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Page 1: Robotic Exoskeletons: becoming economically feasible

Opportunities in Robotic Exoskeletons

Hybrid Assistive Limb SUIT (MT5009)

1

Group Members:

Phyoe Kyaw Kyaw A0098528M

Khin Sandar A0049731A

Mohammad Khalid A0098544R

Wang Juan A0098515W

Yuanbo Li (Michael) A0119085A

Zhongze Chen (Frank) A0119239B

Page 2: Robotic Exoskeletons: becoming economically feasible

CONTENTS

2

Introduction

How it Works

Applications

Evolution of Hybrid Assistive Limb (HAL)

Developments of the HAL suits

Future improvements for the HAL suits

Robotics Market

Future Entrepreneurial Opportunities

Summary and Conclusion

Page 3: Robotic Exoskeletons: becoming economically feasible

INTRODUCTION

Prof. Yoshiyuki Sankai (山海 嘉之)

University of Tsukuba, Japan Founder of Cyberdyne

Systems Corporation

Founded in 24 June 2004 Headquarters in Tsukuba, Ibaraki, Japan R&D of equipment & systems in medical, rehabilitation,

elderly assistance, rescue support, heavy labor supports in factories and plants. Production, lease, sales and support of HAL.

Well known for Hybrid Assistive Limb (HAL-5) suit

Hybrid Assistive Limb (HAL) Suit

A cyborg-type robot that can supplement, expand or improve physical capability.

Source: Cyberdyne Corporation, www.cyberdyne.jp

Page 4: Robotic Exoskeletons: becoming economically feasible

HAL IN THE NEWS AND PUBLICATIONS

Page 5: Robotic Exoskeletons: becoming economically feasible

Hybrid Control System (Cybernic Autonomous Control + Bio-Cybernic Control)

Cybernic Autonomous Control System Two control algorithms to provide physical support to wearers in various conditions.

Bio-Cybernic Control System Control system that sense wearer’s motion and activities using bioelectrical signal including myoelectricity Wearer receives physical support directly from the bioelectrical signals driven motors

HOW IT WORKS: HYBRID CONTROL SYSTEM

Page 6: Robotic Exoskeletons: becoming economically feasible

HOW IT WORKS: BIO-CYBERNIC CONTROL

1. Brain sends ‘Myoelectrical’ signal to muscles.

3. Biocybernic Control reads

data and activates the suit’s motors

2. Bioelectrical sensor detects the

signal and activates Biocybernic Control

Page 7: Robotic Exoskeletons: becoming economically feasible

Next generation rehabilitation

o Enhance and support physical capabilities of the user.

o Accelerate wearer’s daily activities and improve recovery.

o Support self-physical training

7

APPLICATIONS

Disaster Relief activities

o Rescue support at disaster sites

o Accelerate disaster recovery activities

and save lives

o Lifting heavy obstacles, victims and

elderly

o Disaster cleanup

Page 8: Robotic Exoskeletons: becoming economically feasible

Heavy industries

o Support carrying heavy machines and parts

o Reduce injury due to improper handling of heavy items

o Help ease the workers and increase productivity

• Hospitals and nursing homes

o Improves the mobility of elderly and

disabled

o Carry patients effortlessly by nurses

and hospital staffs

o Nurse-free walking and other physical

activities

APPLICATIONS

Page 9: Robotic Exoskeletons: becoming economically feasible

9

APPLICATIONS: DEMO

Page 10: Robotic Exoskeletons: becoming economically feasible

APPLICATIONS

Reference: The New England Journal of Medicine, Downloaded from nejm.org on August 25, 2013.

Statistical Analysis on HAL vs. other care for the recovery of stroke patients

For robot-assisted therapy: Testing on stroke patients shows that robot-assisted therapy is as good as intensive comparison therapy.

