EP0663336B1 - Submersible vehicle - Google Patents
Submersible vehicle Download PDFInfo
- Publication number
- EP0663336B1 EP0663336B1 EP95100111A EP95100111A EP0663336B1 EP 0663336 B1 EP0663336 B1 EP 0663336B1 EP 95100111 A EP95100111 A EP 95100111A EP 95100111 A EP95100111 A EP 95100111A EP 0663336 B1 EP0663336 B1 EP 0663336B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- underwater vessel
- underwater
- driving means
- vessel according
- steering
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/20—Steering equipment
Definitions
- the invention relates to an underwater vehicle, in particular an underwater drone, with a drive device that a plurality of individual, in one includes predetermined drive direction acting drive means, and with a Device for steering the watercraft in pitch and yaw plane.
- a conventional type of underwater vehicle usually has two rudder flaps, which form a device for steering.
- One of the rudder flaps works in the vertical direction in order to bring about changes in direction of the fuselage in the pitch plane and the other rudder flap in yaw plane to change direction after To be able to perform on the starboard or port side.
- a disadvantage of these known Underwater vehicles are the high manufacturing costs due to the complex rudder flap designs as well as poor maneuverability at low speeds.
- EP-A-0 215 629 is a device for steering an underwater vehicle is known, arranged on a concentric to the longitudinal axis of the vehicle Drive ring adjustable wing are arranged. For steering the vehicle are the adjustable wing around their perpendicular to the longitudinal axis of the vehicle Swivel axes swiveled. This device for steering the underwater vehicle is complicated and expensive to manufacture.
- the object of the present invention is therefore to provide an underwater vehicle create, which is characterized by low manufacturing costs and good maneuverability distinguishes at all possible and especially low speeds.
- the device for steering the underwater vehicle consists of a control device designed to maintain or change of the course in pitch or yaw level only the drive power of the drive means controls individually.
- the advantages of the invention are in particular that for steering the underwater vehicle neither rudder flaps nor vertical or transverse drives required are.
- the underwater vehicle is controlled exclusively by Control of the drive power of the drive means.
- the drive device can be constructed from identical standard components, so that the invention Underwater vehicle can be produced with low manufacturing costs.
- the Controlling the drive power of each individual drive means ensures a very good maneuverability even at low speeds, especially at the destruction of underwater mines is important.
- the drive means each act in the straight direction of the Underwater vehicle.
- the drive device particularly preferably comprises four drive means, each offset by 90 ° around the longitudinal axis of the underwater vehicle at the rear of the Are arranged underwater vehicle.
- the underwater vehicle runs with the same drive power of all drive means in a straight line.
- Course corrections in the pitch or yaw level can be reduced, for example or increase the driving force of the respective drive means in the corresponding Level can be done easily.
- the drive means are particularly preferably formed by propellers, in pairs are driven in opposite directions.
- Propeller drives are inexpensive drive means, their pairwise opposite drive causes the screw effects Compensate for each other without being influenced by the control device.
- the device controls the Steering the underwater vehicle advantageously with propeller drives Speed of the propellers. Influencing the speed of the propellers is the easiest Method of individually controlling the drive power of the drive means.
- the drive device comprises three drive means, each 120 ° around the longitudinal axis of the underwater vehicle shifted around at the rear of the underwater vehicle are arranged. Opposite the arrangement of four drive devices becomes a drive means in this embodiment saved the manufacturing costs of the underwater vehicle thus further reduced.
- Figures 1 and 2 is an underwater vehicle 1, in the embodiment an underwater drone, in a side view and shown a rear view.
- the underwater vehicle 1 contains a sensor device in the bow area 2 (for example a sonar or camera device), with their Help, for example, anchor mines or not fully sunken Basic mines can be detected. Furthermore, a drive device 3 provided the drive means 5 at the rear 7 of the Underwater vehicle 1 includes, in the illustrated embodiment are designed as propellers. The drive means 5 are from a device 4 for steering the underwater vehicle 1 controlled to make changes of direction.
- a sensor device in the bow area 2 for example a sonar or camera device
- Help for example, anchor mines or not fully sunken Basic mines can be detected.
