EP0978582A2 - Verfahren und Vorrichtung zum Steuern einer Strickmaschine - Google Patents

Verfahren und Vorrichtung zum Steuern einer Strickmaschine Download PDF

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Publication number
EP0978582A2
EP0978582A2 EP99306226A EP99306226A EP0978582A2 EP 0978582 A2 EP0978582 A2 EP 0978582A2 EP 99306226 A EP99306226 A EP 99306226A EP 99306226 A EP99306226 A EP 99306226A EP 0978582 A2 EP0978582 A2 EP 0978582A2
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EP
European Patent Office
Prior art keywords
needle selecting
knitting
devices
selecting devices
control data
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
Application number
EP99306226A
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English (en)
French (fr)
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EP0978582B1 (de
EP0978582A3 (de
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designation of the inventor has not yet been filed The
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Precision Fukuhara Works Ltd
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Precision Fukuhara Works Ltd
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Application filed by Precision Fukuhara Works Ltd filed Critical Precision Fukuhara Works Ltd
Publication of EP0978582A2 publication Critical patent/EP0978582A2/de
Publication of EP0978582A3 publication Critical patent/EP0978582A3/de
Application granted granted Critical
Publication of EP0978582B1 publication Critical patent/EP0978582B1/de
Anticipated expiration legal-status Critical
Revoked legal-status Critical Current

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Classifications

    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04B—KNITTING
    • D04B15/00—Details of, or auxiliary devices incorporated in, weft knitting machines, restricted to machines of this kind
    • D04B15/66—Devices for determining or controlling patterns ; Programme-control arrangements
    • D04B15/68—Devices for determining or controlling patterns ; Programme-control arrangements characterised by the knitting instruments used
    • D04B15/78—Electrical devices
    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04B—KNITTING
    • D04B15/00—Details of, or auxiliary devices incorporated in, weft knitting machines, restricted to machines of this kind
    • D04B15/66—Devices for determining or controlling patterns ; Programme-control arrangements

