JP4961211B2 - 油圧バルブ用の制御特性曲線を学習する方法 - Google Patents
油圧バルブ用の制御特性曲線を学習する方法 Download PDFInfo
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- JP4961211B2 JP4961211B2 JP2006530194A JP2006530194A JP4961211B2 JP 4961211 B2 JP4961211 B2 JP 4961211B2 JP 2006530194 A JP2006530194 A JP 2006530194A JP 2006530194 A JP2006530194 A JP 2006530194A JP 4961211 B2 JP4961211 B2 JP 4961211B2
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- 238000000034 method Methods 0.000 claims description 38
- 230000000630 rising effect Effects 0.000 claims description 2
- 238000004590 computer program Methods 0.000 claims 1
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- 238000004519 manufacturing process Methods 0.000 description 7
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- 238000004364 calculation method Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/36—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition including a pilot valve responding to an electromagnetic force
- B60T8/3615—Electromagnetic valves specially adapted for anti-lock brake and traction control systems
- B60T8/3655—Continuously controlled electromagnetic valves
- B60T8/366—Valve details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T15/00—Construction arrangement, or operation of valves incorporated in power brake systems and not covered by groups B60T11/00 or B60T13/00
- B60T15/02—Application and release valves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T15/00—Construction arrangement, or operation of valves incorporated in power brake systems and not covered by groups B60T11/00 or B60T13/00
- B60T15/02—Application and release valves
- B60T15/025—Electrically controlled valves
- B60T15/028—Electrically controlled valves in hydraulic systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/36—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition including a pilot valve responding to an electromagnetic force
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/002—Calibrating
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
- G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Transportation (AREA)
- Fluid Mechanics (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Health & Medical Sciences (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Regulating Braking Force (AREA)
- Feedback Control In General (AREA)
Description
実際の個々の車輪シリンダ圧力pz 及び該当する車輪が不安定になる(ロッキングブレーキレベル)車輪シリンダ圧力pz i は、車輪に固有の圧力センサなしの装置では直接算出され得ない。デジタル式バルブを有する設備でこれらの値を算定する方法が、公知であってヨーロッパ特許出願公開第0 876 270 号明細書(P 8598)及びドイツ連邦共和国特許出願公開第197 37 779号明細書中に詳しく記されている。これらの方法の場合、圧力上昇時間を計算する学習方法が実施される。この場合、平均の圧力上昇勾配が、連続する圧力上昇パルスから得られる。
kn =1−(1−KFil,n-1 )*√(Tist,n /Tsoll,n)
にしたがって生成される。
この場合、
KFil,n-1 =((KFil,n-2 *(n−2))+kn )/(n+1),
nは、学習された値kの数である。Tist,n は、実際に実施された圧力上昇の加算された上昇時間である。Tsoll,nは、希望する圧力差と目標勾配とから計算された目標圧力上昇時間である。この点で、圧力差が、先行する圧力低下から算出されている。
Q=APAufbau/APAbbau
この値Qは、好ましくは補正値kと乗算される:
kn =kn-1 *Q.
こうして、一般に数パーセントの範囲内にある特性曲線の補正が得られる。
kn =kn-1 +Q*i
にしたがって実施される点にある。この場合、パラメータiは、値Qに応じて重み付けされる増幅率を示す。この場合、上で定義した値kFil,n-1 の計算が省略できる。
が、目的に合わせて各点火サイクルの開始に対してリセットされる。こうして、制御特性曲線の希望する精度が、より短い時間内に得られる。
全圧力上昇時間Tsollが、任意の方法で多数のパルスに分割され得る。この場合、パルス数に関する最適値が、ブレーキシステムの電気特性及び油圧特性に依存する。このパルス数に対する好ましい範囲は、約3〜4である。本発明の特に好適な実施形では、学習方法の完了後に、制御を改良するため、予測される圧力差に相当する電流が低減される。これによって、I及びΔpに応じた圧力上昇勾配Gの基準値(Vorgabe) が得られる。 本発明のもう1つの好適な実施形では、上述の方法によって補正される一定にプリセットされている制御特性曲線自体が、別の方法で電子制御装置によって例えば最初の動作時に自動的に算出される。特に開口電流特性曲線I=G(Δp)が、第2のさらなる補正方法の間に確定される。この開口電流特性曲線I=G(Δp)は、上で算出した補正係数に結合して本発明による補正された制御特性曲線を導く。
kn =1−(1−kFil,n-1 )*√(Tist,n /Tsoll,n).
