US20090312111A1 - Free-fall simulator capable of displaying a simulated visual environment - Google Patents

Free-fall simulator capable of displaying a simulated visual environment Download PDF

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Publication number
US20090312111A1
US20090312111A1 US12/064,925 US6492506A US2009312111A1 US 20090312111 A1 US20090312111 A1 US 20090312111A1 US 6492506 A US6492506 A US 6492506A US 2009312111 A1 US2009312111 A1 US 2009312111A1
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fall
simulator
vein
free
aerodynamic
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Abandoned
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US12/064,925
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English (en)
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Nicolas Gil
Olivier Basone
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Individual
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Individual
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
    • A63G31/00—Amusement arrangements
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
    • A63G31/00—Amusement arrangements
    • A63G2031/005—Skydiving

Definitions

  • the disclosed embodiments concern a device simulating free-fall such as experienced by parachutists by means of a vertical blower, i.e. means intended to maintain appreciably still at least one person in position of free-fall in a flow of vertically ascending air. More specifically the disclosed embodiments concern a simulator of free-fall with means of displaying an outside visual environment generated during the simulated free-fall.
  • blowers of this type for simulators of fall were conceived with characteristics varying in accordance to the objectives of their designers. Therefore, some of these blowers are of a diameter and a power sufficient to enable the simulation of fall for two or three parachutists simultaneously with the aim of training for figures realized during the jump competitions.
  • free-falls simulators of lighter construction and or transportable have been envisioned.
  • the walls of the aerodynamic vein are made of a flexible material such as a cloth or a sheet of a transparent material, but stiff structures are arranged near the flexible walls of the aerodynamic vein to which these walls are connected by maintaining sails. This arrangement of the aerodynamic vein and its maintaining does not guarantee that the person evolving in state of free-fall will not strike a stiff structure in case of shock against the wall of the flexible aerodynamic vein, and even less in case of failure of the flexible wall, for example a tear.
  • This type of device enables to generate images on relatively large surfaces but presents the inconvenience to show an image with missing parts like at the edges of screens, to be very heavy and voluminous thus of a difficult installation and also to place on the wall of the aerodynamic vein stiff structures, notably screens and their necessary supports.
  • the disclosed embodiments propose a jump simulator that is easy to install and to operate, which offers maximum safety to the users and which architecture allows them to enjoy a visual display of the projected environment over 360 degrees during the simulated free-fall.
  • the free-fall simulator in these disclosed embodiments contains powerful air generation devices to create an air stream with a speed compatible with the preservation in a state of free-fall of at least one person in an aerodynamic vein of appreciably vertical axis constituted by a film of flexible, resistant and not elastic material, such as a canvas shaped as a tube only fixed to two frames positioned at the extremities of the tube, the film of flexible material constituting the vein being stretched out in the longitudinal direction of the tube by only a supporting superstructure to which the frames are fixed.
  • a film of flexible, resistant and not elastic material such as a canvas shaped as a tube only fixed to two frames positioned at the extremities of the tube, the film of flexible material constituting the vein being stretched out in the longitudinal direction of the tube by only a supporting superstructure to which the frames are fixed.
  • the wall of the aerodynamic vein is made of a single panel of the flexible film wrapped around and closed by a fixation line to form the tube of the aerodynamic vein.
  • the aforementioned superstructure is of dimensions such that the flexible wall of the aerodynamic vein is far away enough from any stiff element of the superstructure so that the person in state of simulated fall cannot strike a stiff element in case of loss of control of position in the aerodynamic vein.
  • the air generators means contain at least one engine situated preferably in a separate chamber, at least one helix and a rectifier-diffuser.
  • the rectifier-diffuser is situated at the top of the chamber containing at least one engine and the superstructure keeps the aerodynamic vein vertically above it and appreciably in the axis of the rectifier diffuser.
  • the air that must be accelerated in the aerodynamic vein penetrates into a chamber containing at least an engine by at least an opening realized in a wall of the chamber.
  • the power air generators are advantageously installed in a permanent way in all or part of a transport container.
  • the film of flexible material constituting the wall of the aerodynamic vein is translucent and allows, serving as screen, the projection from the outside of the vein of images visible from inside the vein.