Definitions

  • the present invention relates to knitting machines and, more particularly, to a method of and an apparatus for controlling a knitting machine in accordance with a preset pattern.
  • a circular knitting machine conventionally includes a rotating cylinder having vertical grooves in its outer periphery in which knitting needles are slidably mounted for movement between knitting and non-knitting positions.
  • a plurality of needle selecting devices are disposed around the knitting cylinder, typically one for each yarn feed, for selecting the knitting needles for movement to knitting and non-knitting positions to accomplish a patterned knitting in accordance with a preset pattern.
  • These needle selecting devices are electrically connected with a controller in which the preset pattern is stored for performing a patterning control.
  • a typical arrangement of needle selecting devices and their controller is disclosed in JP-A-8-218255 and is illustrated in Figure 6 of this application.
  • a plurality of needle selecting devices are connected in series to each other and to their controller by means of a plurality of signal lines.
  • Each of the needle selecting devices has built therein, or is externally fitted with, a respective drive circuit and includes a plurality of stages (for example, upper and lower eight stages) of needle selecting fingers each having a piezoelectric element operable to cause the needles to be selected in response to a pulse voltage applied to such piezoelectric element.
  • the signal lines between the controller and the first needle selecting device and between the needle selecting devices include a plurality of address data lines which serve as paths of transmission of control data signals (knitting data signal) and address signals, that are parallel signals outputted from the controller for controlling the knitting operation, and a single strobe line which serves as a path of transmission of a strobe signal outputted from the controller.
  • the number of address data lines is of a value sufficient to satisfy the number of bits of the knitting data and the number of bits of addresses of each needle selecting device.
  • an address signal for selecting one of the needle selecting devices is transmitted from the controller to each needle selecting device through the address data lines contained in the signal lines, and one of the needle selecting devices assigned by such address signal is then specified at a timing in synchronism with the strobe signal transmitted from the controller through the strobe line.
  • each needle selecting device is provided with a dip switch that is set to a combination of On and Off positions in correspondence with the address assigned thereto and, only when the address of the needle selecting device set by the dip switch matches with the address signal thus transmitted, the above described address selection is carried out.
  • the knitting data signal associated with the above described needle selecting device is transmitted from the controller to each needle selecting device through the address data lines and is then stored in the address-selected needle selecting device at a timing synchronized with the strobe signal transmitted from the controller through the strobe line.
  • the needle selecting devices can select the knitting needles necessary to accomplish the desired pattern knitting.
  • the length of time during which the piezoelectric element is activated must be reduced from 16 ⁇ s down to 8 ⁇ s or 4 ⁇ s ( ⁇ mm), but a different electrical countermeasure is necessitated to sustain the reliability of operation.
  • This object of the present invention is accomplished by providing a method of and an apparatus for controlling a knitting machine in which control data is supplied to a plurality of needle selecting devices, each of which includes a drive circuit and a shift register.
  • the shift registers in the needle selecting devices are connected in series with each other and, therefore, the control data supplied from the controller to the shift register of one of the needle selecting devices is sequentially transferred to the remaining needle selecting devices.
  • the control data is latched and retained in each shift register when the transfer of the control data is completed, and the drive circuit of the indicated needles selecting device is actuated based on the retained control data.
  • control data is outputted serially from the controller and is sequentially transferred through the respective shift registers in the remaining needle selecting devices and, when the transfer of the control data corresponding to the respective shift register in each needle selecting device completes, the control data is retained in the shift register, and the control data corresponding to each needle selecting device can be transmitted with no need to specify the address of any needle selecting device. Accordingly, the number of the signal lines necessary for the data transmission can be reduced considerably, and hence the drive circuit in each needle selecting device and the controller can be compacted, accompanied by simplification of the associated circuit designs.
