US20120081216A1 - Remote-controlled motion apparatus with acceleration self-sense and remote control apparatus therefor - Google Patents
Remote-controlled motion apparatus with acceleration self-sense and remote control apparatus therefor Download PDFInfo
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- US20120081216A1 US20120081216A1 US13/316,257 US201113316257A US2012081216A1 US 20120081216 A1 US20120081216 A1 US 20120081216A1 US 201113316257 A US201113316257 A US 201113316257A US 2012081216 A1 US2012081216 A1 US 2012081216A1
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- controlled device
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
-
- 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
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0022—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the communication link
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C2201/00—Transmission systems of control signals via wireless link
- G08C2201/30—User interface
- G08C2201/32—Remote control based on movements, attitude of remote control device
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C2201/00—Transmission systems of control signals via wireless link
- G08C2201/50—Receiving or transmitting feedback, e.g. replies, status updates, acknowledgements, from the controlled devices
- G08C2201/51—Remote controlling of devices based on replies, status thereof
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- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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Abstract
A remote-controlled motion apparatus is controlled by a remote control apparatus. The remote control apparatus transmits a target motion signal by radio. The remote-controlled motion apparatus includes a communication module, an acceleration sensing module, a processing module and a driving module. The communication module receives the target motion signal from the remote control apparatus. The acceleration sensing module senses an acceleration of the remote-controlled motion apparatus to output an acceleration sensing signal. The processing module is coupled with the acceleration sensing module and the communication module, and processes the acceleration sensing signal and the target motion signal to output a driving control signal. The driving module is coupled with the processing module to receive the driving control signal, and adjusts the driving of the remote-controlled motion apparatus according to the driving control signal.
Description
- This application is a continuation of co-pending U.S. Ser. No. 12/051,683, filed on Mar. 19, 2008, which claims priority under 35 U.S.C. §119(a) on Patent Application No(s). 096110076 filed in Taiwan on Mar. 23, 2007, the entire contents of which are hereby incorporated by reference.
- 1. Field of Invention
- This invention relates to a remote-controlled motion apparatus which includes a remote-controlled device and a remote controller.
- 2. Related Art
- Conventional remote control system uses a remote controller and a remote-controlled device, the user operates the remote controller to control the motion of the remote-controlled device. As shown in the
FIG. 1 a remote controller 1 includes amanual input module 11 and acommunication module 12, themanual input module 11 includes a stick and a variable resistor, the user uses the stick to move the variable resistor and change its resistance, and to generate different voltage output for every different stick positions. The output voltage, which is called the control signal SCNT, uses different voltage levels to represent different input data, thecommunication module 12 connects to theinput module 11's output and transmits the control signal SCNT. - A remote-controlled
model airplane 2 includes acommunication module 21, acontroller 22, amotor 23 and arear fin 24, thecommunication module 21 receives the control signal SCNT which is transmitted from the remote controller 1, thecontroller 22 connects to thecommunication module 21 and controls the motor 23 (or servo) according to the received control signal SCNT, themotor 23 connects to therear fin 24 and changes the angle of therear fin 24, as a result themodel airplane 2's flying attitude is controlled and changed. In most designs, the rear fin's angle is synchronized to the stick position of the remote controller 1, that is, the rear fin's angle is controlled by the voltage level of the control signal SCNT. - Generally the remote controller uses a stick to control a switch or change a variable resistor's resistance to generate control signals, these kinds of controlling methods can only generate two X and Y axes control signals by one hand, if a 3-D X, Y and Z axes control is needed, two hands are required for control or extra switches are needed to switch the control, it requires two hands to control simultaneously and it's not an easy task at all. And since the stick is used to control the rear fin, which means the larger angle of the stick generates the larger angle at the rear fin, this kind of control method requires the user to use their own eyes to identify the resulting motion of the controlled aircraft and adjust the angle immediately, which makes it even more difficult to control.
- Regarding the above-mentioned problems, it is an objective of the invention to provide an acceleration self-sensed control apparatus for a remote-controlled device and a remote controller. With the invention, the user can use the remote controller to control the remote-controlled device's motion with an acceleration self-sense capability.
- According to the invention, the remote-controlled device is controlled by a remote controller. The remote controller transmits a target motion signal to the remote-controlled device. The remote-controlled device comprises a communication module, an acceleration sensing module, a processing module and a driving module. The communication module receives the target motion signal from the remote controller, the acceleration sensing module detects the acceleration of the remote-controlled device and outputs an acceleration sensing signal, the processing module connects to the acceleration sensing module and the communication module, and compares the acceleration sensing signal and the target motion signal to output a driving control signal, the driving module connects to the processing module and receives the driving control signal, and adjusts the motion drivers of the remote-controlled device according to the driver control signal.