  • Advantageously images which can simulate the visual effect of the free-fall are projected by at least one projector situated outside of the vein or by several projectors enabling the coverage of 360 degree field of vision in a horizontal plane. Projectors are advantageously fixed to the superstructure maintaining the aerodynamic vein.
  • the projected images include the real time image of at least one person filmed in state of free-fall in another free-fall simulator.
  • the aerodynamic vein and the other elements of the simulator of free-fall are protected from bad weather, and possibly from the excessive light affecting the conditions necessary for a good contrast of the projected images, by means of a cover such as a tarp and or panels, which elements take advantageously support on the superstructure maintaining the aerodynamic vein while preserving the conditions of opening or air tightness necessary to the correct aerodynamic operation of the simulator.
  • Means of control and command are foreseen to watch the operation of the simulator of free-fall and the evolutions of the person in a state of free-fall as well as to act on the operation of the simulator.
  • FIGS. 1 overview of a mode of realization of a simulator according to the disclosed embodiments and its main constituents;
  • FIG. 2 view of the air power generators means and cut-away diagram of the chamber containing an engine
  • FIG. 3 view in perspective of an aerodynamic vein according to the disclosed embodiments and the means of projection of images on the wall of the aerodynamic vein;
  • FIG. 4 view of a superstructure maintaining the aerodynamic vein and the devices for outside protection
  • FIG. 5 illustration of the devices associated with the simulator of free-fail.
  • the detail a) presents an example of an apparatus for control and surveillance of the simulator.
  • the simulator of free-fall following the disclosed embodiments contains air power generators 1 capable of ensuring the acceleration of the air in an aerodynamic vein, an aerodynamic vein 2 of dimensions adapted to the evolutions of at least one person 6 in a situation of free-fall, devices 3 to generate real images or a simulated outside visual environment for the person evolving in the aerodynamic vein, the means 4 of piloting and controlling the blower and the devices for images generation, a superstructure 5 capable of maintaining these various means and possible accessory devices as well as supporting means of protection from the outside environment.
  • these means and the aforementioned superstructure are designed to ensure the transportability of the whole simulator for example in one or several containers, the dimensions of which are compatible with the traditional means of road, rail, sea or air transport.
  • the example of detailed description of a simulator of free-fall according to the disclosed embodiments given above corresponds essentially to the case of a simulator of free-fall having the capacity to be easily transported for a simplified delivery and start of operation either for an itinerant use to allow the biggest number of persons to experience free-fall in parachuting clubs or public exhibitions.
  • the air power generators means 1 contain at least an engine 10 the power of which is calculated according to the average section 23 of the aerodynamic vein 2 and the expected speed of the vertical flow of air in the vein.
  • This engine or these engines 10 which are electric or thermal, drive, if needed through speed reducers and or through angle connecters, not represented, one or several helixes 11 the characteristics of which are also derived from the characteristics of the aerodynamic vein 2 and the characteristics of the expected aerodynamic flow.
  • the determination of the required total power and the detailed characteristics of one or several helixes results from the calculation of aerodynamic blowers known to the persons skilled in the art.
  • thermal engines for example engines of Diesel type, capable of supplying powers of the order of 1000 KW that are necessary to drive one or several helixes 11 of the blower for the simulator of this disclosed embodiments.
  • the number of helixes 11 and engines 10 is selected according to the average section 23 of the aerodynamic vein 2 and the power of the available engines. Economic criteria can also lead to select a bigger number of less powerful engines for example.
  • the one or several engines 10 of the air power generators are installed in a chamber 12 , which is conceived to receive in its top part 13 the aerodynamic vein 2 .
  • the one or several helixes 11 is or are mounted with their axes of rotation 14 appreciably vertical to generate an air stream 15 directed upwards.
  • the so accelerated air 15 is exiting the chamber 12 where are located one or several engines 10 which improves the cooling of all the engines 10 and the eventual speed reducers.
  • At least an opening 17 is foreseen in the wall of the chamber 12 to allow the arrival of the air 18 indispensable to the operation of the aerodynamic vein 2 .
  • one or several fuel reservoirs 70 are foreseen to insure the autonomy wished for the blower.