この場合、
kFil,n-1 =((kFil,n-2 *(n−2))+kn )/(n−1).
この場合、nは、習得された値kの数である。Tist は、実際に実施された圧力上昇の加算された上昇時間である。Tsollは、(先行する圧力低下から算出された)希望の圧力差と目標勾配とから計算された目標圧力上昇時間である。
2 点
3 点
4 点
Claims (5)
- 電気的に制御されるアナログ式に作動可能な1つ又は多数の油圧バルブを補正する方法において、
最初に1つの又はそれぞれの制御特性曲線が、アンチロック制御部の作動中にプリセットされ、
次いでこのプリセットされている制御特性曲線が、ある学習方法で補正され、前記学習方法において、補正変数は、存在する制御特性曲線の補正ために算出されることを特徴とする方法であって、
バルブのための前記学習方法によって、前記補正変数kが生成され、
前記補正変数kは、補正された制御特性曲線を生成するためにプリセットされているバルブの制御特性曲線に乗算され、
前記補正変数kは、
kn=1−(1−kFil,n−1)*√(Tist,n/Tsoll,n)
にしたがって生成され、
かつ、
kFil,n−1=((kFil,n−2*(n−2))+kn−1)/(n−1)
であり、
これらの式において、k n は、n番目のサイクルのkであり、Tist n は、実際に圧力上昇がなされた時間の和であり、Tsoll nは、所望の圧力差と目標勾配とから計算された圧力上昇要求時間であり、
この所望の圧力差は、事前の圧力低下が増加した場合に、所望の圧力差が小さくなるように、事前の圧力低下から算出され
又は、
前記補正変数kは、次式のように、値
- 前記学習方法は、数nによるアンチロック制御の多数のサイクルを過ぎて実施され、プリセットされている特性曲線の補正が、各サイクル又は適した各サイクル内で、帰納的な式にしたがって、実際のサイクルから算出されたパラメータによってなされることを特徴とする請求項1に記載の方法。
- 基礎となるブレーキ装置内にプリセットされている制御特性曲線は、最初の学習サイクル前に工場で、一定値に又は消去可能に記憶されているか、又は、
第2のさらなる補正方法にしたがって算出されることを特徴とする請求項1又は2に記載の方法。 - 学習期間の間に、ブレーキ装置に対して最適とみなされた値が、圧力上昇勾配のために決定され、この値は、算出された前記補正変数又は算出された補正制御特性曲線によって、実際の制御時にこの制御サイクルの完了まで少なくとも変更されないことを特徴とする請求項1〜3のいずれか1項に記載の方法。
- 演算装置に接続しているコンピュータプログラム製品は、請求項1〜4のいずれか1項に記載の方法を実行することを特徴とするコンピュータプログラム製品。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10321783.5 | 2003-05-14 | ||
DE10321783 | 2003-05-14 | ||
PCT/EP2004/050801 WO2004101339A1 (de) | 2003-05-14 | 2004-05-13 | Verfahren zum lernen von ansteuerkennlinien für hydraulikventile |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2007511393A JP2007511393A (ja) | 2007-05-10 |
JP2007511393A5 JP2007511393A5 (ja) | 2007-06-21 |
JP4961211B2 true JP4961211B2 (ja) | 2012-06-27 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2006530194A Expired - Lifetime JP4961211B2 (ja) | 2003-05-14 | 2004-05-13 | 油圧バルブ用の制御特性曲線を学習する方法 |
Country Status (7)
Country | Link |
---|---|
US (1) | US20070112537A1 (ja) |
EP (1) | EP1625058B1 (ja) |
JP (1) | JP4961211B2 (ja) |
KR (1) | KR101146541B1 (ja) |
CN (1) | CN100382998C (ja) |
DE (2) | DE112004000772D2 (ja) |
WO (1) | WO2004101339A1 (ja) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004048121A1 (de) * | 2004-10-02 | 2006-04-13 | Voith Turbo Gmbh & Co. Kg | Verfahren zur Anpassung einer die Betriebsweise einer hydrodynamischen Komponente charakterisierenden Ist-Kennlinie oder Ist-Kennfeldes an eine vordefinierte oder vorgebbare Soll-Kennlinie oder Kennfeld bei der Endabnahme der hydrodynamischen Komponente |
WO2006042859A1 (de) | 2004-10-20 | 2006-04-27 | Continental Teves Ag & Co. Ohg | Verfahren zur berechnung des steuerstromes eines elektrisch steuerbaren hydraulikventils |
JP4552720B2 (ja) * | 2005-03-25 | 2010-09-29 | 株式会社アドヴィックス | 車両用ブレーキ液圧制御装置 |
