WO2015177902A1 - Appareil de relais - Google Patents

Appareil de relais Download PDF

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Publication number
WO2015177902A1
WO2015177902A1 PCT/JP2014/063570 JP2014063570W WO2015177902A1 WO 2015177902 A1 WO2015177902 A1 WO 2015177902A1 JP 2014063570 W JP2014063570 W JP 2014063570W WO 2015177902 A1 WO2015177902 A1 WO 2015177902A1
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WO
WIPO (PCT)
Prior art keywords
frame
queue
time
delay
relay device
Prior art date
Application number
PCT/JP2014/063570
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English (en)
Japanese (ja)
Inventor
竜介 川手
幸子 谷口
俊行 中安
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to KR1020167035317A priority Critical patent/KR101707788B1/ko
Priority to CN201480079152.3A priority patent/CN106464562B/zh
Priority to PCT/JP2014/063570 priority patent/WO2015177902A1/fr
Priority to JP2016520874A priority patent/JP6012908B2/ja
Priority to TW104101152A priority patent/TWI569607B/zh
Publication of WO2015177902A1 publication Critical patent/WO2015177902A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/42—Loop networks

Definitions

  • the present invention relates to a relay device constituting a ring network.
  • Ethernet registered trademark
  • FA network a network that connects FA (Factory Automation) devices
  • FA Vectory Automation
  • the FA network when realizing high-speed and high-precision motion control, it is sometimes required to transfer a frame for time synchronization at a fixed delay so that there is no delay fluctuation in each node or relay device. is there.
  • the delay time depends on the direction of the clockwise or counterclockwise transfer depending on the location of the failed device or the communication line. Different cases occur.
  • Patent Document 1 There is an invention described in Patent Document 1 as a conventional technique for solving the above problem in a ring network.
  • a master station and a plurality of slave stations are connected in a ring shape, and the master station is connected to the slave station through two routes, clockwise and counterclockwise.
  • the slave station includes a slave clock, a synchronization effective interval setting unit that sets a synchronization effective interval for each of the two paths, and a synchronization frame reception end time included in the synchronization effective interval Synchronization is performed by providing a synchronization correction unit that corrects the slave clock with the synchronization frame only.
  • the present invention has been made in view of the above, and an object thereof is to obtain a relay device that realizes time synchronization in a ring network.
  • the present invention is a relay device that constitutes a ring network, and is forwarded from outside the ring network to a clockwise route within the ring network by another relay device.
  • the first queue that holds the frame when a specific frame is received, and the specific queue that is transferred from the outside of the ring network to the counterclockwise path in the ring network by the other relay device Based on the second queue holding the frame, the frame transfer time in the clockwise route from the other relay device to itself, and the frame transfer time in the counterclockwise route from the other relay device to itself And delaying the held frame to the first queue or the second queue before outputting
  • a delay adjusting unit giving cormorants instruction characterized in that it comprises a.
  • the relay apparatus since the frame transfer delay time does not change even when path switching occurs in the ring network, there is an effect that a ring network capable of time synchronization can be realized.
  • FIG. 1 is a diagram illustrating an example of a communication system configured to include a relay device according to the present invention.
  • FIG. 2 is a diagram showing a logical configuration of the ring network shown in FIG.
  • FIG. 3 is a diagram illustrating an example of a ring network in which a failure has occurred.
  • FIG. 4 is a diagram showing a logical configuration of the ring network shown in FIG.
  • FIG. 5 is a diagram illustrating an example of the transmission processing unit of the switch device.
  • FIG. 6 is a diagram illustrating an example of a reception processing unit of the switch device.
  • FIG. 7 is a diagram illustrating an example of a main part of the switch device to which the master node is connected.
  • FIG. 8 is a diagram illustrating an example of a main part of the switch device to which the slave node is connected.
  • FIG. 9 is a sequence diagram illustrating a delay time measurement operation.
  • FIG. 1 is a diagram illustrating an example of a communication system configured to include a relay device according to the present invention.
  • the switch device 11 to the switch device 16 constitute a ring network 1.
  • These switch devices correspond to the relay device according to the present invention, and are connected to other switch devices via an Ethernet cable.
  • a master node 21 is connected to the switch device 11 via an Ethernet cable.
  • a slave node 22 is connected to the switch device 12, a slave node 23 is connected to the switch device 13, and a slave node 24 is connected to the switch device 14 via an Ethernet cable.
  • the master node 21 is a node that has the master time of the entire system and periodically transmits a time synchronization frame.
  • the slave node 22 to the slave node 24 receive the time synchronization frame from the master node 21 sent by the fixed delay transfer via the ring network 1, the master time information included in the received frame is received. Is used to perform time synchronization with the master node 21.
  • the ring block port 30 is set in the switch device 12.
