WO1996027804A1 - Appareil personnel de goniometrie - Google Patents
Appareil personnel de goniometrie Download PDFInfo
- Publication number
- WO1996027804A1 WO1996027804A1 PCT/FR1996/000344 FR9600344W WO9627804A1 WO 1996027804 A1 WO1996027804 A1 WO 1996027804A1 FR 9600344 W FR9600344 W FR 9600344W WO 9627804 A1 WO9627804 A1 WO 9627804A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- source
- signal
- receiver
- head
- demodulator
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R25/00—Deaf-aid sets, i.e. electro-acoustic or electro-mechanical hearing aids; Electric tinnitus maskers providing an auditory perception
- H04R25/55—Deaf-aid sets, i.e. electro-acoustic or electro-mechanical hearing aids; Electric tinnitus maskers providing an auditory perception using an external connection, either wireless or wired
- H04R25/552—Binaural
Definitions
- the present invention relates to a personal direction finding device usable for the detection of electromagnetic, infrared or ultrasonic radiation emitted from a source, with a view to locating the direction of this source or creating an environment. virtual sound.
- Goniometry allows the location of the direction of a radiation source.
- the classic applications are manual goniometry and automatic gorometry.
- the automauque gomomet ⁇ e is widely used on fixed or mobile installations (planes, boat, vehicle).
- the direction indication is available in the form of a deposit (angle between the carrier and the apparent direction) or a right-left deviation indicator.
- Manual direction finding is often used to find the emission source using an antenna or a sensor that is hand-held. This type of direction-finding is based on the search for minimum or maximum reception without providing information on the relative position of the direction of the source with respect to the antenna or scanning sensor.
- the two types of direction finding require the reading of an instrument often associated with listening on headphones or loudspeakers to allow identification of the source.
- Manual direction finding does not allow a free hand search of the radiation source.
- the present invention aims to remedy these drawbacks by providing a device for goniometry of design parucubère simple, portable, leaving the hands free to its user and not requiring the reading of an instrument.
- this personal goniometry device usable for the detection of electromagnetic, infrared or ultrasonic radiation emitted from a source, with a view to locating the direction of this source or creating a virtual sound environment , comprising a means of capturing the radiation carried by the head of the user, orientable relative to the source by a rotational movement of the head and producing a signal of variable characteristic as a function of the direction of the source relative to the means pick-up, i.e.
- a receiver acting as demodulator, the input of which is connected to the capture means and a circuit for processing the demodule signal at the output of the demodulator producing, at its output, a control signal, a function of the angular difference between the direction of the source and the pos we present means of capture. that is to say of the user's observation axis, and two circuits for processing the audio signal. assigned respectively to the right and left phonic voices, whose inputs are connected to the output of the processing circuit and whose outputs are connected respectively to the two right and left headphones, to allow the perception of the direction of the source by binaural listening
- the gon omission device according to the present invention can advantageously be produced in the form of a headset with headphones in which is incorporated an antenna or sensor system constituting the means for capturing the radiation All the other elements of the electronic circuit of signal processing can also be integrated into the helmet or else they can be worn at any point on the body of the user, by being connected by wire to the helmet.
- the direction finding apparatus can be advantageously used in numerous applications for the purpose of locating the direction of a radiation source.
- ULM the location and identification of electromagnetic disturbers, the security and communication of personnel equipped with a helmet or a diving suit and working under severe conditions in the environment or in hostile environments.
- the reception system used for the goniometer is supplemented by a transmitter in order to allow a bilateral connection with a reciprocal lococation.
- the latter device can thus be advantageously used by firefighters operating in dangerous areas with low visibility, by personnel working in polluted, braving, radioactive zones, by astronauts in extra-vehicular exit, by underwater divers (modulation transmission ultrasonic wave) etc ...
- the apparatus of gomometne according to the present invention can also be used advantageously for the sunulauon of a sound environment in an interactive virtual environment (formauon on simulator or game)
- Figure 1 is a block diagram of a gomometne device according to the present invention allowing the location of the direction of a radiation source by means of binaural listening.
