DK2222955T3 - Vindmøllevinge og fremgangsmåde til at styre belastningen på en vinge - Google Patents
Vindmøllevinge og fremgangsmåde til at styre belastningen på en vinge Download PDFInfo
- Publication number
- DK2222955T3 DK2222955T3 DK08846171.0T DK08846171T DK2222955T3 DK 2222955 T3 DK2222955 T3 DK 2222955T3 DK 08846171 T DK08846171 T DK 08846171T DK 2222955 T3 DK2222955 T3 DK 2222955T3
- Authority
- DK
- Denmark
- Prior art keywords
- wind turbine
- regulating means
- blade
- sensor
- buoyancy regulating
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 23
- 230000001276 controlling effect Effects 0.000 claims description 25
- 230000001105 regulatory effect Effects 0.000 claims description 25
- 238000011217 control strategy Methods 0.000 claims description 6
- 230000004913 activation Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 claims 1
- 238000005265 energy consumption Methods 0.000 claims 1
- 238000009826 distribution Methods 0.000 description 11
- 238000005259 measurement Methods 0.000 description 6
- 238000013480 data collection Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000009420 retrofitting Methods 0.000 description 3
- 230000003466 anti-cipated effect Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012886 linear function Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000153 supplemental effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/022—Adjusting aerodynamic properties of the blades
- F03D7/0232—Adjusting aerodynamic properties of the blades with flaps or slats
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0244—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for braking
- F03D7/0252—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for braking with aerodynamic drag devices on the blades
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0256—Stall control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/10—Purpose of the control system
- F05B2270/109—Purpose of the control system to prolong engine life
- F05B2270/1095—Purpose of the control system to prolong engine life by limiting mechanical stresses
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/331—Mechanical loads
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/80—Devices generating input signals, e.g. transducers, sensors, cameras or strain gauges
- F05B2270/808—Strain gauges; Load cells
-
- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Wind Motors (AREA)
Claims (14)
1. Vindmøllevinge (1) omfattende et vingelegeme (2) og opdrift-regulerende organ (3,7) indrettet til bevægelse i forhold til vingelegemet (2) med mindst et aktiveringsorgan (4) styret afen aktiveringskontroller (5), hvor aktiveringskontrolleren (5) styrer en indstilling af det opdrift-regulerende organ baseret på et input fra en sensor (6), hvor sensoren (6) er en kraftsensor (6) indrettet til at registrere en kraft fra en vindstrøm der indvirker på det opdrift-regulerende organ (3,7), kendetegnet ved at sensoren er anbragt ved det opdrift-regulerende organ eller på aktiveringsorganet til at registrere kraften fra vinden der indvirker direkte på kun det opdrift-regulerende organ.
2. Vindmøllevinge (1) ifølge krav 1, hvor det opdrift-regulerende organ (3, 7) er en bagkantsflap (7).
3. Vindmøllevinge (1) ifølge krav 2, hvor flappen (7) omfatter en flerhed af individuelt bevægelige flapsegmenter.
4. Vindmøllevinge (1) ifølge et hvilket som helst af de foregående krav, hvor det opdrift-regulerende organ (3, 7) er indrettet til at tilvejebringe en i det væsentlige kontinuerlig formændring i længderetningen på vingen (1).
5. Vindmøllevinge (1) ifølge et hvilket som helst af de foregående krav, hvor aktiveringskontrolleren (5) er indrettet til at modtage data der vedrører et eller flere af følgende parametre: vindhastighed (v), vindforskydning, vindstrømhastighed lokalt ved mindst en position på en eller flere vinger (1), vingevibrationer, vejrbetingelser såsom luftdensitet, turbulens, regn og sne, aktiveringsorganets (4) energiforbrug, faktisk vingebelastning, og vingebelastningshistorie.
6. Vindmøllevinge (1) ifølge et hvilket som helst af de foregående krav, hvor det opdrift-regulerende organ (3, 7) er forbundet med vingen (1) ved hjælp af mindst et hængsel (19) der muliggør at det opdrift-regulerende organ (3, 7) bevæger sig i forhold til vingen (1) og hvor sensoren (6) er indrettet til at registrere et drejningsmoment der indvirker på det opdrift-regulerende organ (3, 7) rundt om hængslet (19).
7. Vindmøllevinge (1) ifølge et hvilket som helst af de foregående krav, hvor sensoren omfatter et ekstensometer, såsom et ekstensometer på aktiveringsorganet (4), en trykmåler, en piezo-elektriske opstilling eller en effekttransformer til at måle strømforbruget af aktiveringsorganet (4).
