EP2531806A1 - Programmierbare munition - Google Patents
Programmierbare munitionInfo
- Publication number
- EP2531806A1 EP2531806A1 EP11704923A EP11704923A EP2531806A1 EP 2531806 A1 EP2531806 A1 EP 2531806A1 EP 11704923 A EP11704923 A EP 11704923A EP 11704923 A EP11704923 A EP 11704923A EP 2531806 A1 EP2531806 A1 EP 2531806A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- frequency
- signal
- energy
- programming
- projectile
- 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
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 238000012546 transfer Methods 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 13
- 238000004146 energy storage Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims 1
- 230000001133 acceleration Effects 0.000 description 6
- 238000010304 firing Methods 0.000 description 6
- 239000003990 capacitor Substances 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000005474 detonation Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 239000003380 propellant Substances 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42C—AMMUNITION FUZES; ARMING OR SAFETY MEANS THEREFOR
- F42C11/00—Electric fuzes
- F42C11/06—Electric fuzes with time delay by electric circuitry
- F42C11/065—Programmable electronic delay initiators in projectiles
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42C—AMMUNITION FUZES; ARMING OR SAFETY MEANS THEREFOR
- F42C11/00—Electric fuzes
- F42C11/06—Electric fuzes with time delay by electric circuitry
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42C—AMMUNITION FUZES; ARMING OR SAFETY MEANS THEREFOR
- F42C11/00—Electric fuzes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42C—AMMUNITION FUZES; ARMING OR SAFETY MEANS THEREFOR
- F42C11/00—Electric fuzes
- F42C11/008—Power generation in electric fuzes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42C—AMMUNITION FUZES; ARMING OR SAFETY MEANS THEREFOR
- F42C17/00—Fuze-setting apparatus
- F42C17/04—Fuze-setting apparatus for electric fuzes
Definitions
- the invention is concerned with the problem of programming a projectile during the pipe run or the like. In extension, it is intended to realize the transmission of energy to the projectile in the pipe run, etc.
- the projectile For programmable ammunition, the projectile must be informed of its detonation time and / or flight path, ie it must be programmed. In systems in which the detonation time is calculated from the measured muzzle velocity V 0 , the information can be transmitted only at the mouth and / or in flight. If the programming takes place before exiting the weapon barrel, the projectile usually flies past a programming unit with the muzzle velocity V 0 and is therefore in relative motion to the programming unit.
- a known programming unit is described with CH 691 143 A5. With the aid of a transmitting coil, the information about a counter-coil in / on the projectile is transmitted inductively. Irrespective of the massive structure of the programming unit, an unshielded transmission coil can lead to unwanted radiation, since the coil also acts as an antenna. The radiated signal can be detected and drawn from this conclusions on the location of the gun.
- WO 2009/085064 A2 a method is known in which the programming is carried out by retransmitting light beams.
- the projectile has peripheral optical sensors.
- CONFIRMATION COPY to transmit the earth's magnetic field.
- the projectile is based on the principle of the guidance of projectiles.
- Each bullet only reads the beacon intended for the bullet and, based on further information, can determine its absolute rolling position in the space in order to arrive at the correct triggering of the correction pulse.
- the battery from DE 31 50 72 A is activated only after the gun has left the gun barrel, which is done inter alia by a mechanical timer.
- the battery in DE 199 41 301 A is activated only by large accelerations during firing.
- a capacitor of the igniter is charged in the weft position via external contacts.
- An ignition capacitor is charged according to the teaching of DE 10 2007 007 404 A already after the end of the VorrohrPart, ie, about two seconds before the end of the term.
- the ignition capacitor according to DE 26 53 241 A is charged inductively via magnetic coils prior to firing.
- No. 4,144,815 A describes a type of energy transmission device in which the gun tube serves as a microwave conductor, so that the energy and the data are transmitted before firing.
- a receiving antenna on the detonator receives the radiated signal and carries it via a switch either to a rectifier device or to a acting as a de-modulator filter that filters out the data from the incoming signal.
- the rectifier device serves to generate a supply voltage from the incoming signal, which is then stored.
- a mechanism is installed in the projectile, which converts the necessary energy into electromagnetic energy from the acceleration after the ignition of the propellant charge, thereby charging a storage located in the projectile.
- CH 586 384 A describes a method in which is displaced by the linear shot acceleration, a soft iron ring and a permanent magnet ring against an induction coil in the direction of the projectile axis, whereby a voltage is generated in the coil, which charges a capacitor.
- this unit is provided with a transport safety device, which is only destroyed by the or a high acceleration during the shot.
