JP4542403B2 - 相互作用する駆動系及び車両制御のための制御システム - Google Patents
相互作用する駆動系及び車両制御のための制御システム Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/02—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for main transmission clutches
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C3/00—Shafts; Axles; Cranks; Eccentrics
- F16C3/02—Shafts; Axles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D48/00—External control of clutches
- F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/348—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed
- B60K17/35—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed including arrangements for suppressing or influencing the power transfer, e.g. viscous clutches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
- B60K23/0808—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0604—Throttle position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/26—Wheel slip
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/14—Yaw
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/10—System to be controlled
- F16D2500/102—Actuator
- F16D2500/1021—Electrical type
- F16D2500/1022—Electromagnet
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/10—System to be controlled
- F16D2500/104—Clutch
- F16D2500/10406—Clutch position
- F16D2500/10425—Differential clutch
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/30—Signal inputs
- F16D2500/31—Signal inputs from the vehicle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/30—Signal inputs
- F16D2500/31—Signal inputs from the vehicle
- F16D2500/3114—Vehicle wheels
- F16D2500/3115—Vehicle wheel speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/50—Problem to be solved by the control system
- F16D2500/508—Relating driving conditions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/50—Problem to be solved by the control system
- F16D2500/512—Relating to the driver
- F16D2500/5126—Improving response to driver inputs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/70—Details about the implementation of the control system
- F16D2500/704—Output parameters from the control unit; Target parameters to be controlled
- F16D2500/70422—Clutch parameters
- F16D2500/70438—From the output shaft
- F16D2500/7044—Output shaft torque
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/70—Details about the implementation of the control system
- F16D2500/706—Strategy of control
- F16D2500/7061—Feed-back
- F16D2500/70626—PID control
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Description
米国特許第6076033号は、車両の左右の車輪において相互に排他的な制動力及び駆動力を生成することによって車両のヨーを制御するプロセスを教示する。
本発明の他の目的は、車両のハンドリング及び制御の改良を提供するために、前輪駆動車両の後部アクスルにおけるツイン・クラッチを独立に制御する方法を提供することにある。
本発明の更に別の目的は、ツイン・クラッチ後部アクスル、車輪速度、ヨーレート、横加速度、スロットル位置及び転舵角のためのセンサ並びにマイクロプロセッサを備える前輪駆動車両の後輪に対して駆動トルクを独立に分配する装置を提供することにある。
この式に利得Kを乗じると、アンダーステアからオーバーステアまでの車両ターン特性、つまり
Claims (13)
- 車両のトルク分配を制御する装置であって、
駆動トルクを受け取る入力であって、一対の後部車軸(38)のそれぞれを駆動するための一対の独立に動作可能なクラッチ(120A、120B)を駆動する入力を有するリア・アクスル(36)と、
複数のタイヤ・車輪組立体(28、40)の速度を感知する複数の速度センサ(56、58、60、62)と、
転舵角センサ(52)と、
横加速度センサ(65)と、
ヨーレート・センサ(65)と、
それぞれの前記センサから信号を受け取り、前記一対のクラッチを作動させるための第1の信号及び第2の信号を提供するマイクロプロセッサ(50)であって、
前記複数の速度センサ(56、58、60、62)及び前記転舵角センサ(52)のための入力をそれぞれ有し、トルク出力信号を提供する一対のトラクション・コントローラ・モジュール(250A、250B)と、
前記複数の速度センサ(56、58、60、62)、前記転舵角センサ(52)、前記横加速度センサ(65)及び前記ヨーレート・センサ(65)のための入力を有するダイナミックス・コントローラ・モジュール(252)と、
左及び右の制御出力を提供するヨーレート基準算出サブルーチン(276)、オーバーステア及びアンダーステア検出サブルーチン(340、342)並びにクラッチ・セレクタ・サブルーチン(286)と、
前記一対のトラクション・コントローラ・モジュール(250A、250B)及び前記ダイナミックス・コントローラ・モジュール(252)から前記制御出力を受け取るアービトレータ・モジュール(256)と
