PT1178599E - Sistema de controlo em circuito aberto para um motor passo a passo - Google Patents
Sistema de controlo em circuito aberto para um motor passo a passo Download PDFInfo
- Publication number
- PT1178599E PT1178599E PT01121258T PT01121258T PT1178599E PT 1178599 E PT1178599 E PT 1178599E PT 01121258 T PT01121258 T PT 01121258T PT 01121258 T PT01121258 T PT 01121258T PT 1178599 E PT1178599 E PT 1178599E
- Authority
- PT
- Portugal
- Prior art keywords
- motor
- micropasses
- quot
- engine
- controller
- Prior art date
Links
- 238000004804 winding Methods 0.000 claims abstract description 61
- 230000001965 increasing effect Effects 0.000 claims abstract description 23
- 230000003247 decreasing effect Effects 0.000 claims abstract description 12
- 230000001133 acceleration Effects 0.000 claims description 38
- 238000012423 maintenance Methods 0.000 claims description 26
- 238000000034 method Methods 0.000 claims description 20
- 238000006073 displacement reaction Methods 0.000 claims description 17
- 230000008859 change Effects 0.000 claims description 10
- 239000012530 fluid Substances 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 7
- 239000013598 vector Substances 0.000 description 15
- 230000007423 decrease Effects 0.000 description 10
- 230000005534 acoustic noise Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 238000005265 energy consumption Methods 0.000 description 5
- 230000005284 excitation Effects 0.000 description 5
- 238000013459 approach Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000001802 infusion Methods 0.000 description 4
- 230000002572 peristaltic effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000002051 biphasic effect Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 230000009849 deactivation Effects 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 238000012886 linear function Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 239000003978 infusion fluid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/22—Control of step size; Intermediate stepping, e.g. microstepping
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/04—Arrangements for starting
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/24—Arrangements for stopping
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/32—Reducing overshoot or oscillation, e.g. damping
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
- Control Of Electric Motors In General (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US08/526,468 US6016044A (en) | 1995-09-11 | 1995-09-11 | Open-loop step motor control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| PT1178599E true PT1178599E (pt) | 2007-09-18 |
Family
ID=24097475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PT01121258T PT1178599E (pt) | 1995-09-11 | 1996-09-11 | Sistema de controlo em circuito aberto para um motor passo a passo |
Country Status (11)
| Country | Link |
|---|---|
| US (3) | US6016044A (enExample) |
| EP (2) | EP0862811B1 (enExample) |
| JP (1) | JPH11512596A (enExample) |
| AT (2) | ATE364926T1 (enExample) |
| CA (1) | CA2231644C (enExample) |
| DE (3) | DE862811T1 (enExample) |
| DK (1) | DK1178599T3 (enExample) |
| ES (2) | ES2120390T3 (enExample) |
| HK (1) | HK1044078B (enExample) |
| PT (1) | PT1178599E (enExample) |
| WO (1) | WO1997010642A1 (enExample) |
Families Citing this family (63)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5994798A (en) | 1998-02-26 | 1999-11-30 | Anorad Corporation | Closed-path linear motor |
| US6784572B1 (en) | 1991-03-17 | 2004-08-31 | Anorad Corporation | Path arrangement for a multi-track linear motor system and method to control same |