- a drive device 3 provided the drive means 5 at the rear 7 of the Underwater vehicle 1 includes, in the illustrated embodiment are designed as propellers.
- the drive means 5 are from a device 4 for steering the underwater vehicle 1 controlled to make changes of direction.
- baffles 8 the good straight running of the underwater vehicle 1 ensure.
- the device for steering the underwater vehicle controls the drive power of the individual drive means 5.
- the propulsion power of the two starboard-side propulsion means 5 decreased and the propulsion power the port drive means 5 increased.
- the drive power of the lower two or upper two drive means 5 can be controlled to change the direction of the underwater vehicle to effect in pitch level.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Description
Die Erfindung bezieht sich auf ein Unterwasserfahrzeug, insbesondere Unterwasserdrohne, mit einer Antriebseinrichtung, die eine Mehrzahl von einzelnen, in einer vorgebenen Antriebsrichtung wirkenden Antriebsmitteln umfaßt, und mit einer Einrichtung zum Lenken des Wasserfahrzeuges in Nick- und Gierebene.The invention relates to an underwater vehicle, in particular an underwater drone, with a drive device that a plurality of individual, in one includes predetermined drive direction acting drive means, and with a Device for steering the watercraft in pitch and yaw plane.
Ein Unterwasserfahrzeug konventioneller Bauart besitzt gewöhnlich zwei Ruderklappen, die eine Einrichtung zum Lenken bilden. Von den Ruderklappen wirkt eine in Vertikalrichtung, um Richtungsänderungen des Rumpfes in Nickebene zu bewirken und die andere Ruderklappe in Gierebene, um Richtungsänderungen nach Steuerbord oder Backbord durchführen zu können. Nachteilig bei diesen bekannten Unterwasserfahrzeugen sind die hohen Herstellkosten durch die aufwendigen Ruderklappenkonstruktionen sowie die schlechte Manövrierfähigkeit bei niedrigen Geschwindigkeiten.A conventional type of underwater vehicle usually has two rudder flaps, which form a device for steering. One of the rudder flaps works in the vertical direction in order to bring about changes in direction of the fuselage in the pitch plane and the other rudder flap in yaw plane to change direction after To be able to perform on the starboard or port side. A disadvantage of these known Underwater vehicles are the high manufacturing costs due to the complex rudder flap designs as well as poor maneuverability at low speeds.
Es sind darüber hinaus Unterwasserfahrzeuge mit einem zusätzlichen Vertikalantrieb oder mit einem zusätzlichen kombinierten Vertikal- und Querantrieb bekannt. Hierdurch wird zwar eine verbesserte Manövrierfähigkeit bei niedrigen Geschwindigkeiten erzielt; bei hohen Geschwindigkeiten hat sich die Manövrierfähigkeit in Vertikalrichtung jedoch als ungenügend erwiesen. Nachteilig wirken sich zudem auch bei diesen bekannten Unterwasserfahrzeugen die hohen Herstellkosten für den Vertikal- und den Querantrieb aus.They are also underwater vehicles with an additional vertical drive or with an additional combined vertical and transverse drive known. This does improve maneuverability at low Speeds achieved; at high speeds there is maneuverability in the vertical direction, however, proved to be insufficient. Have a disadvantage in addition, the high manufacturing costs of these known underwater vehicles for vertical and transverse drives.
Die Herstellkosten der Unterwasserfahrzeuge fallen insbesondere bei Einwegdrohnen zur Beseitigung von Minen stark ins Gewicht, da die Drohne mit der Mine zerstört wird.The manufacturing costs of the underwater vehicles fall in particular for one-way drones to remove mines heavily as the drone with the mine gets destroyed.
