EP1178153A1 - Führungsmethode und -einrichtung zum Einbringen von Gegenständen in den Grund - Google Patents

Führungsmethode und -einrichtung zum Einbringen von Gegenständen in den Grund Download PDF

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Publication number
EP1178153A1
EP1178153A1 EP01401856A EP01401856A EP1178153A1 EP 1178153 A1 EP1178153 A1 EP 1178153A1 EP 01401856 A EP01401856 A EP 01401856A EP 01401856 A EP01401856 A EP 01401856A EP 1178153 A1 EP1178153 A1 EP 1178153A1
Authority
EP
European Patent Office
Prior art keywords
elements
insertion device
arm
measuring station
guiding
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
EP01401856A
Other languages
English (en)
French (fr)
Other versions
EP1178153B1 (de
Inventor
Ian Robertson
Jean Ehrsam
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Alstom SA
Original Assignee
Alstom SA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Alstom SA filed Critical Alstom SA
Publication of EP1178153A1 publication Critical patent/EP1178153A1/de
Application granted granted Critical
Publication of EP1178153B1 publication Critical patent/EP1178153B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B28WORKING CEMENT, CLAY, OR STONE
    • B28BSHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B19/00Machines or methods for applying the material to surfaces to form a permanent layer thereon
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01BPERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B29/00Laying, rebuilding, or taking-up tracks; Tools or machines therefor
    • E01B29/32Installing or removing track components, not covered by the preceding groups, e.g. sole-plates, rail anchors
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01BPERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B1/00Ballastway; Other means for supporting the sleepers or the track; Drainage of the ballastway
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01BPERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B1/00Ballastway; Other means for supporting the sleepers or the track; Drainage of the ballastway
    • E01B1/002Ballastless track, e.g. concrete slab trackway, or with asphalt layers
    • E01B1/004Ballastless track, e.g. concrete slab trackway, or with asphalt layers with prefabricated elements embedded in fresh concrete or asphalt
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01BPERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B29/00Laying, rebuilding, or taking-up tracks; Tools or machines therefor
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01BPERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B35/00Applications of measuring apparatus or devices for track-building purposes
    • E01B35/02Applications of measuring apparatus or devices for track-building purposes for spacing, for cross levelling; for laying-out curves