DE102005049300A1 (de) * | 2005-10-12 | 2007-04-26 | Continental Teves Ag & Co. Ohg | Verfahren zur Bestimmung des Raddrucks in einem elektronisch ansteuerbaren Kraftfahrzeugbremsenregelungssystem |
DE102006020520B4 (de) * | 2006-05-03 | 2015-05-21 | Robert Bosch Gmbh | Regelung des Bremsdrucks mittels eines Druckbegrenzungsventils |
DE102007019929A1 (de) * | 2007-04-27 | 2008-11-06 | Continental Teves Ag & Co. Ohg | Korrekturverfahren zum Korrigieren von Ansteuerkennlinien für analogisierte Hydraulikventile in Kraftfahrzeugbremssystemen |
DE102009024996A1 (de) | 2008-06-17 | 2009-12-24 | Continental Teves Ag & Co. Ohg | Verfahren zum Ermitteln eines Korrekturwerts für die Ansteuerung von Analogventilen in Kraftfahrzeugbremssystemen |
DE102010028083A1 (de) * | 2009-04-23 | 2010-11-11 | Continental Teves Ag & Co. Ohg | Verfahren zur Kalibrierung eines Pumpenmotors in einer Druckregelanlage |
DE102011084069A1 (de) * | 2011-10-06 | 2013-04-11 | Continental Teves Ag & Co. Ohg | Verfahren zur Bestimmung eines Modell-Vordrucks mittels eines mathematischen Modells in einem elektronisch geregelten Kraftfahrzeugbremssystem |
DE102011084624B4 (de) | 2011-10-17 | 2024-03-28 | Continental Automotive Technologies GmbH | Verfahren und Bremssystem zur Geräuschminderung eines Öffnungsschaltvorgangs eines digital betriebenen Elektromagnetventils |
DE102013203599B4 (de) * | 2012-03-06 | 2023-09-28 | Continental Automotive Technologies GmbH | Verfahren zur Kalibrierung von analog angesteuerten hydraulischen Ventilen und eine Bremsanlage |
CN103499453B (zh) * | 2013-10-23 | 2015-11-25 | 北京经纬恒润科技有限公司 | 一种电子稳定程序esp液压制动系统的建模方法 |
DE102016200118A1 (de) * | 2016-01-08 | 2017-07-13 | Continental Teves Ag & Co. Ohg | Verfahren zur Bestimmung des Öffnungsstromes eines analog angesteuerten Ventils und Druckregelvorrichtung |
DE102016108597A1 (de) * | 2016-05-10 | 2017-11-16 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Automatisiert kalibrierbares Bremssystem und Verfahren zum automatisierten Kalibrieren eines Bremssystems |
US10328913B2 (en) * | 2016-11-18 | 2019-06-25 | International Business Machines Corporation | Facilitation of automatic adjustment of a braking system |
DE102017214602A1 (de) * | 2017-08-22 | 2019-02-28 | Robert Bosch Gmbh | Steuervorrichtung und Verfahren zum Betreiben einer Fahrzeugverzögerungsvorrichtung eines Fahrzeugs |
US11667272B2 (en) * | 2019-01-24 | 2023-06-06 | ZF Active Safety US Inc. | Vehicle brake system with adaptive pressure calibration |
US11161488B2 (en) | 2019-10-30 | 2021-11-02 | Deere & Company | Brake compliance calibration with electrohydraulic brakes |
