EP1505023A2 - Méthode et dispositif pour controler la tension d'une bande et le répérage de coup d'une imprimante rotative - Google Patents

Méthode et dispositif pour controler la tension d'une bande et le répérage de coup d'une imprimante rotative Download PDF

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Publication number
EP1505023A2
EP1505023A2 EP04018321A EP04018321A EP1505023A2 EP 1505023 A2 EP1505023 A2 EP 1505023A2 EP 04018321 A EP04018321 A EP 04018321A EP 04018321 A EP04018321 A EP 04018321A EP 1505023 A2 EP1505023 A2 EP 1505023A2
Authority
EP
European Patent Office
Prior art keywords
register
web
speed
decoupling
control
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.)
Withdrawn
Application number
EP04018321A
Other languages
German (de)
English (en)
Other versions
EP1505023A3 (fr
Inventor
Günther Prof. Dr. Brandenburg
Andreas Klemm
Stefan Geissenberger
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.)
Manroland AG
Original Assignee
Manroland AG
MAN Roland Druckmaschinen AG
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 Manroland AG, MAN Roland Druckmaschinen AG filed Critical Manroland AG
Publication of EP1505023A2 publication Critical patent/EP1505023A2/fr
Publication of EP1505023A3 publication Critical patent/EP1505023A3/fr
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F13/00—Common details of rotary presses or machines
    • B41F13/02—Conveying or guiding webs through presses or machines
    • B41F13/025—Registering devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/188—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web
    • B65H23/1882—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web and controlling longitudinal register of web
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/10—Size; Dimensions
    • B65H2511/11—Length
    • B65H2511/112—Length of a loop, e.g. a free loop or a loop of dancer rollers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/30—Forces; Stresses
    • B65H2515/31—Tensile forces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/20—Calculating means; Controlling methods
    • B65H2557/264—Calculating means; Controlling methods with key characteristics based on closed loop control
    • B65H2557/2644—Calculating means; Controlling methods with key characteristics based on closed loop control characterised by PID control