  • This ring blocking port 30 is a blocking port in Ethernet ring protection (ERP) defined by ITU-T G.8032. User frames are not transferred from this blocked port. That is, the logical configuration of the ring network 1 shown in FIG. 1 is as shown in FIG. In this case, for example, the master node 21 and the slave node 23 are in a state of performing communication via the communication path 41 indicated by a dotted line.
  • ERP Ethernet ring protection
  • switch apparatus 13 is demonstrated here as an example, it is the same also about another switch apparatus.
  • FIG. 5 is a diagram illustrating an example of each component (transmission processing unit) that processes a frame to be transmitted to the master node 21 among the components of the switch device 13.
  • the transmission processing unit includes delay adjustment queues 201 and 205, fixed delay queues 202 and 206, normal queues 203 and 207, read control units 204 and 208, and delay adjustment unit 209. Prepare.
  • the delay adjustment queue 201 queues the fixed delay frame for the master node 21 input from the slave node 23 (that is, the fixed delay frame transmitted / received between the slave node 23 connected to itself and the master node 21). To do.
  • the fixed delay queue 202 queues fixed delay frames input from other switch devices constituting the ring network.
  • the normal queue 203 queues a frame (hereinafter referred to as a normal frame) that does not need to be transferred with a fixed delay among frames input from the slave node 23.
  • the read control unit 204 reads frames from the delay adjustment queue 201, the fixed delay queue 202, and the normal queue 203 in a predetermined order and outputs them to the clockwise side (switch device 12). The above are the components that process the frames transferred clockwise.
  • the delay adjustment queue 205 queues a fixed delay frame for the master node 21 input from the slave node 23.
  • the fixed delay queue 206 queues fixed delay frames input from other switch devices constituting the ring network.
  • the normal queue 207 queues normal frames.
  • the read control unit 208 reads frames from the delay adjustment queue 205, the fixed delay queue 206, and the normal queue 207 in a predetermined order and outputs them to the counterclockwise side (switch device 14).
  • the above is a component for processing a frame to be transferred counterclockwise.
  • the delay adjustment unit 209 sets a delay time for the delay adjustment queue 201 and the delay adjustment queue 205, and the delay time is set regardless of whether the frame is transferred through a clockwise route or a counterclockwise route. Is fixed (so that the delay time until reaching the master node 21 is the same).
  • FIG. 6 is a diagram illustrating an example of each component (reception processing unit) that processes a frame transmitted from the master node 21 among the components of the switch device 13.
  • the reception processing unit includes frame transfer units 301 and 302, delay adjustment queues 303 and 304, a normal queue 305, a read control unit 306, and a delay adjustment unit 307.
  • the frame transfer unit 301 receives a frame from a clockwise route (receives a frame from the switch device 14). When the received frame is destined for the slave node 23 under its control, it is determined whether it is a fixed delay frame or a normal frame. If it is a fixed delay frame, it is transferred to the delay adjustment queue 303, and if it is a normal frame, it is transferred to the normal queue 305. To do. If the received frame is not addressed to the slave node 23, the frame is transferred to a clockwise route (transferred to the switch device 12). On the other hand, the frame transfer unit 302 receives a frame from a counterclockwise path (receives a frame from the switch device 12).
  • the received frame When the received frame is addressed to the slave node 23 under its control, it is determined whether it is a fixed delay frame or a normal frame, and if it is a fixed delay frame, it is transferred to the delay adjustment queue 304, and if it is a normal frame, it is transferred to the normal queue 305 To do. If the received frame is not addressed to the slave node 23, it is transferred to a counterclockwise path (transferred to the switch device 14).
  • the delay adjustment queue 303 queues fixed delay frames transmitted through a clockwise route, and the delay adjustment queue 304 queues fixed delay frames transmitted through a counterclockwise route.
  • the normal queue 305 queues normal frames.
  • Read control unit 306 reads frames from delay adjustment queue 303, delay adjustment queue 304, and normal queue 305 in a predetermined order, and outputs them to slave node 23.
  • the delay adjustment unit 307 sets a delay time for the delay adjustment queues 303 and 304, and when the frame from the master node 21 is transferred through either the clockwise route or the counterclockwise route. Also adjust the delay time to be fixed.
  • each of the transmission processing unit and the reception processing unit includes a delay adjustment unit.
  • only one delay adjustment unit is provided outside the transmission processing unit and the reception processing unit, and one delay adjustment unit is provided. You may make it instruct
  • the switch device 13 has a delay time to itself when the switch device 11 to which the master node 21 is connected transmits a frame in a clockwise direction (until the switch device 11 reaches itself after the frame is transmitted).
  • the delay time when the switch device 11 transmits the frame counterclockwise is assumed to be known in advance. Note that the delay time to the switch device 13 when the switch device 11 transmits the frame clockwise is the same as the delay time to the switch device 11 when the switch device 13 transmits the frame counterclockwise.
