EP1815979B1 - Procédé de compensation active d'oscillations dans une machine de traitement de matière d'impression et machine de traitement de matière d'impression - Google Patents

Procédé de compensation active d'oscillations dans une machine de traitement de matière d'impression et machine de traitement de matière d'impression Download PDF

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Publication number
EP1815979B1
EP1815979B1 EP07100795.9A EP07100795A EP1815979B1 EP 1815979 B1 EP1815979 B1 EP 1815979B1 EP 07100795 A EP07100795 A EP 07100795A EP 1815979 B1 EP1815979 B1 EP 1815979B1
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Prior art keywords
machine
vibration
torque
counter
compensation
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EP07100795.9A
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German (de)
English (en)
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EP1815979A2 (fr
EP1815979A3 (fr
Inventor
Bernhard Dr. Buck
Eric Dr. Knopf
Matthias Dr. Nöll
Malte Dr. Seidler
Detlef Strunk
Uwe Dr. Tessmann
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Heidelberger Druckmaschinen AG
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Heidelberger Druckmaschinen AG
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Publication of EP1815979A3 publication Critical patent/EP1815979A3/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F33/00—Indicating, counting, warning, control or safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F13/00—Common details of rotary presses or machines
    • B41F13/004—Electric or hydraulic features of drives
    • B41F13/0045—Electric driving devices