- Figure 2 is a block diagram of an embodiment of a gomometre device for locating the direction of a modulated or unmodulated radiation source by means of binaural listening
- FIGS. 3A and 3B are diagrams illustrating respectively the amplitudes of the sound signals produced in the right and left ears, respectively in the case of the onemauon of the head in direction of the radiation source and of its onentauon after a rotation of 90 °
- Figure 4 is a diagram illustrating the vanauon of the delay between the signals applied to the left and right headphones as a function of the angular difference between the head of the user and the direction of the source.
- FIG. 5 is a diagram illustrating the vanauon of the amplitude of the sound signals in the left and right headphones, as a function of the angular difference, in a normal mode and in a rallying mode.
- Figure 6 is a block diagram of a vanante of the apparatus in which the analysis of the source of the radiation is carried out by interferometer
- FIG. 7 is a block diagram of a variant of the device applied to the simulation of a sound environment.
- FIG. 8 is a diagram of a flowchart of the software for processing the signal from the speedometer.
- FIG. 1 it represents a block diagram of a gomometer apparatus, according to the present invention usable for the capture of electromagnetic radiation emitted by a source S.
- the device according to the present invention could also be used to capture other additions. such as infrared and ultrasonic radiation, using appropriate sensors.
- the gomometer apparatus according to the present invention comprises a moven 1 for capturing erroneous electromagnetic radiation by the source S.
- an antenna system is placed transversely on the head 2 of the user of the device, that is to say parallel to the axis of his ears
- the device of gomometne also uses two headphones right 3d and left 3g to produce sound signals applied respectively to the ears user's right and left
- the antenna system 1 is connected to a receiver 4 which receives the signal picked up by the antenna, which is a function of the angular eca ⁇ between the direction R of the source S of the electromagnetic radiation and the direction of observation A of the user of the device, the direction of observation of the device user being indicated by a black arrow in each of the figures in the drawing
- the receiver 4 delivers at its output a signal of gomometne which is applied to the input of a circuit 5 for processing the signal of gomometne delivering at its output a signal x which is a function of the angular deviation in other words.
- x f (a)
- the output of circuit 5 is connected to the inputs of two audio signal processing circuits 6dL6g, assigned respectively to the right and left phonic voices and whose outputs are connected respectively to the right headphones
- the apparatus of gomometne allows its user to locate the source S of an electromagnetic delight while keeping his hands free and without requiring any particular attention on his part, for example without having to read a position indicator
- the binaural listening system represented in FIG.
- the characteristics of the signals applied on the 3d, 3g headphones allow, for the wearer of these headphones, a reproduction of the sound environment similar to that of a direct interlocutor placed in the same direction with respect to the onentation of the head No specific instructions are necessary for the use of the device and the natural reflexes allow the location of the source S with the desired precision A rough location of the source S is obtained without movement of the head, simply from the difference of the signals applied to the two 3d and left 3g headphones A slight pivoting movement of the head is sufficient to remove the ambiguity of a source placed in front of or behind the user.
- the antenna system 1 and the 3d.3g headphones can only be used for goniometry or they can also be used for communication between several people.
- the apparatus according to the present invention can use an antenna system 1 with a single axis of analysis parallel to the transverse axis of the ears.
- the device includes a headset supporting the antenna 1 or sensor system, as well as the 3d, 3g headphones and possibly the other components 4,5,6d, 6g of the electrical circuit, in other words, the headset could only include the antenna system 1 and the 3d earphones, 3g, the other elements of the electrical circuit being worn on the user's body, on their belt or on their back.
- FIG. 2 represents an embodiment of the gomometne apparatus using an ampUtude modulation. phase or frequency of the signal picked up by the antenna system. If the carrier of electromagnetic radiation from source S is modulated, circuit 5 of signal processing which is connected to the antenna system 1 via a link 7, appbque to this antenna system a modulating signal which produces the modulation of the signal received.