  • the number of the signal lines necessary for the data transmission is thus reduced, making it possible to achieve a data transmission through a differential line comprised of two lines through which the data signal and an inverted signal of the data can be respectively transmitted simultaneously and, consequently, noises containing a relatively large amount of high frequency components can advantageously be suppressed considerably, it is possible to accomplish a high-speed data transmission with the frequency of the data signal increased. For this reason, even though the number of the needle selecting devices is increased, the length of time required for all of the needle selecting devices to perform the needle selecting operation will not increase significantly. Furthermore, this leads to the length of the voltage applying time being reduced and a high reliability of operation can be maintained.
  • the present invention can be applied not only to a piezoelectric control devices in which piezoelectric elements are employed to drive the pattern fingers, but also to an electromagnetic control device in which electromagnetic elements requiring a relatively long voltage applying time are employed.
  • the needle selecting devices need not be specified by respective addresses, no dip switches are needed and in the event of replacement of one of the needle selecting devices, no complicated and time-consuming job of setting a combination of the On and Off positions to render the dip switch to match with the address is necessary, rendering the maintenance to be easy to accomplish.
  • FIG. 10 there is illustrated schematically a circular knitting machine, generally indicated at 10, including a rotating cylinder 11.
  • Cylinder 11 has a multiplicity of vertical grooves in its outer periphery (not shown) in which knitting needles 12 and other cooperating operating elements are mounted.
  • Such operating elements include selector jacks 13 ( Figure 3) positioned in the cylinder grooves beneath the needles 12 for moving the needles 12 between knitting and non-knitting positions in accordance with a preset pattern.
  • Knitting of fabric items is performed by the needles 12 which, in cooperation with other stitch forming instrumentalities (not shown), knit yarns 14 (only one of which is shown) fed to the needles 12.
  • a plurality of yarn feeds usually four to eight, are provided around the periphery of the cylinder 11.
  • Needle selection in accordance with the desired pattern is accomplished by a plurality of needle selecting devices 20 arranged around the cylinder 11, with the number of needle selecting devices 20 equaling the number of yarn feeds.
  • the needle selecting devices 20 are positioned in advance of the yarn feeds for selecting the appropriate needles 12 to be moved to the knit position and thereby to receive yarn 14 from a yarn feed.
  • Each needle selecting device 20 is the same and therefore only one will be described.
  • Needle selecting device 20 is preferably an electrically controlled and actuated device. More preferably, needle selecting device 20 includes a plurality of actuating elements or piezoelectric elements 21 that are fixedly mounted at a medial location on a shaft 22 which in turn is rotatably mounted on a stay 23a of a housing 23 . One end of each piezoelectric element 21 is received in a cavity in a block or stay 23b of housing 23 at one end thereof and the other end thereof moves up or down upon the application of a pulse of electrical energy of either positive or negative polarity ( Figures 2 and 3). Piezoelectric elements 21 are operatively connected at their other ends to pattern fingers 24 by a bifurcated end portion 24a .
  • Fingers 24 are mounted for limited pivotal movement on a stay 23c of housing 23 and have their other end portions 24b projecting through openings in the housing 23 .
  • the piezoelectric elements 21 and pattern fingers 24 are preferably arranged in a multi-tier stack and may include eight tiers of stages and each tier or stage may include two rows.
  • each needle selecting device 20 includes a drive circuit 25 .
  • Needle selecting device 20 also includes a shift register 26 for receiving, transferring and retaining knitting data which serves as control data for the drive circuit 25 .
  • a controller 30 is connected to one of the needle selecting devices 20 and the remaining needle selecting devices 20 are connected in series to the one needle selecting device 20 .
  • Controller 30 has a built-in data output means 31 , a clock signal generating means 32 and a latch signal generating means 33 .
  • the knitting data for controlling and actuating the needle selecting devices 20 is outputted as serial signals from the data output means 31 .
  • the data output means 31 is connected to the shift register 26 of the first in line needle selecting device 20 by a data transmission line 34a and the shift registers 26 of the remaining needle selecting devices 20 are connected together in series by data transmission lines 34b, 34c, etc.
  • the clock signal generating means 32 is connected to the shift registers 26 of the needle selecting devices 20 by a data transmission line 35 .
  • the latch signal generating means 33 is connected to the shift registers 26 of the needle selecting devices 20 by a data transmission line 36 and a power source terminal 37 of controller 30 is connected to each needle selecting device 20 by a power line 38 to complete the control circuits to the needle selecting devices 20.
  • the drive circuit 25 of each needle selecting device 20 is connected to the piezoelectric elements 21.
  • the piezoelectric elements 21 are generally of a rectangular plate-like configuration and may be formed of a bimorph ceramic material or any other piezoelectric material known to persons skilled in this art.
  • a positive or negative pulse voltage is applied to the piezoelectric elements 21 by the drive circuit 25, they will flex up or down and cause the pattern fingers 24 to pivot up or down as is illustrated in Figure 3.
