EP0795076A1 - Verfahren und vorrichtung zur überwachung eines kraftstoffzumesssystems - Google Patents
Verfahren und vorrichtung zur überwachung eines kraftstoffzumesssystemsInfo
- Publication number
- EP0795076A1 EP0795076A1 EP96913440A EP96913440A EP0795076A1 EP 0795076 A1 EP0795076 A1 EP 0795076A1 EP 96913440 A EP96913440 A EP 96913440A EP 96913440 A EP96913440 A EP 96913440A EP 0795076 A1 EP0795076 A1 EP 0795076A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- fuel
- detected
- signal
- pump
- metering system
- 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.)
- Granted
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1497—With detection of the mechanical response of the engine
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/22—Safety or indicating devices for abnormal conditions
- F02D41/221—Safety or indicating devices for abnormal conditions relating to the failure of actuators or electrically driven elements
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/30—Controlling fuel injection
- F02D41/38—Controlling fuel injection of the high pressure type
- F02D41/3809—Common rail control systems
- F02D41/3827—Common rail control systems for diesel engines
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/30—Controlling fuel injection
- F02D41/38—Controlling fuel injection of the high pressure type
- F02D41/3809—Common rail control systems
- F02D41/3836—Controlling the fuel pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
- F02B3/00—Engines characterised by air compression and subsequent fuel addition
- F02B3/06—Engines characterised by air compression and subsequent fuel addition with compression ignition
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/1413—Controller structures or design
- F02D2041/1432—Controller structures or design the system including a filter, e.g. a low pass or high pass filter
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/22—Safety or indicating devices for abnormal conditions
- F02D2041/224—Diagnosis of the fuel system
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/22—Safety or indicating devices for abnormal conditions
- F02D2041/224—Diagnosis of the fuel system
- F02D2041/226—Fail safe control for fuel injection pump
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/025—Engine noise, e.g. determined by using an acoustic sensor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/06—Fuel or fuel supply system parameters
- F02D2200/0602—Fuel pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2250/00—Engine control related to specific problems or objectives
- F02D2250/31—Control of the fuel pressure
Definitions
- the invention relates to a method and a device for monitoring a fuel metering system according to the preambles of the independent claims.
- the invention is based on the object of being able to detect faults as reliably and simply as possible in a device and a method for monitoring a Kratstoffzumeßsystems of the type mentioned. This object is achieved by the features characterized in the independent claims.
- errors in the metering system can be reliably and easily identified.
- defective injectors can be reliably detected in common rail systems.
- FIG. 1 shows a block diagram of the device according to the invention
- FIG. 2 shows the output signals of a knock sensor plotted over time
- FIG. 3 shows a flow diagram to explain the procedure according to the invention
- FIG. 4 shows a schematic illustration of an internal combustion engine
- FIG. 5 shows a block diagram of the signal evaluation
- FIG. 6 various signals plotted over time.
- the device according to the invention is illustrated below using the example of a self-igniting internal combustion engine in which the fuel metering is controlled by means of a solenoid valve.
- the embodiment shown in Figure 1 relates to a so-called common rail system.
- the procedure according to the invention is not restricted to these systems. It can be used in all systems where an appropriate fuel metering is possible.
- 100 denotes an internal combustion engine which is supplied with fresh air via an intake line 105 and emits exhaust gases via an exhaust line 110.
- the internal combustion engine shown is a four-cylinder internal combustion engine.
- An injector 120, 121, 122 and 123 is assigned to each cylinder of the internal combustion engine.
- Fuel is metered into the injectors via solenoid valves 130, 131, 132 and 133.
- the fuel passes from a so-called rail 135 via the injectors 120, 121, 122 and 123 into the cylinders of the internal combustion engine 100.
- the fuel in the rail 135 is brought to an adjustable pressure by a high-pressure pump 145.
- the high pressure pump 145 is connected to a via a solenoid valve 150
- Fuel delivery pump 155 connected.
- the fuel delivery pump communicates with a fuel reservoir 160.