Definitions

  • the invention relates to a method for active compensation of vibrations in a substrate-processing machine, in particular in a printing press, in which at least one signal which contains a vibration of the machine or a part of the machine is measured and at least one counter-torque for reducing the vibration in the machine is introduced. Furthermore, the invention relates to a substrate-processing machine with a control device for active compensation of vibrations in the printing material processing machine.
  • substrates processing machines also referred to as printing material processing machines
  • vibrations in particular non-integer order with respect to the operating frequency of the machine, undesirable and, since they have an impact on the quality of the manufactured products to be combated.
  • Undesirable oscillations are often actively compensated by introducing a suitable counter-moment into the substrate-processing machine to counteract the measured vibration.
  • active vibration compensations are known for substrate-processing machines in which amplitudes and phases of discrete oscillations of different frequency are measured and processed in a control loop in order to determine adequate counter-moments for the compensation.
  • an active vibration compensation can be switched, wherein the calculation of the compensation vibration by means of a filter with their frequency parameters.
  • the vibration to be compensated can be regulated to zero for a monitored compensation target, the vibration amplitude at other measuring points in the machine can increase due to the active vibration compensation. In an unfavorable case, this means that the active vibration compensation can degrade the processing quality, in particular the print quality. Even with a skilful selection of possible points for introducing a counter-torque, drive positions and measuring positions, the problem is not completely avoidable. Often a free selection of the positions and / or the number of drive positions and measuring positions is not possible anyway, since many boundary conditions, such as an upper limit for the possible gear train load, are complied with.
  • Object of the present invention is to reduce unwanted vibration gains in an active vibration compensation of a printing material processing machine or even avoid.
  • At least one signal which is a vibration of the machine or of a part of the machine, especially at a first Frequency contains, measured (also detected or recorded).
  • At least one counter-torque (also referred to as compensation torque) for reducing the vibration, in particular at the first frequency is introduced into the machine.
  • At least one measure of the ratio between the amplitude of the uncompensated oscillation and the amplitude of the counter-torque necessary for complete compensation is compared with a threshold value.
  • the counter-torque in particular the value and / or the phase of the counter-torque to be introduced, is determined in a first functional relationship with the vibration, in particular its amplitude and phase, if the dimension is greater than the threshold value, and the counter-torque to be introduced in a second functional relationship with the vibration, which is different from the first functional relationship, determines if the measure is smaller than the threshold value.
  • the compensation takes place with an acting counter-torque in a first operating mode and below the threshold value in a second operating mode.
  • the calculation, determination or determination of the acting counter-torque takes place above the threshold in a first way (after a first rule) and below the threshold in a second way (after a second rule).
  • the method according to the invention can be achieved in an advantageous manner as a compensation target in particular a complete vibration compensation, that is, a compensation to below a desired minimum limit.
  • unfavorable parameters or parameter combinations can be countered by changing the parameters of the active vibration compensation, so that a less strong, only a sufficiently small or even no unwanted excitation results.
  • Advantageously unfavorable constellations can be avoided in which vibrations of the machine are amplified by an active compensation.
  • the counter-moment to be introduced and acting has a time course, a signal course. In particular, it may have a frequency spectrum around a first frequency or main frequency.
  • the value or amount of the counter-torque to be introduced may in particular be the maximum or absolute value of the amplitude.
  • the phase position of the counter-torque can in particular counteract the phase position of the oscillation to be compensated.
  • an operating parameter of the printing machine processing machine for example, the machine speed, in particular the printing press, for example, their printing speed
  • excitation frequencies when changing an operating parameter of the printing machine processing machine, for example, the machine speed, in particular the printing press, for example, their printing speed, dependent on this operating parameters excitation frequencies are in a frequency interval in which the measure of the ratio between the amplitude of the uncompensated oscillation and the amplitude of the counter-torque necessary for complete compensation is above the threshold value, the value of the counter-torque to be introduced is determined in the first functional relationship with the magnitude of the oscillation, while otherwise determining the value of the counter-torque in the second functional relationship.
  • the compensation target may be the regulation of a vibration of the entire machine or of a vibration of a part of the machine, in particular of a single component of the machine, essentially to zero, preferably exactly to zero, in particular within the limits of tolerance limits.
  • the oscillation to be compensated may in particular be a rotational oscillation.
  • the measure of the ratio between the amplitude of the uncompensated oscillation and the amplitude of the counter-torque necessary for complete compensation can be the magnitude of the oscillation, the absolute magnitude of the amplitude of the oscillation, or the amplitude of the transfer function between the counter-momentum introduced by an actuator and the oscillation to be compensated be.
  • the counter-torque may have the first frequency or a second frequency different from the first one.
  • the counter-torque can be switched to a drive torque of the machine, in particular the main drive of the machine.
  • the counter-moment can have a fixed frequency. If the measure is equal to the threshold value, it can be determined in the method according to the invention, depending on the embodiment, that the counter-torque to be introduced is determined either in the first functional relationship with the vibration or in the second functional relationship.
  • the counter-torque to be introduced in the second functional relationship is substantially zero or close to zero, preferably exactly zero.
  • the active vibration compensation is turned off while being turned on above the threshold. The active vibration compensation works only when it is actually needed.
  • the amplitude of the transfer function (also referred to as frequency response) serves as a measure between the counter-torque and the oscillation and it is compared as to whether the transfer function exceeds the threshold at least one frequency, so the transfer function exceeds a specified or selected amount.