| DE4200365A1 (de) * | 1992-01-09 | 1993-07-15 | Mengeringhausen Nachf Gmbh & C | Vorrichtung zur automatischen zentralbefestigung von rotationsteilen |
| KR100217789B1 (ko) * | 1996-05-22 | 1999-09-01 | 가타오카 마사타카 | 스테핑모터의 구동방법 |
| DE19704296C2 (de) * | 1997-02-06 | 2001-03-01 | Leica Microsystems | Verfahren und Vorrichtung zur Schrittmotoransteuerung |
| JPH11215894A (ja) * | 1998-01-23 | 1999-08-06 | Matsushita Electric Ind Co Ltd | ステッピングモータの制御装置 |
| US6975081B1 (en) | 1998-02-26 | 2005-12-13 | Anorad Corporation | Path module for a linear motor, modular linear motor system and method to control same |
| US7262523B1 (en) * | 1998-02-26 | 2007-08-28 | Anorad Corporation | Wireless encoder |
| US6876105B1 (en) | 1998-02-26 | 2005-04-05 | Anorad Corporation | Wireless encoder |
| US6963148B1 (en) | 1998-02-26 | 2005-11-08 | Anorad Corporation | Wireless encoder |
| US7170241B1 (en) | 1998-02-26 | 2007-01-30 | Anorad Corporation | Path module for a linear motor, modular linear motor system and method to control same |
| US6803681B2 (en) | 1998-02-26 | 2004-10-12 | Anorad Corporation | Path module for a linear motor, modular linear motor system and method to control same |
| JP3328927B2 (ja) * | 1998-05-11 | 2002-09-30 | 船井電機株式会社 | ステッピングモータの駆動制御方法 |
| JP3538319B2 (ja) * | 1998-06-04 | 2004-06-14 | オークマ株式会社 | サーボモータを用いた位置制御装置 |
| WO2000030244A1 (en) * | 1998-11-12 | 2000-05-25 | Matsushita Electric Industrial Co., Ltd. | Stepping motor control device |
| US6611072B1 (en) * | 1999-11-17 | 2003-08-26 | Parker-Hannifin Corporation | Sensorless stall detection for motors |
| DE10007212A1 (de) * | 2000-02-17 | 2001-08-23 | Zeiss Carl Jena Gmbh | Verfahren zur Beschleunigung der Verstellbewegung in einem Positioniersystem mit Schrittmotoren |
| US6483265B1 (en) * | 2000-05-23 | 2002-11-19 | General Electric Company | Methods and systems for minimizing vibration in electric machines |
| JP4261752B2 (ja) * | 2000-09-07 | 2009-04-30 | キヤノン株式会社 | 駆動装置 |
| FR2819952B1 (fr) * | 2001-01-25 | 2003-04-25 | Valeo Climatisation | Commande optimisee d'actionneur de volet d'une installation de climatisation de vehicule automobile |
| US6441579B1 (en) * | 2001-01-26 | 2002-08-27 | Hewlett-Packard Company | Current magnitude variation correction for open loop stepper motor driver circuit |
| US6927880B2 (en) * | 2001-09-28 | 2005-08-09 | Kabushiki Kaisha Toshiba | Image reading device and method |
| US6670783B2 (en) * | 2001-10-31 | 2003-12-30 | Pelco | Method and apparatus for improved motor control through current/velocity correction |
| US6985870B2 (en) | 2002-01-11 | 2006-01-10 | Baxter International Inc. | Medication delivery system |
| US20030204419A1 (en) * | 2002-04-30 | 2003-10-30 | Wilkes Gordon J. | Automated messaging center system and method for use with a healthcare system |
| US20030201697A1 (en) * | 2002-04-30 | 2003-10-30 | Richardson William R. | Storage device for health care facility |
| US20030225596A1 (en) * | 2002-05-31 | 2003-12-04 | Richardson Bill R. | Biometric security for access to a storage device for a healthcare facility |
| US7422582B2 (en) * | 2004-09-29 | 2008-09-09 | Stryker Corporation | Control console to which powered surgical handpieces are connected, the console configured to simultaneously energize more than one and less than all of the handpieces |
| JP4661181B2 (ja) * | 2004-11-19 | 2011-03-30 | コニカミノルタオプト株式会社 | ステッピングモータのサーボ駆動方法、駆動機構及び撮像装置 |
| US20070264130A1 (en) * | 2006-01-27 | 2007-11-15 | Phluid, Inc. | Infusion Pumps and Methods for Use |
| US7550680B2 (en) * | 2006-06-14 | 2009-06-23 | Stats Chippac Ltd. | Package-on-package system |