Definitions

  • the invention relates to a method for guiding a device intended to insert elements in the ground for the realization of a work and in particular to a method of guiding a saddle insertion device for the creation of a track of iron, of the type described in patent application EP 0 803 609, allowing to obtain the insertion of saddles in concrete, at a given position with accuracy less than a millimeter.
  • the invention also relates to a device for inserting elements into the ground using such a method of guide.
  • the object of the present invention is therefore to remedy these drawbacks by proposing a guidance process allowing the precise and rapid positioning of a device for inserting elements into the ground and which is simple and economical to install in action.
  • the invention also relates to a device for inserting at least one element into the ground implementing the guidance method described above, characterized in that that it comprises at least one reflector intended to reflect a transmission sent by a measuring station and allowing to determine with precision the distance and the angle between the reflector and the measuring station.
  • FIG. 1 represents a vehicle 11 for transporting a stool insertion device guided in position according to the prior art, over a slab 10 of front track hardening of concrete.
  • the guiding of the vehicle 11 insertion of saddles along the track is carried out by means of two site guide rails 12 arranged on either side of the concrete slab 10 and serving as a reference for positioning the vehicle 11.
  • the vehicle 11 seat insert is equipped with a roller 13 for holding the vehicle 11 on the rail 12 bearing on the upper face of one of the guide rails 12 and serving as reference along the insertion axis Z and of two holding rollers 13 bearing laterally on either side of the second guide rail 12 making it possible to reference the vehicle 11 in the plane X, Y perpendicular to the insertion axis Z.
  • Such a guide method has the disadvantage of requiring the prior installation of site guide rails during a long and careful operation which slows down considerably the speed of progress in the construction of the railway.
  • Figures 2 and 3 show a device 1 for inserting saddles 2 guided along the route of the railroad view by a particular embodiment of the process of guidance according to the invention.
  • the stool insertion device 2 consists of a vehicle 1 mounted on four wheels, two of which are steered and the other two are drive, ensuring autonomous movement of the vehicle 1 according to a direction given.
  • the vehicle 1 has a rear face equipped with an arm 5 motorized in translation and rotation along the three orthogonal axes X, Y, Z provided with a mechanism allowing very high precision movements.
  • the arm 5, shown alone in FIG. 4, has a general shape in H and supports on its lower part two jacks 6 at the end of which are fixed the two saddles 2 intended to be inserted into a freshly poured concrete slab 10, the two saddles 2 being held by the arm 5, at a distance from each other corresponding to the gauge of the track to be installed.
  • Arm 5 is equipped with a double inclinometer, not shown, permanently measuring the orientation of the arm 5 by in relation to the X and Y axes.
  • the saddles 2 are of the conventional type and comprises a plate 21 made of rigid material, such as cast iron, and two anchors 22 each having a threaded rod making it possible to fix a rail on the saddle 2 by nuts.
  • the saddle 2 also comprises two sealing rods 23 having a general shape cylindrical ensuring retention in the concrete slab 10 once it has hardened.
  • the arm 5 has on its rear face three reflectors 7 intended to cooperate with a measuring station 3 installed on the edge of the railway to be installed.
  • a reflector 7 is also mounted on the roof of the vehicle 1.
  • Measuring station 3 located at the edge of the track is installed on a tripod vertically from a terminal 8 of topographic survey.
  • the station measure 3 includes a laser distance measuring device fitted with optics transmitting and receiving optics to know with very great precision the distance and the angle separating the measuring station from all the reflectors 7 carried by the arm 5 and the vehicle 1.
  • the laser measuring device used is for example the device marketed under the reference TC / TCA 2003 by the LEICA company.
  • the measurement station 3 also includes a radio transmitter 9 sending the results of the measurements carried out at all times by the laser measuring device in direction of a receiver 30 carried by the vehicle 1.
  • the receiver 30 of the vehicle 1 is connected to a computer 31 on board the vehicle 1, the computer 31 ensuring the calculation of the exact position of the arm 5 in space from the information sent by the measuring station 3 and the known position of terminal 8 for topographic reading.
  • the computer 31 is connected to an automaton, not shown, which controls the displacement of the arm 5 and of the jacks 6 as well as the motors making it possible to orient and to move the vehicle 1.
  • insertion vehicle 1 On the day of stool insertion 2, insertion vehicle 1 is brought over a portion of track where the concrete slab 10 has just been freshly poured and is not not yet hardened. From this starting position of vehicle 1, the station measure 3 is advantageously placed on the nearest terminal 8 allowing a direct aim on the rear face of the vehicle 1 and in particular on the reflectors 7 of the arm 5 and of the vehicle 1.
  • the positioning of the measurement station 3 on the terminal 8 is very precisely, by placing the measuring station 3 directly above the terminal 8, and the coordinates of the measuring station 3 in X, Y, Z are determined in measuring the vertical distance between measuring station 3 and terminal 8 using a cane.
  • the station 3 can also be placed at any point near the track rail allowing direct sighting on the reflectors 7, the coordinates in X, Y, Z of the measurement station 3 then being determined by targeting different points topographical 8 known using the measuring station 3 and determining from angles and distances measured the exact position of the measuring station 3.
  • the laser measuring device distance is oriented towards the rear face of the vehicle 1 so that it can measure the distance and the angle separating it from each of the reflectors 7 and in particular the reflector 7 placed on the roof of the vehicle 1.
  • the result of these measurements is sent immediately by radio waves from the transmitter 9 to computer 31 located on board vehicle 1 which then calculates the exact position of the vehicle 1 in space from the data sent by the measurement station 3 and the known position of the measuring station 3.
  • the exact coordinates of the points at which saddles 2 must be inserted being previously stored in a memory of the computer 31, the computer 31 calculates from these points and from the position of the vehicle 1 measured by station 3, the gap between arm 5, then in a rest position from which a movement of a few centimeters following the six degrees of freedom is possible, from the position at which the next 2 saddles should be inserted. From this difference, computer 1 sends signals to the PLC which controls the driving and steering wheels so as to move the vehicle 1 along the axis of the track until bringing the articulated arm 5, stationary in the position of rest, substantially at the height of the theoretical stool insertion points 2. Good heard, taking into account the games existing in the transmission of vehicle 1, the positioning of vehicle 1 on the track is then not very precise, of the order of centimeter.
  • the computer 31 checks the position arm 5 in space, from data sent by measurement station 3, and sends signals to the controller to control the movement of the articulated arm 5 along the six axes of freedom so as to bring, with very high precision, the saddles 2 carried by the arm 5 opposite the theoretical points of insertion of the saddles 2.
  • the jacks 6 are then actuated to insert the saddles 2 into the concrete 10 no further hardened according to a process described in patent application EP 0803 609.
  • the arm 5 is returned to the rest position and computer 31 searches for the coordinates of the following points at which new saddles 2 must be inserted.
  • the guidance process to bring the vehicle 1 next to these new points is similar to that described previously.
  • the measurement station 3 is regularly moved to the terminal topographic survey 8 closest to vehicle 1 allowing direct targeting on all the reflectors 7.
  • Such a guidance method has the advantage of being very quickly operational and inexpensive to implement, requiring only the installation of terminals topographic survey every 50 m to 100 m and the establishment of the measures the day of the stool insertion operation.
  • a method of guidance has the advantage of not using direct contact between the device stool insertion and the repository used, thus removing constraints that can be generated by the stool insertion device on the repository.
  • the example describes a device for inserting saddles into a concrete slab but the guiding method according to the invention can equally well be used for the guiding of an insertion device of any element necessary for the realization of a work.
  • the insertion device may be fitted with tracks instead of wheels or any other means allowing the displacement of the insertion device.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Ceramic Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Machines For Laying And Maintaining Railways (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Road Signs Or Road Markings (AREA)
  • Earth Drilling (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)
  • Operation Control Of Excavators (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Soil Working Implements (AREA)
  • Superconductors And Manufacturing Methods Therefor (AREA)
  • Navigation (AREA)
  • Details Of Resistors (AREA)
  • Road Repair (AREA)
  • Investigation Of Foundation Soil And Reinforcement Of Foundation Soil By Compacting Or Drainage (AREA)
  • Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
  • Automatic Assembly (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Toys (AREA)
  • Lining And Supports For Tunnels (AREA)
EP01401856A 2000-08-01 2001-07-11 Führungsmethode und -einrichtung zum Einbringen von Gegenständen in den Grund Expired - Lifetime EP1178153B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0010120 2000-08-01
FR0010120A FR2812671B1 (fr) 2000-08-01 2000-08-01 Procede de guidage d'un dispositif destine a inserer des elements dans le sol pour la realisation d'un ouvrage et dispositif d'insertion d'au moins un element dans le sol utilisant un tel procede de guidage