- the disadvantage here may be that the acceleration of the projectile is used in the gun barrel, as this can not be controlled exactly. This causes different energy charges, so that the projectile too much or too little energy is given along the way. Too little energy then has the disadvantage that the functionality is not guaranteed.
- Another disadvantage is the complex and thus space consuming conversion mechanism for the conversion of mechanical energy into electromagnetic energy. In the case of the high environmental impact (impacts during firing, lateral acceleration and spin) on the projectile during firing, this mechanism can also be destroyed. To exclude this, constructive measures are necessary, which not only make the ammunition more expensive, but also claim further space in the projectile and make this heavier.
- the invention has as its object to provide a projectile that allows simple design optimal programming and / or optimal energy transfer.
- the invention is based on the idea of making programming and energy transmission inductively and / or capacitively. These are located in the projectile, a sensor that receives the programming signal, as well as an electrically connected to this sensor processor that performs the programming and thereby initiates the ignition of the projectile at a predetermined time. An electrical memory is used to power the electronics of the processor. This receives its energy in the preferred embodiment when passing through a gun barrel and / or a muzzle brake.
- the weapon tube used as a waveguide, muzzle brake or additional part between gun barrel and muzzle brake, as well as attachable to the muzzle brake part below the cutoff frequency is operated.
- a method with device is already known from DE 10 2006 058 375 A for measuring the muzzle velocity of a projectile or the like.
- Technically widespread are mainly rectangular and round -Hohlleiter), which, however, operated below the cutoff frequency of the respective waveguide mode.
- WO 2009/141055 A continues this idea and combines two measurement methods of V 0 measurement with each other.
- Applicant's co-pending applications show a method and apparatus for programming and energy transfer. It essentially deals with the structure of the weapon-side integration of the modules for programming and / or energy transmission.
- the V 0 measurement is preferably carried out with the aid of a waveguide.
- Such a solution may in this case be the basis for weapon-side programming as well as energy transfer to the projectile.
- Reference to an embodiment with drawing, the invention will be explained in more detail. It shows in a schematic representation:
- FIG. 2 shows the programmable ammunition from FIG. 1 with connected energy path
- FIG. 3 shows the programmable ammunition of FIG. 2 with a connected programming path
- Fig. 4/5 flowcharts of the programming or the energy transfer of ammunition.
- FIG. 1 to 3 show a projectile or an ammunition 1 with at least one sensor 2 for the reception of a programming signal with the frequency f 3 and / or a power transmission signal with the frequency f 2 .
- the sensor may for example be a coil for an inductive and / or an electrode for a capacitive signal transmission.
- 7 with an ignition (electrical) is characterized, which is electrically connected to an electronics (processor) 6 and an energy storage 5.
- the signal with the frequency f 2 energizes the memory 5 with energy and the signal with the frequency f 3 programs the electronics 6, for example with the detonation time.
- the memory 5 supplies the electronics 6 and the igniter 7 with electricity.
- the energy transfer can be tuned to the signal of the programming.
- the programming signal with the frequency f 3 f 2 is used in FIG. 1, so that the same sensor 2 can be used for both processes for reasons of saving space.
- the programming and an energy transfer to provide energy for the memory 5 in the projectile 1 is used.
- This is also supported by the fact that the energy transfer during the passage of the projectile 1 through a gun barrel, a muzzle brake, etc. and the programming take place after this energy transfer time.
- the energy input takes place in the projectile 1 by receiving a frequency f 2 and the programming by the reception of a frequency f 3rd Since a common receiver sensor 2 is used for both frequencies, a bandpass 3, 4 is integrated, which on the one hand passes the signal with the frequency f 2 to the memory 5 and on the other hand, the signal with the frequency f 3 to the electronics 6.
- the two bandpass filters 3, 4 thus separate the received signals according to their frequencies.
- FIG. 2 shows the connection to the memory 5 of the energy path
- FIG. 3 shows the connection of the sensor 2 to the electronics 6 of the programming path.
- Fig. 4 reflects the programming procedure in the condition f 2 f 3 .
- the weapon-side structure for the programming or energy transmission reference is made to the two parallel applications of the Applicant.
- the projectile or the ammunition or the projectile 1 flies into the waveguide, not shown.
- the energy is transferred to the projectile 1 within the waveguide HL1.
- the bandpass filters 3, 4 or according to the embodiment Fig. 2 and Fig. 3, the controller 8 is used.
- the programming is carried out, for example, within the waveguide HL2.
- Both waveguides mentioned can also be formed by one and the same waveguide. If multiple arrays of waveguides are present and they pass through successively (if N> 1: yes), the process repeats. Otherwise, the projectile 1 emerges from the waveguide.