Definitions

  • the invention relates to a method and a device for regulating the Web tension and cut register of a web-fed rotary press.
  • cut register total cut register error and / or partial cut register error
  • web tensile force in a same or in different sections of the printing press decoupled from each other at the same time and in a regulatory sense where both sizes are specified independently.
  • the Running time of the railway image points adjusted at a constant path, while According to the prior art, a track length change at constant Path speed is made.
  • the lead (speed) is not one pressure-changing nip changed, with both interventions by Decoupling measures to ensure a stable overall This was previously not possible in the prior art.
  • the partial cut register error Y * 1 i to be controlled are at or before a terminal point i and the web tension F k -1, k or F i -1, i to be controlled at or before another terminal point k or the same terminal point i, where the nip points are non-printing and in each case in front of the knife cylinder (nip 4), measured and these control variables - the web tension F k- 1 , k or F i -1, i and the part-cut register error Y * 1 i - by suitable manipulated variables ⁇ i -1, i , ⁇ i , ⁇ k -1, k , ⁇ k and associated controllers in the control-technical sense decoupled from each other according to corresponding set values Y * 1 iw ,
  • the manipulated variable for the cutting register is the lead of a non-printing nip and the manipulated variable for the web tension is the lead or position of the printing units, both schemes are implemented by appropriate control circuits that the normal drive controls from current, speed and / or angle control be subordinated.
  • the manipulated variable for the cutting register is the speed ⁇ k of a clamping point k and the manipulated variable for the web tensile force the velocity ⁇ i of a clamping point i, wherein when the speed ⁇ i of this clamping point changes, the force F i, i + 1 in the following path section is not self-compensating may be. This is the case when moisture and / or heat is introduced into the web in the leading web sections.
  • the lead of a cooling unit in a web-fed printing press can be used for this purpose.
  • a manipulated variable for the web tension and the force exerted by the dancer roll force can be selected on the web, which is determined from the pressure of the associated pneumatic cylinder, fed to a web tension and compared with the force setpoint, the output of the controller either directly the manipulated variable for the Pneumatic cylinder or the setpoint F 01 w , if a subordinate control loop for the input web tension F 01 is present.
  • the specification of the decoupling Voreilungs additional setpoint for the nip 2 in the form of an additional speed setpoint is performed and for the nip 1 in the form of a corresponding additional tensile setpoint at the input of the draft regulator via a correspondingly modified transfer function of the closed Traction control loop or the specification of the decoupling Voreilungs additional setpoint for the terminal point 1 in the form of a corresponding additional speed setpoint via balancing filter is performed.
  • the advantage is that the cut register error immediately before the knife cylinder can be measured and controlled by a register controller, the register controller the nip 3 is superimposed.
  • the solution according to the invention requires no additional mechanical Web guiding element.
  • pressure train units used such as. B. the cooling unit, pull rollers in Falzended, the funnel roller or more in the path between the last Printing unit and knife cylinder lying train units, preferably by means of Variable speed single drives are driven.
  • the invention also relates to a device for carrying out the method for controlling the cutting register, the clamping points 1 to 4 are driven independently with drive motors with associated current, speed and optionally angle control and at the cut register and / or associated further register deviations Y * / 13, Y * / 1 i , Y * / ik on or in front of a knife cylinder and / or on or in front of one or more of these knife cylinder (nip 4) upstream clamping points i, k, 1 to 3 on a specific image information or measurement marks of the printed Track can be detected by at least one sensor and the web tension can be detected by at least one other sensor and these determined by the sensors data to influence the cutting register error Y 14 a control and / or control device for changing angular positions or circumferential velocities ⁇ 1 to ⁇ 3 , ⁇ i , ⁇ k of the respective terminal point K i , K k , K 1 to K 3 can be fed.
  • a four-roller system according to Fig. 1 a. It should be noted that in the real printing press in place of a nip 1 ( K 1 ) of the four-roll system as many printing units, ie, for example, four printing units of a web offset commercial printing press or newspaper printing press or other type of rotary printing presses can occur.
  • the principle of register and web tension control described below by the example of an illustration printing machine by two decoupled control loops is to be transferred to all rotary printing machines mutatis mutandis.
  • the four-roller system of Fig. 1a is a simplified form of a rotary printing machine, in particular a web offset printing machine.
  • nip 0 ( K 0 ) following nip 1 ( K 1 ) all printing units are summarized.
  • terminal point 0 ( K 0 ) and 1 ( K 1 ) is a dancer roller or a tension control loop for specifying the web tension F 01 as an abbreviated representation of the device for adjusting the web tension on the unwinding ( K 0 ) and in the feed train.
  • Clamping point 2 ( K 2 ) is in the case of an illustration printing press for the cooling unit, in between is optionally a dryer T, nip 3 ( K 3 ) stands for the turning unit and nip 4 ( K 4 ) for the folding unit with the cutting-determining knife cylinder.
  • the magnitudes ⁇ i are the peripheral velocities of the clamping points K i , which are approximated by the behavior of wound Coulomb friction rollers. In rotary printing presses, the term “overfeed” is used instead of the term "speed”.
  • Register error Y 14 on the knife cylinder is referred to as overall cut register error or short as cut register error.
  • the system 1 of FIG. 1 a is understood as a mechanical controlled system (block 1 a in FIG. 1 b) with associated actuators (controlled drives in block 1 b in FIG. 1 b).
  • the two controlled variables are the partial cut register error Y * / 13 as a substitute quantity for the total cut register error Y 14 and the web tensile force F 23 .