Publications (2)

Publication Number Publication Date
EP1178153A1 true EP1178153A1 (de) 2002-02-06
EP1178153B1 EP1178153B1 (de) 2005-03-30

Family

ID=8853180

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01401856A Expired - Lifetime EP1178153B1 (de) 2000-08-01 2001-07-11 Führungsmethode und -einrichtung zum Einbringen von Gegenständen in den Grund

Country Status (22)

Country Link
US (1) US6505406B2 (de)
EP (1) EP1178153B1 (de)
JP (1) JP2002088702A (de)
KR (1) KR100740768B1 (de)
CN (1) CN1313677C (de)
AT (1) ATE292210T1 (de)
AU (1) AU766187B2 (de)
BR (1) BR0103164B1 (de)
CA (1) CA2354411C (de)
CZ (1) CZ299324B6 (de)
DE (1) DE60109688T2 (de)
DK (1) DK1178153T3 (de)
ES (1) ES2237541T3 (de)
FR (1) FR2812671B1 (de)
HK (1) HK1043819B (de)
HU (1) HU223586B1 (de)
MX (1) MXPA01007738A (de)
NZ (1) NZ513183A (de)
PL (1) PL211342B1 (de)
PT (1) PT1178153E (de)
RU (1) RU2266360C2 (de)
TW (1) TWI228162B (de)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2897079A1 (fr) * 2006-02-09 2007-08-10 Alstom Transport Sa Dispositif et procede d'insertion d'elements dans le sol, mecanisme pour ce dispositif et systeme utilisant ce dispositif
FR2897622A1 (fr) * 2006-02-23 2007-08-24 Alstom Transport Sa Procede et systeme d'insertion d'elements dans le sol, support d'enregistrement d'informations pour ce procede
WO2008103440A3 (en) * 2007-02-23 2009-01-08 Hawk Eye Sensors Ltd System and method of preparing a playing surface
WO2009030954A1 (en) * 2007-09-07 2009-03-12 Jarvis Plc Track adjustment
FR2941973A1 (fr) * 2009-02-12 2010-08-13 Alstom Transport Sa Procede et systeme de guidage par laser pour l'insertion d'elements dans le sol
FR3003276A1 (fr) * 2013-03-12 2014-09-19 Alstom Transport Sa Procede de construction d'une voie ferree comprenant un lit anti-vibratile
FR3028267A1 (fr) * 2014-11-10 2016-05-13 Alstom Transp Tech Procede ameliore de guidage d'un dispositif d'insertion d'elements dans le sol pour la realisation d'un ouvrage ; dispositif d'insertion et vehicule associes.
EP3995626A1 (de) * 2020-11-10 2022-05-11 ALSTOM Transport Technologies Anordnung zum anpassen von schienen eines zu erstellenden eisenbahngleises und entsprechendes verfahren