Page 11: Robotic Exoskeletons: becoming economically feasible

CONTENTS

11

Introduction

How it Works

Applications

Evolution of Hybrid Assistive Limb (HAL)

Improvements of the HAL suits

Future improvements for the HAL suits

Robotics Market

Future Entrepreneurial Opportunities

Summary and Conclusion

Page 12: Robotic Exoskeletons: becoming economically feasible

EVOLUTION OF HAL SUITS

1996

Designs and Creation

- Prototype hardware

design, HAL-3

- Attached to computer

Scale and Weight

- Released HAL-3

Prototype for Trial

- Backpack battery

and weighted 22kg

1999 1993

Discovery

- Mapping out

neurons

governing leg

movement

1997

Design and Creation

- Prototype HAL-1

- Support only lower

half limb

Technology and Designs

- Prototype hardware

designs, HAL-5

- Attached computer

directly to the suit for

limb control system

2003

Scale and Weight

- Released HAL-5

Prototype for Trail

- Waist strapped

battery and

weighted 10kg

2005

Safety and Conformance

- certified for European

Conformity (EC

Certificate) in Medical

Device Directive (MDD)

Commercialization

- Commercialized

HAL-5 to hospitals

and rehab centers

- Operate in

Fukushima cleanup

2011 2012

Page 13: Robotic Exoskeletons: becoming economically feasible

50

23 20 15

60

160

240

300

0

30

60 70

1000

800

500

200

0

200

400

600

800

1000

1200

0

50

100

150

200

250

300

350

HAL-3

(1999)

HAL-5

(2005)

HAL-5

(2008)

HAL-5

(2011)

Suit Weight (Kg)

Operating Time (mins)

Weight Lifting (kg)

Response Time (ms)

HAL IMPROVEMENTS MADE

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IMPROVEMENTS: HAL-3 TO HAL-5A

HAL 5-A (2005)

HAL 3 (1999-2005)

Suit Type HAL-3 (1999-2005) HAL-5 Type A (2005) Improvement (%)

Weight (Lower Body)

22kg 15kg 32% weight reduction

Power Storage Lead-Acid

Rechargeable Battery Li-Poly Battery

Rechargeable battery

Operating time

< 60 mins < 160 mins 266% more

operating time

Motions Daily Activities (sitting down and standing up from a chair, walking, climbing up and down stairs)

Operation Cybernic

Autonomous Control (CAC)

Hybrid Control System (CAC + Bio-Cybernic

Control) 53% faster

response time Processing Microcontroller Microprocessor

Construction (S/W)

Tungsten / Aluminum

Nickel molybdenum and aluminum alloy

10% more Strength/Weight

Price University Research Clinical Trial First Clinical

Trail with HAL

Comparison of HAL-3 VS HAL-5 Type A

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IMPROVEMENTS – BIOELECTRICAL SENSING

Bio-Cybernic Control System

- HAL exoskeleton moves

according to the thoughts of its wearer.

- Muscle movements are based on nerve signals sent from the brain to the muscles – signals that are registered in very weak traces on the surface of the skin.

- HAL identifies these signals using a sensor, sends a signal to the suit’s power unit and computer control the movement of the robotic limbs along with the human limbs

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HAL 5-B (2008)

Suit Type HAL-5 Type A (2005 – Ref)

HAL-5 Type B (2008)

HAL-5 Type C (2011)

Improvement (%)

Weight Lower body - 15kg

Full Body Weight (< 23kg)

Full Body Weight (<20 kg)

13% weight reduction

Power Storage

Li-Poly Rechargeable

battery

Li-Ion Battery Rechargeable battery

Operating time

Approx. 2 hrs 40 mins

Approx. 3 hrs Approx. 5 hrs 166% more operating time

Motions Daily Activities (sitting down and standing up from a chair, walking, climbing up and down stairs)

Operation Hybrid Control System (CAC +Bio-Cybernic Control)

Agility N/A Hold and lift heavy objects up to 60 kg

Hold and lift heavy objects up to 70 kg

16% more agility to lift

Processing Microprocessor Intel Atom 6% more response time

Construction (S/W)

Nickel molybdenum, aluminum alloy Carbon Magnesium Alloy

Nil

Price (Lease) Clinical Trial USD 2,500/mth USD 2,300/mth 5% lower lease price

IMPROVEMENTS: HAL-5A TO HAL-5C HAL 5-A

(2005)

HAL 5-C (2011)