  • Each pattern finger 24 has a slant or sloping cam surface and a linear surface (not shown) on its outer end of end portion 24b which engages a pattern butt 13a on the selector jack 13 when the pattern finger 24 is pivoted upward by the application of a positive pulse voltage to the piezoelectric element 21.
  • the pattern finger 24 pushes the selector jack 13 inwardly of cylinder 11 and out of the path of a raising cam 15. Therefore, the needle 12 will not be raised to the knit position, but will remain in the non-knit or welt position.
  • the pattern finger 24 will be pivoted downwardly and the outer end thereof will be moved out of the path of the pattern butt 13 a of the selector jack 13 and the selector jack 13 will be engaged and moved upwardly by the raising cam 15 to move the needle 12 to the knit position to receive yarn 14 and thereafter form a stitch.
  • Figure 6 illustrates a typical control system, generally indicated at 50, for a previously used knitting machine (See JP-A-8-21855).
  • a controller 51 is connected in series to a plurality of actuators or needle selecting devices 52, having drive circuits 53 therein, by a plurality of signal lines 54.
  • the signal lines 54 include a plurality of address lines which serve as paths of transmission of control data signals (knitting data signals) and address signals, that are parallel signals outputted from the controller 51 for controlling the knitting operation, and a single strobe line which serves as a path for transmission of a strobe signal outputted from the controller 51.
  • the number of address lines is of a value sufficient to satisfy the number of bits of the knitting data and the number of bits of addresses of each actuator or needle selecting device 52.
  • an address signal for selecting one of the needle selecting devices 52 is transmitted from the controller 51 to each needle selecting device 52 through the address data lines contained in the signal lines 54 , and one of the needle selecting devices 52 assigned by such address signal is then specified at a timing in synchronism with the strobe signal transmitted from the controller 51 through the strobe line.
  • each needle selecting device 52 is provided with a dip switch that is set to a combination of On and Off positions in correspondence with the address assigned thereto and, only when the address of the actuator set by the dip switch matches with the address signal thus transmitted, the above described address selection is carried out. Thereafter, the knitting data signal associated with the above described needle selecting device 52 at a timing synchronized with the strobe signal transmitted from the controller 51 through the strobe line.
  • the needle selecting devices 52 can select the knitting needles necessary to accomplish the desired pattern knitting.
  • the numerous address data lines for transmission of the knitting data signals and the address signals which are the parallel signal and the single strobe line are utilized to electrically connect between the controller 51 and one of the needle selecting devices 52 and between the neighboring needle selecting devices 52 .
  • the time required to transmit the knitting data signal and the address signal to each of the actuators 52 may be reduced, a relatively large number of signal lines for the transmission of the parallel signals, the signal lines 54 corresponding in number to the number of bits of the signals are required, hence rendering the drive circuit 53 for each actuator 52 and the controller 51 to be bulky in size accompanied by complication of circuit designs.
  • the operation of specifying the address of one of the needle selecting devices 52 and subsequently driving the drive circuit 53 after the data signal is retained in the needle selecting device 52 specified by such address is necessarily repeated each time the address of the needle selecting device 52 is expressed by N and the time required to drive one drive circuit 53 is expressed by t , then, the length of time expressed by N x t would be required to cause all of the needle selecting devices 52 to perform the needle selecting operation.
  • each of the needle selecting devices 52 tends to be complicated in structure in the presence of the dip switch required for address specification of such actuator 52 .
  • the dip switch of a replacement actuator 52 must be set to the combination of On and Off positions which has been assumed by the dip switch of the replaced needle selecting device 52 , requiring a complicated maintenance.
  • the knitting data a corresponding to each of the needle selecting devices 20 is outputted from the data output means 31 of the controller 30 (Fig. 1) as a serial signal (as shown in Fig. 4).
  • a single unit of the knitting data a corresponding to one needle selecting device 20 comprises a signal having bits, the number of which is equal to the number of the selector jacks 13 , which is also the number of the piezoelectric elements 21 . In the illustrated embodiment, there are 16 bits.
  • the sequential arrangement of the knitting data a is set to match with the sequential arrangement of the needle selecting devices 20 .
  • the serial signal representative of the knitting data a so outputted is supplied to the shift register 26 in the first stage needle selecting device 20 (Fig.
  • the transfer of the knitting data a is carried out bit by bit in synchronism with the clock signal b (shown in Fig. 4) which is supplied parallel from the clock signal generating means 32 of the controller 30 to all of the shift registers 26 .