- the antenna system 1 therefore delivers a dual modulation antenna signal to the receiver 4 also acting as a demodulator.
- This receiver 4 thus delivers at its output two superimposed low-frequency demodulated signals, namely one coming from the modulation of the source and the other from the modulation by the antenna system 1 and these two signals are applied to the two audio signal processing circuits 6d and 6g and to the signal processor processing circuit.
- the processing circuit of the signal meter 5 delivers at its output the signal x which is a function of the angular difference and which is applied to the two circuits 6d, 6g.
- the two audio signal processing circuits 6d.6g apply different signals to the 3d and 3g headphones depending on the angular difference a
- FIGS. 3A and 3B represent the levels of the sound signals applied to the right ear OD and to the left ear OG of the user for the two extreme values of the angular deviation of the head of the user with respect to the source S, namely a position with zero angular deviation (FIG. 3A) and a position with an angular deviation of 90 ° (FIG. 3B).
- FIG. 3A a position with zero angular deviation
- FIG. 3B the sound signals applied to the two ears have the same amplitude, this amplitude being called "reference level”.
- the head rotates 90 ° clockwise as shown in FIG.
- the ear exposed to the radiation that is to say the left ear OG in the illustrated case, receives a sound signal of a level higher than the reference calf while the opposite ear that is to say the right ear OD receives a sound signal whose amplitude is lower than the reference calf and decreases with the frequency of the radiation.
- FIG. 4 illustrates the variation of the delay dt of the signal applied to the ear opposite the source, that is to say to the right ear OD in FIG. 3, with respect to the signal applied to the exposed ear c is the left ear OG.
- this delay dt. expressed in microseconds is maximum for an angular deviation a of 90 ° and that it is zero for a deviation of 0 ° or 180 °, that is to say when the transverse axis of the ears is perpendicular to the direction R of the radiation source .
- FIG. 5 illustrates the variation in the amplitude of the sound signal applied to each of the ears, in the case of two different operating modes, namely a normal mode and a rebound mode in which the sensitivity of the device is increased in the vicinity of the angular deviation of 0 °.
- the single line curves correspond to the left ear while the curves carrying a succession of black dots correspond to the right ear.
- the level of the sound signals applied to the left and right ears follows the respective curves OG1 and OD1 during a vanauon of the angular difference a.
- each of the audio signal processing circuits 6d, 6g is connected to a means producing a rallying mode control signal r (FIG.
- the device also makes it possible to locate a source of unmodulated carrier radiation.
- a low frequency signal generator 8 is used which can be connected, by means of a switch 9, to the two audio signal processing circuits 6d, 6g, in place of the receiver 4.
- This low signal generator frequency 8 then appbque to the two circuits 6d, 6g its own low frequency signal in place of the low frequency signal resulting from the demodulation, by the receiver-demodulator circuit 4, of the carrier as in the previously described case.
- the switch 9 thus connects, to the audio signal processing circuits 6d, 6g, either the receiver-demodulator 4 when the carrier is modulated, or the low frequency generator 8 when the carrier is not modulated.
- FIG. 6 is a partial diagram of an alternative embodiment in which the analysis of the source of the radiation is obtained by interferometry.
- the antenna system 1 comprises two separate sensors lg and ld, connected separately to the receiver-demodulator 4, to detect the phase shift of the radiation carrier on the two antenna elements ig, ld. as a function of the angular difference a
- FIG. 7 illustrates an application of the gomometre apparatus according to the present invention to the creation of an interactive virtual sound environment.
- the information from the direction indicator is used to rotate the sound panorama subject to the position of the listener's head.
- the device then comprises, as in the previous cases, the receiver-demodulator 4 and the signal processing circuit 5 which is connected to the antenna system 1 by the link 7 to apply the modulating signal to it.
- the receiver-demodulator 4 however comprises several channels, for example four in number (quad ⁇ phony), and it has four outputs corresponding respectively to these four channels and which are connected to an audio signal processor 12 connected to the two 3d earphones, 3g.