- Electric fuel pumps or mechanical fuel pumps can be used as the fuel delivery pump.
- a prefilter is required when using an electric fuel pump. Due to high fuel temperatures, the electric fuel pump is preferably arranged in the vicinity of the tank. This results in large volumes between the electric fuel pump and the high pressure pump, and thus large long switch-off times. Rapid pressure reduction, especially in the event of a fault, is only possible with increased effort.
- a mechanical prefeed pump arranged in the vicinity of the internal combustion engine does not have these disadvantages.
- the solenoid valve 150 is additionally required, which stops the fuel supply to the high-pressure pump 145 in the event of a fault.
- the shut-off valve 150 can optionally be designed as a separate structural unit. However, it can also be integrated on the suction side into the high pressure pump 145 or on the pressure side into the prefeed pump 155.
- the valve 150 comprises a coil 152.
- the solenoid valves 130, 131, 132 and 133 contain coils 140, 141, 142 and 143, each of which can be supplied with current by means of an output stage 175.
- the output stage 175 is preferably arranged in a control unit 170, which controls the coil 152 accordingly.
- a sensor 177 is provided, which detects the pressure in the rail 135 and sends a corresponding signal to the control unit 170.
- a so-called structure-borne noise sensor is designated, which is arranged at an acoustically good conductive point on the engine.
- Structure-borne noise sensor applies a corresponding signal to the control unit.
- an acceleration sensor or a knock sensor can also be used.
- the fuel feed pump 155 conveys the fuel from the storage container via the valve 150 to the high-pressure pump 145.
- the high-pressure pump 145 builds into the rail 135 predefinable pressure on. Pressure values greater than 800 bar are usually achieved in Rail 135.
- the corresponding solenoid valves 130 to 133 are activated.
- the control signals for the coils determine the start of injection and the end of injection of the fuel by injectors 120 to 123.
- the control signals are determined by the control unit depending on various operating conditions, such as the driver's request, the speed and other variables.
- Combustion chamber detected vibrations and processed by means of an evaluation circuit. If the detected vibration of a single cylinder deviates significantly from the remaining or the expected value, a fault in the corresponding injector is concluded.
- the output signal of the structure-borne noise sensor is plotted in FIG. 2 via the angular position of the crankshaft.
- the output signal of the structure-borne noise sensor is correct when all injectors are in operation Angular position of the crankshaft recorded.
- the first cylinder is metered in the first cylinder. This leads to a significant signal from the structure-borne noise sensor during metering or during combustion.
- a corresponding signal occurs during combustion in the second cylinder with 180 ° crankshaft, with combustion in the third cylinder at 360 ° and with combustion in the fourth cylinder with 540 ° crankshaft.
- FIG. 2b The corresponding signal in the case of a faulty injector of the second cylinder is shown in FIG. 2b.
- the noise emission during combustion in the second cylinder is significantly extended. This indicates that the injector of the second cylinder is not working properly. This injector is in its open state longer than intended.
- step 301 the output signal of the structure-borne noise sensor at the
- step 300 Fuel metering in the first cylinder ZI detected. Accordingly, in step 300
- step 302 and 303 the structure-borne noise sensor signal for the cylinders Z3 and Z4 is detected.
- step 310 the amplitudes of the four signals are summed up and divided by 4. This results in the mean value M of the four structure-borne noise sensor signals.
- step 320 a counter i is set to 0 and increased by 1 in the subsequent step 330.
- the query 340 checks whether the difference between the amplitude Zi of the ith cylinder and the mean value M is greater than a threshold value S. If this is not the case, query 350 checks whether i is greater than or equal to 4. If this is not the case, step 330 takes place again, or if i is greater than or equal to 4, step 300 follows.
- query 340 recognizes that the amount of the difference between the amplitude of the i-th cylinder Zi and the mean value M is greater than the threshold value S, errors are recognized in step 360 and appropriate measures are initiated.
- the illustrated method was described using the example of a four-cylinder internal combustion engine. By appropriate selection of the parameters, in particular i, the method can also be extended to internal combustion engines with a different number of cylinders.