  • the switch device 13 measures the delay time when the delay time is predicted to change, such as when a ring network is constructed, when the number of switch devices constituting the ring network fluctuates, or when a failed switch device is replaced. Control frames are transmitted and received in each path, and the delay time in each path is measured.
  • the delay time in the clockwise path from the switch device 13 to the switch device 11 is 2 ⁇ s
  • the delay time in the counterclockwise path is 4 ⁇ s.
  • the delay time in the clockwise route is 2 ⁇ s shorter than the delay time in the counterclockwise route. Therefore, in the transmission processing unit illustrated in FIG. 5, the delay adjustment unit 209 receives and holds a fixed delay frame to be transmitted to the master node 21 through the clockwise path among the frames input from the slave node 23. A fixed delay transfer of 2 ⁇ s is instructed to the queue 201. That is, it instructs to output after adding a delay of 2 ⁇ s. The delay adjustment queue 205 is not instructed to add a delay. On the other hand, in the reception processing unit illustrated in FIG. 6, the delay adjustment unit 307 instructs the delay adjustment queue 304 that receives and holds the frame transferred through the counterclockwise path to perform a fixed delay transfer of 2 ⁇ s. .
  • the switch device 13 can fix the delay time until the frame transmitted from the slave node 23 reaches the master node 21 regardless of the transfer path. Further, the delay time until the frame transmitted from the master node 21 reaches the slave node 23 can be fixed regardless of the transfer path.
  • the fixed delay frame transmitted from the slave node 23 is transferred to the master node 21 in 4 ⁇ s.
  • the fixed delay frame transmitted from the slave node 23 is added with a delay of 2 ⁇ s in the delay adjustment queue 201 of the switch device 13, so Thus, the data is transferred in the same 4 ⁇ s counterclockwise direction.
  • the fixed delay frame from the master node 21 to the slave node 23 reaches the switch device 13 in the clockwise direction in the normal state (the state shown in FIG. 2 before the failure occurs), and the delay in this case The time is 4 ⁇ s.
  • the frame arrives at the switch device 13 with a delay time of 2 ⁇ s, and the same transfer time of 4 ⁇ s is obtained by adding a delay of 2 ⁇ s in the delay adjustment queue 304. It becomes.
  • the operation of the switch device 13 described in the present embodiment is an operation in the case where the delay adjustment is not performed in the switch device 11 to which the master node 21 is connected. Therefore, the switch device 13 is configured to adjust the delay time both when a frame is transmitted to the switch device 11 and when a frame is received from the switch device 11.
  • the switch device 13 may adjust the delay time in either the fixed delay frame transmission process or the reception process. For example, when the switching device 11 performs the above-described delay addition of 2 ⁇ s in the reception processing of the fixed delay frame, the switching device 13 does not adjust the delay time in the frame transmission processing.
  • each switch device 11 to which the master node 21 is connected performs delay adjustment
  • the delay time to each switch device to which the slave node is connected is managed, and a delay having a different value for each frame transmission destination switch device. Therefore, the processing becomes complicated and the load increases. For this reason, it is desirable that each switch device to which the slave node is connected performs delay adjustment both at the time of transmission and at the time of reception.
  • switch device 13 has been described, the same applies to other switch devices (switch devices 12, 14, etc.) to which the slave node is connected.
  • the switch device holds in advance information on the difference in delay time in the ring network between when the fixed delay frame is transmitted clockwise and when it is transmitted counterclockwise.
  • the master node or slave node itself performed the operation for time synchronization.
  • fixed delay transfer is possible even through a communication device such as an Ethernet switch, realizing time synchronization. it can.
  • each switch device When synchronization between the local time managed by each slave node and the master time managed by the master node is realized, each switch device sends a time synchronization frame sent to each slave node by the master node. May be transferred with a fixed delay. That is, each switch device may adjust the delay at least when receiving a time synchronization frame to be transferred to a slave node connected to the switch device.
  • the present embodiment has been described on the assumption that a frame for time synchronization is transferred with a fixed delay, the present embodiment can also be applied to a case where a frame other than a frame for time synchronization is transferred with a fixed delay.
  • Embodiment 2 FIG. In the first embodiment, the description has been made on the assumption that the switch device 11 to which the master node 21 is connected knows in advance the transfer delay time in each route (clockwise route, counterclockwise route). Next, an embodiment that dynamically acquires a transfer delay time to realize fixed delay transfer will be described.
  • the overall configuration of the communication system is the same as that of the first embodiment (see FIG. 1).
  • FIG. 7 is a diagram illustrating an example of a main part of the switch device 11 to which the master node 21 is connected.
  • the switch device 11 naturally includes the same components as the transmission processing unit and the reception processing unit (see FIGS. 5 and 6) included in the switch device 13 described in the first embodiment.
  • the description is omitted to simplify the description.
  • FIG. 7 only the components related to the operation of dynamically acquiring the transfer delay time are shown.
