(19)

(11)

EP 2 488 924 A1

(12)

(43) Date of publication: 22.08.2012 Bulletin 2012/34 (21) Application number: 10759664.5 (22) Date of filing: 30.09.2010

(51) International Patent Classification (IPC):  G05B 19/409(2006.01) G06F 3/048(2006.01) G05B 23/02(2006.01) G06T 15/00(2011.01) (86) International application number: PCT/EP2010/064514 (87) International publication number: WO 2011/045183 (21.04.2011 Gazette 2011/16)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR (30) Priority: 16.10.2009 EP 09173217 (71) Applicant: ABB Research Ltd. 8050 Zürich (CH)	(72) Inventors: GANZ, Christopher CH-8046 Zürich (CH) NAEDELE, Martin CH-8050 Zürich (CH) (74) Representative: Meier Obertüfer, Jürg  ABB Schweiz AG Intellectual Property (CH-IC/IP) Brown Boveri Strasse 6 5400 Baden 5400 Baden (CH)