Aus der EP-A-0 215 629 ist eine Einrichtung zum Lenken eines Unterwasserfahrzeuges bekannt, bei der auf einem konzentrisch zur Fahrzeuglängsachse angeordneten Antriebsring Verstellflügel angeordnet sind. Zum Lenken des Fahrzeuges werden die Verstellflügel um ihre senkrecht zur Fahrzeuglängsachse verlaufenden Schwenkachsen verschwenkt. Diese Einrichtung zum Lenken des Unterwasserfahrzeuges ist kompliziert und teuer in der Herstellung.From EP-A-0 215 629 is a device for steering an underwater vehicle is known, arranged on a concentric to the longitudinal axis of the vehicle Drive ring adjustable wing are arranged. For steering the vehicle are the adjustable wing around their perpendicular to the longitudinal axis of the vehicle Swivel axes swiveled. This device for steering the underwater vehicle is complicated and expensive to manufacture.
Aufgabe der vorliegenden Erfindung ist es daher, ein Unterwasserfahrzeug zu schaffen, welches sich durch geringe Herstellkosten und gute Manövriereigenschaften bei möglichst allen und insbesondere niedrigen Geschwindigkeiten auszeichnet.The object of the present invention is therefore to provide an underwater vehicle create, which is characterized by low manufacturing costs and good maneuverability distinguishes at all possible and especially low speeds.
Diese Aufgabe wird beim Unterwasserfahrzeug der eingangs genannten Art erfindungsgemäß dadurch gelöst, daßdie Einrichtung zum Lenken des Unterwasserfahrzeuges aus einer Steuereinrichtung besteht, die zur Beibehaltung oder Änderung des Kurses in Nick- oder Gierebene nur die Antriebsleistung der Antriebsmittel einzeln steuert.This object is achieved according to the invention in the underwater vehicle of the type mentioned at the beginning solved in that the device for steering the underwater vehicle consists of a control device designed to maintain or change of the course in pitch or yaw level only the drive power of the drive means controls individually.
Die Vorteile der Erfindung liegen insbesondere darin, daß zum Lenken des Unterwasserfahrzeuges weder Ruderklappen noch Vertikal- oder Querantriebe erforderlich sind. Die Lenkung des Unterwasserfahrzeuges erfolgt ausschließlich durch Steuerung der Antriebsleistung der Antriebsmittel. Die Antriebseinrichtung kann aus identischen Standardkomponenten aufgebaut werden, so daß das erfindungsgemäße Unterwasserfahrzeug mit niedrigen Herstellkosten produzierbar ist. Die Steuerung der Antriebsleistung jedes einzelnen Antriebsmittels sorgt für eine sehr gute Manövrierfähigkeit auch bei geringen Geschwindigkeiten, die insbesondere bei der Vernichtung von Unterwasserminen wichtig ist. The advantages of the invention are in particular that for steering the underwater vehicle neither rudder flaps nor vertical or transverse drives required are. The underwater vehicle is controlled exclusively by Control of the drive power of the drive means. The drive device can be constructed from identical standard components, so that the invention Underwater vehicle can be produced with low manufacturing costs. The Controlling the drive power of each individual drive means ensures a very good maneuverability even at low speeds, especially at the destruction of underwater mines is important.
Vorteilhafterweise wirken die Antriebsmittel jeweils in Geradeausrichtung des Unterwasserfahrzeuges.Advantageously, the drive means each act in the straight direction of the Underwater vehicle.
Besonders bevorzugt umfaßt die Antriebseinrichtung vier Antriebsmittel, die jeweils um 90° um die Längsachse des Unterwasserfahrzeuges versetzt am Heck des Unterwasserfahrzeuges angeordnet sind. Bei dieser augenblicklich besonders bevorzugten Ausführungsform der vorliegenden Erfindung läuft das Unterwasserfahrzeug bei gleicher Antriebsleistung aller Antriebsmittel in Geradeausrichtung. Kurskorrekturen in Nick- bzw. Gierebene können beispielsweise durch Herabsetzung bzw. Erhöhung der Antriebskraft der jeweiligen Antriebsmittel in der entsprechenden Ebene auf einfache Weise durchgeführt werden.The drive device particularly preferably comprises four drive means, each offset by 90 ° around the longitudinal axis of the underwater vehicle at the rear of the Are arranged underwater vehicle. In this instantly special preferred embodiment of the present invention, the underwater vehicle runs with the same drive power of all drive means in a straight line. Course corrections in the pitch or yaw level can be reduced, for example or increase the driving force of the respective drive means in the corresponding Level can be done easily.