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10004066C1 (de) * 2000-01-31 2001-06-07 Kaeter Rolf Peter Verfahren zum Betrieb eines Telekommunikationssystems und Telekommunikationsanordnung
AUPR396501A0 (en) * 2001-03-26 2001-04-26 Edgeroi Pty Ltd Ground marking apparatus
FR2833023B1 (fr) 2001-12-05 2004-05-21 Alstom Procede de construction d'une voie ferree dans lequel on realise une dalle de voie en beton et on insere dans la dalle de voie des elements d'ancrage de la voie ferree
US20060032063A1 (en) * 2004-08-16 2006-02-16 Fabrication Technology Associates, Inc., Also Known As Fab Tech Method and system for controlling railroad surfacing
JP5150229B2 (ja) * 2007-12-07 2013-02-20 株式会社トプコン 測量システム
US7866052B2 (en) * 2008-06-12 2011-01-11 Schulze Todd M Concrete panel reference point marking system
CN102229179B (zh) * 2011-06-18 2013-04-24 常州天普马鞍板有限公司 马鞍板振动成型机
FR3014395B1 (fr) * 2013-12-05 2017-02-03 Pomagalski Sa Systeme de transport par cable aerien, notamment un telesiege ou telecabine
US10234279B2 (en) * 2014-07-16 2019-03-19 Politecnico De Torino Mobile unit for measuring running paths for handling device, system and process for measuring through such mobile unit
TWI593863B (zh) * 2014-12-09 2017-08-01 國立臺灣大學 鋼結構接合系統與方法
CN113401808B (zh) * 2021-05-28 2022-12-09 民航机场建设工程有限公司 一种调节控制式机场道面板定位系统
CN114561840B (zh) * 2022-03-18 2024-07-16 中铁五局集团有限公司 地铁轨道板精调装置、系统及精调方法

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FR2701968A1 (fr) * 1993-02-24 1994-09-02 Screg Routes & Travaux Dispositif de détermination en continu des déplacements d'une partie d'un engin de travaux publics sur un terrain.
DE19755324A1 (de) * 1997-12-12 1999-06-17 Michael Dipl Ing Sartori Verfahren und Vorrichtung zum Steuern eines Fahrzeugs
DE19808812A1 (de) * 1996-09-24 1999-09-16 Zueblin Ag Verfahren zur Herstellung einer festen Fahrbahn

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JP3670075B2 (ja) * 1996-03-06 2005-07-13 株式会社トプコン 適正高さ表示装置
FR2747698B1 (fr) 1996-04-23 2003-11-14 Cegelec Procede pour mette en place avec precision un insert dans du beton, dispositif pour la mise en oeuvre de ce procede, et voie de chemin de fer obtenue par ce procede
US6317980B2 (en) * 1997-10-20 2001-11-20 Mitek Holdings, Inc. Laser jigging system for assembly of trusses and method of use
US6138367A (en) * 1998-08-14 2000-10-31 Trimble Navigation Limited Tilt prediction for total station
US6089163A (en) * 1998-09-22 2000-07-18 Williams; Barnett Apparatus for adjusting the distance between rails

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2701968A1 (fr) * 1993-02-24 1994-09-02 Screg Routes & Travaux Dispositif de détermination en continu des déplacements d'une partie d'un engin de travaux publics sur un terrain.
DE19808812A1 (de) * 1996-09-24 1999-09-16 Zueblin Ag Verfahren zur Herstellung einer festen Fahrbahn
DE19755324A1 (de) * 1997-12-12 1999-06-17 Michael Dipl Ing Sartori Verfahren und Vorrichtung zum Steuern eines Fahrzeugs

