EP1637511B1 - Actionneur pyrotechnique muni d'une charge comprenant un oxydant et un réducteur dissociés - Google Patents
Actionneur pyrotechnique muni d'une charge comprenant un oxydant et un réducteur dissociés Download PDFInfo
- Publication number
- EP1637511B1 EP1637511B1 EP05291744.0A EP05291744A EP1637511B1 EP 1637511 B1 EP1637511 B1 EP 1637511B1 EP 05291744 A EP05291744 A EP 05291744A EP 1637511 B1 EP1637511 B1 EP 1637511B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- actuator
- reducing material
- oxidant
- charge
- gases
- 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.)
- Not-in-force
Links
- 239000007800 oxidant agent Substances 0.000 title claims description 18
- 239000003638 chemical reducing agent Substances 0.000 title description 2
- 239000007789 gas Substances 0.000 claims description 34
- 230000001590 oxidative effect Effects 0.000 claims description 31
- 239000000463 material Substances 0.000 claims description 30
- 239000001301 oxygen Substances 0.000 claims description 21
- 229910052760 oxygen Inorganic materials 0.000 claims description 21
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 19
- 238000000197 pyrolysis Methods 0.000 claims description 17
- 238000006243 chemical reaction Methods 0.000 claims description 14
- 239000012530 fluid Substances 0.000 claims description 14
- 239000000110 cooling liquid Substances 0.000 claims description 10
- 239000003999 initiator Substances 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 5
- 239000007788 liquid Substances 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 5
- 229920003229 poly(methyl methacrylate) Polymers 0.000 claims description 4
- 239000004926 polymethyl methacrylate Substances 0.000 claims description 4
- 229920004939 Cariflex™ Polymers 0.000 claims description 3
- 239000008246 gaseous mixture Substances 0.000 claims description 2
- NILJXUMQIIUAFY-UHFFFAOYSA-N hydroxylamine;nitric acid Chemical compound ON.O[N+]([O-])=O NILJXUMQIIUAFY-UHFFFAOYSA-N 0.000 claims description 2
- 239000002184 metal Substances 0.000 claims description 2
- 229910052751 metal Inorganic materials 0.000 claims description 2
- 150000002739 metals Chemical class 0.000 claims description 2
- 239000000025 natural resin Substances 0.000 claims description 2
- -1 oxygen peroxide Chemical class 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 239000001993 wax Substances 0.000 claims description 2
- 230000001747 exhibiting effect Effects 0.000 claims 1
- 238000002485 combustion reaction Methods 0.000 description 6
- 239000002826 coolant Substances 0.000 description 5
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 4
- 238000001816 cooling Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 2
- 238000011144 upstream manufacturing Methods 0.000 description 2
- AVXURJPOCDRRFD-UHFFFAOYSA-N Hydroxylamine Chemical compound ON AVXURJPOCDRRFD-UHFFFAOYSA-N 0.000 description 1
- 229910002651 NO3 Inorganic materials 0.000 description 1
- NHNBFGGVMKEFGY-UHFFFAOYSA-N Nitrate Chemical compound [O-][N+]([O-])=O NHNBFGGVMKEFGY-UHFFFAOYSA-N 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009172 bursting Effects 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 229940082150 encore Drugs 0.000 description 1
- 230000006355 external stress Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- C—CHEMISTRY; METALLURGY
- C06—EXPLOSIVES; MATCHES
- C06D—MEANS FOR GENERATING SMOKE OR MIST; GAS-ATTACK COMPOSITIONS; GENERATION OF GAS FOR BLASTING OR PROPULSION (CHEMICAL PART)
- C06D5/00—Generation of pressure gas, e.g. for blasting cartridges, starting cartridges, rockets
- C06D5/10—Generation of pressure gas, e.g. for blasting cartridges, starting cartridges, rockets by reaction of solids with liquids
-
- C—CHEMISTRY; METALLURGY
- C06—EXPLOSIVES; MATCHES
- C06B—EXPLOSIVES OR THERMIC COMPOSITIONS; MANUFACTURE THEREOF; USE OF SINGLE SUBSTANCES AS EXPLOSIVES
- C06B45/00—Compositions or products which are defined by structure or arrangement of component of product
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/19—Pyrotechnical actuators
Definitions
- the technical field of the invention is that of pyrotechnic actuators whose essential function is either to inflate a structure, or to move a part by means of a piston.
- the pyrotechnic actuators according to the invention are particularly adapted to land vehicles for the implementation of safety system type cushions, air vehicles to allow for example, the opening or automatic closing of a door, as well as 'space vehicles for the swelling of structures favoring their landing.