  • Manipulated variables are the lead of the clamping point 3 ( K 3 ) and the lead or position of the clamping point 1. By appropriate control circuits, these variables should be specified independently of one another in accordance with set target values.
  • the partial register error Y * / 13 is the deviation of a fixed image reference point, eg the image edge, at the nip 3 ( K 3 ) from the position of this point at the nip 1 ( K 1 ), relative to its correct position.
  • the cutting register error Y 14 is the error of the cutting edge at the clamping point 4 ( K 4 ) at the time of cutting compared to their position at the nip 1 ( K 1 ), based on their correct position.
  • the actuators form the controlled drive motors M 1 to M 4 .
  • the input variables x iw shown in FIGS. 1 a and 1 b represent the angular velocity (rotational speed) or angle desired values of the controlled drives M 1 to M 4 .
  • the system (1 K) supplied to transient or stationary mass flow through the input of the clamping point 1, measured in kgs - 1 is determined by the circumferential speed of the clamping point ⁇ 1, 1 (K 1) and the elongation ⁇ 01 determined.
  • the force F 01 of the strain ⁇ 01 is proportional.
  • the force F 01 is set by the contact force of a dancer or pendulum roller to the continuous web or by a tension control loop - the circumferential speed of the nip 0 (directly or indirectly via a further device for setting the web tension - according to the position setpoint or force setpoint Unwinding) control. Only the peripheral speed of the unwinding device is able to stationarily change the mass flow introduced into the system.
  • the partial register error Y * / 13, as shown in FIG. 2, with the register controller 3.1 using the speed ⁇ 3 of the nip 3 ( K 3 ) - for example, a turning unit - to the predetermined target value Y * / 13 w , for example Y * / 13 w 0, regulated.
  • This closed-loop control circuit is subordinated to the speed control circuit 3.2 of the drive motor M3 assigned to the clamping point 3 ( K 3 ).
  • the very small equivalent time constant of the current loop underlying the speed control loop is negligible.
  • the web tension F 23 must therefore be limited. For this purpose, it is measured by means of a tensile force sensor 8, for example as a measuring roller, measured, fed to the comparison point of a draft regulator 1.1 and compared with the desired value F 23 w (see FIG. 2).
  • the tension regulator 1.1 ensures compliance with the desired web tension F 23 and at the same time allows their paper-type-dependent specification by the machine operator, who no longer has to intervene in the overfeed adjustment of the clamping point 3 ( K 3 ).
  • the tension controller 1.1 specifies the desired angle value ⁇ 1 w for the virtual guide shaft, ie the common setpoint value for the angle control loops of all pressure units and of the knife cylinder ( K 4 ).
  • Each angle control loop consists of an angle controller, the lower speed control loop including current loop (summarized in block 1.2).
  • the two controlled variables namely the partial register error Y * / 13 and the tensile force F 23 , are dependent on one another by the structure of the controlled system, ie coupled to one another.
  • the structure of the controlled system ie coupled to one another.
  • the register control circuit (controller 3.1) now attempts to return this error Y * / 13 to the desired value Y * / 13, w , for example value 0, by a speed change ⁇ 3 , whereby the force F 23 is changed, thus the traction control circuit again etc. This can make the entire system unstable (see Fig. 2).
  • the first measure is to add the velocity ⁇ 3 to ⁇ 2 , that is, to communicate any movement of the nip 3 ( K 3 ) to the nip 2 ( K 2 ). This ensures that the correction of Y * / 13 with the help of ⁇ 3 no longer leads to a change of F 23 , ie Y * / 13 no longer depends on F 23 . But ⁇ 3 now also affects F 12 .
  • the second measure is therefore to add the velocity ⁇ 3 also to ⁇ 1 . As a result, the reaction from ⁇ 3 to F 12 is prevented.
  • the clamping points 1 ( K 1 ) and 2 ( K 2 ) thus perform the same movement as the nip 3 ( K 3 ). Thus F 23 is only affected by ⁇ 1 .
  • the method already works stably with this partial decoupling.
  • the partial register error Y * / 13 is still dependent on ⁇ 1 in the decoupling method I except from ⁇ 3 , its desired control variable. This dependence is canceled out by virtue of ⁇ 1 being passed over the computable transfer function F x and its output signal x being subtracted from ⁇ 3 .
  • This precontrol is also carried out at ⁇ 4 and can optionally be done at ⁇ 2 (shown in phantom in Fig. 3).
  • Y * / 13 depends solely on ⁇ 3 .
  • This method also works stably in the form described.
  • ⁇ 3 with ⁇ 2 takes place in the form of an angular velocity additional setpoint at the input of the speed control circuit 2.2, as FIG. 4 shows.
  • the addition of ⁇ 3 to ⁇ 1 is realized in a case a) in the form of an additional setpoint at the input of the tensioning force regulator 1.1.
  • the transfer function 1.3 of the reciprocal closed traction control loop is necessary.
  • the addition can also be added in a case b) to the setpoint ⁇ 1 w , as shown in FIG. 5.
  • two balancing filters 1.4 and 1.5, cf. [Bra 96] provide that prevent the angle controller 1.6 and the draft regulator 1.1 respond to this pilot signal in a compensating manner. The pilot signal is not interpreted as a fault due to this measure.
  • the output signal x of the transfer function F x (block 1.7 in FIG. 6) is realized in a case a) as an additional setpoint value at the input of the register controller 3.1. For this, the transfer function 3.3 is necessary. The output signal x of the transfer function F x is also subtracted via the adaptation block 4.1 from the angle setpoint ⁇ 4w . In a case b) of Fig. 7, the connection is made at the inputs of blocks 3.2 and 4.2. In this case, the balancing filters 3.4 and 4.3 are necessary.
  • the tensile force F 23 was regulated by the advance or speed v 1 of the nip 1 ( K 1 ) and the partial register error Y * 13 by the speed v 3 of the nip 3 ( K 3 ), this can be done
  • the tensile force F 23 is regulated by the speed ⁇ 3 of the clamping point 3 ( K 3 ) and the register error by the lead or the angle of terminal point 1 ( K 1 ).
  • the transfer functions F x 1 and F x 2 can be calculated (compare Fig. 8).
  • the result for the transfer function F x 1 is an integral term 1.8 and for the transfer function F x 2 a DT1 element (first-order differentiating delay element) 3.5.
  • the integrator 1.8 is replaced by a PT1 element (proportional-delay element of the first order): 1 T l s ⁇ 1 1+ T l s
