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RESEARCH AND DEVELOPMENT
 9 Months Ended
Sep. 30, 2017
Research and Development [Abstract]  
RESEARCH AND DEVELOPMENT
RESEARCH AND DEVELOPMENT
Included in Research and development are costs related to product development and quality assurance programs. Quality assurance are the costs incurred to meet evolving customer and regulatory standards. Research and development costs are as follows:
 
 
Three Months Ended
September 30,
 
Nine Months Ended
September 30,
(in millions)
 
2017
 
2016
 
2017
 
2016
Product related research and development
 
$
73

 
$
91

 
$
245

 
$
301

Quality assurance
 
8

 
10

 
26

 
27

 
 
$
81

 
$
101

 
$
271

 
$
328