| JP5166718B2 (ja) * | 2006-10-30 | 2013-03-21 | 日本精機株式会社 | 指針式計器用ステッピングモータの駆動制御装置及び駆動制御方法 |
| BRPI0719107A2 (pt) * | 2006-11-21 | 2013-12-03 | Baxter Int | Sistema e método par monitoramento remoto e/ou manipulação de terapias de infusão |
| US20080199861A1 (en) * | 2007-02-15 | 2008-08-21 | Honeywell International, Inc. | Real-time microarray apparatus and methods related thereto |
| KR20080088265A (ko) * | 2007-03-29 | 2008-10-02 | 삼성전자주식회사 | 화상형성장치 |
| US8986253B2 (en) * | 2008-01-25 | 2015-03-24 | Tandem Diabetes Care, Inc. | Two chamber pumps and related methods |
| JP5315766B2 (ja) * | 2008-04-17 | 2013-10-16 | ペンタックスリコーイメージング株式会社 | レンズ交換式カメラの絞り駆動装置 |
| EP2276525A4 (en) * | 2008-05-19 | 2012-04-04 | Tandem Diabetes Care Inc | REMOVABLE PUMP CONTAINER AND RELATED METHOD |
| US8408421B2 (en) * | 2008-09-16 | 2013-04-02 | Tandem Diabetes Care, Inc. | Flow regulating stopcocks and related methods |
| CA2737461A1 (en) * | 2008-09-19 | 2010-03-25 | Tandem Diabetes Care, Inc. | Solute concentration measurement device and related methods |
| US8264256B2 (en) * | 2008-10-15 | 2012-09-11 | Infineon Technologies Austria Ag | Driver and method for driving a device |
| US8616134B2 (en) | 2009-01-23 | 2013-12-31 | Magnemotion, Inc. | Transport system powered by short block linear synchronous motors |
| US9032880B2 (en) | 2009-01-23 | 2015-05-19 | Magnemotion, Inc. | Transport system powered by short block linear synchronous motors and switching mechanism |
| CA2921304C (en) | 2009-07-30 | 2018-06-05 | Tandem Diabetes Care, Inc. | Infusion pump system with disposable cartridge having pressure venting and pressure feedback |
| US8659259B2 (en) * | 2009-09-04 | 2014-02-25 | Canon Kabushiki Kaisha | Stepping motor driving apparatus |
| US10453157B2 (en) * | 2010-01-22 | 2019-10-22 | Deka Products Limited Partnership | System, method, and apparatus for electronic patient care |
| US8552672B2 (en) | 2010-10-19 | 2013-10-08 | Teknic, Inc. | Method and apparatus to drive two-phase motors from a three-phase bridge |
| US8901867B2 (en) | 2011-04-28 | 2014-12-02 | Regal Beloit America, Inc. | Electrical machine, method of controlling an electrical machine, and system including an electrical machine |
| JP2013005533A (ja) * | 2011-06-14 | 2013-01-07 | Semiconductor Components Industries Llc | 単相ブラシレスモータの駆動回路 |
| WO2013136803A1 (ja) * | 2012-03-16 | 2013-09-19 | テルモ株式会社 | 薬液投与装置 |
| JP2013192850A (ja) * | 2012-03-22 | 2013-09-30 | Terumo Corp | 薬液投与装置 |
| US9180242B2 (en) | 2012-05-17 | 2015-11-10 | Tandem Diabetes Care, Inc. | Methods and devices for multiple fluid transfer |
| US9173998B2 (en) | 2013-03-14 | 2015-11-03 | Tandem Diabetes Care, Inc. | System and method for detecting occlusions in an infusion pump |
| US9559623B2 (en) | 2013-08-30 | 2017-01-31 | Regal Beloit America, Inc. | Method of controlling an electrical machine |
| CN105813886B (zh) | 2013-09-21 | 2018-04-03 | 麦克纳莫绅有限公司 | 用于包装和其它用途的线性电机运输 |
| US10492141B2 (en) | 2015-11-17 | 2019-11-26 | Tandem Diabetes Care, Inc. | Methods for reduction of battery usage in ambulatory infusion pumps |
| US10311712B2 (en) * | 2016-09-10 | 2019-06-04 | Wearable Technology Limited | Apparatus and methods for controlling functionality and supplying power to a peripheral device attached to an item of clothing |
| JP7438112B2 (ja) | 2017-12-19 | 2024-02-26 | スミスズ メディカル エーエスディー，インコーポレイティド | 投与セットのための輸液ポンプシステム及び方法 |
| EP3542842A1 (en) * | 2018-03-23 | 2019-09-25 | Fresenius Vial SAS | Infusion device comprising a drive motor, in particular a brushless dc motor |
| JP7158910B2 (ja) * | 2018-06-20 | 2022-10-24 | ミネベアミツミ株式会社 | ステッピングモータの制御装置及びステッピングモータの制御方法 |