- the electrical paths in the projectile 1 must be alternately opened or closed. This is done in the simplest version by the switch 8 in the ammunition.
- a plurality of waveguides may be present, which are passed through successively (path N> 1: yes), before the projectile 1 leaves the waveguides.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Radar Systems Or Details Thereof (AREA)
- Toys (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102010006530A DE102010006530B4 (de) | 2010-02-01 | 2010-02-01 | Programmierbare Munition |
PCT/EP2011/000389 WO2011092023A1 (de) | 2010-02-01 | 2011-01-28 | Programmierbare munition |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2531806A1 true EP2531806A1 (de) | 2012-12-12 |
EP2531806B1 EP2531806B1 (de) | 2016-01-20 |
Family
ID=43969417
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP11704923.9A Active EP2531806B1 (de) | 2010-02-01 | 2011-01-28 | Programmierbare munition |
Country Status (16)
Country | Link |
---|---|
US (1) | US8984999B2 (de) |
EP (1) | EP2531806B1 (de) |
JP (1) | JP5882912B2 (de) |
KR (1) | KR101647540B1 (de) |
CN (1) | CN102667396B (de) |
BR (1) | BR112012019016B1 (de) |
CA (1) | CA2784931C (de) |
DE (1) | DE102010006530B4 (de) |
DK (1) | DK2531806T3 (de) |
ES (1) | ES2568791T3 (de) |
PL (1) | PL2531806T3 (de) |
RU (1) | RU2535313C2 (de) |
SG (1) | SG182736A1 (de) |
UA (1) | UA108627C2 (de) |
WO (1) | WO2011092023A1 (de) |
ZA (1) | ZA201205166B (de) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010006528B4 (de) * | 2010-02-01 | 2013-12-12 | Rheinmetall Air Defence Ag | Verfahren und Vorrichtung zur Programmierung eines Projektils |
DE102011018248B3 (de) * | 2011-04-19 | 2012-03-29 | Rheinmetall Air Defence Ag | Vorrichtung und Verfahren zur Programmierung eines Geschosses |
DE102012022894A1 (de) * | 2012-11-23 | 2014-05-28 | Gabriele Lisa Trinkel | Verfahren und System zur Personalisierung und Energieversorgung von Geschosse und Geschossabgabesysteme |
DE102014005832A1 (de) * | 2014-04-19 | 2015-10-22 | Diehl Bgt Defence Gmbh & Co. Kg | Flugkörper mit einem Speicher |
DE102014015832B4 (de) | 2014-10-28 | 2024-01-04 | Rheinmetall Air Defence Ag | Verfahren zur Datenübertragung von Daten an ein Projektil während des Durchlaufes einer Waffenrohranordnung |
DE102014015833A1 (de) | 2014-10-28 | 2016-04-28 | Rheinmetall Air Defence Ag | Verfahren zur Datenübertragung von Daten an ein Projektil während des Durchlaufes einer Waffenrohranordnung, wobei ein Programmiersignal mit den Daten von einer Programmiereinheit erzeugt wird |
DE102014016340B3 (de) * | 2014-11-05 | 2015-08-20 | Bundesrepublik Deutschland, vertreten durch das Bundesministerium der Verteidigung, vertreten durch das Bundesamt für Ausrüstung, Informationstechnik und Nutzung der Bundeswehr | Programmiergerät zum Programmieren einer programmierbaren Artilleriemunition |
US20180299220A1 (en) * | 2017-04-13 | 2018-10-18 | Rebecca Reixin Du | Ammunition firing authorization system |
RU2718477C2 (ru) * | 2018-06-04 | 2020-04-08 | Акционерное общество "ЗАСЛОН" | Источник питания для управляемых артиллерийских и реактивных снарядов |
DE102019102722A1 (de) * | 2019-02-04 | 2020-08-06 | Ruag Ammotec Gmbh | Geschoss mit einem Kaliber von weniger als 13 mm und System zum Nachverfolgen eines Geschosses |
DE102022124558A1 (de) | 2022-09-23 | 2024-03-28 | Rheinmetall Waffe Munition Gmbh | Modulares Zündsystem sowie Munition umfassend ein modulares Zündsystem |
Family Cites Families (35)