  • the switch device 11 includes a synchronization frame snoop unit 402, a delay measurement unit 403, and a switch unit 404 as a configuration for acquiring the transfer delay time.
  • the synchronization frame snoop unit 402 snoops the received frame to check whether it is a synchronization frame addressed to a slave node.
  • the delay measurement unit 403 measures the delay time in each path based on the snooping result in the synchronization frame snoop unit 402.
  • the switch unit 404 transmits and receives frames to and from other switch devices. For example, a delay measurement request or a delay measurement answer, which will be described later, is transmitted / received.
  • a port (not shown) to which the master node 21 is connected receives the synchronization frame 401 that the master node 21 periodically transmits.
  • the synchronization frame snoop unit 402 detects that the master node 21 is connected to itself (switch device 11) and the synchronization frame 401 is periodically transmitted.
  • the synchronization frame snoop unit 402 notifies the delay measurement unit 403 to that effect.
  • the delay measuring unit 403 instructs the switch unit 404 to transfer to the switch unit 404 when receiving a frame for measuring the delay time.
  • FIG. 8 is a diagram illustrating an example of a main part of the switch device 13 to which the slave node 23 is connected. As in FIG. 7, the same components as those of the transmission processing unit and the reception processing unit (see FIGS. 5 and 6) described in the first embodiment are not described for the sake of simplicity.
  • the switch device 13 includes a switch unit 501, a synchronization frame snoop unit 503, and a delay measurement unit 504.
  • the basic configurations of the switch device 13 and the switch device 11 are the same. However, the operation of each component is different. That is, each switch device performs different operations when the master node is connected and when the slave node is connected.
  • the switch unit 501 receives the synchronization frame transmitted from the master node 21 from the clockwise route or the counterclockwise route, and then sends it to the synchronization frame snoop unit 503. Forward.
  • the synchronization frame snoop unit 503 instructs the delay measurement unit 504 to measure the delay time.
  • the delay measuring unit 504 measures the delay time between the master node 21 and the switch device 11 connected in accordance with the sequence shown in FIG. That is, the delay measuring unit 504 transmits and receives a frame for measuring the delay time to and from the switch device 11 according to the sequence of FIG.
  • a delay measurement request is transmitted, and a delay measurement answer is received as a response thereto.
  • the frame transmission / reception according to the sequence of FIG. 9 is performed in both the clockwise route and the counterclockwise route.
  • the synchronization frame snoop unit 503 performs control so that the synchronization frame 502 is not transferred to the slave node side until the delay time measurement by the delay measurement unit 504 is completed.
  • the delay measurement unit 504 notifies the synchronization frame snoop unit 503 to that effect, and the synchronization frame snoop unit 503 receiving the notification transfers the synchronization frame 502 to the slave node side. Resume operation.
  • the delay time measurement operation by the delay measurement unit 504 will be described in detail with reference to FIG.
  • the delay measurement unit 504 of the switch device 13 holds the local time (T0) and uses the frame to which the information of the local time (T0) is added as a delay measurement request. Send to.
  • the delay measurement unit 403 returns a frame to which the internal processing time (Tm) is added as a delay measurement answer.
  • the switch device 11 transmits a delay measurement answer in the direction in which the delay measurement request is received. That is, when a delay measurement request is received through a clockwise route, the switch device 11 transmits a delay measurement answer through a counterclockwise route.
  • the switch device 11 when receiving a delay measurement request from the switch device 13 via the switch device 12, the switch device 11 returns a delay measurement answer via the switch device 12.
  • the delay measurement unit 504 of the switch device 13 confirms the reception time (T1) and calculates the delay time Td according to the following equation (1).
  • the delay measuring unit 504 notifies the delay adjusting unit 209 and the delay adjusting unit 307 (see FIGS. 5 and 6) of the calculated delay time Td and holds them, or holds them in a storage unit not shown.
  • the delay measurement unit 504 may hold the delay time Td and notify it in response to a request from the delay adjustment unit 209 or the delay adjustment unit 307.
  • the delay measuring unit 504 calculates the delay time Td for both the clockwise route and the counterclockwise route.
  • the switch device automatically detects the master node and measures the delay time in both the clockwise route and the counterclockwise route. Even when a failure occurs in the network, fixed delay transfer can be realized.
  • the delay time Td that cannot be achieved in the first embodiment can be updated, and even if the delay time changes, a fixed delay is possible. The transfer can be continued.
  • the ring blocking port 30 transfers the synchronization frame in the same manner as the control frame of the Ethernet ring, and the switch device connected to the master node goes around the ring. When the received synchronization frame is received, it is discarded.
  • the relay apparatus according to the present invention is useful for realizing fixed delay transfer of frames in a ring network.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Small-Scale Networks (AREA)
  • Synchronisation In Digital Transmission Systems (AREA)
  • Data Exchanges In Wide-Area Networks (AREA)