| DE102019000751B4 (de) | 2019-02-01 | 2023-04-13 | MET-OPTlK elektronische Systeme GmbH | Antriebssteuerung für Schrittmotoren |
| CN112532146B (zh) * | 2020-11-16 | 2023-02-28 | 深圳市科曼医疗设备有限公司 | 加减速运动控制方法、装置、设备和介质 |
| CN113067510B (zh) * | 2021-03-16 | 2023-06-20 | 北京瑞控信科技股份有限公司 | 一种电动调整镜控制方法、装置及电动调整镜系统 |
Family Cites Families (40)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5145765B1 (enExample) * | 1970-07-06 | 1976-12-06 | ||
| SE378164B (enExample) * | 1970-10-19 | 1975-08-18 | Fujitsu Ltd | |
| US4016472A (en) * | 1975-01-17 | 1977-04-05 | The Superior Electric Company | Non-linear velocity change circuit for consecutive length commanded digital motor means |
| JPS523106A (en) * | 1975-06-24 | 1977-01-11 | Jeol Ltd | Driving device for pulse motor speed |
| CH625384B (fr) * | 1977-12-20 | Ebauches Electroniques Sa | Dispositif de detection de la non rotation de moteurs pas a pas pour piece d'horlogerie et de rattrapage des pas perdus. | |
| US4362979A (en) * | 1978-01-25 | 1982-12-07 | Dana Corporation | Stepping motor control circuit |
| US4280084A (en) * | 1978-01-26 | 1981-07-21 | David Chiang | Method of and apparatus for operating stepping motors |
| US4353020A (en) * | 1978-11-01 | 1982-10-05 | Plessey Peripheral Systems | Impact printer programmed servo system |
| US4255693A (en) * | 1979-10-29 | 1981-03-10 | International Business Machines Corporation | Closed loop stepper motor circuitry without encoder |
| US4584512A (en) * | 1980-02-27 | 1986-04-22 | Pritchard Eric K | Microstepping drives with waveform tuning and microprocessor control |
| US4333045A (en) * | 1980-09-08 | 1982-06-01 | Bodine Electric Company | Acceleration shaping circuit for a stepper motor |
| US4375049A (en) * | 1980-09-24 | 1983-02-22 | Timex Corporation | Stepping motor drive circuit for bi-directional rotation |
| US4367435A (en) * | 1980-12-15 | 1983-01-04 | Ivac Corporation | Motor control system |
| IT1134781B (it) * | 1980-12-18 | 1986-08-13 | Honeywell Inf Systems | Circuito di controllo per motore passo a passo |
| DE3265203D1 (en) * | 1981-05-02 | 1985-09-12 | Rodime Plc | Method and apparatus for controlling a stepper motor |
| US4456860A (en) * | 1982-01-25 | 1984-06-26 | Ibm Corporation | X-Y Positioning subsystem electronics |
| US4481453A (en) * | 1982-07-23 | 1984-11-06 | Motornetics Corporation | Torque loop control system and method |
| IT1152695B (it) * | 1982-10-06 | 1987-01-07 | Honeywell Inf Systems | Circuito di pilotaggio per motore passo a passo |
| US4496886A (en) * | 1982-11-08 | 1985-01-29 | Hewlett-Packard Company | Three state driver for inductive loads |
| JPS59106899A (ja) * | 1982-12-10 | 1984-06-20 | Ricoh Co Ltd | モ−タ制御装置 |
| JPS59122400A (ja) * | 1982-12-24 | 1984-07-14 | Fujitsu Ltd | ステツピング・モ−タ制御方式 |
| US4494711A (en) * | 1983-01-31 | 1985-01-22 | Storage Technology Corporation | Dual mode control system for controlling tape position in a reel to reel transport apparatus |
| US4518907A (en) * | 1983-11-07 | 1985-05-21 | The Superior Electric Company | Digital motor control method and means |
| DE3404127A1 (de) * | 1984-02-07 | 1985-08-14 | Berger Lahr GmbH, 7630 Lahr | Steuerschaltung fuer einen schrittmotor |
| US4648026A (en) * | 1984-12-20 | 1987-03-03 | Tektronix, Inc. | Microprocessor stepper motor drive |
| JPS61150699A (ja) * | 1984-12-25 | 1986-07-09 | Seiko Seiki Co Ltd | ステツプモ−タ制御装置 |
| NL8600150A (nl) * | 1986-01-23 | 1987-08-17 | Nederlanden Staat | Inrichting voor het besturen van de stroomsterkte door een impedantie. |
| CH670343A5 (enExample) * | 1986-08-20 | 1989-05-31 | Saia Ag | |
| US4714867A (en) * | 1986-09-30 | 1987-12-22 | Design Components Incorporated | Method and apparatus for controlling a stepper motor with a programmable parabolic velocity profile |
