ES2178872T3 - Procedimiento para medir y controlar osilaciones en un motor de viento. - Google Patents
Procedimiento para medir y controlar osilaciones en un motor de viento.Info
- Publication number
- ES2178872T3 ES2178872T3 ES99900876T ES99900876T ES2178872T3 ES 2178872 T3 ES2178872 T3 ES 2178872T3 ES 99900876 T ES99900876 T ES 99900876T ES 99900876 T ES99900876 T ES 99900876T ES 2178872 T3 ES2178872 T3 ES 2178872T3
- Authority
- ES
- Spain
- Prior art keywords
- oscillations
- procedure
- wind motor
- power
- osilations
- 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.)
- Expired - Lifetime
Links
- 238000000034 method Methods 0.000 title abstract 2
- 230000010355 oscillation Effects 0.000 abstract 4
- 238000010183 spectrum analysis Methods 0.000 abstract 2
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0296—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor to prevent, counteract or reduce noise emissions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/82—Forecasts
- F05B2260/821—Parameter estimation or prediction
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/96—Preventing, counteracting or reducing vibration or noise
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/334—Vibration measurements
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/335—Output power or torque
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Wind Motors (AREA)
- Vibration Prevention Devices (AREA)
- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
- Buildings Adapted To Withstand Abnormal External Influences (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Control Of Eletrric Generators (AREA)
Abstract
Un procedimiento para medir y controlar oscilaciones en un motor de viento acoplado directamente a una red de distribución, midiéndose el voltaje y/o la corriente en la conexión con la red eléctrica, y derivándose de ellos, opcionalmente, otros valores tal como la potencia aparente, la potencia real, la potencia reactiva, el factor de potencia y el cos(ö) caracterizado por los pasos de realización de un análisis espectral de uno o más de los valores medidos o valores derivados de ellos, determinación de la amplitud de las oscilaciones del motor de viento basándose en el análisis espectral y atenuación de las oscilaciones mediante contramedidas aplicadas por el sistema de control del motor de viento, si una determinada amplitud de oscilaciones excede de un valor predeterminado.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DK4698 | 1998-01-14 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| ES2178872T3 true ES2178872T3 (es) | 2003-01-01 |
Family
ID=8089123
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| ES99900876T Expired - Lifetime ES2178872T3 (es) | 1998-01-14 | 1999-01-14 | Procedimiento para medir y controlar osilaciones en un motor de viento. |
Country Status (11)
| Country | Link |
|---|---|
| US (1) | US6525518B1 (es) |
| EP (1) | EP1045988B1 (es) |
| JP (1) | JP4226783B2 (es) |
| CN (1) | CN1092760C (es) |
| AT (1) | ATE219553T1 (es) |
| AU (1) | AU2046499A (es) |
| CA (1) | CA2318386C (es) |
| DE (1) | DE69901876T2 (es) |
| DK (1) | DK1045988T3 (es) |
| ES (1) | ES2178872T3 (es) |
| WO (1) | WO1999036695A1 (es) |