  • the exceeding of the amount by the transfer function can form a criterion for the switching on and off of the active vibration compensation.
  • the active compensation can be turned on only when the amplitude of the transfer function at the current oscillation frequency (the oscillation to be compensated) exceeds a predetermined threshold.
  • the advantageous criterion may be the transfer function between the engine torque and the compensation target. It can be advantageously avoided or reduced from this manner that an undesired increase or increase in vibrations takes place at some of the measuring points in the printing machine when the value of the transfer function between the counter-torque, in particular the drive torque, and the compensation target is small.
  • the active vibration compensation can be switched on in concrete embodiments of the method according to the invention only when the monitored vibration order of the printing material processing machine, in particular printing machine, at the current operating speed, in particular printing speed, in the vicinity of a resonant frequency.
  • the resonance frequencies and the threshold values for the comparison according to the invention are determined with the measure for the ratio between the amplitude of the uncompensated oscillation and the amplitude of the counter-torque required for complete compensation as a function of the operating speed.
  • the transfer function between the counter-torque and the oscillation is measured for initialization.
  • the necessary threshold value can be determined automatically with little programming or care effort in the substrate-processing machine, so that the ranges for the first operating mode and the second operating mode are determined.
  • the point of measurement of the vibration of the machine or of a part of the machine at the first frequency and the point of introduction of the counter-moment to reduce the vibration can not coincide.
  • measuring devices such as sensors, encoders, encoders or the like, can be positioned at measuring points, while the counter-torque is transmitted via an actuator, such as a drive or motor, at a different location on the machine.
  • the printing material-processing machine is driven or controlled to an operating frequency.
  • the method of compensating for vibrations eliminates undesirable disturbances in a control or regulation of the printing material processing machine, in particular in the control or regulation of the main drive of the printing material processing machine.
  • the method according to the invention can be embodied such that the amplitude and the phase of the oscillation are determined from the measurement.
  • an embodiment of the method according to the invention may also have features or combinations of features of the active vibration compensation described in the document DE 101 49 525 A1 or in the document US 6,796,183 B2 have been made available to the public.
  • the inventive method may further or alternatively be designed such that the at least one counter-torque by means of a filter which determines a transfer function with a frequency parameter which corresponds to the frequency of the oscillation to be compensated, is determined.
  • an embodiment of the method according to the invention may also have features or feature combinations of the active vibration compensation, which in the document DE 102 17 707 A1 or in the document US 2003/0230205 A1 have been made available to the public.
  • the oscillation to be compensated may be a vibration of a machine shaft or a signal value difference of two or more than two machine shafts or an eigenmode of the printing material processing machine or an eigenmode of a part of the printing material processing machine.
  • the frequency of the oscillation may be a non-integer multiple of an operating frequency of the substrate-processing machine.
  • the method is used for a plurality of oscillations of different frequency, in particular simultaneously.
  • a plurality of vibration eigenmodes of the printing material processing machine can be compensated.
  • the control device of the substrate-processing machine for carrying out a method with features or combinations of features according to this representation is pronounced and is, if the measure of the ratio between the amplitude of the uncompensated oscillation and the amplitude of the necessary for complete compensation counter-torque for the sensitivity of the machine greater is the threshold value, operable in a first mode, and if the measure of the ratio between the amplitude of the uncompensated oscillation and the amplitude of the full compensation
  • the substrate-processing machine may be, in particular, a printing machine (for example, an offset printing machine or a multi-color printing machine or a label printing machine or a label printing machine), a printing form setter (for example, an offset printing plate external drum platesetter) or a printing finishing machine (for example, a punching machine or a folding machine or a saddle stitcher).
  • a printing machine for example, an offset printing machine or a multi-color printing machine or a label printing machine or a label printing machine
  • a printing form setter for example, an offset printing plate external drum platesetter
  • a printing finishing machine for example, a punching machine or a folding machine or a saddle stitcher
  • the method according to the invention is particularly preferably used in printing presses with a high number of printing units, that is to say with eight or more printing units, in particular offset printing units.
  • Simulation calculations can be used to find motor positions that are particularly advantageous for active vibration compensation.
  • the motor may not be located in a node for applying the compensation moments.
  • the vibration node is often located approximately in the middle of the machine.
  • the drive position is selected in printing machines such that the Räderzugbelastung and the static pressure offset are minimized.
  • the engine positions are therefore determined as a compromise between the requirements for active vibration compensation and the other restrictions.
  • the compensation target is the amount of vibration that brings the active vibration compensation to zero by introducing counter-torques.
  • One possible compensation target for a printing press is, for example, the deviation of the rotational speed of the first printing cylinder from a desired speed. If the vibration compensation is switched on, this oscillation measure would be for the order being combated almost zero.
  • the underlying theory is that only one compensation target can be achieved with a single motor. It has been found that a particularly advantageous compensation target is the difference path between or the difference of the amplitudes at the two measuring points mentioned above. That is, the active vibration compensation initiates counter-moments such that the difference path between or the difference of the amplitudes at the two measuring points goes to zero.
  • the transfer function (also referred to as frequency response) between the engine torque and the compensation target is measured in a single initialization run.