- This jack comprises a pyrotechnic gas generator, a piston, a pyrotechnic combustion chamber and a back pressure chamber and an intermediate chamber between said combustion chamber and an end of the piston.
- a channel connects the intermediate chamber to the backpressure chamber. The gases emitted by the generator pressurize the intermediate chamber to oppose the movement of the piston and thus dampen its stroke, a portion of said gases being conveyed by the channel to the counter-pressure chamber.
- the patent application FR 2,824,875 relates to a pyrotechnic actuator having a body, a piston, and a washer for retaining said piston in said body.
- the actuator may either exert a thrust on an object by causing said piston to emerge from said body, or to release a mechanical part by retracting the piston into said body.
- the pyrotechnic actuators described in these two patents comprise energy charges already constituted and which are likely to be ignited by combustion under the effect of accidental unintended stress, such as, for example, a rise in temperature, the impact of a falling object or any friction.
- the expression "in the storage position" corresponds to the non-operating phase of the actuator.
- the actuators according to the invention involve dissociated energy charges involving a reducing material and an oxidizing fluid which are initially separated. In this way, in the storage position, the energy charges can not react to inadvertent external stress, giving the actuators according to the invention a high level of security. Said actuators are therefore perfectly adapted to land, air or space vehicles that do not tolerate any accidental ignition that could put them out of use or even destroy them.
- the oxidant is contacted with the reducing material after the surface of said material has been heated, to produce a pyrolysis reaction, and the gases thus emitted are conveyed outwardly of said actuator by means of an outlet pipe.
- the surface of the reducing material is preheated before the oxidant is brought into contact with said material to produce a pyrolysis reaction.
- the gases produced by the pyrolysis reaction between the reducing material and the oxidant are cooled by means of a parallel circuit comprising a cooling liquid.
- the cooling liquid is constituted by ethanol.
- the circuit successively comprises an expansion chamber comprising the gas outlet pipe, a cooling liquid reserve and a connecting pipe between said reserve and said outlet pipe, said connecting pipe being provided with a pyrotechnic valve.
- the expansion chamber which has a mobile wall in contact with the cooling liquid is which can expand under the effect of the gases produced by the pyrolysis, by exerting a pressure on said liquid.
- the pyrotechnic valve of the connecting pipe is open, the cooling liquid which is under pressure, flows in said pipe to be routed to the outlet pipe.
- the coolant liquid that circulates in the connecting pipe is diffused into the outlet pipe in the form of fine droplets.
- the oxidant flow rate is controlled by a primed nozzle located between the oxidant reserve and the reducing material.
- the gases emitted by the pyrolysis reaction between the oxidant and the reducing material are conveyed to a buffer volume opening on a cylinder provided with a piston.
- the buffer volume is similar to a depressurization chamber in the case where the cylinder is accidentally blocked and could cause the bursting of the actuator. Said volume is sized to contain all the gases produced by the pyrolysis reaction.
- the actuators according to the invention have the advantage of being autonomous and having a small footprint thanks to a great simplicity of design. They can therefore be easily inserted into any type of device or object requiring the functions required by such actuators. In addition, they have all the advantages associated with the use of energy charges, namely: reliability due to control of ignition, reduced space requirement due to the small size of energy charges, and high variability of effects due to diversity of compositions that can be selected for these actuators.
- an actuator 1 comprises an oxygen reserve 2, an ignition system 3, a reducing block 4 of polymethyl methacrylate, a gas cooling circuit 5, a device 6 of said exhaust gas and an inflatable structure 7.
- the oxygen reserve 2 is constituted by a rigid bottle 8 containing oxygen under pressure and having an oxygen outlet channel 10 for connecting said bottle 8 to the reducing block 4 by passing through the ignition system 3.
- the exhaust channel 10 is constituted by a rigid pipe comprising a pyrotechnic valve 11 and a regulating valve 12, the pyrotechnic valve 11 being disposed upstream of the control valve 12 with respect to the oxygen reserve 2.
- the channel 10 has a bypass channel 13 at the control valve 12 to ensure the passage of oxygen in the case where the said valve 12 was closed as part of the flow control function.
- the ignition system 3 comprises two initiators 14 each of which is extended by a channel 15 opening on a relay load 16 located in a free space 17 partially delimited by the reducing unit 4, said free space 17 acting as a pyrolysis chamber when the actuator 1 is in the operating phase.
- the two initiators 14 are located on a plug 18 having a hollow central nozzle 19 intended to receive an end of the exhaust channel 10 connected to the oxygen reserve 2.