Families Citing this family (70)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19948196A1 (de) | 1999-10-06 | 2001-05-17 | Aloys Wobben | Verfahren zum Betrieb eines Windparks |
| DE19948194C2 (de) * | 1999-10-06 | 2001-11-08 | Aloys Wobben | Verfahren zur Überwachung von Windenergieanlagen |
| DE10016912C1 (de) * | 2000-04-05 | 2001-12-13 | Aerodyn Eng Gmbh | Turmeigenfrequenzabhängige Betriebsführung von Offshore-Windenergieanlagen |
| DE20021970U1 (de) | 2000-12-30 | 2001-04-05 | Igus Ingenieurgemeinschaft Umweltschutz Meß-und Verfahrenstechnik GmbH, 01099 Dresden | Einrichtung zur Überwachung des Zustandes von Rotorblättern an Windkraftanlagen |
| DE10065314B4 (de) * | 2000-12-30 | 2007-08-16 | Igus - Innovative Technische Systeme Gmbh | Verfahren und Einrichtung zur Überwachung des Zustandes von Rotorblättern an Windkraftanlagen |
| DE10106208C2 (de) | 2001-02-10 | 2002-12-19 | Aloys Wobben | Windenergieanlage |
| DE10113038C2 (de) | 2001-03-17 | 2003-04-10 | Aloys Wobben | Turmschwingungsüberwachung |
| DE10115267C2 (de) | 2001-03-28 | 2003-06-18 | Aloys Wobben | Verfahren zur Überwachung einer Windenergieanlage |
| DE10323785B4 (de) * | 2003-05-23 | 2009-09-10 | Wobben, Aloys, Dipl.-Ing. | Verfahren zum Erkennen eines Eisansatzes an Rotorblättern |
| AU2004316333B2 (en) | 2004-02-27 | 2010-09-02 | Mitsubishi Heavy Industries, Ltd. | Wind turbine generator, active damping method thereof, and windmill tower |
| NO20041208L (no) * | 2004-03-22 | 2005-09-23 | Sway As | Fremgangsmate for reduskjon av aksialkraftvariasjoner for rotor samt retningskontroll for vindkraft med aktiv pitchregulering |
| JP4766844B2 (ja) * | 2004-06-08 | 2011-09-07 | 株式会社Ihi | 水上風力発電装置 |
| US7118339B2 (en) * | 2004-06-30 | 2006-10-10 | General Electric Company | Methods and apparatus for reduction of asymmetric rotor loads in wind turbines |
| DE102005017054B4 (de) * | 2004-07-28 | 2012-01-05 | Igus - Innovative Technische Systeme Gmbh | Verfahren und Vorrichtung zur Überwachung des Zustandes von Rotorblättern an Windkraftanlagen |
| FI118027B (fi) * | 2004-08-11 | 2007-05-31 | Abb Oy | Menetelmä tuulivoimalan yhteydessä |
| US7822560B2 (en) * | 2004-12-23 | 2010-10-26 | General Electric Company | Methods and apparatuses for wind turbine fatigue load measurement and assessment |
| US7220104B2 (en) * | 2004-12-30 | 2007-05-22 | General Electric Company | Vibration reduction system for a wind turbine |
| US7573160B2 (en) | 2005-07-20 | 2009-08-11 | General Electric Company | Methods and apparatus for controlling windfarms and windfarms controlled thereby |
| NO325856B1 (no) * | 2005-11-01 | 2008-08-04 | Hywind As | Fremgangsmåte for demping av ustabile frie stivlegeme egensvingninger ved en flytende vindturbininstallasjon |
| DE102006022266A1 (de) * | 2005-11-04 | 2007-05-10 | Daubner & Stommel GbR Bau-Werk-Planung (vertretungsberechtigter Gesellschafter: Matthias Stommel, 27777 Ganderkesee) | Windenergieanlage |
| JP4814644B2 (ja) * | 2006-02-01 | 2011-11-16 | 富士重工業株式会社 | 風力発電装置 |
| RU2008149135A (ru) * | 2006-05-15 | 2010-06-20 | Игус-Иноувейтив Текнише Зюстеме Гмбх (De) | Способ контроля нагруженности лопастей ветроколес ветросиловых установок |
| MX2009003399A (es) * | 2006-10-02 | 2009-06-16 | Vestas Wind Sys As | Una turbina eolica, un metodo para amortiguar las oscilaciones hacia el borde en una o mas aspas de una turbina eolica cambiando la inclinacion del aspa, y uso del mismo. |