CN112389418B (zh) * | 2020-11-25 | 2021-07-30 | 上海拿森汽车电子有限公司 | 一种电流阀压力差-电流特性的自学习方法及系统 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3812903A1 (de) * | 1988-04-18 | 1989-10-26 | Lucas Ind Plc | Verfahren zum regeln des bremsdruckes in einer abs-bremsanlage |
DE3833881C2 (de) * | 1988-10-05 | 1997-11-27 | Bosch Gmbh Robert | Regeleinrichtung |
DE19602244B4 (de) * | 1996-01-23 | 2015-09-17 | Continental Teves Ag & Co. Ohg | Antiblockier-Regelsystem |
DE19707960B4 (de) * | 1997-02-27 | 2011-02-17 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Regelung des Drucks in wenigstens einer Radbremse |
US6289259B1 (en) * | 1998-10-16 | 2001-09-11 | Husky Injection Molding Systems Ltd. | Intelligent hydraulic manifold used in an injection molding machine |
US6359435B1 (en) * | 1999-03-25 | 2002-03-19 | Siemens Automotive Corporation | Method for determining magnetic characteristics of an electronically controlled solenoid |
DE10142040A1 (de) * | 2000-09-27 | 2002-06-27 | Continental Teves Ag & Co Ohg | Verfahren und Regelsystem zur Ansteuerung eines elektronisch regelbaren Bremsbetätigungssystems |
WO2002026540A1 (de) * | 2000-09-27 | 2002-04-04 | Continental Teves Ag & Co. Ohg | Verfahren und regelsystem zur ansteuerung eines elektronisch regelbaren bremsbetätigungssystems |
JP4572469B2 (ja) * | 2001-01-23 | 2010-11-04 | 株式会社アドヴィックス | 車両の液圧ブレーキ装置 |
JP4220686B2 (ja) * | 2001-05-30 | 2009-02-04 | トヨタ自動車株式会社 | 車輌用制動制御装置 |
ATE501911T1 (de) * | 2001-09-26 | 2011-04-15 | Kelsey Hayes Co | Verfahren zur automatischen kalibrierung der ventilkennlinie bei druckregelung eines proportional-sitzventils |
KR100461750B1 (ko) * | 2002-11-06 | 2004-12-14 | 현대자동차주식회사 | 가변력 솔레노이드 밸브의 편차 보상 제어방법 |
-
2004
- 2004-05-13 KR KR1020057021496A patent/KR101146541B1/ko active IP Right Grant
- 2004-05-13 EP EP04732625A patent/EP1625058B1/de not_active Expired - Lifetime
- 2004-05-13 DE DE112004000772T patent/DE112004000772D2/de not_active Withdrawn - After Issue
- 2004-05-13 WO PCT/EP2004/050801 patent/WO2004101339A1/de active IP Right Grant
- 2004-05-13 CN CNB2004800130796A patent/CN100382998C/zh not_active Expired - Fee Related
- 2004-05-13 DE DE502004005608T patent/DE502004005608D1/de not_active Expired - Lifetime
- 2004-05-13 JP JP2006530194A patent/JP4961211B2/ja not_active Expired - Lifetime
- 2004-05-13 US US10/556,540 patent/US20070112537A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
EP1625058A1 (de) | 2006-02-15 |
CN1787937A (zh) | 2006-06-14 |
CN100382998C (zh) | 2008-04-23 |
DE112004000772D2 (de) | 2006-03-16 |
WO2004101339A1 (de) | 2004-11-25 |
KR101146541B1 (ko) | 2012-05-29 |
EP1625058B1 (de) | 2007-11-28 |
JP2007511393A (ja) | 2007-05-10 |
DE502004005608D1 (de) | 2008-01-10 |
KR20060019535A (ko) | 2006-03-03 |
US20070112537A1 (en) | 2007-05-17 |
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