- According to the invention, a remote controller controls a remote-controlled device, the remote controller comprises an acceleration sensing module and a communication module, the acceleration sensing module detects the acceleration of the remote controller and outputs an acceleration sensing signal, the communication module connects to the acceleration sensing module and, in a first operating mode, the remote controller transmits a first target motion signal according to the acceleration sensing signal, and the remote-controlled device, which detects its own acceleration, refers to its own acceleration sensing signal to adjust and keep its acceleration of motion to align with the first target motion signal. The communication module, in a second operation mode, transmits a second target motion signal according to the acceleration sensing signal, and the remote-controlled device, which detects its own acceleration, refers to its own acceleration sensing signal to adjust and keep its moving velocity in the direction of acceleration to align with the first target motion signal.
- According to the invention, a remote controller controls a remote-controlled device, the remote controller comprises a manual input module and a communication module, the manual input module comprises at least one direction control unit to output a direction control signal, the communication module connects to the manual input module and, in a first operation mode, transmits a first target motion signal according to the direction control signal, and the remote-controlled device, which detects its own acceleration, refers to its own acceleration sensing signal to adjust and keep its acceleration of motion to align with the first target motion signal. The communication module, in a second operation mode, transmits a second target motion signal according to the acceleration sensing signal, and the remote-controlled device, which detects its own acceleration, refers to its own acceleration sensing signal to adjust and keep its moving velocity in the direction of acceleration to align with the first target motion signal.
- In summary, in the invention, the remote-controlled device detects its own acceleration and uses the acceleration data as a controlling feedback, and by synchronizing its acceleration of motion with the target motion signal from the remote controller, the motion of the remote-controlled device is synchronized with the motion of the remote controller. The invention makes the remote control operation become an easy task, and greatly reduces the risk of out of control situation.
- The present invention can be more fully understood by reading the subsequent detailed description and examples with references made to the accompanying drawings, wherein:
-
FIG. 1 is a system diagram showing a remote control system of the prior art. -
FIG. 2 is a system diagram of a remote control system according to the preferred embodiment of the invention. -
FIG. 3 andFIG. 4 is a block diagram of the remote-controlled device in theFIG. 2 . -
FIG. 5 is another system diagram of a remote control system according to the preferred embodiment of the invention. -
FIG. 6 andFIG. 7 is a diagram of the manual input module in theFIG. 5 . -
FIG. 8 is another system diagram of a remote control system according to the preferred embodiment of the invention. - Referring to
FIG. 2 , theremote controller 3 transmits a target motion signal STAR to control the motion of remote-controlleddevice 4. - The remote-controlled
device 4 consists of acommunication module 41, anacceleration sensing module 42, aprocessing module 43 and adriving module 44. Thecommunication module 41 receives the target motion signal STAR from theremote controller 3, theacceleration sensing module 42 detects the acceleration of the remote-controlleddevice 4 and outputs an acceleration sensing signal SACC, theprocessing module 43 connects to theacceleration sensing module 42 and thecommunication module 41, and outputs a driving control signal SDRV after processing the acceleration sensing signal SACC and the target motion signal STAR, thedriving module 44 connects to theprocessing module 43 and receives the driving control signal SDRV, and controls the motion of the remote-controlleddevice 4 according to the driving control signal SDRV. - In the preferred embodiment of the invention, the
remote controller 3 consists of anacceleration sensing module 31 and acommunication module 33, theacceleration module 31 detects the acceleration of theremote controller 3 and outputs an acceleration sensing signal SG, thecommunication module 33 connects to theacceleration module 31 and transmits a target motion signal STAR according to the acceleration sensing signal SG, the target motion signal STAR is used to control the remote-controlleddevice 4 to keep its acceleration of motion to align with the target motion signal STAR. The acceleration sensing signal SG is used to represent the acceleration information of theremote controller 3. - The