| NZ576624A (en) * | 2006-10-24 | 2011-02-25 | Vestas Wind Sys As | A method for damping tower oscillations, an active stall controlled wind turbine and use hereof |
| DE102006054666B4 (de) * | 2006-11-17 | 2010-01-14 | Repower Systems Ag | Schwingungsdämpfung einer Windenergieanlage |
| EP2097642B1 (en) * | 2006-12-08 | 2013-08-21 | Vestas Wind Systems A/S | A method for damping edgewise oscillations in one or more blades of a wind turbine, an active stall controlled wind turbine and use hereof |
| DK1936186T3 (en) * | 2006-12-21 | 2015-08-31 | Gen Electric | The wind turbine and method of detecting asymmetric icing on a wind turbine |
| DE102007008761B4 (de) * | 2007-02-22 | 2010-10-07 | Schuler Pressen Gmbh & Co. Kg | Windkraftanlage mit verspanntem Getriebe |
| DK179081B1 (da) | 2007-06-25 | 2017-10-16 | Siemens Wind Power As | Overvågning af en vindmølles vingefrekvenser |
| BRPI0817375A2 (pt) | 2007-11-28 | 2015-03-31 | Vestas Wind Sys As | "método para amortecer oscilações em turbina eólica" |
| US20090148289A1 (en) * | 2007-12-06 | 2009-06-11 | Thomas Edenfeld | Active damper against generator base frame vibrations |
| EP2072975A1 (en) * | 2007-12-19 | 2009-06-24 | Siemens Aktiengesellschaft | Method and apparatus for vibration-based automatic condition monitoring of a wind turbine |
| US8434216B2 (en) * | 2008-01-08 | 2013-05-07 | General Electric Company | Methods and systems for in-situ machine maintenance |
| CN101971109B (zh) * | 2008-03-07 | 2013-07-24 | 维斯塔斯风力系统有限公司 | 用于控制风力涡轮机的方法和控制系统 |
| US8004100B2 (en) | 2008-03-14 | 2011-08-23 | General Electric Company | Model based wind turbine drive train vibration damper |
| ES2327488B1 (es) * | 2008-04-15 | 2010-06-18 | GAMESA INNOVATION & TECHNOLOGY, S.L. | Un sistema de evaluacion y control del rendimiento de un aerogenerador. |
| US7942629B2 (en) * | 2008-04-22 | 2011-05-17 | General Electric Company | Systems and methods involving wind turbine towers for power applications |
| EP2324238B1 (en) | 2008-08-06 | 2016-02-17 | Vestas Wind Systems A/S | Adjustable constraining arrangement for wind turbine towers |
| US8186950B2 (en) * | 2008-12-23 | 2012-05-29 | General Electric Company | Aerodynamic device for detection of wind turbine blade operation |
| US7896613B2 (en) * | 2009-06-03 | 2011-03-01 | General Electric Company | System and method for wind turbine noise control and damage detection |
| US8123478B2 (en) | 2010-05-26 | 2012-02-28 | General Electric Company | Systems and methods for monitoring a condition of a rotor blade for a wind turbine |
| US8360722B2 (en) * | 2010-05-28 | 2013-01-29 | General Electric Company | Method and system for validating wind turbine |
| RU2444646C1 (ru) * | 2010-06-17 | 2012-03-10 | Государственное образовательное учреждение высшего профессионального образования "Московский энергетический институт (технический университет)" (ГОУВПО "МЭИ(ТУ)") | Способ управления ветроэнергетической установкой и устройство для его реализации |
| US20110182730A1 (en) * | 2010-07-27 | 2011-07-28 | Vestas Wind Systems A/S | Wind turbine blade with damping element for edgewise vibrations |
| RU2451828C2 (ru) * | 2010-08-05 | 2012-05-27 | Общество с ограниченной ответственностью "АВТЭКС" | Система безопасности ветрогенераторов и устройств с лопастями винтов |