Comparison of HAL-5 Type A VS HAL-5 Type B VS HAL-5 Type C

Page 17: Robotic Exoskeletons: becoming economically feasible

1.5

0.8

0.5

0.2 0.1 0.15

1.6

1.8 1.8 1.8

1

2.5 2.4

1.7

1.5

0

0.5

1

1.5

2

2.5

3

Microcontroller

(1999-2005)

Microprocessor

(2005-2008)

Intel Atom (2008-

2011)

Intel Atom (2011-

Present)

Intel Atom (Future)

HAL 3 HAL 5 (2005) HAL 5 (2008) HAL 5 (2011) HAL 5 (FG)

Response Time (s) Frequency (GHz) TDP (Watt)

http://www.cpu-world.com/info/Intel/Intel_Atom.html

DEVELOPMENT – RESPONSE TIME

Up to

7.5X Reduce

Response Time

1. Natural movement 2. Avoid accident 3. Move faster

Factor affecting in Response time are classified as 1. Software algorithm, 2. Processor speed, 3. Sensor’s sensitivity and its feedback.

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0

10

20

30

40

50

60

70

80

Lower Limb Lower and Upper

Limb

Full Body Suit Full Body Suit

HAL 3 HAL 5 (2005) HAL 5 (2008) HAL 5 (2011)

Agility (kg)

DEVELOPMENT – WEIGHT LIFTING

Source: Cyberdyne, Japan, www.cyberdyne.jp

Up to

2.6X More weight can be lifted

Kg

1. Possible more applications that require heavy lifting such as heavy labour industry, warehouse, rescue, nursing, etc.

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DEVELOPMENT – MATERIAL

* Maintain Strength to Weight Ratio

Hal 3 (50kg)

Hal 5 (2005 – 2008) (23kg)

950

450 300

Hal 5 (2011) (15kg)

10% Up S/W

1.5 X Reduce Weight*

http://helix.gatech.edu/Classes/ME4182/2000S1/Webs/reg_mech/prod/materials/strengthvsdensity.html

1. Quicker Mobility 2. Needs less motor torque

to drive the body 3. Easy to wear

Page 20: Robotic Exoskeletons: becoming economically feasible

18.4

18.6

18.8

19

19.2

19.4

19.6

19.8

20

20.2

0

10

20

30

40

50

60

1 2 3 4

IMPROVEMENT IN WEIGHT OF

HAL SUIT AND STRENGTH/WEIGHT RATIO

Weight (Kg) Strength/Weight (Mpa/Kg)

DEVELOPMENT – MATERIAL

Source: Cyberdyne, Japan, www.cyberdyne.jp

1. Quicker Mobility 2. Needs less motor torque

to drive the body 3. Lighter to make a suit

and easy to wear

HAL-3 (Tg-Al Alloy)

HAL-5 (2005) Ni-Mo-Al Alloy

HAL-5 (2008) Ni-Mo-Al Alloy

HAL-5 (2011) C-Mg Alloy

Page 21: Robotic Exoskeletons: becoming economically feasible

DEVELOPMENT – ENERGY STORAGE

0

50

100

150

200

250

300

350

HAL-3 HAL-5 B HAL-5 C

Op

erat

ing

tim

e (m

in)

0

20

40

60

80

100

120

140

160

lead acid Ni-Iron NiCa NiMH li-ion li-polymer

Ener

gy d

ensi

ty (

Wh /

kg)

Hal-5 B (2005-2008)

Hal-5 C (2011)

Hal-3 (1999-2005)

Up to

5X Energy Density

Up to

5X Operating

Time

Source: http://blog.genport.it/?p=133

Comparison of Energy Density for battery materials Battery storage used for HAL

1. More usage time and less charging 2. Compact and portable battery pack is possible 3. Improve suit’s form factors

Page 22: Robotic Exoskeletons: becoming economically feasible

CONTENTS

22

Introduction

How it Works

Applications

Evolution of Hybrid Assistive Limb (HAL)

Improvements of the HAL suits

Future improvements for the HAL suits

Robotics Market

Future Entrepreneurial Opportunities

Summary and Conclusion

Page 23: Robotic Exoskeletons: becoming economically feasible

FUTURE IMPROVEMENT OF HAL SUITS S

tren

gth

/Wei

gh

t

Rewalk

HAL 5 (2005)