acceleration sensing module 31 consists of an accelerometer to detect the remote controller's acceleration in the X, Y and Z axes. Since the gravity of the earth is a constant and vertical to the ground surface, when theremote controller 3 is held by the user and is moved with a motion related to the ground surface, theacceleration sensing module 31 will detect a change in the acceleration since the remote controller body's angle or position to the ground has been changed, so the resulting acceleration sensing signal SG will be changed. - In the user's operation, the user holds the
remote controller 3 and moves it or rotate it, theacceleration sensing module 31 in theremote controller 3 will detect a change in acceleration, and accordingly outputs an acceleration sensing signal SG, the acceleration sensing signal SG provides the communication module 33 a reference to transmit the target motion signal STAR to control the remote-controlleddevice 4. For example, the acceleration sensing signal SG contains three voltage levels to represent the accelerations of X, Y and Z axes, the three voltage levels can be converted and transmitted by the communication module 33 (such as using radio transmission with the PCM coding technique). The user can even use only one hand to operate theremote controller 3 and generate the 3-D X, Y and Z axes target motion signal STAR. - The
acceleration sensing module 42 includes an accelerometer to detect the acceleration of the remote-controlleddevice 4 and outputs an acceleration sensing signal SACC. Similar to theremote controller 3, theacceleration sensing module 42 can detect a change in the acceleration due to the motion of the remote-controlleddevice 4, and theprocessing module 43 compares the acceleration sensing signal SACC with the target motion signal STAR and generates a driving control signal SERV to control the motors or servo units and makes the remote-controlleddevice 4 to generate a synchronized motion with theremote controller 3. For example, the acceleration sensing signal SACC and the target motion signal STAR both include three data of voltage levels which represent the three acceleration values in X, Y and Z axes, and theprocessing module 43 can directly compare these data of voltage levels to generate the driving control signal SERV. - In the preferred embodiment of the invention, the target motion signal STAR includes the acceleration information of the
remote controller 3, the acceleration information includes the earth gravity information in it. According to the acceleration sensing signal SACC, theprocessing module 43 can calculate the motion direction of the remote-controlleddevice 4. Theprocessing module 43 compares the acceleration sensing signal SACC and the target motion signal STAR, calculates their acceleration differences, and uses the difference data to output the corresponding driving control signal SERV. - To reduce the acceleration differences, the driving control signal SERV is output to the
driving module 44 to adjust the motion of the remote-controlleddevice 4, as a result the remote-controlleddevice 4's motion will be synchronized with theremote controller 3, which means the remote-controlleddevice 4 has the ability of self-adjustment in the motion and is controlled in a closed-loop real-time feedback mode, this makes the remote control an easier job than before. - The
communication module 41 comprises a receiver to receive the target signal from theremote controller 3, and transfers the target signal into a base-band signal. The processing module comprises a microcontroller, or a microprocessor, or a digital signal processor, or a comparator circuit. In advance, the processing module can comprise a memory unit to store a look-up table of the relationship between the acceleration and the motion, and the processing module can use the look-up table to calculate the motion of the remote-controlleddevice 4 from the input of the acceleration sensing signal SACC. - The remote-controlled
device 4 can be a remote-controlled airplane (fixed-wing aircraft), or a remote-controlled helicopter, or a remote-controlled car or a remote-controlled robot. In most cases the remote-controlled airplane comprises at least one wing and at least one driving unit. The driving unit is connected to the processing module to receive the driving control signal, and adjusts the pitch of the wing according to the driving control signal. The wing could be a main wing, or a horizontal stabilizer or a vertical stabilizer. The remote-controlled helicopter comprises at least one rotor and at least one driving unit, the driving unit is connected to the processing module to receive the driving control signal, and adjusts the rotor's rotating speed or the pitch, the rotor is a horizontal rotor or a tail rotor. The driving unit could be a motor or a servo or the like. - The following descriptions use a remote-controlled airplane and a remote-control helicopter as the examples.