| DE102010053523B4 (de) * | 2010-12-04 | 2015-09-10 | Nordex Energy Gmbh | Verfahren zur Überwachung einer statischen und/oder dynamischen Stabilität einer Windenergieanlage |
| US8169098B2 (en) * | 2010-12-22 | 2012-05-01 | General Electric Company | Wind turbine and operating same |
| ES2398051B1 (es) * | 2011-06-28 | 2014-09-05 | Gamesa Innovation & Technology S.L. | Un método para la identificación de la frecuencia principal del tren de potencia de un aerogenerador. |
| DE102011057175A1 (de) * | 2011-12-30 | 2013-07-04 | Prüftechnik Dieter Busch AG | Verfahren zur Schwingungsmessung an Rotorblättern von Windenergieanlagen |
| AT512833B1 (de) * | 2012-05-10 | 2014-08-15 | Hehenberger Gerald Dipl Ing | Energiegewinnungsanlage, insbesondere Windkraftanlage |
| DE102012218484A1 (de) * | 2012-10-10 | 2014-04-10 | Wobben Properties Gmbh | Verfahren zum Betreiben einer Windenergieanlage |
| EP2754889B1 (en) * | 2013-01-15 | 2016-11-16 | ABB Schweiz AG | Method and controller for damping vibrations in a wind power system |
| KR101458798B1 (ko) * | 2014-02-20 | 2014-11-07 | 두산중공업 주식회사 | 풍력 발전 단지, 풍력 발전 단지의 배치 구조, 풍력 발전 단지의 제어 방법 및 풍력 발전 유닛. |
| US10519935B2 (en) | 2014-06-24 | 2019-12-31 | Ntn Corporation | Condition monitoring system and wind power generation system using the same |
| JP6320218B2 (ja) * | 2014-07-29 | 2018-05-09 | Ntn株式会社 | 状態監視システム及びそれを備えた風力発電システム |
| CN106574606A (zh) * | 2014-07-29 | 2017-04-19 | Ntn株式会社 | 状态监视系统和具有该状态监视系统的风力发电系统 |
| EP3180513B1 (en) * | 2014-08-13 | 2017-12-27 | Vestas Wind Systems A/S | Improvements relating to the determination of rotor imbalances in a wind turbine |
| CN104165689B (zh) * | 2014-08-26 | 2017-02-22 | 国电联合动力技术有限公司 | 一种风电机组偏航噪声检测方法及检测装置 |
| DE102014225638A1 (de) * | 2014-12-12 | 2016-06-30 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Überwachen einer Windenergieanlage |
| EP3436698B1 (en) * | 2016-03-31 | 2020-01-22 | Vestas Wind Systems A/S | Condition monitoring and controlling of heating elements in wind turbines |
| US10337495B2 (en) * | 2016-05-19 | 2019-07-02 | General Electric Company | System and method for reducing vortex-induced tower vibrations of a wind turbine |
| ES2716774A1 (es) * | 2017-12-14 | 2019-06-14 | Siemens Gamesa Renewable Energy Innovation & Technology SL | Método de control de un aerogenerador y un aerogenerador que comprende unos medios de control configurados para llevar a cabo el método de control |
| PL3663573T3 (pl) | 2018-12-04 | 2022-11-14 | General Electric Renovables España S.L. | Sposób redukowania wibracji w łopatach wirnika turbiny wiatrowej |
| DE102018132413A1 (de) | 2018-12-17 | 2020-06-18 | Wobben Properties Gmbh | Verfahren zum Erfassen unterschiedlicher Schwingungen einer Windenergieanlage |
| US11208986B2 (en) | 2019-06-27 | 2021-12-28 | Uptake Technologies, Inc. | Computer system and method for detecting irregular yaw activity at a wind turbine |
| US10855079B1 (en) | 2019-07-19 | 2020-12-01 | General Electric Company | System and method for reducing oscillations in a renewable energy power system |
| US10975841B2 (en) * | 2019-08-02 | 2021-04-13 | Uptake Technologies, Inc. | Computer system and method for detecting rotor imbalance at a wind turbine |