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DE488866C (de) * | 1927-04-29 | 1930-01-11 | Rheinische Metallw & Maschf | Verfahren und Vorrichtung zur Pruefung und Energieversorgung elektrischer Geschosszuender |
US2824284A (en) * | 1947-10-03 | 1958-02-18 | Thomas H Johnson | Microwave-registering of projectile position and velocity in guns |
US2691761A (en) * | 1948-02-03 | 1954-10-12 | Jr Nicholas M Smith | Microwave measuring of projectile speed |
US4142442A (en) * | 1971-12-08 | 1979-03-06 | Avco Corporation | Digital fuze |
US4144815A (en) * | 1973-01-05 | 1979-03-20 | Westinghouse Electric Corp. | Remote settable fuze information link |
CH578723A5 (de) * | 1974-05-10 | 1976-08-13 | Oerlikon Buehrle Ag | |
CH586384A5 (de) | 1974-12-06 | 1977-03-31 | Oerlikon Buehrle Ag | |
CH586889A5 (de) * | 1974-12-13 | 1977-04-15 | Oerlikon Buehrle Ag | |
DE2539541C2 (de) * | 1975-09-05 | 1982-05-13 | Messerschmitt-Bölkow-Blohm GmbH, 8000 München | Schaltung für einen elektrischen Geschoßzünder |
CH621230B (fr) | 1975-11-25 | Mefina Sa | Dispositif d'allumage electronique pour fusee de projectile. | |
US4030097A (en) * | 1976-02-02 | 1977-06-14 | Gedeon Anthony A | Muzzle velocity chronograph |
DE7702073U1 (de) | 1977-01-26 | 1978-04-20 | Fa. Diehl, 8500 Nuernberg | Zuendspannungsgenerator fuer geschosszuender u.dgl. |
DE2847548C2 (de) * | 1978-11-02 | 1983-03-03 | Diehl GmbH & Co, 8500 Nürnberg | Elektrischer Geschoßzünder |
US4283989A (en) * | 1979-07-31 | 1981-08-18 | Ares, Inc. | Doppler-type projectile velocity measurement and communication apparatus, and method |
DE3150172A1 (de) * | 1981-12-18 | 1983-06-30 | Brown, Boveri & Cie Ag, 6800 Mannheim | Einrichtung zum einstellen und/oder ueberwachen der wirkungsweise eines geschosszuenders |
US4649796A (en) * | 1986-06-18 | 1987-03-17 | The United States Of America As Represented By The Secretary Of The Army | Method and apparatus for setting a projectile fuze during muzzle exit |
DE3862536D1 (de) | 1987-07-20 | 1991-05-29 | Oerlikon Buehrle Ag | Vorrichtung zum digitalen einstellen eines zaehlers zum ausloesen eines zeitzuenders in einem geschoss. |
AT389764B (de) * | 1988-03-04 | 1990-01-25 | Avl Verbrennungskraft Messtech | Verfahren und einrichtung zur bestimmung innenballistischer kenngroessen in rohrwaffen |
CH691143A5 (de) * | 1995-03-17 | 2001-04-30 | Contraves Ag | Vorrichtung zur Messung der Geschossgeschwindigkeit an der Mündung eines Waffenrohres eines Geschützes hoher Kadenz. |
DE59608912D1 (de) | 1995-09-28 | 2002-04-25 | Contraves Pyrotec Ag | Verfahren und Vorrichtung zum Programmieren von Zeitzündern von Geschossen |
NO312143B1 (no) * | 1996-04-19 | 2002-03-25 | Contraves Ag | Fremgangsmåte for å bestemme önsket oppdelingstidspunkt, s¶rlig for et programmerbart prosjektil |
FR2771807B1 (fr) * | 1997-11-28 | 1999-12-31 | Giat Ind Sa | Dispositif de programmation d'un projectile a l'interieur d'un tube d'arme |
DE19756357B4 (de) * | 1997-12-18 | 2007-06-28 | Dynamit Nobel Gmbh Explosivstoff- Und Systemtechnik | Einrichtung zur Induktion eines Magnetfelds im Mündungsbereich einer Abschußeinrichtung |
US5894102A (en) * | 1997-12-31 | 1999-04-13 | Aai Corporation | Self-correcting inductive fuze setter |
RU2135947C1 (ru) * | 1998-05-18 | 1999-08-27 | Государственное научно-производственное предприятие "Прибор" | Способ комбинированного инициирования боеприпаса и боеприпас с комбинированным инициированием |
DE19941301C1 (de) | 1999-08-31 | 2000-12-07 | Honeywell Ag | Elektronischer Geschoß-Zeitzünder |
