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Hybrid Signal Processing via Sampled-data Control Theory

Research Project

Project/Area Number 21360203
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionKyoto University

Principal Investigator

YAMAMOTO Yutaka  京都大学, 情報学研究科, 教授 (70115963)

Co-Investigator(Renkei-kenkyūsha) NAGAHARA Masaaki  京都大学, 情報学研究科, 助教 (90362582)
Project Period (FY) 2009 – 2011
Project Status Completed (Fiscal Year 2011)
Budget Amount *help
¥17,940,000 (Direct Cost: ¥13,800,000、Indirect Cost: ¥4,140,000)
Fiscal Year 2011: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
Fiscal Year 2010: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
Fiscal Year 2009: ¥6,500,000 (Direct Cost: ¥5,000,000、Indirect Cost: ¥1,500,000)
Keywords制御理論 / サンプル値制御理論 / 完全帯域制限仮定 / ディジタルフィルタ / 音響処理 / 画像処理 / 適応フィルタ / 分数次遅れフィルタ / ウェーブレット / デジタル信号処理 / ハイブリッド信号処理 / アナログ特性 / 音響画像処理 / ディジタル信号処理 / 音響・画像処理
Research Abstract

This project has established the design methodology for digital filters that makes analog performance optimal, based on sampled-data control theory. We have also successfully derived adaptation scheme for sampled-data filters. Major achievements include a) high-quality restoration from compressed audio sources, b) super-sonic reproduction from compact disc sources, c) a super-resolution method for image processing that reduces jaggy components, d) optimal construction of splines, e) design method for fractional-delay filters with applications to pitch-shifting. In particular, the algorithm is implemented into sound-processing LSI chips, and their cumulative production has reached 30 million chips. We have also placed an application to wavelets in a subsequent scope for the future.

Report

(4 results)
  • 2011 Annual Research Report   Final Research Report ( PDF )
  • 2010 Annual Research Report
  • 2009 Annual Research Report
  • Research Products

    (68 results)

All 2012 2011 2010 2009 Other

All Journal Article (27 results) (of which Peer Reviewed: 24 results) Presentation (35 results) Remarks (4 results) Patent(Industrial Property Rights) (2 results)

  • [Journal Article] エネルギーマネジメントシステムにおける電力需給バランス制御2012

    • Author(s)
      宮崎, 工藤, 永原, 林, 山本
    • Journal Title

      パナソニック技報

      Volume: 57巻 Pages: 17-22

    • Related Report
      2011 Annual Research Report 2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] A Brief Overview of Signal Reconstruction via Sampled-Data H-infinity Optimization2012

    • Author(s)
      Y. Yamamoto, M. Nagahara and P. P. Khargonekar
    • Journal Title

      Applied and Computational Mathematics

      Volume: Vol.11 Pages: 3-18

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Signal Reconstruction via H-infinity Sampled-Data Control Theory-Beyond the Shannon Paradigm2012

    • Author(s)
      Y. Yamamoto, M. Nagahara, and P. P. Khargonekar
    • Journal Title

      IEEE Transactions on Signal Processing

      Volume: Vol.60 Pages: 613-625

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Signal Reconstruction via H-infinity Sampled-Data Control Theory--Beyond the Shannon Paradigm2012

    • Author(s)
      Y.Yamamoto, M.Nagahara, P.P.Khargonekar
    • Journal Title

      IEEE Transactions on Signal Processing

      Volume: 60 Pages: 613-625

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Brief Overview of Signal Reconstruction via Sampled-Data H-infinity Optimization2012

    • Author(s)
      Y.Yamamoto, M.Nagahara, P.P.Khargonckar
    • Journal Title

      Applied and Computational Mathematics

      Volume: 11 Pages: 3-18

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] H-infinity design of periodically nonuniform interpolation and decimation for non-band-limited signals2011

    • Author(s)
      M. Nagahara, M. Ogura, and Y. Yamamoto
    • Journal Title

      SICE Journal of Control, Measurement, and System Integration

      Volume: Vol.4 Pages: 341-348

    • Related Report
      2011 Final Research Report
  • [Journal Article] スラスト荷重下における転がり軸受振動の定式化と低速回転域での劣化診断への適用2011

    • Author(s)
      安福大輔、藤井彰、山本裕
    • Journal Title

      日本機械学会論文集

      Volume: 77巻 Pages: 2627-2641

    • NAID

      130001055305

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] H∞optimal approximation for causal spline interpolation2011