Abstract

La présente invention concerne un appareil de relais constituant un réseau en anneau. L'appareil de relais comporte: une file d'attente (303) de réglage de retard qui, à réception d'une trame particulière transférée par un autre appareil de relais de l'extérieur du réseau en anneau vers un chemin orienté à droite dans le réseau en anneau, retient la trame; une file d'attente (304) de réglage de retard qui, à réception de la trame particulière transférée par l'autre appareil de relais de l'extérieur du réseau en anneau vers un chemin orienté à gauche dans le réseau en anneau, retient la trame; et une unité (307) de réglage de retard qui donne pour consigne, en se basant à la fois sur un temps de transfert de trame de l'autre appareil de relais à l'appareil local de relais suivant le chemin orienté à droite et sur un temps de transfert de trame de l'autre appareil de relais à l'appareil local de relais suivant le chemin orienté à gauche, à la file d'attente (303) de réglage de retard ou à la file d'attente (304) de réglage de retard d'appliquer un retard à la trame retenue puis à délivrer la trame en sortie.
PCT/JP2014/063570 2014-05-22 2014-05-22 Appareil de relais WO2015177902A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
KR1020167035317A KR101707788B1 (ko) 2014-05-22 2014-05-22 중계 장치
CN201480079152.3A CN106464562B (zh) 2014-05-22 2014-05-22 中继装置
PCT/JP2014/063570 WO2015177902A1 (fr) 2014-05-22 2014-05-22 Appareil de relais
JP2016520874A JP6012908B2 (ja) 2014-05-22 2014-05-22 中継装置
TW104101152A TWI569607B (zh) 2014-05-22 2015-01-14 Relay device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/063570 WO2015177902A1 (fr) 2014-05-22 2014-05-22 Appareil de relais