  • These reservoirs 70 and the input and output fuel pipes are realized according to state of the art and to the safety standards in effect.
  • the simulator is itinerant, the reserve of fuel is split in several reservoirs 70 not to exceed a 500 liter volume by reservoir, maximum allowed by certain standards for mobile installations, and one or several reservoirs 70 are preferably isolated from one or several engines 10 to limit the risks in case of fire.
  • means for the safety and protection against the fire (not represented on figures) are installed in as much quantity as required in the chamber 12 of one or several engines.
  • This rectifier-diffuser 19 is intended to stabilize the aerodynamic flow 15 accelerated by the one or several helixes 11 which is particularly turbulent after its passage through one or several helixes. In a classic way this rectifier-diffuser 19 is realized with a grid made of thin walls of a sufficient length so that the flow is stabilized during its crossing.
  • the chamber 1 packaging one or several engines 10 , one or several helixes 11 , possibly the rectifier-diffuser 19 and possibly fuel tanks 70 in the case of the use of thermal engines are advantageously installed in one or several containers with a size adequate for road, railway, maritime or air transports.
  • this container is or these containers are capable of receiving elements from the other parts of the simulator, after their disassembly, to facilitate the transport of the free fall simulator.
  • a chamber 1 approximately 4 metres in length and of the width of the container, sufficient to contain one or several engines 10 , one or several helixes 11 and the rectifier-diffuser 19 .
  • the remaining space approximately 8 metres over the length of the container, allows the installation or storage during the transport of the other elements associated with the simulator.
  • the aerodynamic vein 2 of vertical axis 20 in which evolve one or several persons 6 in position of free-fall.
  • This vein 2 corresponds to a tube of appreciably vertical axis, having a lower extremity 21 and a upper extremity 22 and preferably appreciably cylindrical or slightly conically flared out upwards.
  • the upper section extremity 22 is bigger than that of the lower extremity 21 to create in the aerodynamic vein 2 a negative pressure gradient of speed from bottom upwards, the effect of which pressure gradient is favourable to the stability of the vertical position in the vein 2 of the person 6 in state of free-fall.
  • the average section 23 is preferably appreciably circular but other sections are possible, for example elliptic sections or polygonal sections.
  • the transverse dimensions in the aerodynamic flow 15 of the low section 21 of the vein 2 are limited to approximately 3 metres.
  • the upper section 22 of the vein 2 is for example 3.6 metres in its transverse dimensions in the aerodynamic flow 15 and for example of the order of 4 metres in its useful height in the direction of the aerodynamic flow 15 between the lower 21 and upper 22 extremities.
  • the lateral wall 24 of the aerodynamic vein 2 in which evolve the persons 6 in state of free-fall is realized by means of a film of flexible material.
  • This film for example a cloth chosen for its resistance and the stability of its dimensions, is assembled to form a tube of which the length and the perimeter at the extremities correspond to those sought for the length of the aerodynamic vein 2 and the perimeters of its sections at extremities 21 , 22 .
  • the tube forming the wall 24 of the aerodynamic vein 2 is realized by means of a panel, of the aforementioned film of flexible material, formed and closed on itself to bring edge to edge the opposite sides of the panel appreciably directed along one side of the tube parallel to its axis.
  • the joining edges are assembled by means of a line of fixations 27 the resistance of which is at least the same level as that of the film of flexible material. So, when joining edges are not assembled, the panel of film of flexible material can be put back flat then rolled, for example on a cylindrical support, for its storage or transport, without creating folds that could damage the wall 24 or its appearance.
  • fixations are realized for example by means of zippers or of laces passing though eyelets or of material featuring hooks as Velcro® or by combinations of those means.
  • the means of fixation are chosen to allow a fast opening and closing of the wall 24 on a height sufficient to authorize the passage of the person 6 before or after a simulated jump.
  • this film of flexible material is stretched out between two frames of extremity 28 , 29 giving to this film of flexible material the shape expected for the extremities, respectively 21 , 22 , of the aerodynamic vein 2 .
  • These frames 28 , 29 are realized by means of tubes or profiles made of metal or composite materials for example, of which the shape and the section are sufficient to guarantee the necessary rigidity and the resistance to stand the tension load of the film of flexible material, including during the operation of the simulator.