    • Author(s)
      M. Nagahara and Y. Yamamoto
    • Journal Title

      Signal Processing

      Volume: Vol.90 Pages: 176-184

    • NAID

      120002511311

    • Related Report
      2011 Final Research Report
  • [Journal Article] H∞ optimal approximation for causal spline interpolation2011

    • Author(s)
      M.Nagahara, Y.Yamamoto
    • Journal Title

      Signal Processing

      Volume: 91 Pages: 176-184

    • NAID

      120002511311

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] H-infinity design of periodically nonuniform interpolation and decimation for non-band-limited signals2011

    • Author(s)
      M.Nagahara, M.Ogura, Y.Yamamoto
    • Journal Title

      SICE Journal of Control, Measurement, and System Intogralion

      Volume: 4 Pages: 341-348

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Pitch Shifting by H-Infinity-Optimal Variable Fractional Delay Filters2011

    • Author(s)
      M.Nagahara, K.Hanibuchi, Y.Yamamoto
    • Journal Title

      Proc.IFAC 18th World Congress

      Volume: 1 Pages: 4386-4391

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Bezout Identity over a Ring of Distributions-Multivariable Case2011

    • Author(s)
      Y.Yamamoto
    • Journal Title

      Proc.IFAC 18th World Congress

      Volume: 1 Pages: 10098-10104

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Compact Sets in the Graph Topology and Applications to Approximation of System Design2011

    • Author(s)
      Y.Yamamoto, M.Vidyasagar
    • Journal Title

      Proc.50th IEEE CDC

      Volume: 1 Pages: 621-626

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Duration-invariant pitch-shifting for stringed instruments2011

    • Author(s)
      M.Nagara, K.Hanibchi, Y.Yamamoto
    • Journal Title

      Proc.3rd International Conference on Control and Optimization with Industrial Applications (COIA)

      Volume: 1

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] H-infinity optimal approximation for causal spline interpolation2011

    • Author(s)
      M.Nagahara, Y.Yamamoto
    • Journal Title

      Signal Processing

      Volume: 91 Pages: 176-184

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] ラジアル荷重下における転がり軸受振動の定式化と低速回転域での劣化診への適用2010

    • Author(s)
      安福大輔、藤井彰、山本裕
    • Journal Title

      日本機械学会論文集

      Volume: 76巻 Pages: 2947-2954

    • Related Report
      2011 Final Research Report
  • [Journal Article] ラジアル荷重下における転がり軸受振動の定式化と低速回転域での劣化診断への適用2010

    • Author(s)
      安福, 藤井, 山本
    • Journal Title

      日本機械学會論文集

      Volume: 76-771 Pages: 2947-2954

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Pseudorational behaviors and Bezoutians2010

    • Author(s)
      Y.Yamamoto, J.C.Willems, M.Ogura
    • Journal Title

      Proc.MTNS 2010

      Volume: 1 Pages: 1917-1921

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Dissipativity of pseudorational behaviors2010

    • Author(s)
      M.Ogura, Y.Yamamoto
    • Journal Title

      Proc.MTNS 2010

      Volume: 1 Pages: 849-853

    • NAID

      130006984371

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Quadratic programming for monotone control theoretic splines2010

    • Author(s)
      M.Nagahara, C.F.Martin, Y.Yamamoto
    • Journal Title

      Proc.SICE Annual Conference 2010

      Volume: 1 Pages: 531-534

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] On the dissipativity of pseudorational behaviors2010

    • Author(s)
      M.Ogura, Y.Yamamoto, J.C.Willems
    • Journal Title

      Proc.49th IEEE Conference on Decision and Control

      Volume: 1 Pages: 1737-1742

    • NAID

      130006984371

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] H2/H-infinity approach to the histogram method for density estimation2009

    • Author(s)
      M.Nagahara, K.I.Sato, Y.Yamamoto
    • Journal Title

      Proc. ICROS-SICE International Joint Conference 2009

      Pages: 1230-1233

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Optimal design of Delta/Sigma modulators via generalized KYP lemma2009

    • Author(s)
      M.Nagahara, Y.Yamamoto
    • Journal Title

      Proc. ICROS-SICE International Joint Conference 2009

      Pages: 4376-4379

    • NAID

      130006982853

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Path integrals and Bezoutians for pseudorational transfer functions2009

    • Author(s)
      Y.Yamamoto, J.C.Willems
    • Journal Title

      Proc. 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

      Pages: 8113-8119

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A novel approach to repetitive control via sampled-data H-infinity filters2009

    • Author(s)
      M.Nagahara, M.Ogura, Y.Yamamoto
    • Journal Title

      Proc. 7th Asian Control Conference

      Pages: 160-165

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Hankel norm computation for pseudorational transfer functions2009