  • T1 is the integration time constant.
  • the DT1 element in the transfer function F x 2 may be unfavorable due to harmonics in the measurement signals. Therefore, this control variant will only be of value in special cases.
  • the forward decoupling is done by means of the block 1.9 similar to that in Fig. 3, thus resulting in a complete decoupling.
  • the described two-size controlled system can alternatively also after the Method of so-called.
  • Complete series decoupling [Föl 88] are decoupled.
  • two decoupling methods as shown above, possible, and the decoupling results in a similar way.
  • the contact pressure of the dancer or pendulum roller is selected, for example, as a manipulated variable for the web tension F i -1, i in the desired section i-1, i.
  • the contact pressure 2 F 01 of the dancer roller is adjusted, for example via the pressure in the - not shown here - associated pneumatic cylinder via a corresponding pressure control loop.
  • the dancer or pendulum roller system is to be equipped with the necessary data exchange with communication interfaces.
  • nip 1 printing units
  • the speed ⁇ 1 of the printing units is changed, this change also being communicated to the nominal position value of the knife cylinder ( K 4 ) and possibly further nip points.
  • the force F i, i +1 is not fully controllable by ⁇ i .
  • ⁇ i such a property of self-compensation must not be present.
  • ink and / or moisture is introduced during the printing process and / or when heat is applied, for example by means of a dryer in one of the sections before the nip i ( K i )
  • the self-compensation characteristic is lost, and also F i , i + 1 changes permanently.
  • ⁇ i can also be used as a manipulated variable in a traction control loop.
  • nip 2 K 2
  • a dryer T upstream, so the speed v 2 as a control variable for the force F i -1, i in a traction control circuit (controller 2.1) can be used, said this Drive control 2.2 is superimposed.
  • the Zügkräftregelnik then works together, for example, with a register control loop (controller i.3) for Y * 1 i in decoupled form.
  • the force F 23 could be regulated.
  • a first possibility is to choose the contact force of the dancer roller as a manipulated variable for the web tension in the desired section, for example, the web tension F 23 in the desired section 2-3.
  • the contact pressure force 2 F 01 (see Fig. 1a) of the - not shown - dancer roller is readjusted, for example via the pressure in the associated pneumatic cylinder via a corresponding pressure control loop.
  • the dancer roller system is to be equipped with the necessary data exchange with communication interfaces. In place of the dancer roll can also occur a web tension control loop.
  • a second possibility is to use the speed of a nip, which must meet certain conditions, as explained below.
  • the force F i changes - 1, i remaining, however, the force F i , i +1 only temporarily, ie not permanent.
  • This property is called self-compensation of the force F i , i +1 and is in purely elastic web material. Under these conditions, the force F i , i +1 is not fully controllable.
  • F 23 can be regulated by a traction control loop with the aid of ⁇ 2 and then, as described above, operate with the register control loop for Y * / 13 in decoupled form together.
  • the cut register error referred to in the four-roller system as Y 14 , measured by another sensor 5 immediately before the blade cylinder K 4 and fed to another register controller 3.6, as shown in FIG. 9 for the case a) the complete decoupling.
  • This now provides the setpoint Y * / 13 w , which will change as a result of the default Y 14 w in general.
  • the now subordinate control loop for Y * / 13 ensures that the controller 4.5 for Y 14 essentially only needs to correct the disturbances that occur after terminal point 3.
  • the superimposed register control loop is able to work together with all the control variants described under point 1.
  • the case of multi-lane operation is described in the co-pending patent application PB04640.
  • the web tension F 23 must therefore be limited. For this purpose, it is measured by means of a tensile force sensor 8, for example as a measuring roller, measured, fed to the comparison point of a draft regulator 2.1 and compared with the desired value F 23 w (see FIG. 10).
  • the tension regulator 2.1 ensures compliance with the desired web tension force F 23 and at the same time enables its paper type-dependent specification by the machine operator, who no longer has to intervene in the overfeed adjustment of the clamping point 3 ( K 3 ).
  • the draft regulator 2.1 specifies the angular velocity setpoint ⁇ 2 w , ie the lead of the cooling unit.
  • the use of the lead of the cooling unit as a manipulated variable for the force F 23 is possible that when adjusting the angular velocity ⁇ 2, the force F 23 is not self-compensating. This is due to the change in paper properties due to the moisture and heat input through the printing units and drying line
  • the two controlled variables namely the partial cutting register error Y * / 13 and the tensile force F 23 , are dependent on one another by the structure of the controlled system, ie coupled to one another. If, for example, a setpoint change F 23 w is made, the engagement of the draft regulator 2.1 causes a partial cut register error Y * / 13.
  • the register control loop (controller 3.1) now attempts to return this error Y * / 13 to the setpoint value Y * / 13, w , for example the value 0, by means of a speed change ⁇ 3 , whereby, however, the force F 23 is changed again Switzerlandkraftregelnik responds, etc. (see Fig. 10). This can make the entire system unstable.
  • the tension controller 2.1 and the register controller 3.1 can be designed for example as a PI controller. It is then ensured that both control loops operate dynamically largely unaffected by one another and the predefined setpoint values for the force F 23 and the register error Y * / 13 are assumed without steady-state errors.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
  • Inking, Control Or Cleaning Of Printing Machines (AREA)
  • Handling Of Sheets (AREA)
EP04018321A 2003-08-06 2004-08-04 Méthode et dispositif pour controler la tension d'une bande et le répérage de coup d'une imprimante rotative Withdrawn EP1505023A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10335887 2003-08-06
DE10335887A DE10335887B4 (de) 2003-08-06 2003-08-06 Verfahren und Vorrichtung zum Regeln eines Schnittregisterfehlers und einer Bahnzugkraft einer Rollenrotationsdruckmaschine

