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RESEARCH AND DEVELOPMENT
 12 Months Ended
Dec. 31, 2018
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 for the years ended December 31, 2018, 2017 and 2016 consist of:
(in millions)
 
2018
 
2017
 
2016
Product related research and development
 
$
376

 
$
328

 
$
385

Quality assurance
 
37

 
33

 
36

Research and development
 
$
413

 
$
361

 
$
421