- Said plug 18 is screwed to one of the two ends of the a hollow cylindrical body 20 successively and continuously containing the relay charge 16, the pyrolysis chamber 17, the reducing unit 4, an expansion chamber 21 and a coolant 22.
- the end of said hollow body 20 around which is screwed plug 18 has a central bore 52.
- the hollow central nozzle 19 is found in continuity with said bore 52.
- oxygen 2 and the reducing unit 4 said communication being however interrupted by the relay charge 16.
- the expansion chamber 21 comprises an outlet pipe 26 of the gases from the pyrolytic reaction between reducing unit 4 and oxygen.
- the actuator presented at figure 2 has a compacted shape in that the exhaust channel 10 has two successive elbows in the same direction, so that the assembly consisting of the oxygen reserve 2, the exhaust channel 10 and the hollow cylindrical body 20 overall has a shape in u.
- the reducing unit 4a has a cylindrical shape comprising a cylindrical central channel having nine longitudinal and rectilinear grooves 23. Said grooves 23, each having a rectangular section, are parallel to each other and are regularly distributed around said central channel. They give the section of said channel a starry outline.
- the reducing unit 4b is traversed longitudinally by seven parallel channels between them, one of which is in a central position and the other six of which are regularly arranged around said central channel 24 while being equidistant of it.
- the cooling circuit 5 comprises a reserve of coolant 22 such as, for example, ethanol and a connecting pipe connecting said reserve 22 to the outlet pipe 26 of the gases.
- the connecting pipe 27 comprises a pyrotechnic valve 28 and originates at the end of the hollow cylindrical body 20 which is opposite that which is screwed on the plug 18 provided with the two initiators 14. Said connecting pipe 27 performs two successive bends in the same direction to lead into the outlet pipe 26 of the gases.
- the expansion chamber 21 is delimited by a hollow cylindrical part 29 closed at one end by a flat circular face 30 and open at the other end, said part 29 being housed in the hollow cylindrical body 20.
- the expansion chamber 21 is partially defined by the reducing unit 4.
- the outlet pipe 26 of the gases comprises at least one pyrotechnic valve 31 located upstream of an inflatable structure 7.
- the mode of operation of this first preferred embodiment of an actuator 1 follows the following steps.
- An electrical signal triggers the two initiators 14 whose combustion will cause the initiation of the relay charge 16.
- the gases thus generated will come to occupy the pyrolysis chamber 17 to heat the surface of the reducing unit 4.
- a new electrical signal will trigger the pyrotechnic valve 11 located on the exhaust channel 10 of the oxygen supply 2 to release said oxygen in said channel 10. Since the relay charge 16 has been put into combustion, it no longer opposes the passage of oxygen which then comes into contact with the reducing block 4 which has been previously heated. There is then a pyrolysis reaction between the oxygen and the reducing unit 4. The hot gases resulting from this reaction pressurize the expansion chamber 21 which will exert a thrust on the cooling liquid 22.
- the pyrotechnic valve 28 carried by the connecting pipe 27 is then opened and the coolant 22 is then expelled by said pipe 27 under the effect of the thrust of the expansion chamber 21. Said liquid 22 reaches the outlet pipe 26 in the form fine droplets that will cool the hot gases escaping from the expansion chamber 21.
- the pyrotechnic valve 31 of the outlet pipe 26 is triggered to allow the cooled gases to escape and to enter the inflatable structure 7.
- a second preferred embodiment of an actuator 100 comprises an oxygen reserve 102, an ignition system 103, a reducing block 104 of polymethyl methacrylate, a buffer volume 140 and a jack 141 provided with A piston 142.
- the oxygen reserve 102 is stored in a hollow cylindrical member 105 having at both ends a planar circular face.
- One of the two planar faces has a central bore serving as a filling orifice and which is closed off by a stopper 106.
- the other planar face comprises a central orifice 107 closed off by a snap seal 108, said orifice 107 constituted by a portion cylindrical extended by a conical portion acting as a primed nozzle.
- the hollow cylindrical part 105 is partially screwed into a hollow cylindrical body 109 comprising the reducing block 104 and the ignition system 103.
- a hollow cylindrical body 109 comprising the reducing block 104 and the ignition system 103.
- the connection between said piece 105 and said body 109 is sealed by the insertion of two seals 110a, 110b, between the outer surface of the workpiece 105 and the inner surface of the body 109.
- the workpiece 105 is oriented in the body 109 so that the plane face of said part 105 which comprises a central orifice 107 closed by a flappable cap 108 separates the assembly "reducing unit + ignition system" of the oxygen reserve 102.