  • the transfer function is therefore available in the machine software after this measurement.
  • the active vibration compensation monitors certain frequency components or order components of the vibration signal defined as the compensation target.
  • An algorithm calculates the counter-torque such that the compensation target goes to zero.
  • Such algorithms which are particularly advantageous, are for example in the document DE 101 49 525 A1 or in the document US 6,796,183 B2 as well as in the document DE 102 17 707 A1 or in the document US 2003/0230205 A1 accessible to the skilled person.
  • the monitored compensation target is regulated to zero, but at other measuring points in the machine the oscillation amplitudes increase due to active vibration compensation. According to the invention, it is therefore provided in these embodiments to selectively switch on and off the active vibration compensation.
  • Switching on and off can be done according to different criteria. It has been shown that a particularly advantageous criterion can be formulated via the measured transfer function between the engine torque and the compensation target.
  • the active compensation is therefore only turned on when the amplitude the transmission function at the current oscillation frequency exceeds a set threshold, for example 10%, 30% or 50% of its maximum value.
  • FIG. 1 schematically shows a section of an embodiment of a printing material processing machine 1, in particular a printing press with a plurality of printing units 2 and cylinders 3, with a control device and an inventive active vibration compensation for a cylinder.
  • the substrate processing machine 1 of this embodiment may have either a continuous gear train or a broken gear train.
  • the use of a compensation device 9 according to the invention and the use of a control device according to the invention with control element 8 and compensation device 9 is not limited to the reduction of vibrations at transfer points between sheet-guiding cylinders, but can generally improve the control or compensation of vibrations of cylinders, such as printing forme cylinder, Transfer or blanket cylinder or impression cylinder, as well as rollers and rollers in inking and / or dampening can be used.
  • a compensation device 9 according to the invention and the use of a control device according to the invention with control element 8 and compensation device 9 is not limited to the reduction of vibrations at transfer points between sheet-guiding cylinders, but can generally improve the control or compensation of vibrations of
  • a representative signal for the course of the angular size (time course of the value of the angular size) is generated and fed to the control element 8 together with an angular size setpoint 10.
  • the control element 8 may be a simple differential controller or else a controller which comprises complicated transformations (integrations, differentiations and the like).
  • the representative of the course of the angular size signal is also supplied to the compensation element 9 in parallel. Its output signal is superimposed on the output signal of the control element 8 at the subtraction point after the control element 8. The superposed signal is supplied to the first actuator 6.
  • the compensation element 9 of the control device is designed such that it in Depending on the result of the comparison of the measure of the sensitivity of the machine with the threshold value is switched on or off or will.
  • FIG. 2 is a schematic section of an alternative embodiment of a printing material processing machine 1, in particular a printing press, which comprises a plurality of printing units 2 and 3 cylinder, with separate gear train, two control devices and two Schwingungskompensationen invention.
  • a printing material processing machine 1, in particular a printing press, which comprises a plurality of printing units 2 and 3 cylinder, with separate gear train, two control devices and two Schwingungskompensationen invention.
  • a separate compensation for the first cylinder 4 and for the second cylinder 5 but on the other hand, a relative compensation for the angular difference, shown here by way of example for the second cylinder 5 , carried out.
  • This embodiment advantageously combines an absolute reduction of the vibrations with the relative reduction of the vibrations (relevant arc transfer angular size).
  • the first cylinder 4 is associated with a control element 8, to which a representative signal for the angular size of the first cylinder 4 (value of the angular size) and an angular size setpoint 10 are supplied.
  • a compensation element 9 is provided, whose output signal is superimposed on the output signal of the control element at the subtraction point after the control element 8.
  • the superposed signal is supplied to the first actuator 6.
  • the second cylinder 5 is also associated with a control element 8 to which a representative signal for the angular size of the second cylinder 5 (value of the angular size) and an angular size setpoint 10 are supplied.
  • the difference angle between cylinder 4 and cylinder 5 or one of them linearly dependent size, a measure of the difference angle, is fed to the compensation element 9 at a subtraction point.
  • the output signal of the compensation element 9 is superimposed on the output signal of the control element 8 at a subtraction point after the control element 8 of the second cylinder 5.
  • the superposed signal is supplied to the second actuator 7.
  • the compensation elements 9 of the regulating device are now designed such that they are switched on or off depending on the result of the comparison of the measure of the sensitivity of the machine with the threshold value.
  • FIG. 3 schematically shows the importance of the threshold value according to the invention for switching on and off of the active vibration compensation in a preferred embodiment of the method according to the invention.
  • vibration amplitudes 11 are shown which are measured without compensation, that is to say with active vibration compensation switched off, at a specific frequency, which are measured in particular at a specific value of an operating parameter, such as, for example, the printing speed.
  • vibration amplitudes 12 are shown, which are measured with compensation, that is, with activated active vibration compensation. It can be clearly seen that these oscillation amplitudes now have a maximum at a certain second frequency, which is higher than the first one.
  • the oscillation amplitudes 12 at the first frequency are significantly reduced compared to the oscillation amplitudes 11.
  • the substrate processing machine oscillates at a different frequency, but at a lower amplitude, especially if the substrate processing machine is on operated at a different value of the printing speed.
  • part C of the FIG. 3 the transmission function 14 or the frequency response from the compensation torque to the compensation quantity, the compensation target, is shown in applicable units (au). There is a threshold 15 set.
  • the active vibration compensation is turned on.
  • the excess takes place in a compensation window 16, in a frequency interval which, as can be seen from the partial image A, includes the maxima occurring at the first frequency.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Inking, Control Or Cleaning Of Printing Machines (AREA)
  • Auxiliary Devices For Machine Tools (AREA)