  • the build up of tension and the holding of the canvas constituting the wall 24 of the aerodynamic vein 2 between its two frames at the extremities 28 , 29 is realized by connecting the aforementioned frames 28 , 29 to the superstructure 5 , the stiff elements of which are away from the wall 24 of the aerodynamic vein 2 and which ensures the preservation of the correct position of the frames of extremity 28 , 29 .
  • the lower frame 28 is fixed above and around the exit of the diffuser 19 so as to force the flow of air 15 accelerated by one or several helixes 11 to penetrate into the aerodynamic vein 2 .
  • the top frame 29 is fixed to the top of the superstructure.
  • one at least both frames 28 , 29 is fixed through tensioning devices, not represented, for example tensioning devices with screws or hydraulic tensioning devices, which facilitate the assembly of the aerodynamic vein 2 and apply to the film of flexible material the desired tension forces.
  • tensioning devices not represented, for example tensioning devices with screws or hydraulic tensioning devices, which facilitate the assembly of the aerodynamic vein 2 and apply to the film of flexible material the desired tension forces.
  • elastic devices not represented, are inserted in series with the fixations of at least one of both frames to provide to the concerned frames the possibility of small motions in order to limit the efforts exerted on the film of flexible material in case of shock in the aerodynamic vein 2 during its use.
  • This architecture of the aerodynamic vein 2 allows, besides its relatively easy assembly and disassembly, to limit the risks of serious wound to the person 6 evolving in state of free-fall in case of shocks against the wall 24 by avoiding any possibility of contact with a stiff structure.
  • the choice of the resistance of the film of flexible material are taken into account the forces applied to the aforementioned film by the potential shocks in addition to the forces of tension of the assembly and the forces in relation to the aerodynamic flows.
  • another important characteristic of the wall 24 of the aerodynamic vein 2 is its capacity to serve as a screen to display images.
  • the selected film of flexible material besides its indispensable mechanical characteristics, is translucent so that images projected from the outside of the aerodynamic vein 2 on the outside face 35 of the aforementioned vein are visible in a satisfactory manner from the inside 36 of the wall 24 of the vein by the person 6 in state of free-fall.
  • Certain films of flexible materials realized from fibres of the synthetic materials already mentioned present sufficient characteristics of translucence, without excessive transparency or opaqueness, to ensure this screen function.
  • a representation of the visual environment during the simulated fall at least one projector 31 is positioned outside of the aerodynamic vein.
  • the simulated environment is more or less sophisticated depending on the effect being sought.
  • the projected image can represent:
  • An image scrolling vertically fixed shapes for example by means of a disc or of a drum having the motives to be projected and turning behind a projector lens, or;
  • At least three projectors are arranged around the aerodynamic vein to ensure a correct representation of the outside environment over 360° in a horizontal plane.
  • projectors 31 optionally dispose from means to correct the geometry of the images, such as anamorphic objectives 32 or images shaped before projection by electronic means 33 associates to projectors 31 in case of use of video projectors, to take into account the fact that the screen made by the wall 24 of the aerodynamic vein 2 is curved.
  • This arrangement of the means 3 of image projection by placing said means 5 outside of the aerodynamic vein 2 and away from the wall 24 of the vein, prevents all risks of contact with hard objects during the evolutions of the person 6 in state of free-fall.
  • a superstructure 5 is placed above the chamber 12 containing the air power generators 1 . This superstructure ensures the location and the maintaining of the frames 28 and 29 placed at the extremities of the aerodynamic vein 2 . Realized for example with tubes or profiles 51 in metal or in composite materials it is calculated to resist the longitudinal forces in the film of flexible material of the aerodynamic vein 2 .
  • the distance between the wall 24 of the aerodynamic vein 2 and the vertical mounts of the superstructure 5 be appreciably at least equal to the average diameter of the aerodynamic vein 2 , or approximately 3 metres in the detailed example of realization described above for the disclosed embodiments.
  • this superstructure 5 supports means 53 to protect the aerodynamic vein 2 and its associated parts 1 , 3 , 4 of the weather, the wind and the rain in particular, when the simulator of free-fall is not installed in a protected place such as inside a building.