  • the knitting data a is latched in the shift registers 26 in response to the latch signal c (shown in Fig. 4) which is outputted from the latch signal generating means 33 of the controller 30 .
  • the latch signal c is outputted each time the clock signals b , (the number of which is equal to 16 x N) are outputted, so that the knitting data a can be latched in each of the shift registers 26 .
  • the knitting data a is supplied to the respective shift registers 26 of the needle selecting devices 20 and at the time of completion of the transfer of the knitting data a , the corresponding knitting data a is stored in the shift registers 26 in response to the above described latch signal c .
  • the drive circuits 25 of the respective needle selecting devices 20 are activated in response to the latch signal c which serves as a timing signal for initiating the pulse voltages that activate the piezoelectric elements 21 .
  • the drive circuit 25 of the respective needle selecting device 20 is activated by the utilization of the knitting data a , retained in the shift register 26 in such needle selecting device 20 , as a control signal to thereby apply a positive or negative pulse voltage to the piezoelectric element 21 to move the pattern finger 24 in the stage corresponding to the knitting data a , allowing the corresponding pattern finger 24 to move upwards or downwards.
  • the knitting needle 12 is shifted upwards or held standstill to thereby accomplish the desired pattern knitting.
  • a line through which the knitting data a is transferred by means of the shift registers 26 is a differential line having a pair of two lines capable of transferring the data signal and an inverted signal simultaneously and, therefore, any adverse influence which would be brought about by noises can be suppressed to improve the S/N ratio of the knitting data.
  • the knitting data a corresponding to the respective needle selecting device 20 can be supplied serially, the number of signal lines for the data transmission can be reduced considerably.
  • an electric circuit for each needle selecting device 20 and the controller 30 can be made compact with the circuit simplified in structure.
  • the use of the differential line comprised of a pair of two lines has hitherto been considered impossible since the number of the signal lines may double, but has been made possible in the present invention in which the number of the signal lines is reduced considerably.
  • the noises containing a relatively large amount of high frequency components can be suppressed considerably and, therefore, it is possible to accomplish a high-speed data transfer by increasing the frequency of the data signal a while any possible adverse influence which would be brought about by the noises is avoided. For this reason, even though the number of the needle selecting devices 20 is increased, the length of time required for all of the needle selecting devices 20 to perform the needle selecting operation will not increase significantly. In addition, in view of this, no effort is necessary to reduce particularly the voltage applying time for actuating the pattern fingers 24 in each of the needle selecting devices 20 , securing a high reliability of operation.
  • the present invention can be equally applied to an electromagnetic needle selecting device in which actuating elements that require a relatively long voltage applying time are employed for actuating the pattern fingers by the effect of an electromagnetic force developed by an electromagnetic coil.
  • the length of time required to transmit the knitting data a to all of the needle selecting devices 20 would be 16 x N x T, wherein “N” represents the number of the needle selecting devices 20 used, " 16 " represents the number of bits of the single unit of the knitting data a and the "T" represents the cycle of the clock signal b .
  • the clock signal b has a cycle "T” which is 125 nanoseconds (a frequency of 8 MHz)
  • the transmission of the knitting data a to all of the needle selecting devices 20 can be achieved stably and at a high speed and, during the period in which the knitting cylinder 11 rotates the angle corresponding to the width of a single knitting needle 12 , the needle selecting operation can be performed.
  • the above described needle selecting devices 20 need not be specified by the corresponding address, no dip switch is required, as in the conventional case, for each needle selecting device and the needle selecting device 20 can be correspondingly simplified in structure. Also, even if as a result of one of the needle selecting devices 20 failing to operate properly, replacement of the damaged needle selecting device 20 is required, no complicated and time-consuming job of setting a combination of the On and Off positions to cause the new dip switch to match with the address is necessary, rendering the maintenance easy to accomplish.
  • the present invention is not limited to the needle selecting device for selecting the knitting needles of the type shown in the above described embodiment, but may be applied to a control method and a control apparatus wherein electrically driven needle selecting devices are used to drive various driven members in the knitting machine such as a stitch cam for adjusting the knitting stitch of each knitting needle and a yarn guide for changing the path of travel of a thread.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Knitting Machines (AREA)
EP19990306226 1998-08-05 1999-08-05 Verfahren und Vorrichtung zum Steuern einer Strickmaschine Revoked EP0978582B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP22146898 1998-08-05
JP10221468A JP2000054246A (ja) 1998-08-05 1998-08-05 編機の制御方法および制御装置