- the signal processing circuit 5 is also connected to the audio signal processor 12 to apply to it the signal x characterizing the angular difference a.
- the device thus makes it possible to reconstitute, by means of the two 3d earphones, 3g, a sound environment varying according to the position of the head relative to the direction of the source S. that is to say of the deviation angular a. in exactly the same way as if the listener were placed in a sound environment has four acoustic sources namely a front right speaker, a front left speaker, a bitter right speaker and a bitter left speaker .
- FIG. 8 shows the sensor network, 1 corresponding to the antenna system 1 of FIG. 2, which transmits a composite signal 11 towards the receiver or demodulator 4.
- the network of sensors or antenna system 1 receives a signal s2 for controlling the network or the antenna system 1 from the signal processing circuit 5.
- This circuit 5 receives the audio signal s3 coming from the receiver or demodulator 4, a signal which is subjected to analog-to-digital conversion in a step 5a.
- the signal processing circuit 5 assumes a synchronization function 5b which intervenes on the control function 5c of the antenna system 1, the analog-to-digital conversion 5a and the processing of the reservoir 5d.
- the result of the processing of the deposit 5d is applied to an audio processing step 6a of the audio signal processing circuits 6d, 6g on which the digital audio data also comes from the low frequency signal generator 8, and the result of the analog to digital conversion 5a of the processing circuit 5.
- the audio processing step 6a acts, via digital analog conversion steps 6b.6c, on the left earphone 3g and the right earphone 3d and on the audio signal processing step 6a also acts on a sensitivity selection (rallying mode control signal r of FIG. 2) and an external internal audio selection (switch 9).
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP96905914A EP0813688B1 (fr) | 1995-03-06 | 1996-03-05 | Appareil personnel de goniometrie |
DE69605773T DE69605773T2 (de) | 1995-03-06 | 1996-03-05 | Persönliches ortungsgerät |
AU49482/96A AU4948296A (en) | 1995-03-06 | 1996-03-05 | Personal direction finding apparatus |
CA002215478A CA2215478C (fr) | 1995-03-06 | 1996-03-05 | Appareil personnel de goniometrie |
US08/894,906 US5905464A (en) | 1995-03-06 | 1996-03-05 | Personal direction-finding apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9502591A FR2731521B1 (fr) | 1995-03-06 | 1995-03-06 | Appareil personnel de goniometrie |
FR95/02591 | 1995-03-06 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1996027804A1 true WO1996027804A1 (fr) | 1996-09-12 |
Family
ID=9476777
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR1996/000344 WO1996027804A1 (fr) | 1995-03-06 | 1996-03-05 | Appareil personnel de goniometrie |
Country Status (7)
Country | Link |
---|---|
US (1) | US5905464A (fr) |
EP (1) | EP0813688B1 (fr) |
AU (1) | AU4948296A (fr) |
CA (1) | CA2215478C (fr) |
DE (1) | DE69605773T2 (fr) |
FR (1) | FR2731521B1 (fr) |
WO (1) | WO1996027804A1 (fr) |
Cited By (2)
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EP2842442A1 (fr) * | 2013-08-29 | 2015-03-04 | Optus GmbH | Appareil de recherche et procédé de fonctionnement d'un appareil de recherche |
WO2015067982A1 (fr) * | 2013-11-07 | 2015-05-14 | Sony Corporation | Détection de proximité directionnelle |
Families Citing this family (24)
Publication number | Priority date | Publication date | Assignee | Title |