    • Author(s)
      M.Ogura, Y.Yamamoto
    • Journal Title

      Proc. 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

      Pages: 5502-5507

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Robust repetitive control by sampled-data HY-infinity filters2009

    • Author(s)
      M.Nagahara, Y.Yamamoto
    • Journal Title

      Proc. 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

      Pages: 8136-8141

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Presentation] Compact Sets in the Graph Topology and Applications to Approximation of System Design2011

    • Author(s)
      Y.Yamamoto, M.Vidyasagar
    • Organizer
      50th IEEE CDC
    • Place of Presentation
      オーランド(U.S.A.)
    • Year and Date
      2011-12-12
    • Related Report
      2011 Annual Research Report
  • [Presentation] Pitch Shifting by H-Infinity-Optimal Variable Fractional Delay Filters2011

    • Author(s)
      M.Nagahara, K.Hanibuchi, Y.Yamamoto
    • Organizer
      IFAC 18th World Congress
    • Place of Presentation
      ミラノ(イタリア)
    • Year and Date
      2011-08-30
    • Related Report
      2011 Annual Research Report
  • [Presentation] Bezout Identity over a Ring of Distributions-Multivariable Case2011

    • Author(s)
      Y.Yamamoto
    • Organizer
      IFAC 18th World Congress
    • Place of Presentation
      ミラノ(イタリア)
    • Year and Date
      2011-08-30
    • Related Report
      2011 Annual Research Report
  • [Presentation] Duration-invariant pitch-shifting for stringed instruments2011

    • Author(s)
      M.Nagahara, K.Hanibuchi, Y.Yamamoto
    • Organizer
      3rd International Conference on Control and Optimization with Industrial Applications (COIA)
    • Place of Presentation
      アンカラ(トルコ)
    • Year and Date
      2011-08-22
    • Related Report
      2011 Annual Research Report
  • [Presentation] From Sampled-data Control to Signal Processing-Beyond the Shannon Paradigm2011

    • Author(s)
      Y.Yamamoto
    • Organizer
      3rd International Conference on Control and Optimization with Industrial Applications (COIA)
    • Place of Presentation
      アンカラ(トルコ)
    • Year and Date
      2011-08-22
    • Related Report
      2011 Annual Research Report
  • [Presentation] H∞最適線形フィルタによる静止画像の超解像処理2011

    • Author(s)
      銭谷, 山本, 永原
    • Organizer
      第11回SICE制御部門大会
    • Place of Presentation
      琉球大学(沖縄)
    • Year and Date
      2011-03-18
    • Related Report
      2010 Annual Research Report
  • [Presentation] サンプル値制御理論にもとづく信号長不変なピッチシフト処理2011

    • Author(s)
      埴淵, 永原山本
    • Organizer
      第11回SICE制御部門大会
    • Place of Presentation
      琉球大学(沖縄)
    • Year and Date
      2011-03-16
    • Related Report
      2010 Annual Research Report
  • [Presentation] Duration-invariant pitch-shifting for stringed instruments2011

    • Author(s)
      M. Nagahara, K. Hanibuchi, and Y. Yamamoto
    • Organizer
      Proc. 3rd International Conference on Control and Optimization with Industrial Applications(COIA)
    • Place of Presentation
      Ankara(Turkey)
    • Related Report
      2011 Final Research Report
  • [Presentation] Compact Sets in the Graph Topology and Applications to Approximation of System Design2011

    • Author(s)
      Y. Yamamoto and M. Vidyasagar
    • Organizer
      Proc. 50th IEEE CDC
    • Place of Presentation
      Orland(USA)
    • Related Report
      2011 Final Research Report
  • [Presentation] Bezout Identity over a Ring of Distributions-Multivariable Case2011

    • Author(s)
      Y. Yamamoto
    • Organizer
      Proc. IFAC 18th World Congress
    • Place of Presentation
      Milano(Italia)
    • Related Report
      2011 Final Research Report
  • [Presentation] Pitch Shifting by H-Infinity Optimal Variable Fractional Delay Filters2011

    • Author(s)
      M. Nagahara, K. Hanibuchi, and Y. Yamamoto
    • Organizer
      Proc. IFAC 18th World Congress
    • Place of Presentation
      Milano(Italia)
    • Related Report
      2011 Final Research Report
  • [Presentation] On the dissipativity of pseudorational behaviors2010

