted in the recordings tools and / or spare parts to the contours associated with the recordings fit.
- the use of a shadowboard supports the operating process of the machine, since the user, on the basis of the pictorial information displayed, that is to say the contour of a recording displayed with the signaling element, the correct tool or tool. Spare part for correcting the ⁇ indicated error can recognize.
- the database at least one control command to ⁇ has, dispensable with which at least two separated into ⁇ special displayable, piktographisehe and / or acoustic In ⁇ formations simultaneously to the output unit, particularly the display unit can be output ,
- the advantage here is that in this way an easily detectable, in particular language-independent detectable, meaning is mediated.
- units of meaning from elementary commands are ⁇ sammensetzbar whose content is understandable for users who have only a little understanding about the actual technical process in a machine.
- the information about a pending oil change in a certain part of the engine can be outputted by displaying a pictographical information for "oil change" and a certain pictographic information for that part of the engine.
- It Kings ⁇ nen also piktographisehe information that refer, for example, to a particular part of the machine, with akusti ⁇ specific information, such as a pending oil and / or tool changes, combined be dispensable.
- At least one control command from at least two elementary commands with which each one pictographic and / or acoustic information to the Ausga ⁇ imposing uniform be output, is provided assembled.
- the advantage here is that the aforementioned composition of a more complex meaning in the database is stored.
- Elementary commands may be, for example, the aforementioned oil change or a tool change or a cleaning a Abfallkarmmer or refilling a chamber with consumables.
- Other elementary commands can call or otherwise verdeutli- chen, which addition is intended to apply to an issued command elementary Ma ⁇ machine parts.
- a log device is provided, with which the pictographic and / or acoustic information output in a time period can be recorded.
- the advantage here is that a control of the operation of the machine is possible.
- Writing down the output or displayed piktographi Service and / or acoustic information provides overall genüber the mere note-taking of output at the output the information code has the advantage that a conversion of the com ⁇ plex information codes in the piktographi Service and / or a- kustician information by controlling the Mitsch operation via ⁇ is verifiable. In this way, for example, faulty links in the database can be detected and eliminated.
- the output unit in particular the display unit, immovably attached to the machine or immovable is placed next to the machine.
- the advantage here is si ⁇ cher founded that the output unit is always read from a be ⁇ preferred position, for example, the regular whereabouts of an operator.
- the solid, un- pivotable arrangement of the output unit thus offers against ⁇ over the usual so far for on-site operation pivotable arrangement of control panels and the like the advantage that the output unit is not accidentally by mistake not readable that it is unintentionally or carelessly pivoted into a non-readable position , Valuable time to error detection and until the beginning of troubleshooting can thus be saved.
- the information code is automatically implemented with a held in an electronically readable database assignment of information codes to control commands in a control command for a control unit and that the control unit based on the control commands a pictographic outputting and / or acoustic information from egg ⁇ ner predetermined number of piktographi Service and / or audible information, in particular indicating.
- the advantage here is that the complexity of the possible Informationsco ⁇ des on an easily understandable, especially pronouncedchenunab ⁇ pendent understandable number of pictographic and / or acoustic information is reduced. Thus, a thorough technical understanding of the machines to Erken ⁇ planning important actions in response to output errors or other evidence is unnecessary.
- a display is activated for output, in particular display, of the pictographic information. Is there ⁇ with an advantage that a large Engsher Hurm is available in the design of piktographi Service information.
- at least one of the pictorial information is displayed to display the pictorial information. activating information field is activated. So ⁇ with a great recognition of the displayed PIK tographi Service information is available.
- the combination of the fixed position of a light field with the fixed outer lay out your light field by the pictographic Informati ⁇ on makes it possible to quickly remember the true meaning of the content displayed piktographi Service information and to select the corresponding instructions properly.
- the output unit for the output of acoustic information in particular sound signals, be set up.
- the output unit may have a tone generator and / or a loudspeaker.
- at least one signaling element of a shadowboard is activated to output the pictographic information.