Claims (14)

  1. Procédé pour la compensation active d'oscillations dans une machine de traitement de supports imprimés (1), dans lequel au moins un signal qui contient une oscillation de la machine ou d'une partie de la machine, est mesuré et au moins un contre-moment (13) pour la réduction de l'oscillation, est introduit dans la machine (1),
    caractérisé en ce qu'
    au moins une mesure pour le rapport entre l'amplitude de l'oscillation non compensée et l'amplitude du contre-couple (13) nécessaire à la compensation complète est comparé à une valeur seuil (15) et le contre-couple (13) à appliquer est défini dans une premier rapport fonctionnel avec l'oscillation quand la mesure est supérieure à la valeur seuil (15) et le contre-couple à appliquer (13) est défini dans une second rapport fonctionnel avec l'oscillation qui est différent du premier rapport, quand la mesure est inférieure à la valeur seuil (15).
  2. Procédé pour la compensation active d'oscillations selon la revendication 1, caractérisé en ce que
    la valeur du contre-couple (13) à appliquer est sensiblement égale à zéro dans le second rapport fonctionnel.
  3. Procédé pour la compensation active d'oscillations selon la revendication 1 ou 2, caractérisé en ce que
    le contre-couple (13) est activé sur un couple d'entraînement de la machine.
  4. Procédé pour la compensation active d'oscillations selon l'une des revendications précédentes,
    caractérisé en ce que
    pour la mesure, on utilise l'amplitude de la fonction de transmission (14) entre le contre-couple (13) et l'oscillation et on compare si la fonction de transmission (14) dépasse la valeur seuil (15) à au moins une fréquence.
  5. Procédé pour la compensation active d'oscillations selon l'une des revendications précédentes,
    caractérisé en ce que
    pour l'initialisation, la fonction de transmission (14) entre le contre-couple (13) et l'oscillation est mesurée.
  6. Procédé pour la compensation active d'oscillations selon l'une des revendications précédentes,
    caractérisé en ce que
    l'endroit de la mesure de l'oscillation de la machine ou une partie de la machine pour la première fréquence et l'endroit d'application du contre-couple (13) pour la réduction de l'oscillation ne correspondent pas.
  7. Procédé pour la compensation active d'oscillations selon l'une des revendications précédentes,
    caractérisé en ce que
    la machine de traitement de support imprimé (1) est commandée ou est régulée en entraînement à une fréquence de service.
  8. Procédé pour la compensation active d'oscillations selon l'une des revendications précédentes,
    caractérisé en ce que
    l'amplitude et la phase de l'oscillation sont définies à partir de la mesure.
  9. Procédé pour la compensation active d'oscillations selon l'une des revendications précédentes,
    caractérisé en ce que
    le contre-couple est défini au moyen d'un filtre qui exerce une fonction de transfert avec un paramètre de fréquence, qui correspond à la fréquence de l'oscillation à compenser.
  10. Procédé pour la compensation active d'oscillations selon l'une des revendications précédentes,
    caractérisé en ce que
    l'oscillation est une oscillation d'un arbre de machine ou une différence de valeur de signal de deux ou de plus de deux arbres de machine ou d'un mode autonome de la machine de traitement de support imprimé (1) ou un mode autonome d'une partie de la machine de traitement de support imprimé (1).
  11. Procédé pour la compensation active d'oscillations selon l'une des revendications précédentes,
    caractérisé en ce que
    la fréquence de l'oscillation est un multiple impair d'une fréquence de service de la machine de traitement de supports imprimés.
  12. Procédé pour la compensation active d'oscillations selon l'une des revendications précédentes,
    caractérisé en ce que
    le procédé est appliqué pour une pluralité d'oscillations de fréquence différente.
  13. Machine de traitement de support imprimé (1) comprenant une disposition de réglage pour la compensation d'oscillations dans la machine de traitement du support imprimé (1),
    caractérisée en ce que
    le dispositif de réglage est marqué par l'exécution d'un procédé selon l'une des revendications précédentes et, si la mesure pour le rapport entre l'amplitude de l'oscillation non compensée et l'amplitude du contre-couple (13) nécessaire à la compensation complète est supérieure à la valeur seuil (15) et peut fonctionner dans un premier mode de service et si la mesure pour le rapport entre l'amplitude de l'oscillation non compensée et l'amplitude du contre-couple (13) nécessaire à la compensation complète est supérieure à la valeur seuil (15), il peut fonctionner dans un second mode de service.
  14. Machine de traitement de support imprimé (1) selon la revendication 13,
    caractérisée en ce que
    la machine est une machine d'impression, un dispositif d'exposition d'une plaque d'impression ou une machine de traitement de supports imprimés.
EP07100795.9A 2006-02-01 2007-01-19 Procédé de compensation active d'oscillations dans une machine de traitement de matière d'impression et machine de traitement de matière d'impression Active EP1815979B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102006004967A DE102006004967A1 (de) 2006-02-01 2006-02-01 Verfahren zur aktiven Kompensation von Schwingungen in einer Bedruckstoff verarbeitenden Maschine und Bedruckstoff verarbeitende Maschine