    • Author(s)
      M.Ogura, Y.Yamamoto, J.C.Willems
    • Organizer
      49^<th> IEEE Conference on Decision and Control
    • Place of Presentation
      アトランタ(米国)
    • Year and Date
      2010-12-15
    • Related Report
      2010 Annual Research Report
  • [Presentation] 制御理論的スプラインのスパース表現2010

    • Author(s)
      永原, 山本
    • Organizer
      第39回制御理論シンポジウム
    • Place of Presentation
      ホテルコスモスクエア国際交流センター(大阪)
    • Year and Date
      2010-09-27
    • Related Report
      2010 Annual Research Report
  • [Presentation] From Sampled-data Control to Signal Processing Beyond the Shannon Paradigm2010

    • Author(s)
      Y.Yamamoto
    • Organizer
      IEEE Multi-Conferences on Systems and Control
    • Place of Presentation
      横浜
    • Year and Date
      2010-09-10
    • Related Report
      2010 Annual Research Report
  • [Presentation] Quadratic programming for monotone control theoretic splines2010

    • Author(s)
      M.Nagahara, C.F.Martin, Y.Yamamoto
    • Organizer
      SICE Annual Conference 2010
    • Place of Presentation
      台北(台湾)
    • Year and Date
      2010-08-19
    • Related Report
      2010 Annual Research Report
  • [Presentation] Pseudorational behaviors and Bezoutians2010

    • Author(s)
      Y.Yamamoto, J.C.Willems, M.Ogura
    • Organizer
      MTNS 2010
    • Place of Presentation
      ブダペスト(ハンガリー)
    • Year and Date
      2010-07-09
    • Related Report
      2010 Annual Research Report
  • [Presentation] Dissipativity of pseudorational behaviors2010

    • Author(s)
      M.Ogura, Y.Yamamoto
    • Organizer
      MTNS 2010
    • Place of Presentation
      ブダペスト(ハンガリー)
    • Year and Date
      2010-07-06
    • Related Report
      2010 Annual Research Report
  • [Presentation] On the disspativity of pseudo rational behaviors2010

    • Author(s)
      M. Ogura, Y. Yamamoto, and J. C. Willems
    • Organizer
      Proc. 49th IEEE Conference on Decision and Control
    • Place of Presentation
      Atlanta(USA)
    • Related Report
      2011 Final Research Report
  • [Presentation] Quadratic programming for monotone control theoretic splines2010

    • Author(s)
      M. Nagahara, C. F. Martin, and Y. Yamamoto
    • Organizer
      Proc. SICE Annual Conference 2010
    • Place of Presentation
      Taipei(Taiwan)
    • Related Report
      2011 Final Research Report
  • [Presentation] Pseudo rational behaviors and Bezoutians2010

    • Author(s)
      Y. Yamamoto, J. C. Willems and M. Ogura
    • Organizer
      Proc. MTNS 2010
    • Place of Presentation
      Budapest(Hungary)
    • Related Report
      2011 Final Research Report
  • [Presentation] Disspativity of pseudo rational behaviors2010

    • Author(s)
      M. Ogura and Y. Yamamoto
    • Organizer
      Proc. MTNS 2010
    • Place of Presentation
      Budapest(Hungary)
    • Related Report
      2011 Final Research Report
  • [Presentation] Path integrals and Bezoutians for pseudorational transfer functions2009

    • Author(s)
      Y.Yamamoto
    • Organizer
      48th IEEE Conference on Decision and Control and 28th Chinese Control Conference
    • Place of Presentation
      Shanghai, China
    • Year and Date
      2009-12-18
    • Related Report
      2009 Annual Research Report
  • [Presentation] Robust repetitive control by sampled-data H-infinity filters2009

    • Author(s)
      M.Nagahara
    • Organizer
      48th IEEE Conference on Decision and Control and 28th Chinese Control Conference
    • Place of Presentation
      Shanghai, China
    • Year and Date
      2009-12-18
    • Related Report
      2009 Annual Research Report
  • [Presentation] Hankel norm computation for pseudorational transfer functions2009

    • Author(s)
      M.Ogura
    • Organizer
      48th IEEE Conference on Decision and Control and 28th Chinese Control Conference
    • Place of Presentation
      Shanghai, China
    • Year and Date
      2009-12-17
    • Related Report
      2009 Annual Research Report
  • [Presentation] Path Integrals, Bezoutians and Stability2009

    • Author(s)
      Yutaka Yamamoto
    • Organizer
      Open and Interconnected Systems, Modeling and Control
    • Place of Presentation
      Bruges, Belgium
    • Year and Date
      2009-09-16
    • Related Report
      2009 Annual Research Report
  • [Presentation] Path Integrals and Bezoutians for a Class of Infinite-Dimensional Systems2009