- the pictographic information can be displayed by the contour of the part of the shadowboard designated by the signaling element.
- Another advantage is further that or simultaneously with the display on the rich ⁇ term tool. the correct spare part is referenced for the execution of the associated instructions.
- an operator can control through the output pictographic and / or acoustic information immediately whether the instructions can be correct or whether they have been memorized incorrectly.
- the control command of elementary commands with which individual pictographic and / or acoustic Informa ⁇ functions can be output, is assembled may be provided.
- the advantage here is that a rudimentary picture and / or sound language is reversible, in which components of the pictographic and / or acoustic information, which are each assigned to the elementary commands, carry their own meaning content.
- Such elementary commands can, for example, an oil change, a tool change, cleaning a machine part, providing new supplies mate ⁇ rial, a disorder in the material flow or generally the Aussa ⁇ ge that it is time for a specific action to be.
- Wei ⁇ tere elementary commands can designate for example, certain machine parts for which the ewetz other Ele ⁇ mentarkommando to apply. It is also pictorial and / or acoustic information from more than two elementary commands composable. It is particularly favorable if the used control commands are logged or recorded electronically. In this way, it is possible to check whether pictographic and / or acoustic information is misleading or that information codes are incorrectly assigned, for example if a wrong handling instruction is carried out on an issued information code.
- the machine may in the invention, thus with the Inventive ⁇ proper procedures and / or with the inventive machine, for example as a machine tool, in particular a turning machine, grinding, milling and / or other machine for cutting and / or non ⁇ machining of workpieces, be formed.
- a machine tool in particular a turning machine, grinding, milling and / or other machine for cutting and / or non ⁇ machining of workpieces.
- FIG. 1 is a schematic representation of an inventive ⁇ SEN machine to explain the method according to the invention.
- a device designated as a whole by 1 a machine has not WEI ter shown, in known error detection and / or information unit 2, which in known manner errors in the sequence of operation of the engine 1 automatically he ⁇ are recognizable.
- the machine 1 is shown to illustrate the invention as a machine tool. Details of the machine 1 are not shown in detail for the purpose of simplification of the description and are known from commercially available machines. In wide ⁇ ren embodiments, the machine for other Maschinennnenbearbeitungs- and / or -Werk GmbHs Philippinee is established, for example, connecting, in particular adhesive bonding and / or welding, mounting, sorting, assembling and / or other handling.
- the machine 1 can for example be a Drehbearbeitungsma ⁇ machine, a grinding machine, a milling machine or be arranged in some other way for a cutting and / or a non-metal cutting machining of a workpiece.
- the error detection and / or information unit 2 is connected to an output 3 to which an information code, for example an error code, is present when an error or other indication, for example a maintenance instruction, is detected during operation of the machine 1.
- an information code for example an error code
- a control unit 5 generates control commands 6 as a function of information codes 7 which are present at the output 3.
- 5 reads the control unit the output 3 recurring time or even continuously, and accesses a database 8 for each of the read-out information code 7 umzuset ⁇ zen into a corresponding control command. 6
- a database 8 for each of the read-out information code 7 umzuset ⁇ zen into a corresponding control command. 6
- an assignment of outputable information codes 7 to associated control commands 6 is stored for this purpose.
- the output unit 4 may be formed as a display unit and, for example, have a display 9, on which the pictographic information not shown here is ⁇ bar.
- the control command 6 in this case comprises the measures for corresponding activation of the output of the display 9 in a manner known per se.
- the display 9 can be connected to a smartphone, a tablet PC, a preferably portable PC, an intelligent clock, data glasses, an intelligent Reading and / or visual aid and / or any other mobile computing unit to be formed.
- the output unit 4 can illuminate have fields 10, each luminous field 10 is associated with each of a dispensable piktographi Service information in that the pictographic information is reproduced firmly on the light field 10.
- the output is in the form of a display by activating, so for example, turn on, the light boxes 10th
- the light fields 10 may be formed on a panel 11 as flat light fields 10 or on a light column 12 for Ab- radiation in a full circle. In other embodiments, other arrangements and configurations of the light panels 10, including other forms realized.