Besonders bevorzugt werden die Antriebsmittel von Propellern gebildet, die paarweise gegenläufig angetrieben werden. Propellerantriebe sind preiswerte Antriebsmittel, deren paarweise gegenläufiger Antrieb bewirkt, daß sich die Schraubeneffekte ohne Beeinflussung durch die Steuereinrichtung gegenseitig kompensieren.The drive means are particularly preferably formed by propellers, in pairs are driven in opposite directions. Propeller drives are inexpensive drive means, their pairwise opposite drive causes the screw effects Compensate for each other without being influenced by the control device.
Werden die Antriebsmittel durch Propeller gebildet, so steuert die Einrichtung zum Lenken des Unterwasserfahrzeuges vorteilhafterweise bei Propellerantrieben die Drehzahl der Propeller. Die Beeinflussung der Drehzahl der Propeller ist die einfachste Methode, die Antriebsleistung der Antriebsmittel einzeln zu steuern.If the drive means are formed by propellers, the device controls the Steering the underwater vehicle advantageously with propeller drives Speed of the propellers. Influencing the speed of the propellers is the easiest Method of individually controlling the drive power of the drive means.
Bei einer alternativen Ausgestaltung der Erfindung umfaßt die Antriebseinrichtung drei Antriebsmittel, die jeweils um 120° um die Längsachse des Unterwasserfahrzeuges herum versetzt am Heck des Unterwasserfahrzeuges angeordnet sind. Gegenüber der Anordnung von vier Antriebseinrichtungen wird bei dieser Ausführungsform ein Antriebsmittel eingespart, die Herstellungskosten des Unterwasserfahrzeuges somit weiter vermindert.In an alternative embodiment of the invention, the drive device comprises three drive means, each 120 ° around the longitudinal axis of the underwater vehicle shifted around at the rear of the underwater vehicle are arranged. Opposite the arrangement of four drive devices becomes a drive means in this embodiment saved the manufacturing costs of the underwater vehicle thus further reduced.
Im folgenden wird eine Ausführungsform der Erfindung anhand der Zeichnungen beschrieben. Es zeigen:
- Fig. 1
- eine Seitenansicht eines Unterwasserfahrzeuges;
- Fig. 2
- eine Heckansicht eines Unterwasserfahrzeuges.
- Fig. 1
- a side view of an underwater vehicle;
- Fig. 2
- a rear view of an underwater vehicle.
In den Figuren 1 und 2 ist ein Unterwasserfahrzeug 1, im Ausführungsbeispiel eine Unterwasserdrohne, in einer Seitenansicht und einer Heckansicht dargestellt.In Figures 1 and 2 is an underwater vehicle 1, in the embodiment an underwater drone, in a side view and shown a rear view.
Das Unterwasserfahrzeug 1 enthält im Bugbereich eine Sensoreinrichtung
2 (beispielsweise eine Sonar- oder Kameraeinrichtung), mit deren
Hilfe beispielsweise Ankertauminen oder nicht vollständig eingesunkene
Grundminen detektiert werden können. Ferner ist eine Antriebseinrichtung
3 vorgesehen, die Antriebsmittel 5 am Heck 7 des
Unterwasserfahrzeuges 1 umfaßt, die in dem dargestellten Ausführungsbeispiel
als Propeller ausgebildet sind. Die Antriebsmittel 5
werden von einer Einrichtung 4 zum Lenken des Unterwasserfahrzeuges
1 gesteuert, um Richtungsänderungen durchzuführen.The underwater vehicle 1 contains a sensor device in the bow area
2 (for example a sonar or camera device), with their
Help, for example, anchor mines or not fully sunken
Basic mines can be detected. Furthermore, a
Insbesondere in Figur 2 ist zu erkennen, daß die Antriebsmittel 5
jeweils um 90° um die Längsachse 6 des Unterwasserfahrzeuges 1 herum
versetzt am Heck 7 des Unterwasserfahrzeuges 1 angeordnet sind.