8. Vindmølle (10) omfattende en vindmøllevinge (1) ifølge et hvilket som helst af de foregående krav, hvor aktiveringskontrolleren (5) af en vinge (1) er indrettet til at modtage input fra en kontroller af en anden vinge (1) af vindmøllen (10).
9. Vindmølle (10) ifølge krav 8, hvor vindmøllen (10) omfatter en pitchkontroller (31) indrettet til at modtage input fra en aktiveringskontroller (5) afen eller flere af vingerne (1).
10. Fremgangsmåde til at styre belastningen på en vindmøllevinge, hvilken fremgangsmåde omfatter trinnene: - at tilvejebringe et opdrift-regulerende organ justerbart med en aktuator, - at tilvejebringe en kontroller til at styre aktuatoren baseret på input fra en sensor, og at anvende styringsstrategi til at justere det opdrift-regulerende organ baseret på input fra sensoren, kendetegnet ved at sensoren er anbragt ved det opdrift-regulerende organ eller på aktiveringsorganet til kun at registrere kraften fra vinden der indvirker direkte på det opdriftregulerende organ.
11. Fremgangsmåde ifølge krav 10, hvor fremgangsmåden endvidere omfatter trinnene • at levere outputsignalet fra sensoren (6) til en aktiveringskontroller (5), og • at styre en indstilling af det opdrift-regulerende organ (3, 7) i forhold til vingen (1) på basis af et input fra aktiveringskontrolleren (5), hvor inputtet er etableret på basis af outputsignalet fra kraftsensoren (6).
12. Fremgangsmåde ifølge krav 10, hvor fremgangsmåden endvidere omfatter trinnene • at levere outputsignalet fra sensoren (6) til en vindmøllehovedkontroller, og • at styre en indstilling af det opdrift-regulerende organ (3, 7) i forhold til vingen (1) på basis af et input fra hovedkontrolleren, hvor inputtet er etableret på basis af outputsignalet fra kraftsensoren (6).
13. Fremgangsmåde ifølge et hvilket som helst af kravene 10 til 12, hvor fremgangsmåden endvidere omfatter trinnet at styre en indstilling af et første opdrift-regulerende organ (3, 7) placeret på en første vinge (1), på basis af et input fra en første aktiveringskontroller (5), hvor inputtet er yderligere etableret på basis af et outputsignal fra en anden aktiveringskontroller (5), hvor den anden aktiveringskontroller (5) styrer et andet opdrift-regulerende organ (3, 7) placeret på en yderligere vinge (1).
14. Fremgangsmåde ifølge et hvilket som helst af kravene 10 til 13, hvor vingen (1) omfatter mere end et opdrift-regulerende organ (3, 7) hver styret af en uafhængig aktiveringskontroller (5) og hvor fremgangsmåden endvidere omfatter trinnet at tjekke en samlet ensartethed af mindst to af de uafhængige aktiveringskontrollerere (5) for at sikre at det opdrift-regulerende organ (3, 7) koordinerer reaktionerne.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DKPA200701545 | 2007-10-29 | ||
| PCT/DK2008/000380 WO2009056136A2 (en) | 2007-10-29 | 2008-10-29 | Wind turbine blade and method for controlling the load on a blade |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DK2222955T3 true DK2222955T3 (da) | 2017-02-27 |
Family
ID=40591544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DK08846171.0T DK2222955T3 (da) | 2007-10-29 | 2008-10-29 | Vindmøllevinge og fremgangsmåde til at styre belastningen på en vinge |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US20100215493A1 (da) |
| EP (1) | EP2222955B1 (da) |
| CN (1) | CN101874158A (da) |
| DK (1) | DK2222955T3 (da) |
| WO (1) | WO2009056136A2 (da) |
Families Citing this family (39)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT504818A1 (de) * | 2004-07-30 | 2008-08-15 | Windtec Consulting Gmbh | Triebstrang einer windkraftanlage |