- Referring to
FIG. 3 , the remote-controlleddevice 4 is a remote-controlled airplane. The drivingmodule 44 includes threeservos 441˜443, amain wing 444, ahorizontal stabilizer 445 and avertical stabilizer 446. Theprocessing module 43 connects to theservos 441˜443, theprocessing module 43 receives and calculates the differences of the acceleration sensing signal SACC and the target motion signal STAR, and outputs the driving control signals SDRV1˜SDRV3 to control theservos 441˜443 and adjust the main wing's ailerons and the angles of the vertical and horizontal stabilizers, and so the motion of the remote-controlleddevice 4 is controlled. - As the
remote controller 3 is held and moved with a motion in the roll or pitch direction, theprocessing module 4 will output the driving control signal SDRV1, SDRV2 and SDRV3, which control theservos main wing 444, the angle of thehorizontal stabilizer 445 and thevertical stabilizer 446. The roll and pitch motion of the remote-controlleddevice 4 is thus adjusted and synchronized with the motion of theremote controller 3. - When the remote-controlled
device 4's motion is gradually aligned with theremote controller 3, the differences between the received target motion signal STAR and the detected acceleration sensing signal SACC from theacceleration sensing module 42 will become smaller or zero, the output driving control signal SDRV1, SDRV2 and SDRV3 from the processing module will then be kept at a value to keep the motion aligned. In the example, the acceleration sensing signal SACC plays like a feedback signal for theprocessing module 43 to control theservos main wing 444 and the angles of thehorizontal stabilizer 445 andvertical stabilizer 446, and finally aligns the roll and pitch motion of the remote-controlleddevice 4 with theremote controller 3. The motion control is thus completed in a closed-loop real time feedback system. - Referring to
FIG. 4 , the remote-controlleddevice 4 is a remote-controlled helicopter, the drivingmodule 44 comprises twoservos main rotor 449 and atail rotor 440, theservos processing module 43 to receive the driving control signal SDRV4 and SDRV5, and to adjust the pitch of themain rotor 449 and thetail rotor 440 to control the motion of the remote-controlleddevice 4. The basic control theory is quite the same with the remote-controlled airplanes as described in the previous sections. The motion of the remote-controlled helicopter is thus controlled in a closed-loop real time feedback system. - In the preferred embodiment, the
remote controller 3 does not need a complicated control stick system, the user can hold theremote controller 3 by only one hand and generate a real 3D control signal, and the remote-controlleddevice 4 can be automatically synchronized with the motion of theremote controller 3, as a result the controlling of the remote-controlleddevice 4 becomes very easy and straight forward, and the risk of going into out of control situation is greatly reduced. - In another preferred embodiment of the invention shown in
FIG. 5 , aremote controller 5 comprises anacceleration sensing module 51, acommunication module 53 and amanual input module 54. Different with the previous example, theremote controller 5 has three operation modes. - The first operation mode is the same with the previous example, the
acceleration sensing module 51 detects the acceleration of theremote controller 5 and outputs an acceleration sensing signal SG, thecommunication module 53 connects to theacceleration sensing module 51 and transmits a first target motion signal STAR1 according to the acceleration sensing signal SG, the first target motion signal STAR1 controls the motion of the remote-controlleddevice 4 to align with the acceleration sensing signal SG. As so, the remote-controlleddevice 4 detects its own acceleration and receives the first target motion signal STAR1 to align itself with the acceleration sensing signal SG. The detailed operation is the same and can be found in the previous examples. In short, the first operation mode uses the acceleration sensing signal SG and the first target motion signal STAR1 to control the motion of the remote-controlleddevice 4. - In a second operation mode, the
manual input module 54, which comprises at least one direction control unit, outputs a direction control signal SCNT. Thecommunication module 53 connects to themanual input module 54 and transmits a second target motion signal STAR2 according to the direction control signal SCNT, and the second target motion signal STAR2 controls the motion of the remote-controlleddevice 4. In short, the second operation mode uses the direction control signal SCNT and the second target motion signal STAR2 to control the motion of the remote-controlleddevice 4. - In a third operation mode, the
communication module 53 transmits a third target motion signal STAR3 according to the acceleration sensing signal SG and the direction control signal SCNT, the third target motion signal STAR3 is used to control the motion of the remote-controlleddevice 4 to align with both the acceleration sensing signal SG and the direction control signal SCNT. So the remote-controlleddevice 4 detects its own acceleration and receives the third target motion signal STAR3 to align itself with the motion of theremote controller 5. In short, the third operation mode uses the acceleration sensing signal SG, the direction control signal SCNT and the third target motion signal STAR3 to control the motion of the remote-controlleddevice 4. - Furthermore, the
remote controller 5 comprises aconfiguration switch module 52. Theconfiguration switch module 52 selects the mode of operation, which means it selects theacceleration sensing module 51 and/or themanual input module 54 as the input for thecommunication module 53. - And when the
configuration switch module 52 switches the selection between theacceleration sensing module 51 and themanual input module 54, thecommunication module 53 can transmit commands to inform the remote-controlleddevice 4 about the selection. - Referring to
FIG. 6 andFIG. 7 , an example of themanual input module 541 is shown. Themanual input module 54 has adirection control stick 541. Referring toFIG. 6 , which is an example for the remote-controlled airplane in the second operation mode, the Y direction offset of thecontrol stick 541 controls the remote-controlled airplane's pitch, and the X direction offset controls the remote-controlled airplane's roll. When thecontrol stick 541 is in its neutral center position, the remote-controlled airplane is controlled at a flying position parallel to the ground surface. When the user pushes the stick backward, the airplane climbs up. When the user pushes the stick forward, the airplane dives. When the user pushes the stick left or right, the airplane rolls left or right. - Referring to