Durch die Pfeile werden die paarweise gegenläufigen Drehrichtungen
der Antriebsmittel 5 angedeutet. Zur gegenseitigen Kompensation von
Schraubeneffekten sind zwei der Propeller rechtsdrehend und zwei
linksdrehend ausgebildet. It can be seen in particular in FIG. 2 that the drive means 5
in each case around 90 ° around the
Zur Stabilisierung des Unterwasserfahrzeuges ist es zweckmäßig,
Leitflächen 8 vorzusehen, die einen guten Geradeauslauf des Unterwasserfahrzeuges
1 sicherstellen.To stabilize the underwater vehicle, it is advisable to
Provide
Die Einrichtung zum Lenken des Unterwasserfahrzeuges steuert die Antriebsleistung der einzelnen Antriebsmittel 5. Für eine Kursänderung in der Gierebene nach Steuerbord wird die Antriebsleistung der beiden steuerbordseitigen Antriebsmittel 5 vermindert und die Antriebsleistung der Backbord-Antriebsmittel 5 erhöht. Analog hierzu kann die Antriebsleistung der unteren beiden bzw. oberen beiden Antriebsmittel 5 gesteuert werden, um Richtungsänderungen des Unterwasserfahrzeuges in Nickebene zu bewirken.The device for steering the underwater vehicle controls the drive power of the individual drive means 5. For a course change in the yaw plane to starboard is the propulsion power of the two starboard-side propulsion means 5 decreased and the propulsion power the port drive means 5 increased. Analogously to this the drive power of the lower two or upper two drive means 5 can be controlled to change the direction of the underwater vehicle to effect in pitch level.
Claims (12)
- An underwater vessel, in particular an underwater drone, having a driving device (3) which includes a plurality of individual driving means (5) acting in a pre-determined driving direction, and having a device (4) for steering the underwater vessel in the pitching and yawing planes, characterized in that the device (4) for steering the underwater vessel (1) comprises a control device which controls only the driving power of the driving means (5) individually to maintain or change the course in the pitching or yawing plane.
- An underwater vessel according to Claim 1, characterized in that the driving means (5) act in each case unidirectionally.
- An underwater vessel according to Claim 1 or 2, characterized in that the driving device (3) includes three driving means.
- An underwater vessel according to Claim 3, characterized in that the driving means (5) are arranged at the stern (7) of the underwater vessel (1), offset in each case by 120° about the longitudinal axis (6) of the underwater vessel (1).
- An underwater vessel according to one of the preceding claims, characterized in that the driving device (3) includes four driving means (5).
- An underwater vessel according to Claim 5, characterized in that the driving means (5) are arranged at the stern (7) of the underwater vessel (1), offset in each case by 90° about the longitudinal axis (6) of the underwater vessel (1).
- An underwater vessel according to one of the preceding claims, characterized in that the driving means (5) are formed by propellers.
- An underwater vessel according to Claim 7, characterized in that the driving means (5) are propellers driven in counter-rotating pairs.
- An underwater vessel according to Claim 7 or 8, characterized in that the device (4) for steering the underwater vessel (1) controls the rotational speed of the propellers.
- An underwater vessel according to one of Claims 7 to 9, characterized in that the device (4) for steering the underwater vessel (1) controls the angle of incidence of the propeller blades.
- An underwater vessel according to one of the preceding claims, characterized in that the driving device of the driving means (5) is reversible.