DE10341713B3 (de) * | 2003-09-10 | 2005-06-09 | Diehl Bgt Defence Gmbh & Co. Kg | Drallstabilisiertes Artillerieprojektil mit einem Generator |
DE102005024179A1 (de) * | 2005-05-23 | 2006-11-30 | Oerlikon Contraves Ag | Verfahren und Vorrichtung zur Tempierung und/oder Korrektur des Zündzeitpunktes eines Geschosses |
US7506586B1 (en) * | 2005-08-04 | 2009-03-24 | The United States Of America As Represented By The Secretary Of The Army | Munitions energy system |
DE102006058375A1 (de) * | 2006-12-08 | 2008-06-12 | Oerlikon Contraves Ag | Verfahren zur Messung der Mündungsgeschwindigkeit eines Projektils oder dergleichen |
DE102007007404A1 (de) * | 2007-02-12 | 2008-08-14 | Krauss-Maffei Wegmann Gmbh & Co. Kg | Verfahren und Vorrichtung zur Fernauslösung eines Geschosses |
JP5400780B2 (ja) * | 2007-09-21 | 2014-01-29 | ラインメタル バッフェ ムニツィオン ゲゼルシャフト ミット ベシュレンクテル ハフツング | 発射体を光学的にプログラミングする方法および装置 |
DE102008024574A1 (de) | 2008-05-21 | 2010-06-17 | Rheinmetall Air Defence Ag | Vorrichtung und Verfahren zur Messung der Mündungsgeschwindigkeit eines Projektils oder dergleichen |
DE102009024508A1 (de) | 2009-06-08 | 2011-07-28 | Rheinmetall Air Defence Ag | Verfahren zur Korrektur der Flugbahn einer endphasengelenkten Munition |
DE102010006528B4 (de) * | 2010-02-01 | 2013-12-12 | Rheinmetall Air Defence Ag | Verfahren und Vorrichtung zur Programmierung eines Projektils |
-
2010
- 2010-02-01 DE DE102010006530A patent/DE102010006530B4/de not_active Expired - Fee Related
-
2011
- 2011-01-28 DK DK11704923.9T patent/DK2531806T3/en active
- 2011-01-28 KR KR1020127020264A patent/KR101647540B1/ko active IP Right Grant
- 2011-01-28 SG SG2012055299A patent/SG182736A1/en unknown
- 2011-01-28 UA UAA201207430A patent/UA108627C2/ru unknown
- 2011-01-28 BR BR112012019016-4A patent/BR112012019016B1/pt active IP Right Grant
- 2011-01-28 ES ES11704923.9T patent/ES2568791T3/es active Active
- 2011-01-28 PL PL11704923T patent/PL2531806T3/pl unknown
- 2011-01-28 CA CA2784931A patent/CA2784931C/en active Active
- 2011-01-28 EP EP11704923.9A patent/EP2531806B1/de active Active
- 2011-01-28 CN CN201180004974.1A patent/CN102667396B/zh active Active
- 2011-01-28 JP JP2012550372A patent/JP5882912B2/ja active Active
- 2011-01-28 RU RU2012137290/03A patent/RU2535313C2/ru active
- 2011-01-28 WO PCT/EP2011/000389 patent/WO2011092023A1/de active Application Filing
-
2012
- 2012-07-11 ZA ZA2012/05166A patent/ZA201205166B/en unknown
- 2012-07-31 US US13/563,165 patent/US8984999B2/en active Active
Non-Patent Citations (1)
Title |
---|
See references of WO2011092023A1 * |
Also Published As
Publication number | Publication date |
---|---|
US20140007759A1 (en) | 2014-01-09 |
PL2531806T3 (pl) | 2017-09-29 |
CN102667396B (zh) | 2014-12-31 |
KR101647540B1 (ko) | 2016-08-10 |
DK2531806T3 (en) | 2016-04-18 |
JP2013518238A (ja) | 2013-05-20 |
DE102010006530A1 (de) | 2011-08-04 |
ES2568791T3 (es) | 2016-05-04 |
KR20120139691A (ko) | 2012-12-27 |
US8984999B2 (en) | 2015-03-24 |
WO2011092023A1 (de) | 2011-08-04 |
EP2531806B1 (de) | 2016-01-20 |
BR112012019016A2 (pt) | 2016-09-13 |
RU2535313C2 (ru) | 2014-12-10 |
CN102667396A (zh) | 2012-09-12 |
JP5882912B2 (ja) | 2016-03-09 |
SG182736A1 (en) | 2012-08-30 |
RU2012137290A (ru) | 2014-03-10 |
DE102010006530B4 (de) | 2013-12-19 |
UA108627C2 (xx) | 2015-05-25 |
CA2784931A1 (en) | 2011-08-04 |
CA2784931C (en) | 2014-09-16 |
ZA201205166B (en) | 2013-03-27 |
BR112012019016B1 (pt) | 2020-10-27 |
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