Publications (3)

Publication Number Publication Date
EP1815979A2 EP1815979A2 (fr) 2007-08-08
EP1815979A3 EP1815979A3 (fr) 2010-09-08
EP1815979B1 true EP1815979B1 (fr) 2013-10-23

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US (1) US7453223B2 (fr)
EP (1) EP1815979B1 (fr)
JP (1) JP5049024B2 (fr)
CN (1) CN101011879B (fr)
DE (1) DE102006004967A1 (fr)

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CZ302554B6 (cs) * 2000-10-26 2011-07-13 Heidelberger Druckmaschinen Ag Zpusob kompenzace mechanického kmitání, zejména v tiskarských strojích
DE10149525A1 (de) * 2000-10-26 2002-05-02 Heidelberger Druckmasch Ag Verfahren zur Kompensation mechanischer Schwingungen in Maschinen
CZ20013876A3 (cs) * 2000-12-01 2002-07-17 Heidelberger Druckmaschinen Ag Způsob redukce vybrací v tiskovém stroji
EP1483444B1 (fr) * 2002-02-01 2005-12-28 Koenig & Bauer Aktiengesellschaft Procede et dispositif pour reduire des vibrations sur des composants en rotation
DE10217707A1 (de) * 2002-04-17 2003-11-06 Heidelberger Druckmasch Ag Kompensation von Zylinderschwingungen in bedruckstoffverarbeitenden Maschinen
DE10338976B4 (de) * 2002-09-19 2017-02-16 Heidelberger Druckmaschinen Ag Verfahren zur Rhythmuskompensation bei Bogenrotationsdruckmaschinen
US20050224219A1 (en) 2002-11-25 2005-10-13 Behr Gmbh &Co. Kg Heat exchanger unit, in particular for a motor vehicle and method for producing said unit
DE10355122A1 (de) 2003-11-24 2005-06-23 Man Roland Druckmaschinen Ag Vorrichtung und Regelverfahren zur Kompensation von Regelabweichungen bei geregelten Antriebssystemen von Transport- und Bearbeitungsmaschinen, insbesondere Druckmaschinen
US7478593B2 (en) * 2004-12-23 2009-01-20 Koenig & Bauer Ag Method for making compensations for register deviations

Also Published As

Publication number Publication date
CN101011879B (zh) 2010-09-29
CN101011879A (zh) 2007-08-08
EP1815979A2 (fr) 2007-08-08
JP2007203734A (ja) 2007-08-16
US20070120514A1 (en) 2007-05-31
DE102006004967A1 (de) 2007-08-02
JP5049024B2 (ja) 2012-10-17
EP1815979A3 (fr) 2010-09-08
US7453223B2 (en) 2008-11-18

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