- it is not the amplitude of the signal but the time duration of the signal that is evaluated for error detection.
- FIG. 4 schematically shows a 4-cylinder diesel internal combustion engine with two structure-borne noise sensors 410 and 411 which are attached to the engine in an acoustically conductive manner.
- 415 denotes a needle movement sensor and 420 denotes a cylinder pressure sensor.
- the fresh air lines are designated by 105 and the exhaust lines by 110.
- FIG. 5 shows the signal evaluation for the two knock sensors 410 and 411 as a block diagram.
- the output signal of the first knock sensor 410 arrives at a cylinder selection 220 via a runtime correction 201.
- the output signal of the second arrives accordingly
- Knock sensor 411 via a second runtime correction 202 for cylinder selection 220.
- the signal passes from the cylinder selection 220 to a first bandpass 210 and to a second bandpass 215.
- the output signals of the bandpass pass to a signal processing 230 which in turn applies signals to an engine control unit 240.
- output signals of the band passes 210 and 215 go directly to the motor control 240.
- the signal processing 230 also processes signals from various sensors 235.
- This device now works as follows: The transit time of the different signals from one signal source to the different knock sensors 410 and 411 is different. This runtime is compensated for by runtime corrections 201 and 202. Based on the signal level, which in turn depends on the distance between the signal source and the sensor, cylinder detection assigns the signal to a specific sensor. This allows an assignment between the detected signal and the associated cylinder.
- the procedure described below can also be carried out with a structure-borne noise sensor.
- the signal quality can be significantly improved by using two or more structure-borne noise sensors. It is particularly advantageous if the structure-borne noise sensors are arranged at different locations on the engine. By adding the runtime corrected signals the useful signal can be significantly increased compared to interference signals.
- the first bandpass has corner frequencies of 10 kHz and 30 kHz.
- the second bandpass 215 has corner frequencies of 500 Hz and 4 kHz. These frequency values are only guidelines and can vary depending on the type of internal combustion engine.
- FIG. 6a the cylinder pressure
- FIG. 6b the output signal of the needle movement sensor
- FIG. 6c the output signal of one of the knock sensors
- FIG. 6d the output signal of the first and in FIG. 6e the output signal of the second bandpass are plotted against time.
- the needle of the needle movement sensor moves up to the lower and up to the upper stop.
- the amplitude of the output signal of the knock sensor rises and thereby especially the high-frequency components. This point in time is designated with HE.
- the start of injection and the end of injection of the main injection are recognized when the needle of the injector 120 to 123 moves to the upper stop when opened and to the lower stop when closed. These points in time are identified on the basis of the rise in the output signal of the first bandpass above a first threshold value. If the injector needle is not recognized, or if the injector is closed when the injector is closed, continuous injection is recognized.
- each injection On the basis of these signals, it is decided for each injection whether a continuous injection is present or not.
- the monitoring is preferably carried out individually for each cylinder. After recognizing a predeterminable number of continuous injections in a cylinder, a defect is recognized.
- the fuel feed pump is designed as a mechanical feed pump, for example as a gear pump, there is no direct possibility of interrupting the delivery of fuel by means of the feed pump, since this is driven directly by the motor. According to the invention, it is therefore provided that the fuel supply from the prefeed pump 155 to the high pressure pump 145 is interrupted by means of the electrical shutoff valve 150 between the prefeed pump 155 and the high pressure pump 145.
- the valve 150 interrupts the fuel supply to the high-pressure pump 145.
- a fault can be detected, for example, using the procedure described. However, other methods of detecting errors are also possible.
- the valve 150 is designed as a 2/2 valve, that is to say it blocks the flow between the prefeed pump 155 and the high-pressure pump 145, a pressure builds up in front of the valve when the valve is closed. Appropriate measures must be taken to avoid this build-up of pressure.
- a pressure relief valve can be integrated in the pre-feed pump.
