DE502007004926D1 - Definierter verbrennungsmotorbetrieb bei fahrzeugen mit hybridantrieb - Google Patents
Definierter verbrennungsmotorbetrieb bei fahrzeugen mit hybridantriebInfo
- Publication number
- DE502007004926D1 DE502007004926D1 DE502007004926T DE502007004926T DE502007004926D1 DE 502007004926 D1 DE502007004926 D1 DE 502007004926D1 DE 502007004926 T DE502007004926 T DE 502007004926T DE 502007004926 T DE502007004926 T DE 502007004926T DE 502007004926 D1 DE502007004926 D1 DE 502007004926D1
- Authority
- DE
- Germany
- Prior art keywords
- vehicles
- combustion engine
- internal combustion
- engine operation
- hybrid drive
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/11—Controlling the power contribution of each of the prime movers to meet required power demand using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
- B60K6/485—Motor-assist type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/44—Drive Train control parameters related to combustion engines
- B60L2240/443—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/26—Transition between different drive modes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/145—Structure borne vibrations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/085—Power
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006016810A DE102006016810A1 (de) | 2006-04-10 | 2006-04-10 | Definierter Verbrennungsmotorbetrieb bei Fahrzeugen mit Hybridantrieb |
PCT/EP2007/052718 WO2007115917A1 (de) | 2006-04-10 | 2007-03-22 | Definierter verbrennungsmotorbetrieb bei fahrzeugen mit hybridantrieb |
Publications (1)
Publication Number | Publication Date |
---|---|
DE502007004926D1 true DE502007004926D1 (de) | 2010-10-14 |
Family
ID=38153954
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102006016810A Withdrawn DE102006016810A1 (de) | 2006-04-10 | 2006-04-10 | Definierter Verbrennungsmotorbetrieb bei Fahrzeugen mit Hybridantrieb |
DE502007004926T Active DE502007004926D1 (de) | 2006-04-10 | 2007-03-22 | Definierter verbrennungsmotorbetrieb bei fahrzeugen mit hybridantrieb |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102006016810A Withdrawn DE102006016810A1 (de) | 2006-04-10 | 2006-04-10 | Definierter Verbrennungsmotorbetrieb bei Fahrzeugen mit Hybridantrieb |
Country Status (7)
Country | Link |
---|---|
US (1) | US8167066B2 (de) |
EP (1) | EP2007612B1 (de) |
JP (1) | JP2009533268A (de) |
KR (1) | KR101085758B1 (de) |
CN (1) | CN101415592A (de) |
DE (2) | DE102006016810A1 (de) |
WO (1) | WO2007115917A1 (de) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004046874A1 (de) * | 2004-09-28 | 2006-04-13 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Verwaltungssystems von Funktionsmodulen |
DE102005062868A1 (de) * | 2005-12-29 | 2007-07-05 | Robert Bosch Gmbh | Verfahren zur Vereinfachung der Momentenaufteilung bei Mehrfachantrieben |
DE102007050773A1 (de) * | 2007-10-24 | 2009-04-30 | Zf Friedrichshafen Ag | Kraftfahrzeugsteuerungssystem |
DE102007050775A1 (de) * | 2007-10-24 | 2009-04-30 | Zf Friedrichshafen Ag | Kraftfahrzeugsteuerungssystem |
DE102007050771A1 (de) * | 2007-10-24 | 2009-05-07 | Zf Friedrichshafen Ag | Kraftfahrzeugsteuerungssystem |
US8630776B2 (en) | 2007-11-04 | 2014-01-14 | GM Global Technology Operations LLC | Method for controlling an engine of a hybrid powertrain in a fuel enrichment mode |
ATE535428T1 (de) * | 2007-12-17 | 2011-12-15 | Zahnradfabrik Friedrichshafen | Verfahren und vorrichtung zur steuerung eines kriechbetriebes eines fahrzeugs mit einem hybridantrieb |
JP2010058746A (ja) * | 2008-09-05 | 2010-03-18 | Toyota Motor Corp | ハイブリッド車両の制御装置および制御方法 |
DE102008042685A1 (de) * | 2008-10-08 | 2010-04-15 | Robert Bosch Gmbh | Verfahren zum Adaptieren einer Trennkupplung in einer Triebstranganordnung eines Fahrzeugs und Triebstranganordnung |
WO2011056266A1 (en) * | 2009-11-06 | 2011-05-12 | International Truck Intellectual Property Company, Llc | Control system for equipment on a vehicle with a hybrid-electric powertrain |