を備え、前記アービトレータ・モジュール(256)が前記制御出力間の裁定をして全体のシステムの動作を決定するマイクロプロセッサと、
を具備する装置。 - それぞれの前記クラッチが電磁操作装置(194)を備える、請求項1に記載の装置。
- それぞれの前記クラッチがボール・ランプ操作装置(170A、170B)を備える、請求項1に記載の装置。
- トランスアクスル(14)、一対の前部車軸(26)、及び一対の前部タイヤ・車輪組立体(28)を備える第1の駆動系(20)を更に備える、請求項1に記載の装置。
- 前記転舵角センサ(52)が前記車両のステアリング・コラム(54)の回転を感知する、請求項1に記載の装置。
- 前記マイクロプロセッサ(50)が前記クラッチの電磁操作装置(194)を駆動するためのPWM駆動回路(294)を備える、請求項1に記載の装置。
- 前記マイクロプロセッサ(50)がヨー加速度値(322)を計算する、請求項1に記載の装置。
- 前記マイクロプロセッサ(50)がPIDコントローラ(278)を備える、請求項1に記載の装置。
- 車両のトルク分配を制御する方法であって、
前記車両の車輪(28、40)の速度を感知するステップと、
前記車両のスロットル位置(64)を感知するステップと、
前記車両の転舵要素(28、54)の位置を感知するステップと、
前記車両のヨーレート(65)を感知するステップと、
前記速度、前記転舵要素の位置及び前記スロットル位置から、トラクション制御のためにトルク要求と目標トルク値とを決定し、トルク出力信号を提供するステップと、
前記車両の左オーバーステア状態(428)、右オーバーステア状態(448)、左アンダーステア状態(388)及び右アンダーステア状態(410)のうちの少なくとも1つの状態を決定して、前記状態に対応するよう左制御出力及び右制御出力を提供するステップと、
前記トルク出力信号と前記左制御出力と前記右制御出力との間を裁定するステップと、
一対のクラッチ信号を提供するステップと、
駆動トルクを受け取る入力部材であって、一対の後輪(40)のそれぞれを駆動するための一対の独立に動作可能なクラッチ(120A、120B)を駆動する入力部材を有するリア・アクスル(36)を設けるステップと、
前記一対のクラッチ信号に応答して前記クラッチ(120A、120B)を作動させるステップと、
を備える方法。 - 横加速度(65)を感知するステップを更に備える、請求項9に記載の方法。
- ヨーレート誤差信号(316)を決定するステップを更に備える、請求項9に記載の方法。
- ヨー加速度値(322)を決定するステップを更に備える、請求項9に記載の方法。
- 一対のトラクション・コントローラ(250A、250B)とダイナミックス・コントローラ(252)との間の裁定を行うステップを更に備える、請求項9に記載の方法。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/666,593 US7007763B2 (en) | 2003-09-19 | 2003-09-19 | Control system for interactive driveline and vehicle control |
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JP2005088889A JP2005088889A (ja) | 2005-04-07 |
JP4542403B2 true JP4542403B2 (ja) | 2010-09-15 |
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JP2004273151A Active JP4542403B2 (ja) | 2003-09-19 | 2004-09-21 | 相互作用する駆動系及び車両制御のための制御システム |
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US (1) | US7007763B2 (ja) |
JP (1) | JP4542403B2 (ja) |
KR (1) | KR101043386B1 (ja) |
CN (1) | CN100390003C (ja) |
DE (1) | DE102004045164A1 (ja) |
GB (1) | GB2406178B (ja) |
Families Citing this family (41)
Publication number | Priority date | Publication date | Assignee | Title |
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US7125364B2 (en) * | 2003-11-07 | 2006-10-24 | Magna Powertrain Usa, Inc. | Control strategy for active torque control |
DE102004040876A1 (de) * | 2004-03-11 | 2005-12-29 | Continental Teves Ag & Co. Ohg | Verfahren zur Fahrdynamikregelung eines Fahrzeugs, Vorrichtung zur Durchführung des Verfahrens und ihre Verwendung |
JP4289243B2 (ja) * | 2004-07-16 | 2009-07-01 | 三菱自動車工業株式会社 | 車両用左右輪間駆動力制御装置 |
US7325636B2 (en) * | 2004-08-30 | 2008-02-05 | Caterpillar Inc. | Front-wheel drive steering compensation method and system |
SE0402539D0 (sv) * | 2004-10-21 | 2004-10-21 | Haldex Traction Ab | All wheel drive system |
KR100622501B1 (ko) * | 2004-12-22 | 2006-09-19 | 현대자동차주식회사 | 자동차의 조향 랙 스트로크 가변장치 |
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- 2004-09-15 KR KR1020040073901A patent/KR101043386B1/ko active IP Right Grant
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Also Published As
Publication number | Publication date |
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JP2005088889A (ja) | 2005-04-07 |
US7007763B2 (en) | 2006-03-07 |
KR20050028790A (ko) | 2005-03-23 |
GB2406178B (en) | 2007-07-18 |
CN1597410A (zh) | 2005-03-23 |
GB2406178A (en) | 2005-03-23 |
KR101043386B1 (ko) | 2011-06-21 |
DE102004045164A1 (de) | 2005-04-14 |
GB0419733D0 (en) | 2004-10-06 |
CN100390003C (zh) | 2008-05-28 |
US20050064993A1 (en) | 2005-03-24 |
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