- the shut-off valve can be designed as a 3/2 valve. In this case, when the valve 150 is activated, the fuel passes directly from the pre-feed pump 155 back into the fuel reservoir 160 via a line shown in broken lines. In this embodiment, the pressure relief valve in the pre-feed pump 155 can be dispensed with.
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Oil, Petroleum & Natural Gas (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
Description
Claims
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19536111 | 1995-09-28 | ||
DE19536111 | 1995-09-28 | ||
DE19548279A DE19548279B4 (de) | 1995-09-28 | 1995-12-22 | Verfahren und Vorrichtung zur Überwachung eines Kraftstoffzumeßsystems |
DE19548279 | 1995-12-22 | ||
PCT/DE1996/000737 WO1997012136A1 (de) | 1995-09-28 | 1996-04-27 | Verfahren und vorrichtung zur überwachung eines kraftstoffzumesssystems |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0795076A1 true EP0795076A1 (de) | 1997-09-17 |
EP0795076B1 EP0795076B1 (de) | 2001-03-21 |
Family
ID=26019012
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP96913440A Expired - Lifetime EP0795076B1 (de) | 1995-09-28 | 1996-04-27 | Verfahren und vorrichtung zur überwachung eines kraftstoffzumesssystems |
Country Status (4)
Country | Link |
---|---|
US (1) | US5945596A (de) |
EP (1) | EP0795076B1 (de) |
JP (1) | JPH10510028A (de) |
WO (1) | WO1997012136A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008040605A1 (de) * | 2006-10-02 | 2008-04-10 | Robert Bosch Gmbh | Verfahren und vorrichtung zur überwachung eines kraftstoffeinspritzsystems |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB9725714D0 (en) * | 1997-12-05 | 1998-02-04 | Lucas France | Control system |
JP3325518B2 (ja) * | 1998-05-14 | 2002-09-17 | 本田技研工業株式会社 | 圧力センサの故障検出装置 |
DE10003906A1 (de) * | 2000-01-29 | 2001-08-09 | Bosch Gmbh Robert | Verfahren und Vorrichtung zum Kalibrieren eines Drucksensors |
US6298827B1 (en) | 2000-03-08 | 2001-10-09 | Caterpillar Inc. | Method and system to monitor and control the activation stage in a hydraulically actuated device |
DE10051548A1 (de) * | 2000-10-18 | 2002-04-25 | Bosch Gmbh Robert | Kraftstoffeinspritzsystem für Brennkraftmaschinen |
DE10056165C2 (de) * | 2000-11-13 | 2003-06-12 | Bosch Gmbh Robert | Sammelraumbeaufschlagter Injektor mit kaskadenförmiger Steuerungsanordnung |
DE10057683B4 (de) * | 2000-11-21 | 2005-10-06 | Robert Bosch Gmbh | Kraftstoffeinspritzeinrichtung |
DE10323039A1 (de) * | 2003-05-20 | 2004-12-23 | Samson Ag | Verfahren und Vorrichtung zum Vermeiden eines kritischen Betriebszustands eines Stellgeräts |
JP4244866B2 (ja) | 2004-06-04 | 2009-03-25 | 日産自動車株式会社 | ディーゼルエンジンのオイル希釈検出装置及び制御装置 |
JP2008516153A (ja) * | 2004-10-12 | 2008-05-15 | フォード・オトマティブ・サナイ・アノニム・シルケチ | 燃料噴射を監視する方法および装置 |
DE102004058682A1 (de) * | 2004-12-06 | 2006-06-08 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Überwachung und Steuerung einer Brennkraftmaschine |
DE102010054997B4 (de) * | 2010-12-17 | 2012-09-13 | Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr | Verfahren zur Erkennung von irregulären Verbrennungsvorgängen bei einer Verbrennungskraftmaschine |