Publications (3)

Publication Number Publication Date
EP0978582A2 true EP0978582A2 (de) 2000-02-09
EP0978582A3 EP0978582A3 (de) 2001-10-17
EP0978582B1 EP0978582B1 (de) 2004-10-27

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EP19990306226 Revoked EP0978582B1 (de) 1998-08-05 1999-08-05 Verfahren und Vorrichtung zum Steuern einer Strickmaschine

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EP (1) EP0978582B1 (de)
JP (1) JP2000054246A (de)
DE (1) DE69921402T2 (de)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1536051A1 (de) 2003-11-27 2005-06-01 Pai Lung Machinery Mill Co. Ltd. Mikrosteuereinrichtung für Rundstrickmaschinen
CN101054750B (zh) * 2007-05-15 2010-09-08 江苏万工科技集团有限公司 带有数据校验和纠错的电子提花机控制系统及其控制方法
CN103034138A (zh) * 2012-12-04 2013-04-10 江苏盈悦科技有限公司 电磁铁选针器继电时间的可配置装置及可配置方法
CN106757733A (zh) * 2016-12-22 2017-05-31 重庆胜普昂凯科技有限公司 纬编压电选针器驱动电路板
CN108330605A (zh) * 2018-04-28 2018-07-27 杭州旭仁纺织机械有限公司 一种针织大圆机选针控制系统及控制方法
IT201700032769A1 (it) * 2017-03-24 2018-09-24 E O S S R L Dispositivo di selezione degli aghi per macchine tessili
CN113622077A (zh) * 2021-08-10 2021-11-09 圣东尼（上海）针织机器有限公司 一种针织产品自动设计方法及系统

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1359679A (en) * 1971-01-16 1974-07-10 Mayer & Cie Maschinenfabrik Method of and device for controlling a plurality of multi-system circular knitting machines
DE2330420A1 (de) * 1973-03-29 1974-10-10 Sulzer Ag Jacquardmaschine
US3995451A (en) * 1971-03-30 1976-12-07 Firma Franz Morat Gmbh Patterning mechanism
EP0796939A1 (de) * 1996-03-19 1997-09-24 Precision Fukuhara Works, Ltd Piezoelektrische Nadelauswahlvorrichtung für Strickmaschinen
DE19748293A1 (de) * 1997-07-23 1999-01-28 Siemens Ag Elektronische Steuereinrichtung für Textilmaschine

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1359679A (en) * 1971-01-16 1974-07-10 Mayer & Cie Maschinenfabrik Method of and device for controlling a plurality of multi-system circular knitting machines
US3995451A (en) * 1971-03-30 1976-12-07 Firma Franz Morat Gmbh Patterning mechanism
DE2330420A1 (de) * 1973-03-29 1974-10-10 Sulzer Ag Jacquardmaschine
EP0796939A1 (de) * 1996-03-19 1997-09-24 Precision Fukuhara Works, Ltd Piezoelektrische Nadelauswahlvorrichtung für Strickmaschinen
DE19748293A1 (de) * 1997-07-23 1999-01-28 Siemens Ag Elektronische Steuereinrichtung für Textilmaschine

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1536051A1 (de) 2003-11-27 2005-06-01 Pai Lung Machinery Mill Co. Ltd. Mikrosteuereinrichtung für Rundstrickmaschinen
CN100478510C (zh) * 2003-11-27 2009-04-15 佰龙机械厂股份有限公司 圆形针织机的微控制装置
CN101054750B (zh) * 2007-05-15 2010-09-08 江苏万工科技集团有限公司 带有数据校验和纠错的电子提花机控制系统及其控制方法
CN103034138A (zh) * 2012-12-04 2013-04-10 江苏盈悦科技有限公司 电磁铁选针器继电时间的可配置装置及可配置方法
CN103034138B (zh) * 2012-12-04 2015-07-08 浙江恒强科技股份有限公司 电磁铁选针器继电时间的可配置装置及可配置方法
CN106757733A (zh) * 2016-12-22 2017-05-31 重庆胜普昂凯科技有限公司 纬编压电选针器驱动电路板
CN106757733B (zh) * 2016-12-22 2018-07-24 重庆胜普昂凯科技有限公司 纬编压电选针器驱动电路板
IT201700032769A1 (it) * 2017-03-24 2018-09-24 E O S S R L Dispositivo di selezione degli aghi per macchine tessili
CN108330605A (zh) * 2018-04-28 2018-07-27 杭州旭仁纺织机械有限公司 一种针织大圆机选针控制系统及控制方法
CN108330605B (zh) * 2018-04-28 2023-07-28 杭州旭仁纺织机械有限公司 一种针织大圆机选针控制系统及控制方法
CN113622077A (zh) * 2021-08-10 2021-11-09 圣东尼（上海）针织机器有限公司 一种针织产品自动设计方法及系统

Also Published As

Publication number Publication date
DE69921402T2 (de) 2006-03-09
EP0978582B1 (de) 2004-10-27
JP2000054246A (ja) 2000-02-22
DE69921402D1 (de) 2004-12-02
EP0978582A3 (de) 2001-10-17

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