FIG. 7 , which is an example for the remote-controlled helicopter, the Y direction offset of thecontrol stick 541 represents the desired pitch for the horizontal rotor, and the X direction offset represents the desired pitch for the tail rotor. When the user pushes the stick backward, the helicopter descends. When the user pushed the stick forward, the helicopter ascends. When the user pushes the stick left or right, the helicopter turns left or right. - Referring to
FIG. 8 , in another preferred embodiment of the invention, theremote controller 6 comprises amanual input module 64, aconfiguration switch module 62 and acommunication module 63, in different with theFIG. 5 , theremote controller 6 does not have the acceleration sensing module, but simply use themanual input module 64 to provide two different operation modes. - In this example, the
communication module 63 connects to themanual input module 64, and in a first operation mode a first target motion signal STAG1 is transmitted according to the direction control signal SCNT, the remote-controlleddevice 4 detects its own acceleration and compares with the received first target motion signal STAG1, and according to the comparison result to control its motion to keep aligned with the direction control signal SCNT. In this mode the target motion signal STAG1 is an absolute acceleration value to the remote-controlleddevice 4. In a second operation mode a second target motion signal STAG2 is transmitted according to the direction control signal SCNT, the remote-controlleddevice 4 takes the second target motion signal STAG2 as a moving velocity to be fulfilled in the direction of motion, as a result the remote-controlled device will continue its movement in the desired direction until the second target motion signal STAG2 returns to a neutral or zero value. In this mode the target motion signal STAG2 is a relative acceleration value to the remote-controlleddevice 4. And the detailed operation of motion in the remote-controlleddevice 4 is the same with the previous examples. - According to the above descriptions, in the remote-controlled device with acceleration self-sense ability and the remote controller of the invention, the remote-controlled device can detect its own acceleration to form a closed-loop real-time feedback, and synchronize its motion with the target motion signal from the remote controller, which makes the operation of the remote controller becomes simple, straight forward and no need to count on the user's visual feedback, and thus greatly reduces the risk of out of control situation.
- Although the invention has been described with reference to specific embodiments, this description is not meant to be construed in a limiting sense. Various modifications of the disclosed embodiments, as well as alternative embodiments, will be apparent to persons skilled in the art. It is, therefore, contemplated that the appended claims will cover all modifications that fall within the true scope of the invention.
Claims (1)
1. A remote control system, comprising:
a remote controller, comprising:
a manual input module, which generates a direction control signal;
a first communication module, which connects to the manual input module and receives the direction control signal; and
a configuration switch module, which connects to the first communication module to select a first operation mode or a second operation mode, wherein a first target motion signal is transmitted according to the direction control signal in the first operation mode, a second target motion signal is transmitted according to the direction control signal in the second operation mode; and
a remote-controlled device, which is controlled by the remote controller, wherein the remote-controlled device detects its own acceleration and compares with the received first target motion signal, and according to the comparison result to control its motion in the first operation mode, and the first target motion signal is an absolute acceleration value to the remote-controlled device, the remote-controlled device takes the second target motion signal as a moving velocity in the second operation mode, and the second target motion signal is a relative acceleration value to the remote-controlled device.
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US13/316,257 US20120081216A1 (en) | 2007-03-23 | 2011-12-09 | Remote-controlled motion apparatus with acceleration self-sense and remote control apparatus therefor |
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TW096110076A TWI361095B (en) | 2007-03-23 | 2007-03-23 | Remote-controlled motion apparatus with acceleration self-sense and remote control apparatus therefor |
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US12/051,683 US8106748B2 (en) | 2007-03-23 | 2008-03-19 | Remote-controlled motion apparatus with acceleration self-sense and remote control apparatus therefor |
US13/316,257 US20120081216A1 (en) | 2007-03-23 | 2011-12-09 | Remote-controlled motion apparatus with acceleration self-sense and remote control apparatus therefor |
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US12/051,683 Continuation US8106748B2 (en) | 2007-03-23 | 2008-03-19 | Remote-controlled motion apparatus with acceleration self-sense and remote control apparatus therefor |
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US20120081216A1 true US20120081216A1 (en) | 2012-04-05 |
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US13/316,257 Abandoned US20120081216A1 (en) | 2007-03-23 | 2011-12-09 | Remote-controlled motion apparatus with acceleration self-sense and remote control apparatus therefor |
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CN103810827A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Wireless radio frequency structure based on no-driver USB technology, and signal transmission method thereof |
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Also Published As
Publication number | Publication date |
---|---|
US20080231465A1 (en) | 2008-09-25 |
TWI361095B (en) | 2012-04-01 |
TW200838595A (en) | 2008-10-01 |
US8106748B2 (en) | 2012-01-31 |
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