- the output unit 4 may also have a shadow board 13, the pictographic information being displayed by contours of the corresponding tools 14 or spare parts. These contours define j in each case a tool or Optimizteilaufnähme 17 for the j eodor tool 14 or He ⁇ spare parts.
- a tool or Optimizteilaufnähme 17 for the j eodor tool 14 or He ⁇ spare parts To display the relevant signaling element 15, for example, an LED or other lighting means or a tone generator is activated.
- the tool ⁇ or Optimizteilaufnähme 17 to the activated signaling element 15 represents the pictographic information that is displayed by the activation.
- control commands are deposited with which not only a single pictographic and / or a- acoustic information, but several pictographic information can be output simultaneously.
- control commands kön- NEN be stored 6, with which meh ⁇ e re luminous fields 10 are activated simultaneously and / or with which additional audio signals can be output.
- Ele- mentar commands which each relate to a pictographic and / or acoustic information and which, for example, lead to the activation of a single illuminated field 10 or to the output of a tone sequence or at least one chord, are combined.
- a log device is EXISTING ⁇ , 6 are written with which the piktographi Service issued and / or acoustic information in the form of approximately details Ansteue- transmitted.
- the output unit 4 can be set up alternatively or additionally to the output of acoustic information, for example fixed tone sequences and / or chords.
- the output unit 4 may have a tone generator which is connected to a loudspeaker.
- the aforementioned output units 4 are in each case j immovable, ie especially unverschwenkbar, or buildin ⁇ Untitled on the machine. 1 immovable positioned next to the machine 1.
- the output unit 4 can not be brought out of the field of vision of the operator by unintentional or careless pivoting.
- the voltage present at output 3 Informati ⁇ on code is thus detected automatically by cyclically or even continuous reading means and the database 8 in a check- Control command 6 automatically implemented.
- This reaction is performed by the control unit 5, which accesses the data bank ⁇ 8 and may have a CPU.
- control command 6 is output to the respectively present output unit 4 in order to output there the picographic and / or acoustic information, which is designated by the control command 6.
- the control commands 6 can be composed of elementary commands such that a plurality of pictographic and / or acoustic information, which can be output or displayed independently of one another, are output simultaneously.
- the control command contains 6 commands that lead to the activation of multiple light fields 10 or more Signaltechnischselernente 15 simultaneously.
- the respectively issued control commands 6 are written in the control unit 5 in a log device 16 mitge ⁇ .
- the output unit 4 may be formed in further embodiments as a combination of the examples shown, for example as a combination of a display 9 and / or a light column 12 with a shadow board 13th
Abstract
Description
Claims
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP14755361.4A EP3036590A1 (de) | 2013-08-22 | 2014-08-21 | Maschine und verfahren zur diagnose einer maschine |
JP2016535484A JP2016528053A (ja) | 2013-08-22 | 2014-08-21 | 機械、及び、機械の診断方法 |
KR1020167004475A KR20160045069A (ko) | 2013-08-22 | 2014-08-21 | 기계와 기계를 진단하기 위한 방법 |
US14/910,499 US20160179605A1 (en) | 2013-08-22 | 2014-08-21 | Machine and method for diagnosing a machine |
MX2016001842A MX2016001842A (es) | 2013-08-22 | 2014-08-21 | Maquina y metodo para el diagnostico de una maquina. |