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FR2748807B1 (fr) * | 1996-05-14 | 1998-10-02 | Rockwell Collins France | Appareil individuel d'orientation |
US7260231B1 (en) | 1999-05-26 | 2007-08-21 | Donald Scott Wedge | Multi-channel audio panel |
EP1303166B1 (fr) * | 2002-06-14 | 2007-12-19 | Phonak Ag | Procédé d'utilisation d'une prothèse auditive et assemblage avec une prothèse auditive |
US20040091120A1 (en) * | 2002-11-12 | 2004-05-13 | Kantor Kenneth L. | Method and apparatus for improving corrective audio equalization |
US7388512B1 (en) | 2004-09-03 | 2008-06-17 | Daniel F. Moorer, Jr. | Diver locating method and apparatus |
DE102005017496B3 (de) | 2005-04-15 | 2006-08-17 | Siemens Audiologische Technik Gmbh | Mikrofoneinrichtung mit Orientierungssensor und entsprechendes Verfahren zum Betreiben der Mikrofoneinrichtung |
US7711322B2 (en) * | 2005-06-15 | 2010-05-04 | Wireless Fibre Systems | Underwater communications system and method |
US7573381B2 (en) * | 2006-02-21 | 2009-08-11 | Karr Lawrence J | Reverse locator |
US7791470B2 (en) * | 2006-02-21 | 2010-09-07 | Roundtrip Llc | Spin around direction and distance locator |
US7592918B2 (en) | 2006-02-21 | 2009-09-22 | Karr Lawrence J | Electronic fence mode alert system and method |
US7917155B2 (en) | 2006-10-27 | 2011-03-29 | Roundtrip Llc | Location of cooperative tags with personal electronic device |
DE102007005861B3 (de) * | 2007-02-06 | 2008-08-21 | Siemens Audiologische Technik Gmbh | Hörvorrichtung mit automatischer Ausrichtung des Richtmikrofons und entsprechendes Verfahren |
WO2009137363A2 (fr) * | 2008-05-05 | 2009-11-12 | Sensimetrics Corporation | Assistant de conversation pour environnements bruyants |
US8392194B2 (en) * | 2008-10-15 | 2013-03-05 | The Boeing Company | System and method for machine-based determination of speech intelligibility in an aircraft during flight operations |
RU2523961C2 (ru) * | 2009-02-13 | 2014-07-27 | Конинклейке Филипс Электроникс Н.В. | Слежение за положением головы |
US9201143B2 (en) | 2009-08-29 | 2015-12-01 | Echo-Sense Inc. | Assisted guidance navigation |
US9508269B2 (en) | 2010-08-27 | 2016-11-29 | Echo-Sense Inc. | Remote guidance system |
CN103229518B (zh) | 2010-11-24 | 2016-01-06 | 索诺瓦公司 | 听力辅助系统和方法 |
CH707863A1 (de) * | 2013-04-03 | 2014-10-15 | Girsberger Elektronik Ag | Tragbare Vorrichtung zum Suchen und/oder zur Ortung von Sendern mit in einer Haltevorrichtung am Kopf getragenen Ausgabe- und Eingabeelementen. |
US10638250B2 (en) * | 2016-09-23 | 2020-04-28 | Apple Inc. | Systems and methods for determining estimated head orientation and position with ear pieces |
CN109375155B (zh) * | 2018-11-28 | 2022-10-21 | 成都中星世通电子科技有限公司 | 一种基于听觉映射的无线电信号监测测向方法及处理器 |
US11114773B2 (en) * | 2018-12-28 | 2021-09-07 | Flex Ltd. | Devices, systems, and methods for directional antennas that protect sensitive zones |
US11164550B1 (en) * | 2020-04-23 | 2021-11-02 | Hisep Technology Ltd. | System and method for creating and outputting music |
US11159881B1 (en) | 2020-11-13 | 2021-10-26 | Hamilton Sundstrand Corporation | Directionality in wireless communication |
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US4449018A (en) * | 1982-06-07 | 1984-05-15 | Stanton Austin N | Hearing aid |
EP0266250A1 (fr) * | 1986-10-14 | 1988-05-04 | Thomson-Csf | Dispositif d'aide à l'acquisition de cible par un opérateur dans un système d'armes |
US4774515A (en) * | 1985-09-27 | 1988-09-27 | Bo Gehring | Attitude indicator |