- the reducing unit 104 is cylindrical and has a central channel having nine longitudinal and rectilinear grooves.
- the ignition system 103 is housed in said central channel and comprises an electrically triggerable initiator 114 and a gas-producing relay load 116 and which is wedged between two leaf springs 117a, 117b, said relay load 116 being extended by a nozzle 118 to allow the escape of the gases from the combustion of the relay charge 116 under well-defined conditions.
- the reducing unit 104 is in abutment against an internal shoulder of the hollow cylindrical body 109 and provides a free space 119 with said body 109, said space 119 being in communication with the buffer volume 140 via an outlet pipe 126
- the buffer volume 140 is located in an elongate hollow cylindrical member 143 provided with an outlet 144 connecting said buffer volume 140 to a ram 141, said ram 141 including a piston 142 having an elongate shaft 146 terminating in an enlarged head 147.
- the mode of operation of this second preferred embodiment of an actuator 100 according to the invention is as follows.
- An electrical signal triggers the initiator 114 which will itself burn the relay charge 116.
- the emitted gases will exit the nozzle 118 to come to heat the inner surface of the reducing unit 104 and cause the rupture of the cap 108.
- the pyrolysis reaction between the oxidant and the reducing unit 104 generates gases which will enter the buffer volume 140 through the outlet pipe 126, then out of said volume 140 through the outlet orifice 144 to come exert pressure on the piston 142 of the cylinder 141 to move it.
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Organic Chemistry (AREA)
- Physics & Mathematics (AREA)
- Combustion & Propulsion (AREA)
- Analytical Chemistry (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Crystallography & Structural Chemistry (AREA)
- Actuator (AREA)
- Fluid-Pressure Circuits (AREA)
- Air Bags (AREA)
- Feeding, Discharge, Calcimining, Fusing, And Gas-Generation Devices (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0409721A FR2875293B1 (fr) | 2004-09-14 | 2004-09-14 | Actionneur hybride muni d'une charge comprenant un oxydant et un reducteur dissocies |
Publications (3)
Publication Number | Publication Date |
---|---|
EP1637511A2 EP1637511A2 (fr) | 2006-03-22 |
EP1637511A3 EP1637511A3 (fr) | 2012-12-05 |
EP1637511B1 true EP1637511B1 (fr) | 2018-05-16 |
Family
ID=34952800
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP05291744.0A Not-in-force EP1637511B1 (fr) | 2004-09-14 | 2005-08-18 | Actionneur pyrotechnique muni d'une charge comprenant un oxydant et un réducteur dissociés |
Country Status (5)
Country | Link |
---|---|
US (1) | US20060065337A1 (ja) |
EP (1) | EP1637511B1 (ja) |
JP (2) | JP4213698B2 (ja) |
ES (1) | ES2670926T3 (ja) |
FR (1) | FR2875293B1 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE531342C2 (sv) * | 2007-07-06 | 2009-03-03 | Bae Systems Bofors Ab | Förfarande och anordning för blandning och initiering av en pyroteknisk sats |
SE532521C2 (sv) * | 2008-06-11 | 2010-02-16 | Bae Systems Bofors Ab | Verkansanordning för graderad sprängverkan och förfarande därför |
FR2984307B1 (fr) | 2011-12-20 | 2014-01-10 | Sme | Procede de generation de gaz de combustion a partir d'un materiau solide precurseur d'oxygene et d'un materiau reducteur solide dissocies et dispositif associe |
CN110749251B (zh) * | 2019-11-07 | 2020-09-04 | 北京理工大学 | 深空探测器用燃烧驱动型耐高温火工分离装置装药序列 |
US11912221B2 (en) * | 2019-12-05 | 2024-02-27 | Autoliv Asp, Inc. | Actuator devices and assemblies for automotive safety devices |
JP7431441B2 (ja) * | 2020-03-17 | 2024-02-15 | 学校法人 中央大学 | 流体圧アクチュエータ駆動システム及び流体圧アクチュエータ駆動方法 |
CN111174654A (zh) * | 2020-03-25 | 2020-05-19 | 田永和 | 安全环保气体混合热能膨胀装置及施工方法 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5579636A (en) * | 1995-03-21 | 1996-12-03 | Aerotech, Inc. | Pyrotechnic valve, igniter and combustion preheater for hybrid rocket motors |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA945123A (en) * | 1970-12-11 | 1974-04-09 | Bernard Doin | Pyrotechnic gas generator |