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1818453A1 (de) * 2006-02-09 2007-08-15 Alstom Transport S.A. Verfahren und Vorrichtung zum Einsetzen von Elementen in die Erde, Mechanismus für diese Vorrichtung und dieses Verfahren nutzendes System
US7325316B2 (en) 2006-02-09 2008-02-05 Alstom Transport Sa Device and method for inserting elements into the ground, mechanism for this device and system using this device
FR2897079A1 (fr) * 2006-02-09 2007-08-10 Alstom Transport Sa Dispositif et procede d'insertion d'elements dans le sol, mecanisme pour ce dispositif et systeme utilisant ce dispositif
FR2897622A1 (fr) * 2006-02-23 2007-08-24 Alstom Transport Sa Procede et systeme d'insertion d'elements dans le sol, support d'enregistrement d'informations pour ce procede
EP1826319A1 (de) * 2006-02-23 2007-08-29 Alstom Transport S.A. Verfahren und System zum Einführen von Elementen auf dem Boden, Auskunftaufzeichnungsmedium für dieses Verfahren
US7428778B2 (en) 2006-02-23 2008-09-30 Alstom Transport Sa Method and a system for inserting elements in the ground, a data recording medium for the method
US7846046B2 (en) 2007-02-23 2010-12-07 Hawk-Eye Sensors Limited System and method of preparing a playing surface
WO2008103440A3 (en) * 2007-02-23 2009-01-08 Hawk Eye Sensors Ltd System and method of preparing a playing surface
WO2009030954A1 (en) * 2007-09-07 2009-03-12 Jarvis Plc Track adjustment
FR2941973A1 (fr) * 2009-02-12 2010-08-13 Alstom Transport Sa Procede et systeme de guidage par laser pour l'insertion d'elements dans le sol
FR3003276A1 (fr) * 2013-03-12 2014-09-19 Alstom Transport Sa Procede de construction d'une voie ferree comprenant un lit anti-vibratile
FR3028267A1 (fr) * 2014-11-10 2016-05-13 Alstom Transp Tech Procede ameliore de guidage d'un dispositif d'insertion d'elements dans le sol pour la realisation d'un ouvrage ; dispositif d'insertion et vehicule associes.
EP3031983A1 (de) * 2014-11-10 2016-06-15 ALSTOM Transport Technologies Verbessertes lenkverfahren einer einbringvorrichtung von elementen in den boden für die erstellung eines bauwerks, entsprechende einbringvorrichtung und entsprechendes fahrzeug
US9909263B2 (en) 2014-11-10 2018-03-06 Alstom Transport Technologies Method for guiding a device for inserting elements into the ground for the building of a structure; insertion device and associated vehicle
EP3995626A1 (de) * 2020-11-10 2022-05-11 ALSTOM Transport Technologies Anordnung zum anpassen von schienen eines zu erstellenden eisenbahngleises und entsprechendes verfahren
FR3116067A1 (fr) 2020-11-10 2022-05-13 Alstom Transport Technologies Ensemble d’ajustement des rails d’une voie ferrée à réaliser et procédé associé

Also Published As

Publication number Publication date
HU0103057D0 (en) 2001-10-28
HUP0103057A2 (hu) 2002-05-29
HK1043819A1 (en) 2002-09-27
EP1178153B1 (de) 2005-03-30
FR2812671B1 (fr) 2006-07-14
FR2812671A1 (fr) 2002-02-08
ES2237541T3 (es) 2005-08-01
DE60109688T2 (de) 2006-03-23
BR0103164A (pt) 2002-04-02
HK1043819B (zh) 2007-09-21
KR100740768B1 (ko) 2007-07-19
US20020014015A1 (en) 2002-02-07
NZ513183A (en) 2002-10-25
ATE292210T1 (de) 2005-04-15
CZ299324B6 (cs) 2008-06-18
HUP0103057A3 (en) 2003-02-28
DE60109688D1 (de) 2005-05-04
CZ20012769A3 (cs) 2002-03-13
RU2266360C2 (ru) 2005-12-20
PL348968A1 (en) 2002-02-11
DK1178153T3 (da) 2005-08-08
CN1336462A (zh) 2002-02-20
HU223586B1 (hu) 2004-09-28
CA2354411A1 (fr) 2002-02-01
BR0103164B1 (pt) 2009-01-13
CA2354411C (fr) 2007-05-15
PT1178153E (pt) 2005-07-29
KR20020011334A (ko) 2002-02-08
TWI228162B (en) 2005-02-21
CN1313677C (zh) 2007-05-02
AU5768601A (en) 2002-02-07
US6505406B2 (en) 2003-01-14
JP2002088702A (ja) 2002-03-27
PL211342B1 (pl) 2012-05-31
AU766187B2 (en) 2003-10-09
MXPA01007738A (es) 2004-08-11

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