WO2013041276A3 - Procédé de commande automatique du moteur électrique d'un vélo et dispositif de commande correspondant - Google Patents

Procédé de commande automatique du moteur électrique d'un vélo et dispositif de commande correspondant Download PDF

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Publication number
WO2013041276A3
WO2013041276A3 PCT/EP2012/064870 EP2012064870W WO2013041276A3 WO 2013041276 A3 WO2013041276 A3 WO 2013041276A3 EP 2012064870 W EP2012064870 W EP 2012064870W WO 2013041276 A3 WO2013041276 A3 WO 2013041276A3
Authority
WO
WIPO (PCT)
Prior art keywords
bicycle
electric motor
automatically driving
control device
corresponding control
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.)
Ceased
Application number
PCT/EP2012/064870
Other languages
German (de)
English (en)
Other versions
WO2013041276A2 (fr
Inventor
Norbert WALDE
Daniel Schifferdecker
Daniel Baumgaertner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2013041276A2 publication Critical patent/WO2013041276A2/fr
Publication of WO2013041276A3 publication Critical patent/WO2013041276A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
    • B60L15/2027—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope whilst maintaining constant 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
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/20—Electric propulsion with power supplied within the vehicle using propulsion power generated by humans or animals
    • 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
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/51—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/415—Inclination sensors
    • B62J45/4152—Inclination sensors for sensing longitudinal inclination of the cycle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
    • 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
    • B60L2200/00—Type of vehicles
    • B60L2200/12—Bikes
    • 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
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • B60L2240/642—Slope of road
    • 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
    • B60L2260/22—Standstill, e.g. zero 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
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/44—Control modes by parameter estimation
    • 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
    • Y02T10/64—Electric machine technologies in electromobility
    • 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
    • Y02T10/72—Electric energy management in electromobility
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

La présente invention concerne un procédé de commande automatique du moteur électrique d'un vélo (1), destiné à faciliter pour l'utilisateur l'arrêt, le stationnement et le démarrage en pente (2) dans le sens de la montée. La fonction antirecul selon l'invention est activée automatiquement dès que le vélo se trouve sur une pente ou en cas de détection d'un recul du vélo (1) en raison d'une déclivité. Dans ce cas, le moteur électrique est commandé et régulé de sorte que la force de déclivité (FH) soit compensée dans une très large mesure par la force motrice du moteur électrique (FM) de sorte que le vélo électrique (1) s'arrête, la vitesse (v) du vélo électrique étant alors nulle.
PCT/EP2012/064870 2011-09-20 2012-07-30 Procédé de commande automatique du moteur électrique d'un vélo et dispositif de commande correspondant Ceased WO2013041276A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011083072A DE102011083072A1 (de) 2011-09-20 2011-09-20 Verfahren zum automatischen Ansteuern des Elektromotors eines Fahrrads und entsprechende Steuervorrichtung
DE102011083072.3 2011-09-20

Publications (2)

Publication Number Publication Date
WO2013041276A2 WO2013041276A2 (fr) 2013-03-28
WO2013041276A3 true WO2013041276A3 (fr) 2013-05-30

Family

ID=46614477

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2012/064870 Ceased WO2013041276A2 (fr) 2011-09-20 2012-07-30 Procédé de commande automatique du moteur électrique d'un vélo et dispositif de commande correspondant

Country Status (2)