| EP4155533A1 (en) * | 2021-09-24 | 2023-03-29 | Siemens Gamesa Renewable Energy A/S | Damping mechanical oscillations related to a wind turbine |
| EP4386200A1 (en) * | 2022-12-13 | 2024-06-19 | Siemens Gamesa Renewable Energy A/S | System and method for operating a floating wind turbine, floating wind turbine, wind park, computer program product and computer-readable storage medium |
| EP4686828A1 (en) * | 2024-07-29 | 2026-02-04 | General Electric Renovables España S.L. | Method and system for controlling wind turbine rotor oscillations |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3758758A (en) * | 1972-03-10 | 1973-09-11 | United Aircraft Corp | Weighting rotational statistical vibration analysis employing sidebands and/or |
| US4160170A (en) * | 1978-06-15 | 1979-07-03 | United Technologies Corporation | Wind turbine generator pitch control system |
| GB2096770A (en) | 1981-04-14 | 1982-10-20 | Standard Telephones Cables Ltd | Testing mechanical components of electrical machines |
| US4435647A (en) * | 1982-04-02 | 1984-03-06 | United Technologies Corporation | Predicted motion wind turbine tower damping |
| US4515525A (en) * | 1982-11-08 | 1985-05-07 | United Technologies Corporation | Minimization of the effects of yaw oscillations in wind turbines |
| US5140856A (en) * | 1990-12-03 | 1992-08-25 | Dynamic Rotor Balancing, Inc. | In situ balancing of wind turbines |
| US5614676A (en) * | 1996-03-08 | 1997-03-25 | The Goodyear Tire & Rubber Company | Method of machine vibration analysis for tire uniformity machine |
| US6137187A (en) * | 1997-08-08 | 2000-10-24 | Zond Energy Systems, Inc. | Variable speed wind turbine generator |
| US6327957B1 (en) * | 1998-01-09 | 2001-12-11 | Wind Eagle Joint Venture | Wind-driven electric generator apparatus of the downwind type with flexible changeable-pitch blades |
-
1999
- 1999-01-14 AT AT99900876T patent/ATE219553T1/de not_active IP Right Cessation
- 1999-01-14 US US09/600,286 patent/US6525518B1/en not_active Expired - Lifetime
- 1999-01-14 DE DE69901876T patent/DE69901876T2/de not_active Expired - Lifetime
- 1999-01-14 DK DK99900876T patent/DK1045988T3/da active
- 1999-01-14 AU AU20464/99A patent/AU2046499A/en not_active Abandoned
- 1999-01-14 ES ES99900876T patent/ES2178872T3/es not_active Expired - Lifetime
- 1999-01-14 CA CA002318386A patent/CA2318386C/en not_active Expired - Fee Related
- 1999-01-14 JP JP2000540370A patent/JP4226783B2/ja not_active Expired - Fee Related
- 1999-01-14 CN CN99802049A patent/CN1092760C/zh not_active Expired - Lifetime
- 1999-01-14 WO PCT/DK1999/000020 patent/WO1999036695A1/en not_active Ceased
- 1999-01-14 EP EP99900876A patent/EP1045988B1/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| DK1045988T3 (da) | 2002-10-14 |
| JP4226783B2 (ja) | 2009-02-18 |
| CN1092760C (zh) | 2002-10-16 |
| WO1999036695A1 (en) | 1999-07-22 |
| CA2318386C (en) | 2008-10-21 |
| CN1288505A (zh) | 2001-03-21 |
| ATE219553T1 (de) | 2002-07-15 |
| CA2318386A1 (en) | 1999-07-22 |
| DE69901876D1 (de) | 2002-07-25 |
| EP1045988A1 (en) | 2000-10-25 |
| US6525518B1 (en) | 2003-02-25 |
| DE69901876T2 (de) | 2003-02-20 |
| AU2046499A (en) | 1999-08-02 |
| JP2002509222A (ja) | 2002-03-26 |
| EP1045988B1 (en) | 2002-06-19 |
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