Future HAL

Current Standing of HAL suit and expectation for future HAL

Berkeley Lower Extremity Exoskeleton (BLEEX)

HAL 5 (2011)

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Consideration for Our Next Generation Hal Suit for future opportunities of HAL

Market Opportunities, Market Shares and Types of Applications

Low Cost Material

Improve Operating

Time (Power Storage)

Enhanced Sensor

Performance

Low Cost Production

Per

form

ance

C

ost

FUTURE IMPROVEMENT OF HAL SUITS

Page 25: Robotic Exoskeletons: becoming economically feasible

PERFORMANCE IMPROVEMENT – POWER STORAGE

IMPROVE OPERATING

TIME

Current situation: • Battery pack weighs 3kg. • Continuous usage lasts less than 3

hours. • Battery type: Lithium-Ion

Alternatives in the future (7-10 years later) • Lithium-Sulphur (Li-S) Batteries

http://www.barnardmicrosystems.com/L4E_batteries.htm

Li-S Prototype

http://www.wfs.org/blogs/len-rosen/energy-update-lithium-sulfur-batteries-waste

Page 26: Robotic Exoskeletons: becoming economically feasible

PERFORMANCE IMPROVEMENT – POWER STORAGE

Source: Tarascon, J , 2010. Key Challenges in future Li-battery research. Philosophical Transactions of the Royal Society 368: 3227-3241

Current HAL (Li-Ion)

Future HAL (Li-S)

High Energy Density in Li-S enables HAL more operating time for less weight (Wh/Kg)

Page 27: Robotic Exoskeletons: becoming economically feasible

PERFORMANCE IMPROVEMENT – POWER STORAGE

Current HAL

Future HAL

Up to

x2 Energy Density

http://www.barnardmicrosystems.com/L4E_batteries.htm

Future Opportunities for Future Applications for HAL with • Higher power and energy density • Lighter and longer cycle times • Cost effective and competitive • Easy to Manufacture for

productivity

Page 28: Robotic Exoskeletons: becoming economically feasible

PERFORMANCE IMPROVEMENT – RESPONSE TIME

Enhanced Sensor

Performance

Current situation:

• Slow synchronization between limb nerve, motion sensor and driver.

• Room for improvement in speed of signal processing and energy consumption from the processor

Alternatives in the future • Shrink, SoC Atom Processor for low

cost, power consumption with multi-core processing capability.

• Scaling in Bioelectronic IC fabrication enables packing of transistors required in a single IC and creates additional room for other components.

Sensors

Page 29: Robotic Exoskeletons: becoming economically feasible

2010 2011 2013 2014 and beyond

FUTURE PERFORMANCE IMPROVEMENT – RESPONSE TIME

Source: http://www.extremetech.com/computing/116561-the-death-of-cpu-scaling-from-one-core-to-many-and-why-were-still-stuck

Intel’s Future Atom Architecture

Future Opportunities for Future Applications for HAL with • Low power multicore processor

enables quicker response time for lag free movement

• Help synchronization quicker • Reduce in Chip size enable low

energy consumption and space required

2008

Pack more cores into a single SoC (low power and heat, high speed processing)

Page 30: Robotic Exoskeletons: becoming economically feasible

PERFORMANCE IMPROVEMENT – RESPONSE TIME WITH SCALING BIOELECTRICAL (MUSCLE) SENSOR ICS

http://www.scribd.com/doc/123001077/Advancer-Technologies-Muscle-Sensor-v2-Manual

Muscle Sensor v1 (HAL-5A)

Muscle Sensor v2 (HAL-5B)

Muscle Sensor v3 (HAL-5C)

0

1

2

3

4

5

6

7

8

9

Muscle sensor v1 Muscle sensor v2 Muscle sensor v3

HAL 5 (2005) HAL 5 (2008) HAL 5 (2011)

Dimension (inxin)

Voltage Used (V)

0

10

20

30

40

50

60

Muscle sensor v1 Muscle sensor v2 Muscle sensor v3

HAL 5 (2005) HAL 5 (2008) HAL 5 (2011)

Gain Setting (kW)

Price (USD)

Up to

2X Size and Power

Up to

4X Gain

Setting

Future Opportunities for Future Applications for HAL with • Lower power

consumption • Reduce no. of ICs

and size of sensor create extra room for other components

• Improve gain setting for better sensor accuracy and response time

Scaling Pack more transistors into a single IC and thus increase freq.