| US8678324B2 (en) | 2008-02-21 | 2014-03-25 | Cornerstone Research Group, Inc. | Passive adaptive structures |
| US8418967B2 (en) | 2008-02-21 | 2013-04-16 | Cornerstone Research Group, Inc. | Passive adaptive structures |
| DK200900420A (en) * | 2009-03-26 | 2010-09-27 | Vestas Wind Sys As | A wind turbine blade comprising a trailing edge flap and a piezoelectric actuator |
| WO2010151230A2 (en) * | 2009-06-26 | 2010-12-29 | Vestas Wind Systems A/S | Actuator system, wind turbine blade, and wind turbine |
| WO2011000628A2 (en) * | 2009-06-30 | 2011-01-06 | Vestas Wind Systems A/S | Improved wind turbine blade control |
| WO2011029447A2 (en) * | 2009-09-09 | 2011-03-17 | Vestas Wind Systems A/S | Wind turbine rotor blade |
| US9039366B2 (en) | 2009-11-11 | 2015-05-26 | Vestas Wind Systems A/S | Control of wind turbine blade lift regulating means |
| EP2333322A3 (en) * | 2009-11-30 | 2017-02-22 | Vestas Wind Systems A/S | Measuring loads on wind turbine blades |
| EP2516264B1 (en) | 2009-12-21 | 2016-11-02 | Ramot at Tel Aviv University, Ltd. | Oscillatory vorticity generator and applications thereof |
| DE102010025474A1 (de) * | 2010-06-29 | 2011-12-29 | Airbus Operations Gmbh | Messvorrichtung für die Messung von Kräften in Strukturbauteilen |
| US20110144814A1 (en) * | 2010-06-29 | 2011-06-16 | Detlef Menke | Wind turbine and method for operating a wind turbine |
| CA2803481C (en) * | 2010-06-30 | 2018-09-25 | Vestas Wind Systems A/S | Wind turbine system for detection of blade icing |
| DE102010027229A1 (de) * | 2010-07-15 | 2012-01-19 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Bereitstellung eines Abstellwinkel-Korrektursignals für ein vorbestimmtes Rotorblatt eier Windkraftanlage |
| US8011887B2 (en) * | 2010-07-21 | 2011-09-06 | General Electric Company | Rotor blade assembly |
| DE102010047918A1 (de) * | 2010-10-08 | 2014-04-30 | Smart Blade Gmbh | Flexible Hinterkante eines Rotorblattes einer Windkraftanlage |
| WO2012055419A2 (en) * | 2010-10-27 | 2012-05-03 | Vestas Wind Systems A/S | A method of controlling a wind turbine |
| US8743196B2 (en) | 2010-12-16 | 2014-06-03 | General Electric Company | System and method for performing an external inspection on a wind turbine rotor blade |
| WO2012097475A1 (en) * | 2011-01-21 | 2012-07-26 | General Electric Company | System and method for performing an internal inspection on a wind turbine rotor blade |
| EP2712401B1 (en) * | 2011-04-28 | 2016-10-05 | Vestas Wind Systems A/S | Improved wind turbine noise control methods |
| ES2475722T3 (es) * | 2011-06-03 | 2014-07-11 | Wilic S.�R.L. | Turbina e�lica y método de control para controlar la misma |
| WO2013167141A1 (en) * | 2012-05-11 | 2013-11-14 | Vestas Wind Systems A/S | A power system and method for operating a wind power system with a dispatching algorithm |
| US11136958B2 (en) * | 2012-08-06 | 2021-10-05 | Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno | Swallow tail airfoil |
| NL2009286C2 (en) * | 2012-08-06 | 2014-02-10 | Stichting Energie | Swallow tail airfoil. |
| US9388792B2 (en) * | 2013-03-15 | 2016-07-12 | Frontier Wind, Llc | Distributed control system |
| FR3011818B1 (fr) | 2013-10-11 | 2015-12-25 | Eurocopter France | Pale a vrillage adaptatif, et aeronef muni d'une telle pale |
| US10225629B2 (en) * | 2013-11-25 | 2019-03-05 | Chi Hung Louis Lam | System for monitoring condition of adjustable construction temporary supports |
| CN106460793B (zh) * | 2014-06-19 | 2019-01-15 | 维斯塔斯风力系统集团公司 | 响应于风切变而对风力涡轮机的控制 |
| CN104234929B (zh) * | 2014-07-24 | 2017-11-07 | 南京航空航天大学 | 一种控制风力机叶片载荷与变形的装置 |
| US9926911B2 (en) * | 2014-09-12 | 2018-03-27 | Ge Infrastructure Technology, Llc | Wind turbine air deflector system control |