| US4891653A (en) * | 1987-04-27 | 1990-01-02 | Minolta Camera Kabushiki Kaisha | Image recorder with microstep driven motor transport |
| US4788484A (en) * | 1987-08-26 | 1988-11-29 | International Business Machines Corp. | Method and apparatus for driving a stepper motor with multiple voltages |
| US4855660A (en) * | 1988-02-18 | 1989-08-08 | Siemens-Bendix Automotive Electronics L.P. | Microstepping of an unipolar stepping motor |
| FR2638302B1 (fr) * | 1988-10-25 | 1994-01-21 | Forsberg Per Anders | Procede de securite pour moteur pas-a-pas |
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| US5340108A (en) * | 1991-11-22 | 1994-08-23 | Donald A. Wilson | Apparatus for projecting and moving a spot of light in a scene projected on a screen and for controlling operation of a stepper motor used therewith |
| GB2264405B (en) * | 1992-02-12 | 1996-06-12 | Mars Inc | Stepper motor drive circuit |
| KR950703759A (ko) * | 1992-09-29 | 1995-09-20 | 발도르프, 옴케 | 스텝모우터 제어방법(process for controlling a step motor) |
| JPH06113596A (ja) * | 1992-09-29 | 1994-04-22 | Canon Inc | ステップモータ |
| US5661488A (en) * | 1995-06-21 | 1997-08-26 | Kabushiki Kaisha Toshiba | Antenna drive apparatus equipped with a stepping motor |
-
1995
- 1995-09-11 US US08/526,468 patent/US6016044A/en not_active Expired - Lifetime
-
1996
- 1996-09-11 WO PCT/US1996/014543 patent/WO1997010642A1/en not_active Ceased
- 1996-09-11 DK DK01121258T patent/DK1178599T3/da active
- 1996-09-11 CA CA002231644A patent/CA2231644C/en not_active Expired - Fee Related
- 1996-09-11 JP JP9512052A patent/JPH11512596A/ja active Pending
- 1996-09-11 ES ES96931523T patent/ES2120390T3/es not_active Expired - Lifetime
- 1996-09-11 ES ES01121258T patent/ES2288494T3/es not_active Expired - Lifetime
- 1996-09-11 AT AT01121258T patent/ATE364926T1/de active
- 1996-09-11 EP EP96931523A patent/EP0862811B1/en not_active Expired - Lifetime
- 1996-09-11 AT AT96931523T patent/ATE215282T1/de not_active IP Right Cessation
- 1996-09-11 EP EP01121258A patent/EP1178599B1/en not_active Expired - Lifetime
- 1996-09-11 PT PT01121258T patent/PT1178599E/pt unknown
- 1996-09-11 DE DE0862811T patent/DE862811T1/de active Pending
- 1996-09-11 DE DE69637134T patent/DE69637134T2/de not_active Expired - Lifetime
- 1996-09-11 DE DE69620219T patent/DE69620219T2/de not_active Expired - Lifetime
-
1999
- 1999-07-20 US US09/356,785 patent/US6211642B1/en not_active Expired - Lifetime
-
2001
- 2001-01-26 US US09/771,068 patent/US6750627B2/en not_active Expired - Fee Related
-
2002
- 2002-08-01 HK HK02105672.2A patent/HK1044078B/en not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| DK1178599T3 (da) | 2007-10-15 |
| DE69637134T2 (de) | 2008-02-14 |
| HK1044078B (en) | 2008-01-11 |
| US6750627B2 (en) | 2004-06-15 |
| EP0862811B1 (en) | 2002-03-27 |
| DE69620219T2 (de) | 2002-07-18 |
| EP0862811A1 (en) | 1998-09-09 |
| EP1178599A1 (en) | 2002-02-06 |
| HK1015976A1 (en) | 1999-10-22 |
| US20020008490A1 (en) | 2002-01-24 |
| DE69637134D1 (de) | 2007-07-26 |
| US6211642B1 (en) | 2001-04-03 |
| US6016044A (en) | 2000-01-18 |
| ES2120390T3 (es) | 2002-12-16 |
| ES2288494T3 (es) | 2008-01-16 |
| JPH11512596A (ja) | 1999-10-26 |
| DE862811T1 (de) | 1999-05-06 |
| ATE364926T1 (de) | 2007-07-15 |
| HK1044078A1 (en) | 2002-10-04 |
| CA2231644A1 (en) | 1997-03-20 |
| EP1178599B1 (en) | 2007-06-13 |
| ES2120390T1 (es) | 1998-11-01 |
| DE69620219D1 (de) | 2002-05-02 |
| CA2231644C (en) | 2003-03-18 |
| ATE215282T1 (de) | 2002-04-15 |
| WO1997010642A1 (en) | 1997-03-20 |
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