DE102009027603A1 (de) * | 2009-07-10 | 2011-01-13 | Robert Bosch Gmbh | Verfahren zur Koordination von zumindest einem Antriebsaggregat |
US20120290151A1 (en) * | 2009-11-06 | 2012-11-15 | INTERNATIONAL tUCK ONTELLECTUAL PROPERTY COMPANY, LLC | Control system for equipment on a vehicle with a hybrid-electric powertrain |
EP2815942B1 (de) * | 2012-02-15 | 2017-11-01 | Toyota Jidosha Kabushiki Kaisha | Steuervorrichtung und steuersystem |
WO2020232104A1 (en) * | 2019-05-13 | 2020-11-19 | Cummins Inc. | Method and system for improving fuel economy of a hybrid powertrain in a vehicle |
Family Cites Families (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3534271B2 (ja) * | 1995-04-20 | 2004-06-07 | 株式会社エクォス・リサーチ | ハイブリッド車両 |
JP3171079B2 (ja) * | 1995-07-24 | 2001-05-28 | トヨタ自動車株式会社 | 車両用駆動制御装置 |
US5841201A (en) * | 1996-02-29 | 1998-11-24 | Toyota Jidosha Kabushiki Kaisha | Hybrid vehicle drive system having a drive mode using both engine and electric motor |
JP3214427B2 (ja) * | 1997-12-12 | 2001-10-02 | トヨタ自動車株式会社 | ハイブリッド車の駆動制御装置 |
JP3454133B2 (ja) * | 1998-01-16 | 2003-10-06 | トヨタ自動車株式会社 | ハイブリッド車の駆動制御装置 |
JP3480316B2 (ja) * | 1998-06-15 | 2003-12-15 | 日産自動車株式会社 | ハイブリッド車両の制御装置 |
US6554088B2 (en) * | 1998-09-14 | 2003-04-29 | Paice Corporation | Hybrid vehicles |
JP3458795B2 (ja) * | 1999-10-08 | 2003-10-20 | トヨタ自動車株式会社 | ハイブリッド駆動装置 |
DE10046986A1 (de) | 2000-09-22 | 2002-04-11 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Steuerung eines Fahrzeugs |
JP3541831B2 (ja) * | 2001-10-26 | 2004-07-14 | 日産自動車株式会社 | 車両の駆動力制御装置 |
DE10203064A1 (de) * | 2002-01-28 | 2003-08-07 | Bosch Gmbh Robert | Verfahren zur Einstellung eines Betriebspunktes eines Hybridantriebes eines Fahrzeuges |
JP4063744B2 (ja) * | 2003-09-24 | 2008-03-19 | トヨタ自動車株式会社 | ハイブリッド車輌の制御装置 |
JP3991975B2 (ja) * | 2003-11-12 | 2007-10-17 | 日産自動車株式会社 | ハイブリッド変速機の変速制御装置 |
JP4085996B2 (ja) * | 2004-03-16 | 2008-05-14 | トヨタ自動車株式会社 | 動力出力装置およびこれを搭載する自動車並びに動力出力装置の制御方法 |
JP3804669B2 (ja) * | 2004-04-15 | 2006-08-02 | トヨタ自動車株式会社 | ハイブリッド車の制御装置 |
US7285869B2 (en) * | 2004-07-29 | 2007-10-23 | Ford Global Technologies, Llc | Method for estimating engine power in a hybrid electric vehicle powertrain |
DE102004044507A1 (de) | 2004-09-15 | 2006-03-30 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Fahrzeug-Antriebs und Vorrichtung zur Durchführung des Verfahrens |
US7617893B2 (en) * | 2005-08-02 | 2009-11-17 | Ford Global Technologies, Llc | Method and system for determining final desired wheel power in a hybrid electric vehicle powertrain |
DE102006005468B4 (de) * | 2006-02-07 | 2017-09-21 | Zf Friedrichshafen Ag | Verfahren zum Betreiben eines Parallelhybridantriebsstranges eines Fahrzeuges |
AT9756U1 (de) * | 2006-12-11 | 2008-03-15 | Magna Steyr Fahrzeugtechnik Ag | Verfahren zur steuerung des hybridantriebes eines kraftfahrzeuges und steuersystem |
US7673714B2 (en) * | 2007-02-21 | 2010-03-09 | Ford Global Technologies, Llc | System and method of torque converter lockup state adjustment using an electric energy conversion device |
-
2006
- 2006-04-10 DE DE102006016810A patent/DE102006016810A1/de not_active Withdrawn
-
2007
- 2007-03-22 US US12/296,349 patent/US8167066B2/en active Active
- 2007-03-22 JP JP2009504667A patent/JP2009533268A/ja active Pending
- 2007-03-22 WO PCT/EP2007/052718 patent/WO2007115917A1/de active Application Filing
- 2007-03-22 KR KR1020087024660A patent/KR101085758B1/ko active IP Right Grant
- 2007-03-22 DE DE502007004926T patent/DE502007004926D1/de active Active
- 2007-03-22 CN CNA2007800124731A patent/CN101415592A/zh active Pending
- 2007-03-22 EP EP07727194A patent/EP2007612B1/de active Active
Also Published As
Publication number | Publication date |
---|---|
EP2007612A1 (de) | 2008-12-31 |
KR20080108125A (ko) | 2008-12-11 |
WO2007115917A1 (de) | 2007-10-18 |
DE102006016810A1 (de) | 2007-10-11 |
EP2007612B1 (de) | 2010-09-01 |
KR101085758B1 (ko) | 2011-11-21 |
US20090173557A1 (en) | 2009-07-09 |
JP2009533268A (ja) | 2009-09-17 |
US8167066B2 (en) | 2012-05-01 |
CN101415592A (zh) | 2009-04-22 |
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