EP0378339A2 (fr) * | 1989-01-07 | 1990-07-18 | British Aerospace Public Limited Company | Appareil indicateur auditif |
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EP0629832A1 (fr) * | 1993-06-16 | 1994-12-21 | GF-OTO MELARA BREDA BRESCIANO S.r.l. | Dispositif automatique et procédé pour le repérage et la désignation de cibles aériennes |
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US4713669A (en) * | 1986-07-23 | 1987-12-15 | Shuch Howard P | Binaural doppler collision alert system for general aviation aircraft |
US4817149A (en) * | 1987-01-22 | 1989-03-28 | American Natural Sound Company | Three-dimensional auditory display apparatus and method utilizing enhanced bionic emulation of human binaural sound localization |
US5495534A (en) * | 1990-01-19 | 1996-02-27 | Sony Corporation | Audio signal reproducing apparatus |
US5438623A (en) * | 1993-10-04 | 1995-08-01 | The United States Of America As Represented By The Administrator Of National Aeronautics And Space Administration | Multi-channel spatialization system for audio signals |
US5508699A (en) * | 1994-10-25 | 1996-04-16 | Silverman; Hildy S. | Identifier/locator device for visually impaired |
-
1995
- 1995-03-06 FR FR9502591A patent/FR2731521B1/fr not_active Expired - Fee Related
-
1996
- 1996-03-05 WO PCT/FR1996/000344 patent/WO1996027804A1/fr active IP Right Grant
- 1996-03-05 CA CA002215478A patent/CA2215478C/fr not_active Expired - Fee Related
- 1996-03-05 AU AU49482/96A patent/AU4948296A/en not_active Abandoned
- 1996-03-05 DE DE69605773T patent/DE69605773T2/de not_active Expired - Fee Related
- 1996-03-05 US US08/894,906 patent/US5905464A/en not_active Expired - Fee Related
- 1996-03-05 EP EP96905914A patent/EP0813688B1/fr not_active Expired - Lifetime
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4449018A (en) * | 1982-06-07 | 1984-05-15 | Stanton Austin N | Hearing aid |
US4774515A (en) * | 1985-09-27 | 1988-09-27 | Bo Gehring | Attitude indicator |
EP0266250A1 (fr) * | 1986-10-14 | 1988-05-04 | Thomson-Csf | Dispositif d'aide à l'acquisition de cible par un opérateur dans un système d'armes |
EP0378339A2 (fr) * | 1989-01-07 | 1990-07-18 | British Aerospace Public Limited Company | Appareil indicateur auditif |
US5068832A (en) * | 1990-02-15 | 1991-11-26 | The United States Of America As Represented By The Secretary Of The Navy | Binaural ultrasound detector and imager |
EP0629832A1 (fr) * | 1993-06-16 | 1994-12-21 | GF-OTO MELARA BREDA BRESCIANO S.r.l. | Dispositif automatique et procédé pour le repérage et la désignation de cibles aériennes |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2842442A1 (fr) * | 2013-08-29 | 2015-03-04 | Optus GmbH | Appareil de recherche et procédé de fonctionnement d'un appareil de recherche |
WO2015067982A1 (fr) * | 2013-11-07 | 2015-05-14 | Sony Corporation | Détection de proximité directionnelle |
US10051453B2 (en) | 2013-11-07 | 2018-08-14 | Sony Mobile Communications Inc. | Wearable and/or hand-held mobile electronic device and method for directional proximity detection |
Also Published As
Publication number | Publication date |
---|---|
AU4948296A (en) | 1996-09-23 |
FR2731521B1 (fr) | 1997-04-25 |
US5905464A (en) | 1999-05-18 |
CA2215478C (fr) | 2006-06-06 |
CA2215478A1 (fr) | 1996-09-12 |
EP0813688B1 (fr) | 1999-12-22 |
FR2731521A1 (fr) | 1996-09-13 |
EP0813688A1 (fr) | 1997-12-29 |
DE69605773T2 (de) | 2000-06-29 |
DE69605773D1 (de) | 2000-01-27 |
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