Country Link
DE (1) DE102011083072A1 (fr)
WO (1) WO2013041276A2 (fr)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101516075B1 (ko) * 2013-07-26 2015-05-04 삼성전기주식회사 전기 자전거의 모터 제어 시스템 및 그 제어방법
JP6299475B2 (ja) * 2014-06-20 2018-03-28 船井電機株式会社 歩行アシストカート
CN106080943A (zh) * 2016-08-23 2016-11-09 江西吕布科技有限公司 自行车助力方法及系统
CN106828758A (zh) * 2016-12-24 2017-06-13 深圳市珂荣信息技术有限公司 一种电动助力车控制方法及系统
EP4169824B1 (fr) * 2016-12-28 2026-02-11 Yamaha Hatsudoki Kabushiki Kaisha Système d'assistance électrique et véhicule d'assistance électrique
EP3564107A1 (fr) 2018-04-30 2019-11-06 Accelerated Systems Inc. Procédé et dispositif de commande d'un véhicule
CN109533184A (zh) * 2018-10-19 2019-03-29 天津新日机电有限公司 一种电动自行车的上下天桥语音安全提示方法
IT201800009925A1 (it) * 2018-10-30 2020-04-30 Texa Spa “sistema di controllo per veicolo elettrico”
EP3674130B1 (fr) 2018-12-26 2023-10-18 ZUMA Innovation, S.L. Véhicule électrique avec système de contrôle basé sur stimuli au conducteur
CN109677274A (zh) * 2019-01-07 2019-04-26 北京致行慕远科技有限公司 速度控制方法及电动车、存储介质、电子装置
US10933943B2 (en) * 2019-01-09 2021-03-02 Neutron Holdings, Inc. Uphill slope hold and start assistance for electric vehicles
DE102019219116B3 (de) * 2019-12-06 2021-05-27 Robert Bosch Gmbh Steuerungsverfahren für einen Elektromotor zum Halten des Zweirads an einer erkannten Steigung der Fahrtstrecke, Steuergerät und Zweirad
DE102020113387B4 (de) * 2020-05-18 2021-12-30 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Elektrisch angetriebenes Kleinstfahrzeug
DE102020206824B4 (de) 2020-06-02 2022-11-03 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung mit einer Steuereinheit zur Ansteuerung eines Antriebs eines Zweirads
DE102020215222B4 (de) 2020-12-02 2022-10-20 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Regelung eines Motordrehmoments eines Elektromotors als Antriebsmotor eines Elektrofahrrads, Steuergerät, Elektrofahrrad
DE102021213537A1 (de) 2021-11-30 2023-06-01 Robert Bosch Gesellschaft mit beschränkter Haftung Vorrichtung zum Steuern eines Motors eines elektrischen Fahrrads
EP4594166A1 (fr) * 2022-09-29 2025-08-06 ZF Friedrichshafen AG Procédé pour empêcher automatiquement une bicyclette de rouler vers l'arrière sur une pente, dispositif de commande, produit de programme informatique, support lisible par ordinateur, bicyclette
DE102022214088A1 (de) 2022-12-20 2024-06-20 Robert Bosch Gesellschaft mit beschränkter Haftung Elektrofahrrad-Steuervorrichtung
DE102023203894B3 (de) 2023-04-27 2024-08-01 Zf Friedrichshafen Ag Verfahren zum Betreiben einer Antriebseinrichtung für ein muskelbetriebenes Fahrzeug, Steuereinrichtung, Antriebseinrichtung sowie Fahrzeug
WO2024227504A1 (fr) * 2023-05-03 2024-11-07 Zf Friedrichshafen Ag Procédé de prévention de recul
JP2025025308A (ja) * 2023-08-09 2025-02-21 株式会社クボタ 電動車両
DE102023131696A1 (de) * 2023-11-14 2025-05-15 Brose Antriebstechnik GmbH & Co. Kommanditgesellschaft, Berlin Antriebssystem und Steuerungsverfahren für ein Elektrofahrrad mit Hanghaltemodus

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0976649A2 (fr) * 1996-05-24 2000-02-02 Sony Corporation Engine de locomotion avec dispositif moteur auxiliaire et procédé de commande du déplacement
EP1129932A2 (fr) * 2000-03-01 2001-09-05 Honda Giken Kogyo Kabushiki Kaisha Bicyclette à moteur
EP1236640A2 (fr) * 2001-02-28 2002-09-04 Honda Giken Kogyo Kabushiki Kaisha Dispositif de contrôle pour bicyclette à moteur auxiliaire
WO2008095116A2 (fr) * 2007-02-01 2008-08-07 Fallbrook Technologies, Inc. Système et procédés pour la commande d'une transmission et/ou d'un premier moteur d'entraînement

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010005040A1 (de) * 2010-01-20 2011-07-21 Skowronek, Patricia, 82234 Vollautomatisierung eines Elektrofahrrades

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0976649A2 (fr) * 1996-05-24 2000-02-02 Sony Corporation Engine de locomotion avec dispositif moteur auxiliaire et procédé de commande du déplacement
EP1129932A2 (fr) * 2000-03-01 2001-09-05 Honda Giken Kogyo Kabushiki Kaisha Bicyclette à moteur
EP1236640A2 (fr) * 2001-02-28 2002-09-04 Honda Giken Kogyo Kabushiki Kaisha Dispositif de contrôle pour bicyclette à moteur auxiliaire
WO2008095116A2 (fr) * 2007-02-01 2008-08-07 Fallbrook Technologies, Inc. Système et procédés pour la commande d'une transmission et/ou d'un premier moteur d'entraînement

Also Published As

Publication number Publication date
DE102011083072A1 (de) 2013-03-21
WO2013041276A2 (fr) 2013-03-28

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