Publications (1)

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WO2015177902A1 true WO2015177902A1 (fr) 2015-11-26

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PCT/JP2014/063570 WO2015177902A1 (fr) 2014-05-22 2014-05-22 Appareil de relais

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JP (1) JP6012908B2 (fr)
KR (1) KR101707788B1 (fr)
CN (1) CN106464562B (fr)
TW (1) TWI569607B (fr)
WO (1) WO2015177902A1 (fr)

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KR20170096560A (ko) * 2016-02-15 2017-08-24 주식회사 에치에프알 링 토폴로지로 구성된 프론트홀에서 절체로 인한 레이턴시 차이를 보상하는 시스템
WO2019167415A1 (fr) * 2018-03-02 2019-09-06 株式会社日立製作所 Dispositif de commande de communication et système de commande de communication
WO2020129219A1 (fr) * 2018-12-20 2020-06-25 三菱電機株式会社 Dispositif, système, procédé et programme de réseau
JPWO2021166267A1 (fr) * 2020-02-21 2021-08-26
JP2022103347A (ja) * 2018-03-02 2022-07-07 株式会社日立製作所 通信制御装置及び通信制御システム

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KR101878575B1 (ko) * 2016-12-29 2018-07-13 세종대학교산학협력단 프론트홀 망에서의 프로텍션 방법 및 시스템
WO2019171669A1 (fr) * 2018-03-07 2019-09-12 住友電気工業株式会社 Dispositif de commutation, dispositif de communication monté sur véhicule, système de communication monté sur véhicule, procédé de correction de temps et programme de correction de temps
KR102583942B1 (ko) * 2021-07-07 2023-09-26 중앙대학교 산학협력단 네트워크 코딩에 기반한 패킷 전송 방법

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KR20170096560A (ko) * 2016-02-15 2017-08-24 주식회사 에치에프알 링 토폴로지로 구성된 프론트홀에서 절체로 인한 레이턴시 차이를 보상하는 시스템
KR102396635B1 (ko) 2016-02-15 2022-05-12 주식회사 에치에프알 링 토폴로지로 구성된 프론트홀에서 절체로 인한 레이턴시 차이를 보상하는 시스템
WO2019167415A1 (fr) * 2018-03-02 2019-09-06 株式会社日立製作所 Dispositif de commande de communication et système de commande de communication
JP2019153941A (ja) * 2018-03-02 2019-09-12 株式会社日立製作所 通信制御装置及び通信制御システム
JP2022103347A (ja) * 2018-03-02 2022-07-07 株式会社日立製作所 通信制御装置及び通信制御システム
JP7330329B2 (ja) 2018-03-02 2023-08-21 株式会社日立製作所 通信制御装置及び通信制御システム
WO2020129219A1 (fr) * 2018-12-20 2020-06-25 三菱電機株式会社 Dispositif, système, procédé et programme de réseau
JPWO2020129219A1 (ja) * 2018-12-20 2021-02-15 三菱電機株式会社 ネットワーク装置、ネットワークシステム、ネットワーク方法、およびネットワークプログラム
CN113169857A (zh) * 2018-12-20 2021-07-23 三菱电机株式会社 网络装置、网络系统、网络方法以及网络程序
JPWO2021166267A1 (fr) * 2020-02-21 2021-08-26
JP7355209B2 (ja) 2020-02-21 2023-10-03 日本電信電話株式会社 通信遅延測定装置、通信遅延測定方法及びプログラム

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CN106464562A (zh) 2017-02-22
KR20160149320A (ko) 2016-12-27
JP6012908B2 (ja) 2016-10-25
JPWO2015177902A1 (ja) 2017-04-20
KR101707788B1 (ko) 2017-02-16

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