| DE102015209109A1 (de) * | 2015-05-19 | 2016-11-24 | Wobben Properties Gmbh | Messanordnung an einer Windenergieanlage |
| EP3587803B1 (en) * | 2016-12-08 | 2024-10-16 | Cytroniq Co., Ltd. | Energy converting apparatus, energy converting system including same, and operating method thereof |
| EP3489641B1 (en) | 2017-11-27 | 2024-04-17 | Goodrich Actuation Systems Limited | Improved system for detecting a mechanical fault in a rotating shaft |
| CN109519341A (zh) * | 2018-10-16 | 2019-03-26 | 安徽科技学院 | 一种风力机叶片及其风力机 |
| CN110374801B (zh) * | 2019-07-02 | 2024-04-05 | 中国大唐集团新能源科学技术研究院有限公司 | 叶根独立变桨装置 |
| EP3978748A1 (en) * | 2020-10-01 | 2022-04-06 | Siemens Gamesa Renewable Energy A/S | Wind turbine component, wind turbine, and method for manufacturing of a wind turbine component |
| CN116265733B (zh) * | 2021-12-16 | 2025-08-05 | 北京金风科创风电设备有限公司 | 风力发电机组保护控制方法、装置、主控制器及介质 |
| CN119467194B (zh) * | 2024-11-06 | 2025-08-08 | 新疆洁净能源技术研究院 | 自适应调节抵抗风力机叶片弯曲的风力机装置和控制方法 |
| CN120369307B (zh) * | 2025-06-27 | 2025-08-22 | 上海东海风力发电有限公司 | 一种风电叶片强度预测设备及其预测方法 |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5347870A (en) * | 1992-01-29 | 1994-09-20 | State University Of New York | Dual function system having a piezoelectric element |
| US5320491A (en) * | 1992-07-09 | 1994-06-14 | Northern Power Systems, Inc. | Wind turbine rotor aileron |
| DE19731918B4 (de) * | 1997-07-25 | 2005-12-22 | Wobben, Aloys, Dipl.-Ing. | Windenergieanlage |
| KR20020021809A (ko) * | 1999-08-12 | 2002-03-22 | 추후기재 | 형상 기억 합금 액추에이터 및 제어 방법 |
| DE10021850A1 (de) * | 2000-05-05 | 2001-11-08 | Olaf Frommann | Adaptive Profilierung für Windenergierotoren |
| US6481667B1 (en) * | 2001-03-05 | 2002-11-19 | Northrop Grumman Corporation | System and method for deflecting an aerodynamic control surface |
| DE10116479C2 (de) * | 2001-04-03 | 2003-12-11 | Eurocopter Deutschland | Verfahren und Regeleinrichtung zur Verstellung einer im Rotorblatt eines Hubschraubers schwenkbar gelagerten Klappe |
| US6769873B2 (en) * | 2002-10-08 | 2004-08-03 | The United States Of America As Represented By The Secretary Of The Navy | Dynamically reconfigurable wind turbine blade assembly |
| EP1597476A1 (en) * | 2003-02-18 | 2005-11-23 | Forskningscenter Riso | Method of controlling aerodynamic load of a wind turbine based on local blade flow measurement |
| DK200300670A (da) * | 2003-05-05 | 2004-11-06 | Lm Glasfiber As | Vindmölleving med opdriftsregulerende organer |
| FR2863320B1 (fr) * | 2003-12-09 | 2007-11-16 | Ocea Sa | Pale d'aerogenerateur equipee de moyens deflecteurs, et aerogenerateur correspondant |
| DK176352B1 (da) * | 2005-12-20 | 2007-09-10 | Lm Glasfiber As | Profilserie til vinge til vindenergianlæg |
| EP1994281B1 (en) * | 2006-03-16 | 2013-05-22 | Vestas Wind Systems A/S | A method and control system for reducing the fatigue loads in the components of a wind turbine subjected to asymmetrical loading of the rotor plane |
-
2008
- 2008-10-29 CN CN200880113672A patent/CN101874158A/zh active Pending
- 2008-10-29 EP EP08846171.0A patent/EP2222955B1/en active Active
- 2008-10-29 WO PCT/DK2008/000380 patent/WO2009056136A2/en not_active Ceased
- 2008-10-29 DK DK08846171.0T patent/DK2222955T3/da active
-
2010
- 2010-04-29 US US12/770,243 patent/US20100215493A1/en not_active Abandoned
Also Published As
| Publication number | Publication date |
|---|---|
| CN101874158A (zh) | 2010-10-27 |
| EP2222955A2 (en) | 2010-09-01 |
| WO2009056136A2 (en) | 2009-05-07 |
| WO2009056136A3 (en) | 2009-12-03 |
| US20100215493A1 (en) | 2010-08-26 |
| EP2222955B1 (en) | 2017-01-11 |
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