  • these means of protection 53 or the other dedicated devices are capable of setting around the aerodynamic vein 2 an environment dark enough to guarantee sufficient contrast for the images projected on the translucent walls 24 of the vein 2 when the simulator of free-fall is equipped with the means 3 of representation of the outside visual environment.
  • These means of protection 53 consist for example of more or less opaque panels fixed to the superstructure or tarp of the type used for the constructions of tents intended for the reception of the public and taking support on the superstructure 5 or on secondary structures (not represented).
  • these means of protection 53 taking support on the superstructure 5 also cover the chamber 12 in which are installed engines 10 or at least one or several openings 17 of the chamber 12 by which arrives the air 18 that is accelerated in the aerodynamic vein 2 .
  • the space 54 between the wall 24 of the aerodynamic vein 2 and the wall of these means of protection 53 serves as a buffer zone for the return of the air between the exit 22 of the vein and the openings 17 of the engines chamber.
  • This space is thus also sized to have a sufficient cross section so that the flow of air circulating in the blower can be ensured without excessive pressure loss there.
  • a receiver capable by his structure and by his shape to steer the air going out of the aerodynamic vein towards the sides and downwards around the aerodynamic vein 2 is arranged near the exit 22 of the vein, at its top.
  • these means of protection 53 ensure the protection of the aerodynamic vein 2 and its associated elements 1 , 3 , 4 . In all cases these means of protection 53 are realized not to obstruct the arrival of the outside air towards one or several openings 17 of the chamber 12 of the engines. Above the aerodynamic vein 2 , at the top of the means of protection 53 , one or several openings are foreseen to let the air out of the aerodynamic vein 2 towards the outside. This or these openings are preferably covered by a receiver 56 to avoid that the rain or foreign bodies, and possibly the light, can penetrate into the protected zone from the aerodynamic vein 2 but without hindering the stream of air that must flow towards the outside.
  • the superstructure 5 is realized with sufficient dimensions so that projectors 31 associates to the system of representation of the visual environment 3 during the free-fall are fixed in a secure and stable way with respect to the aerodynamic vein 2 .
  • the dimensions of the superstructure 5 are compatible with the location of one or several projectors 31 at sufficient distance from the wall 21 of the aerodynamic vein 2 which serves as screen so that this or these projectors 31 operate in a satisfactory manner.
  • the precise positioning and the stability of these projectors 31 are necessary so that the projected images are stable enough and ensure the quality of the rendering of the whole scene notably in the zones where the images projected by the various projectors 31 are connected, when several projectors 31 are used.
  • the superstructure is constituted by a set of beams 51 equipped with connections 57 that can be disassembled, for example by bolts at their extremities (not represented), to ensure the possible assembly and disassembly of the free-fall simulator for its transport.
  • the simulator contains in particular at least a room of control and command 4 which allows from the cockpit 41 of the simulator to watch the parameters of the simulator and its equipments.
  • the command parts include at least the means to pilot the power of the blower to act in particular on the speed of the air flow in the aerodynamic vein, which notably varies according to the weight of the person 6 to be maintained in state of simulated free-fall, and also contains the control of devices related to the security, such as the commands for emergency shutdown or related to the fire safety.
  • the simulator of free-fall also contains at least one camera of surveillance 42 permitting the observation of the person 6 in the aerodynamic vein 2 by means of at least a video monitor 43 near the checkpoint and command post.
  • a camera 42 is placed outside the part of the vein 2 where the person 6 can evolve in state of free-fall, for example in the upper part, above a net of protection 25 which limits the usable space at the top of the aerodynamic vein, or in the lower part, below a net 26 which limits the usable lower space.
  • This camera 42 and or the other cameras associated or not, also serve if needed to record the evolutions of the person 6 in state of free-fall.
  • the parachutist in training has then the possibility to review the simulated jump and analyze the defects and the corrections to the positions that must be undertaken.
  • the persons having gone through a free-fall simulation have the possibility to keep a video recording of their free-fall experience.
  • the images of the person 6 in a state of free-fall in one simulator can be transmitted in real time to the means 3 of representation of the simulated visual environment of one or several other simulators working in a coordinated way, so that the aforementioned images are inserted into the images projected in this or these other simulators.