- An underwater vessel according to one of Claims 7 to 11, characterized in that the device (4) for steering the underwater vessel controls the rotational direction of the propellers.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE4401309A DE4401309A1 (en) | 1994-01-18 | 1994-01-18 | Underwater vehicle |
| DE4401309 | 1994-01-18 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0663336A1 EP0663336A1 (en) | 1995-07-19 |
| EP0663336B1 true EP0663336B1 (en) | 1998-07-15 |
Family
ID=6508155
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP95100111A Expired - Lifetime EP0663336B1 (en) | 1994-01-18 | 1995-01-05 | Submersible vehicle |
Country Status (7)
| Country | Link |
|---|---|
| EP (1) | EP0663336B1 (en) |
| KR (1) | KR100203757B1 (en) |
| DE (2) | DE4401309A1 (en) |
| DK (1) | DK0663336T3 (en) |
| ES (1) | ES2118448T3 (en) |
| NO (1) | NO950169L (en) |
| SG (1) | SG49003A1 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2230953B2 (en) * | 2002-07-16 | 2006-06-16 | Universidad Politecnica De Madrid | ROBOT PARALLEL TREPADOR AND SLIDING FOR WORK ON STRUCTURES AND SURFACES. |
| KR101115124B1 (en) * | 2009-07-09 | 2012-02-24 | 대우조선해양 주식회사 | An Unmanned Underwater Vehicle with Retractable Type Rudders |
| KR101605112B1 (en) | 2009-07-21 | 2016-03-22 | 대우조선해양 주식회사 | Method and Apparatus for Removing Mines in the Sea |
| DE102010035383B4 (en) * | 2010-08-23 | 2017-03-23 | Daniel Bästel | Underwater vehicle |
| WO2012037922A2 (en) * | 2010-08-23 | 2012-03-29 | Baestel Daniel | Underwater vehicle |
| CN109760808B (en) * | 2019-03-12 | 2023-12-22 | 中国科学院沈阳自动化研究所 | Low-power-consumption steering device of long-range autonomous underwater vehicle |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3101066A (en) * | 1961-07-14 | 1963-08-20 | Frederick R Haselton | Submarine hydrodynamic control system |
| US3148650A (en) * | 1961-12-01 | 1964-09-15 | Gen Dynamics Corp | Submarine vessel |
| FR2288031A1 (en) * | 1971-09-21 | 1976-05-14 | France Etat | UNDERWATER MACHINE CONTAINING AN AUTONOMOUS SOURCE OF ENERGY |
| FR2167396A5 (en) * | 1972-01-14 | 1973-08-24 | Doris Cie Gle | |
| US3752103A (en) * | 1972-01-24 | 1973-08-14 | Us Navy | Control system for submersibles to minimize bottom sediment disturbances |
| FR2181486B1 (en) * | 1972-04-26 | 1977-08-26 | Bastide Paul | |
| DE3128267A1 (en) * | 1981-07-17 | 1983-02-03 | Erno-Raumfahrttechnik Gmbh, 2800 Bremen | Propulsion unit for underwater vessels |
| US4648345A (en) * | 1985-09-10 | 1987-03-10 | Ametek, Inc. | Propeller system with electronically controlled cyclic and collective blade pitch |
| FR2643609A1 (en) * | 1989-02-28 | 1990-08-31 | Eca | PROPELLER DEVICE FOR UNDERWATER VEHICLE |
-
1994
- 1994-01-18 DE DE4401309A patent/DE4401309A1/en not_active Ceased
-
1995
- 1995-01-05 ES ES95100111T patent/ES2118448T3/en not_active Expired - Lifetime
- 1995-01-05 EP EP95100111A patent/EP0663336B1/en not_active Expired - Lifetime
- 1995-01-05 DK DK95100111T patent/DK0663336T3/en active
- 1995-01-05 SG SG1996005095A patent/SG49003A1/en unknown
- 1995-01-05 DE DE59502791T patent/DE59502791D1/en not_active Expired - Fee Related
- 1995-01-17 NO NO950169A patent/NO950169L/en unknown
- 1995-01-18 KR KR1019950000744A patent/KR100203757B1/en not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| ES2118448T3 (en) | 1998-09-16 |
| DE59502791D1 (en) | 1998-08-20 |
| DE4401309A1 (en) | 1995-07-20 |
| NO950169D0 (en) | 1995-01-17 |
| KR950031776A (en) | 1995-12-20 |
| SG49003A1 (en) | 1998-05-18 |
| NO950169L (en) | 1995-07-19 |
| DK0663336T3 (en) | 1999-04-19 |
| KR100203757B1 (en) | 1999-06-15 |
| EP0663336A1 (en) | 1995-07-19 |
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