(speed), allow low power and heat

Function of Bio- Electronic sensor IC

Page 31: Robotic Exoskeletons: becoming economically feasible

http://www.siliconsemiconductor.net/article/72615-MEMS-Chip-business-to-double-by-2013.php

Source: MEMS market grows as prices decline, http://www.digikey.com/supply-chain-hq/us/en/articles/ semiconductors/ mems-market-grows-as-prices-decline/1058

FUTURE TRENDS FOR MEMS SENSOR

Page 32: Robotic Exoskeletons: becoming economically feasible

ENTREPRENEUR OPPORTUNITIES WITH LOW COST MATERIAL

LOW COST MATERIAL

Current situation: • Base material used:

• Carbon Magnesium alloy - Weighted 15kg - US $40-65/kg

• Base material cost:

• Approx. US $600-975/suit

Alternatives in the future • Magnesium Reinforced Polycarbonate

• US$20-50/kg, Est. US$300-750/suit • Pro: Low Cost Material

Future Opportunities for Future Applications for HAL with - Reduction in cost creates greater

market share - Polycarbonate enable easy molding

for quick production and increase productivity

Page 33: Robotic Exoskeletons: becoming economically feasible

http://www.thenakedscientists.com/HTML/articles/article/steeling-the-show/

Other material consideration for suit and casing given the cost vs. strength chart below:

Polycarbonate, aluminum or magnesium alloys

seems more viable material to strike a balance between

cost and strength.

COST REDUCTION IMPROVEMENTS – MATERIAL

Now Future

Page 34: Robotic Exoskeletons: becoming economically feasible

Prices of HAL 5 Half Suit VS Full Suit

34

HAL 5 – Half Suit HAL 5 – Full Suit

http://news.cnet.com/8301-27083_3-20043544-247.html http://www.theaustralian.com.au/news/world/robots-to-the-rescue-as-an-aging-japan-looks-for-help/story-e6frg6so-1226494698495

- Indicative prices for Hospitals and Rehab centers. Leasing option is available from US$2,300 per month. - At this moment, can’t be bought-off the shelf.

Page 35: Robotic Exoskeletons: becoming economically feasible

CONTENTS

35

Introduction

How it Works

Applications

Evolution of Hybrid Assistive Limb (HAL)

Improvements of the HAL suits

Future improvements for the HAL suits

Robotics Market

Future Entrepreneurial Opportunities

Summary and Conclusion

Page 36: Robotic Exoskeletons: becoming economically feasible

ROBOTICS MARKET

- For domestic tasks - Entertainment - Handicap assistance - Personal transportation - Home security - Medical robots - Defense, rescue & security applications - Humanoids

- Manufacturing - Line assembly - Bio-industrial

In 2012, about 3 million service robots for personal and domestic use were sold, 20% more than in 2011. The value of sales increased to US$1.2 billion.

1. Service Robots 2. Industrial Robots

http://www.ifr.org/service-robots/statistics/

Page 37: Robotic Exoskeletons: becoming economically feasible

Current applications of HAL: - Eldercare and rehabilitation - Disaster relief - Heavy industries

Future - Consumer robotics, entertainment, leisure, military

Forecast US$51.7b market size for service & personal robotics

ROBOTICS MARKET

Worldwide Robotics Market Growth 1. Product Strategy

• Upper, Lower, Full Body, Rescue & Recovery

2. Pricing Strategy

• Lease < US$2000/mth

3. Target Market

• US, EU and Japan

4. Sales Strategy

• Rental to Hospitals, clinics, Rescue agencies, heavy labour industries and Rehab Centres

Page 38: Robotic Exoskeletons: becoming economically feasible

FUTURE ENTREPRENEUR OPPORTUNITY

HAL-assisted Rehab Centers / Hospitals • Patients with physical, developmental conditions.

• Eldercare

Training for Hal-Therapists • New training programs & centers for therapists to

use HAL-equipment.

• Also available to HAL suit customers

Manufactures and Suppliers • Increase demand to produce more

materials, components and integration parts.