  • the impression from jumps by several persons as a group is simulated without need for a fall simulator of large dimensions which also prevents the risks associated with the concurrent jumps of several persons in the same blower vein.
  • other devices 7 are associated to the free-fall simulator, for example means 71 for the access to the aerodynamic vein 2 , a zone 72 for the preparation of the persons to the simulated fall, means 73 to make the public wait for the simulated fall.
US12/064,925 2005-08-30 2006-08-29 Free-fall simulator capable of displaying a simulated visual environment Abandoned US20090312111A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR0552606 2005-08-30
FR0552606A FR2889969B1 (fr) 2005-08-30 2005-08-30 Simulateur de chutes libres apte a presenter un environnement visuel simule
PCT/FR2006/050822 WO2007026100A1 (fr) 2005-08-30 2006-08-29 Simulateur de chutes libres apte a presenter un environnement visuel simule

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US (1) US20090312111A1 (zh)
EP (1) EP1937381B1 (zh)
JP (1) JP2009506367A (zh)
CN (1) CN101252974A (zh)
AT (1) ATE487522T1 (zh)
AU (1) AU2006286433A1 (zh)
CA (1) CA2620731A1 (zh)
DE (1) DE602006018170D1 (zh)
FR (1) FR2889969B1 (zh)
RU (1) RU2008112134A (zh)
WO (1) WO2007026100A1 (zh)

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US9045232B1 (en) 2013-03-14 2015-06-02 Timothy A. Burke Transportable system for simulating free fall in air
US20180134419A1 (en) * 2012-02-23 2018-05-17 Huazhong University Of Science And Technology Free-falling body verification device for drag-free spacecraft
US10086298B2 (en) 2015-04-22 2018-10-02 Ruslan ROMANENKO Vertical wind tunnel skydiving simulator
US10086297B2 (en) 2015-02-20 2018-10-02 Bungy New Zealand Limited Object movement control apparatus and method
US20190329142A1 (en) * 2018-04-02 2019-10-31 Maida Engineering, Inc. System, method, and apparatus for power limited sky diving wind tunnel drive train/fan
US11058960B2 (en) 2017-11-17 2021-07-13 Ifly Holdings, Llc Interactive modular sensor system for indoor skydiving wind tunnels
US20230150677A1 (en) * 2023-01-23 2023-05-18 William Charles Neger, III Multi-Axis Parachute and Skydiving Simulator

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US20180134419A1 (en) * 2012-02-23 2018-05-17 Huazhong University Of Science And Technology Free-falling body verification device for drag-free spacecraft
US10202211B2 (en) * 2012-02-23 2019-02-12 Huazhong University Of Science And Technology Free-falling body verification device for drag-free spacecraft
US9045232B1 (en) 2013-03-14 2015-06-02 Timothy A. Burke Transportable system for simulating free fall in air
US10086297B2 (en) 2015-02-20 2018-10-02 Bungy New Zealand Limited Object movement control apparatus and method
US10493367B2 (en) 2015-02-20 2019-12-03 Bungy New Zealand Limited Object movement control apparatus and method
US10086298B2 (en) 2015-04-22 2018-10-02 Ruslan ROMANENKO Vertical wind tunnel skydiving simulator
US10238980B2 (en) 2015-04-22 2019-03-26 Ruslan ROMANENKO Vertical wind tunnel skydiving simulator
US10610793B2 (en) 2015-04-22 2020-04-07 Ruslan ROMANENKO Vertical wind tunnel skydiving simulator
US11058960B2 (en) 2017-11-17 2021-07-13 Ifly Holdings, Llc Interactive modular sensor system for indoor skydiving wind tunnels
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CA2620731A1 (fr) 2007-03-08
CN101252974A (zh) 2008-08-27
FR2889969A1 (fr) 2007-03-02
EP1937381B1 (fr) 2010-11-10
FR2889969B1 (fr) 2009-07-31
EP1937381A1 (fr) 2008-07-02
WO2007026100A1 (fr) 2007-03-08
RU2008112134A (ru) 2009-10-10
JP2009506367A (ja) 2009-02-12
AU2006286433A1 (en) 2007-03-08
ATE487522T1 (de) 2010-11-15
DE602006018170D1 (de) 2010-12-23

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