US3726088A (en) * | 1971-08-20 | 1973-04-10 | Us Navy | On-demand variable flow closed loop gas generator system with a variable area injector |
US4527389A (en) * | 1982-06-21 | 1985-07-09 | Thiokol Corporation | Highly soluble, non-hazardous hydroxylammonium salt solutions for use in hybrid rocket motors |
US4619111A (en) * | 1984-09-07 | 1986-10-28 | Hydril Company | Oilfield closing device operating system |
DE3621186A1 (de) * | 1986-06-25 | 1988-01-07 | Bbc Brown Boveri & Cie | Verfahren und vorrichtung zum antrieb eines linear bewegbaren bauelementes, insbesondere des beweglichen schaltkontaktes eines elektrischen hochspannungs-leistungsschalters |
FR2685741A1 (fr) | 1991-12-31 | 1993-07-02 | Thomson Brandt Armements | Verin pyrotechnique a course amortie. |
US5509981A (en) * | 1994-02-18 | 1996-04-23 | Mcdonnell Douglas Corporation | Hybrid rocket fuel |
US5533331A (en) * | 1994-05-25 | 1996-07-09 | Kaiser Marquardt, Inc. | Safe propulsion system for missile divert thrusters and attitude control thrusters and method for use of same |
US5847311A (en) * | 1996-10-22 | 1998-12-08 | Trw Vehicle Safety Systems Inc. | Hybrid inflator with crystalline and amorphous block copolymer |
US6007022A (en) * | 1996-11-08 | 1999-12-28 | Newport News Shipbuilding | Internal combustion catapult |
US6068290A (en) * | 1997-12-23 | 2000-05-30 | Trw Vehicle Safety System Inc. | Inflator structure |
CA2338213A1 (en) * | 1998-07-22 | 2000-02-03 | M. Arif Karabeyoglu | High regression rate hybrid rocket propellants |
US6684624B2 (en) * | 1998-07-22 | 2004-02-03 | The Board Of Trustees Of The Leland Stanford Junior University | High regression rate hybrid rocket propellants |
US6125763A (en) * | 1998-08-14 | 2000-10-03 | Environmental Aeroscience Corp. | Integral solid booster and hybrid thrust sustaining system and projectile incorporating the same |
DE29821232U1 (de) * | 1998-11-26 | 1999-04-01 | TRW Airbag Systems GmbH & Co. KG, 84544 Aschau | Gasgenerator für ein Sicherheitssystem |
US6250072B1 (en) * | 1999-07-02 | 2001-06-26 | Quoin, Inc. | Multi-ignition controllable solid-propellant gas generator |
WO2003027045A2 (en) * | 2001-09-27 | 2003-04-03 | Vanderbilt University | Monopropellant/hypergolic powered proportional actuator |
FR2824875B1 (fr) | 2001-05-21 | 2004-01-02 | Pyroalliance | Actionneur pyrotechnique muni d'une rondelle de retenue |
JP2003089590A (ja) * | 2001-09-11 | 2003-03-28 | Hosoya Fireworks Co Ltd | 固体燃料及びハイブリッド推進薬 |
US6679049B2 (en) * | 2002-01-22 | 2004-01-20 | Hy Pat Corporation | Hybrid rocket motor having a precombustion chamber |
-
2004
- 2004-09-14 FR FR0409721A patent/FR2875293B1/fr not_active Expired - Fee Related
-
2005
- 2005-08-18 EP EP05291744.0A patent/EP1637511B1/fr not_active Not-in-force
- 2005-08-18 ES ES05291744.0T patent/ES2670926T3/es active Active
- 2005-08-19 US US11/206,989 patent/US20060065337A1/en not_active Abandoned
- 2005-09-14 JP JP2005267204A patent/JP4213698B2/ja not_active Expired - Fee Related
-
2008
- 2008-08-27 JP JP2008217962A patent/JP4988670B2/ja not_active Expired - Fee Related
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5579636A (en) * | 1995-03-21 | 1996-12-03 | Aerotech, Inc. | Pyrotechnic valve, igniter and combustion preheater for hybrid rocket motors |
Also Published As
Publication number | Publication date |
---|---|
FR2875293A1 (fr) | 2006-03-17 |
JP4988670B2 (ja) | 2012-08-01 |
US20060065337A1 (en) | 2006-03-30 |
EP1637511A3 (fr) | 2012-12-05 |
JP2006084030A (ja) | 2006-03-30 |
ES2670926T3 (es) | 2018-06-04 |
JP4213698B2 (ja) | 2009-01-21 |
FR2875293B1 (fr) | 2009-01-16 |
EP1637511A2 (fr) | 2006-03-22 |
JP2008281210A (ja) | 2008-11-20 |
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