Page 39: Robotic Exoskeletons: becoming economically feasible

Mobile HAL suit charging stations • Consumers can charge suit or exchange/purchase

battery packs.

Robot variations for games, sports • Create new market segments for sports

and games.

FUTURE ENTREPRENEUR OPPORTUNITY

Software Development Firms and Developers • Creates apps ecosystem for better Hal suit software like

brain-wave control, healthcare feedback, etc.

Heavy-lifting services • Existing movers, product assembly lines & warehousing

using the HAL suit.

Page 40: Robotic Exoskeletons: becoming economically feasible

Time 2005 2011 Present 2016

Driv

ers M

arke

t

(Ext

.)

Bus

ines

s

(Int

.)

Pro

duct

Te

chno

logy

R

&D

Full-body

Support Suit

Single

Joint Suit

Regional

Joint Suit

HAL-5 (2005)

R&D by Tsukuba University Collaborate with Intel Inc, Medical Industries in Europe,

Heavy industries in Japan Domestic and Global Market

Trends: Growth of global ageing population and disabilities

Market: Japan Domestic Hosipitals and Rehabitilitation Centre

Trends: Need for Heavy Labour and Rescue Works

Market: Heavy industries and Tough labour works

Founded Cyberdyne in 2008,

Produced 500 units per annum

HAL-5 (2011)

Battery

Used

Sensors/

Processor

Material

Li-Ion Op: Up to 3hrs

Hardware

Software

Global

Market

Li-Poly Op: 2 hr 40mins

Acceleration/COG/Angular Sensors/

Muscle Sensor v1, Microprocessor

Nickel molybdenum and aluminum alloy Carbon Magnesium Alloy

Acceleration/COG/Angular /Bioelectrical

(Muscle Sensor v3)/COP Sensors/Intel Atom (Z540)

Hi Capacity Li-Ion Op: Up to 4hrs

HAL-5 (2011-2013) HAL-7 (2016)

Magnesium Reinforced

Polycarbonate

Lithium-Sluphur

Li-Ion Op: > 5hrs

MEMS sensors /

Bay Trail Processors

Cybernic Autonomous Control (CAC) + Hybrid Control System (CAC +Bio-Cybernic Control)

Uppler/Lower Limb Suit Full-body Support Suit Tungsten Made Suit Heavy Industry Suit Polycarbonate Suit

SUMMARY - ROADMAP OF HAL

Page 41: Robotic Exoskeletons: becoming economically feasible

• HAL suit – The leader in robotics exoskeleton

• Showed improvements and commitment to the success of the product.

• Developments in key areas that will impact the performance and cost of the HAL suit.

• Growing trend in robotics market.

• Entrepreneurship opportunities

CONCLUSION

Page 42: Robotic Exoskeletons: becoming economically feasible

Lets have Q & A…

Page 43: Robotic Exoskeletons: becoming economically feasible

[1] F. Ichihashi, Y. Sankai, S. Kuno, Development of Secure Data Management Server for e-

Health Promotion System, International Journal of Sport and Health Science,Vol.4, pp. 617-

627, 2006

[2] H. Toda, T. Kobayakawa, Y. Sankai, A multi-link system control strategy based biologilcal

movement, Advanced Robotics, vol.20 no.6, pp. 661-679, 2006

[3] H. Toda, Y. Sankai: Three-dimensional link dynamics simulator base on N-single-particle

movement, Advanced Robotics, vol. 19, no. 9, pp. 977-993, 2006

[4] H. Kawamoto, Y. Sankai: Power assist method based on phase sequence and muscle force

condition for HAL, Advanced Robotics, vol.19, no.7, pp. 717-734, 2005

[5] S. Lee, Y. Sankai: Virtual Impedance Adjustment in Unconstrained Motion for Exoskeletal

Robot Assisting Lower Limb, Advanced Robotics, vol.19, no.7, pp. 773-795, 2005

[6] K. Suzuki, G. Mito, H. Kawamoto, Y. Hasegawa and Y. Sankai: Intention-based walking

support for paraplegia patients with Robot Suit HAL, Advanced Robotics, vol. 21, no. 12, pp.

1441 – 1469, 2007

REFERENCES