US9784635B2 (en) * | 2015-06-29 | 2017-10-10 | General Electric Company | Systems and methods for detection of engine component conditions via external sensors |
DE102015226006B4 (de) * | 2015-12-18 | 2017-08-10 | Mtu Friedrichshafen Gmbh | Verfahren zur Prüfung der Zuordnung von Körperschallsensoren zu Zylindern einer Brennkraftmaschine |
DE102017115757A1 (de) * | 2017-07-13 | 2019-01-17 | Man Diesel & Turbo Se | Verfahren und Steuerungseinrichtung zum Betreiben einer Brennkraftmaschine |
GB2574044A (en) * | 2018-05-24 | 2019-11-27 | Delphi Tech Ip Ltd | Method of determining vibration events in engines using a plurality of injectors having accelerometers |
KR102663102B1 (ko) * | 2019-01-16 | 2024-05-02 | 만 에너지 솔루션즈 에스이 | 내연기관의 작동 방법 및 내연기관의 작동을 위한 제어 디바이스 |
KR20210152287A (ko) * | 2020-06-08 | 2021-12-15 | 현대자동차주식회사 | 신호편차기반 인젝터 고장 기통 진단 방법 및 인젝터 고장 진단 장치 |
Family Cites Families (9)
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JPS5720553A (en) * | 1980-07-09 | 1982-02-03 | Hitachi Zosen Corp | Abnormality detecting process of fuel injection system |
DE3279710D1 (en) * | 1981-07-23 | 1989-06-29 | Ail Corp | Method and apparatus for generating a start of combustion signal for a compression ignition engine |
JPS6026164A (ja) * | 1983-07-25 | 1985-02-09 | Hitachi Constr Mach Co Ltd | 燃料噴射ポンプの故障診断装置 |
JPS60256539A (ja) * | 1984-05-31 | 1985-12-18 | Nippon Denso Co Ltd | 内燃機関用ノツクコントロ−ル装置 |
DE3933947C1 (en) * | 1989-10-11 | 1991-01-03 | Battelle Motor- Und Fahrzeugtechnik Gmbh, 6000 Frankfurt, De | Combustion pressure determn. method for petrol-diesel engine - using acceleration sensors fitted at crankshaft bearings of engine in cylinder axial direction |
DE4139244C1 (en) * | 1991-11-26 | 1992-12-24 | Reinhard Prof. Dr.Sc.Nat. O-2500 Rostock De Vilbrandt | Automatically monitoring and optimising fuel injection for Diesel engine - using ultrasonic emission analysis for each cylinder with evaluation and comparison of indices derived from sonic converter during fuel atomising |
DE59307822D1 (de) * | 1993-09-17 | 1998-01-22 | Siemens Ag | Vorrichtung zur Ermittlung eines Betriebszustandes einer Einspritzpumpe |
JPH0968086A (ja) * | 1995-08-31 | 1997-03-11 | Nissan Motor Co Ltd | 燃料ポンプ |
US5731515A (en) * | 1995-11-30 | 1998-03-24 | Mitsubishi Denki Kabushiki Kaisha | High-pressure pump unit and test method therefor |
-
1996
- 1996-04-27 US US08/817,558 patent/US5945596A/en not_active Expired - Fee Related
- 1996-04-27 JP JP9513044A patent/JPH10510028A/ja active Pending
- 1996-04-27 EP EP96913440A patent/EP0795076B1/de not_active Expired - Lifetime
- 1996-04-27 WO PCT/DE1996/000737 patent/WO1997012136A1/de active IP Right Grant
Non-Patent Citations (1)
Title |
---|
See references of WO9712136A1 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008040605A1 (de) * | 2006-10-02 | 2008-04-10 | Robert Bosch Gmbh | Verfahren und vorrichtung zur überwachung eines kraftstoffeinspritzsystems |
US8166806B2 (en) | 2006-10-02 | 2012-05-01 | Robert Bosch Gmbh | Method and device for monitoring a fuel injection system |
Also Published As
Publication number | Publication date |
---|---|
EP0795076B1 (de) | 2001-03-21 |
US5945596A (en) | 1999-08-31 |
WO1997012136A1 (de) | 1997-04-03 |
JPH10510028A (ja) | 1998-09-29 |
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