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RESEARCH AND DEVELOPMENT
 12 Months Ended
Dec. 31, 2019
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 2019, 2018 and 2017 consists of:
(in millions)
 
2019
 
2018
 
2017
Product related research and development
 
$
434

 
$
376

 
$
328

Quality assurance
 
37

 
37

 
33

Research and development
 
$
471

 
$
413

 
$
361