BR112016002892A BR112016002892A2 (pt) | 2013-08-22 | 2014-08-21 | ferramenta mecânica e processo para diagnose de uma ferramenta mecânica |
CN201480046088.9A CN105492979A (zh) | 2013-08-22 | 2014-08-21 | 机器和用于诊断机器的方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE201310014112 DE102013014112A1 (de) | 2013-08-22 | 2013-08-22 | Maschine und Verfahren zur Diagnose einer Maschine |
DE102013014112.5 | 2013-08-22 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015025013A1 true WO2015025013A1 (de) | 2015-02-26 |
Family
ID=51398617
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2014/067850 WO2015025013A1 (de) | 2013-08-22 | 2014-08-21 | Maschine und verfahren zur diagnose einer maschine |
Country Status (9)
Country | Link |
---|---|
US (1) | US20160179605A1 (de) |
EP (1) | EP3036590A1 (de) |
JP (1) | JP2016528053A (de) |
KR (1) | KR20160045069A (de) |
CN (1) | CN105492979A (de) |
BR (1) | BR112016002892A2 (de) |
DE (1) | DE102013014112A1 (de) |
MX (1) | MX2016001842A (de) |
WO (1) | WO2015025013A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105095817B (zh) * | 2015-07-03 | 2018-03-09 | 百度在线网络技术(北京)有限公司 | 基于人工智能的智能机器人故障诊断方法、装置及系统 |
DE102018214448A1 (de) * | 2018-08-27 | 2020-02-27 | BSH Hausgeräte GmbH | Autonom bewegliche Maschine |
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DE102012102506A1 (de) * | 2012-03-23 | 2013-09-26 | Universität Stuttgart | Fehlerdiagnosesystem und Verfahren zur Fehlerdiagnose eines Automatisierungssystems |
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CN101770219B (zh) * | 2010-01-29 | 2011-11-09 | 北京信息科技大学 | 一种车铣复合机床故障诊断知识库的知识获取方法 |
WO2012051278A1 (en) * | 2010-10-12 | 2012-04-19 | Tanis Kevin J | Medical device |
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2013
- 2013-08-22 DE DE201310014112 patent/DE102013014112A1/de not_active Withdrawn
-
2014
- 2014-08-21 US US14/910,499 patent/US20160179605A1/en not_active Abandoned
- 2014-08-21 MX MX2016001842A patent/MX2016001842A/es unknown
- 2014-08-21 KR KR1020167004475A patent/KR20160045069A/ko not_active Application Discontinuation
- 2014-08-21 BR BR112016002892A patent/BR112016002892A2/pt not_active IP Right Cessation
- 2014-08-21 JP JP2016535484A patent/JP2016528053A/ja active Pending
- 2014-08-21 CN CN201480046088.9A patent/CN105492979A/zh active Pending
- 2014-08-21 EP EP14755361.4A patent/EP3036590A1/de not_active Withdrawn
- 2014-08-21 WO PCT/EP2014/067850 patent/WO2015025013A1/de active Application Filing
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DE3931762A1 (de) * | 1988-09-22 | 1990-04-05 | Mitsubishi Electric Corp | Anzeigeverfahren mittels kathodenstrahlroehre bei numerischen steuervorrichtungen |
US5469352A (en) * | 1992-09-01 | 1995-11-21 | Fanuc Ltd | Operation history display device of numerical control apparatus |
WO2002023287A1 (en) * | 2000-09-11 | 2002-03-21 | Milacron Inc. | Multi-media enhanced program controlled machine |
DE202007011542U1 (de) * | 2007-08-17 | 2009-01-02 | Zumtobel Lighting Gmbh | Hinweisleuchte |
DE202009008950U1 (de) * | 2009-06-30 | 2010-11-18 | Leuze Electronic Gmbh + Co. Kg | Sensoranordnung |
DE102012102506A1 (de) * | 2012-03-23 | 2013-09-26 | Universität Stuttgart | Fehlerdiagnosesystem und Verfahren zur Fehlerdiagnose eines Automatisierungssystems |
Also Published As
Publication number | Publication date |
---|---|
DE102013014112A1 (de) | 2015-02-26 |
KR20160045069A (ko) | 2016-04-26 |
US20160179605A1 (en) | 2016-06-23 |
MX2016001842A (es) | 2016-08-03 |
CN105492979A (zh) | 2016-04-13 |
BR112016002892A2 (pt) | 2017-08-01 |
JP2016528053A (ja) | 2016-09-15 |
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