    • Author(s)
      Yutaka Yamamoto
    • Organizer
      A Celebration of the Field of Systems and Control, Preliminary Program
    • Place of Presentation
      Stockholm, Sweden
    • Year and Date
      2009-09-10
    • Related Report
      2009 Annual Research Report
  • [Presentation] A novel approach to repetitive control via sampled-data H-infinity filters2009

    • Author(s)
      M.Nagahara
    • Organizer
      7th Asian Control Conference
    • Place of Presentation
      Hong Kong, China
    • Year and Date
      2009-08-27
    • Related Report
      2009 Annual Research Report
  • [Presentation] Optimal design of Delta/Sigma modulators via generalized KYP lemma2009

    • Author(s)
      M.Nagahara
    • Organizer
      ICROS-SICE International Joint Conference 2009
    • Place of Presentation
      Fukuoka, Japan
    • Year and Date
      2009-08-21
    • Related Report
      2009 Annual Research Report
  • [Presentation] H2/H-infinity approach to the histogram method for density estimation2009

    • Author(s)
      K.Sato
    • Organizer
      ICROS-SICE International Joint Conference 2009
    • Place of Presentation
      Fukuoka, Japan
    • Year and Date
      2009-08-19
    • Related Report
      2009 Annual Research Report
  • [Presentation] Robust repetitive control by sampled-data H^∞filters2009

    • Author(s)
      M. Nagahara and Y. Yamamoto
    • Organizer
      Proc. 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference
    • Place of Presentation
      Shanghai(China)
    • Related Report
      2011 Final Research Report
  • [Presentation] Path integrals and Bezoutians for pseudo rational transfer functions2009

    • Author(s)
      Y. Yamamoto and J. C. Willems
    • Organizer
      Proc. 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference
    • Place of Presentation
      Shanghai(China)
    • Related Report
      2011 Final Research Report
  • [Presentation] Hankel norm computation for pseudo rational transfer functions2009

    • Author(s)
      M. Ogura and Y. Yamamoto
    • Organizer
      Proc. 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference
    • Place of Presentation
      Shanghai(China)
    • Related Report
      2011 Final Research Report
  • [Presentation] A novel approach to repetitive control via sampled-data H∞filters2009

    • Author(s)
      M. Nagahara, M. Ogura, and Y. Yamamoto
    • Organizer
      Proc. 7th Asian Control Conference
    • Place of Presentation
      Hong kong(China)
    • Related Report
      2011 Final Research Report
  • [Presentation] Optimal design ofΔΣmodulators via generalized KYP lemma2009

    • Author(s)
      M. Nagahara and Y. Yamamoto
    • Organizer
      Proc. ICROS-SICE International Joint Conference
    • Place of Presentation
      Fukuoka(Japan)
    • Related Report
      2011 Final Research Report
  • [Presentation] H2/H∞approach to the histogram method for density estimation2009

    • Author(s)
      M. Nagahara, K. I. Sato, and Y. Yamamoto
    • Organizer
      Proc. ICROS-SICE International Joint Conference
    • Place of Presentation
      Fukuoka(Japan)
    • Related Report
      2011 Final Research Report
  • [Remarks]

    • URL

      http://www-ics.acs.i.kyoto-u.ac.jp/~yy/

    • Related Report
      2011 Final Research Report
  • [Remarks]

    • URL

      http://www-ics.acs.i.kyoto-u.ac.jp/~yy/

    • Related Report
      2011 Annual Research Report
  • [Remarks]

    • URL

      http://www-ics.acs.i.kyoto-u.ac.jp/~yy/

    • Related Report
      2010 Annual Research Report
  • [Remarks]

    • URL

      http://www-ics.acs.i.kyoto-u.ac.jp/~yy/index.html

    • Related Report
      2009 Annual Research Report
  • [Patent(Industrial Property Rights)] 超解像処理方法及び装置2011

    • Inventor(s)
      山本裕,銭谷謙吾
    • Industrial Property Rights Holder
      山本裕
    • Industrial Property Number
      2011-141632
    • Filing Date
      2011-06-27
    • Related Report
      2011 Final Research Report
  • [Patent(Industrial Property Rights)] 超解像処理方法及び装置2011

    • Inventor(s)
      山本裕、永原正章、銭谷謙吾
    • Industrial Property Rights Holder
      山本裕
    • Industrial Property Number
      2011-141632
    • Filing Date
      2011-06-27
    • Related Report
      2011 Annual Research Report

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Published: 2009-04-01   Modified: 2016-04-21  

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