Publications (2)

Publication Number Publication Date
EP1505023A2 true EP1505023A2 (fr) 2005-02-09
EP1505023A3 EP1505023A3 (fr) 2010-01-06

Family

ID=33547094

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04018321A Withdrawn EP1505023A3 (fr) 2003-08-06 2004-08-04 Méthode et dispositif pour controler la tension d'une bande et le répérage de coup d'une imprimante rotative

Country Status (4)

Country Link
US (1) US7137338B2 (fr)
EP (1) EP1505023A3 (fr)
CN (1) CN100436126C (fr)
DE (1) DE10335887B4 (fr)

Cited By (2)

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EP1562724B1 (fr) * 2002-10-02 2009-05-13 manroland AG Procede et dispositif permettant de regler le repere de coupe d'une machine d'impression rotative a rouleaux
CN106926581A (zh) * 2015-12-30 2017-07-07 宁波欣达印刷机器有限公司 用于卷筒式凹版印刷机断料保护的方法

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JP4891608B2 (ja) * 2005-12-19 2012-03-07 三菱重工印刷紙工機械株式会社 印刷機の断裁制御装置及び断裁制御方法
DE102006023825A1 (de) * 2006-05-20 2007-11-22 Robert Bosch Gmbh Verfahren und System zur Antriebsregelung einer Druck- und/oder Verarbeitungsmaschine
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KR20090048795A (ko) * 2007-11-12 2009-05-15 삼성전자주식회사 파일 전송시스템 및 그 파일 관리방법
FI20080103A0 (fi) * 2008-02-12 2008-02-12 Upm Kymmene Oyj Menetelmä painatusprosessin säätämiseksi
KR100953475B1 (ko) * 2008-02-19 2010-04-16 건국대학교 산학협력단 전자소자 연속공정 롤투롤 인쇄를 위한 초정밀 레지스터제어 방법
DE102008017532A1 (de) 2008-04-03 2009-10-08 Manroland Ag Schnittregisterregelung
DE102008054019A1 (de) 2008-10-30 2010-05-06 Manroland Ag Rollenrotationsdruckmaschine und Verfahren zum Einstellen des Schnittregisters davon
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DE102008062531A1 (de) * 2008-12-16 2010-06-17 Robert Bosch Gmbh Verfahren zur Registerregelung bei einer Bearbeitungsmaschine
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CN104494286B (zh) * 2014-12-26 2016-12-21 青岛玉兰祥商务服务有限公司 一种运行稳定的印刷介质夹持引导装置
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DE10335887B4 (de) 2007-11-08
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CN100436126C (zh) 2008-11-26
EP1505023A3 (fr) 2010-01-06
US20050061189A1 (en) 2005-03-24
US7137338B2 (en) 2006-11-21

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