WO2002044754A1 - Verfahren und vorrichtung zur frequenzsynthese in einem entfernungsmessgerat - Google Patents
Verfahren und vorrichtung zur frequenzsynthese in einem entfernungsmessgerat Download PDFInfo
- Publication number
- WO2002044754A1 WO2002044754A1 PCT/CH2001/000654 CH0100654W WO0244754A1 WO 2002044754 A1 WO2002044754 A1 WO 2002044754A1 CH 0100654 W CH0100654 W CH 0100654W WO 0244754 A1 WO0244754 A1 WO 0244754A1
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- WO
- WIPO (PCT)
- Prior art keywords
- frequency
- multiplexer
- delay elements
- ring oscillator
- low
- Prior art date
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Classifications
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/4911—Transmitters
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4915—Time delay measurement, e.g. operational details for pixel components; Phase measurement
Definitions
- the invention relates to a method and a device for frequency synthesis in a distance measuring device according to the preamble of independent method claim 1 and the preamble of independent device claim 11.
- the invention also relates to a distance measuring device according to the preamble of patent claim 19.
- Electronic distance measuring devices are often used in building surveying or interior design, for example for three-dimensional measurement of rooms. They have a distance measuring range of a few tens of meters and are often designed as handheld devices. Further areas of application for distance measuring devices are geodetic and industrial surveying.
- the basic principle of distance measurement with the known devices is based on the evaluation of a change over time in a parameter of the electromagnetic radiation emitted by the device and remitted by a targeted object.
- the distance measuring device is equipped with a transmitter for the emission of an intensity-modulated radiation.
- Handheld devices are primarily optical radiation in the visible wavelength spectrum in order to make it easier to aim at the measuring points. The optical radiation is remitted or scattered by the targeted measurement object and registered by a receiver built into the device. The distance to the measurement object results from the time delay of the received modulated radiation compared to the radiation emitted by the transmitter.
- pin photodiodes or avalanche photodiodes are usually used as detectors for converting the radiation remitted or scattered by the measurement object into electrical signals.
- Distance meters are very common and their distance determination is based on the measuring principle of phase measurement.
- the electrical reception signal is directly on superimposed on the avalanche photodiode or after a preamplifier with a mixer frequency to form a low-frequency measurement signal.
- the phase is determined on this low-frequency signal and compared with the phase of a reference signal.
- the difference between the measured phase of the low-frequency measurement signal and the phase of the reference signal is a measure of the distance of the measurement object.
- a laser modulation frequency of preferably greater than 100 MHz and a mixer frequency are required which only deviate from the laser modulation frequency by the amount of the low frequency. Determining the phase on the low-frequency measurement signal is much easier to implement than on the original high-frequency receive signal.
- the low frequency in the kilohertz range for example 10 kHz, is therefore typically selected.
- a mixer frequency must be generated for the generation of the desired low-frequency measurement signal, which is only 25 ppm different from the high frequency. To achieve this, the highest possible crosstalk attenuation is required for the two high frequencies. With such high frequencies close together, undesired sidebands, however, can only be suppressed, if at all, with an extraordinarily high filtering effort. These measures are costly and often lead to further sources of error.
- the two high frequencies are generated with two separate crystal oscillators.
- One of the two quartz oscillators is voltage-controlled and is regulated in a phase-locked loop (PLL) to the frequency which deviates from the high frequency of the other quartz oscillator by the amount of the low frequency.
- PLL phase-locked loop
- the quartz oscillators used to generate the two high frequencies must overlap with one another within very narrow tolerances. In order to ensure the small tolerances, complex and costly manufacturing processes are required. In addition, quartz oscillators can only be produced economically for frequency ranges of approximately 100 MHz. For modulation frequencies greater than 100 MHz, frequency multipliers are also required cause additional costs.
- Alternative solution variants for the generation of high frequencies beyond 100 MHz use additional surf ace acoustic wave (SAW) resonators or filters in connection with the quartz oscillator.
- SAW surf ace acoustic wave
- DDS direct digital synthesis
- the object of the present invention is therefore to remedy these disadvantages of the prior art.
- a method and a device are to be provided with which the high frequencies required for the modulation frequency and for the mixer frequency can be generated simply and inexpensively.
- the generation of the high frequencies should take place with the required accuracy and have a low power consumption, so that the use with handheld devices remains guaranteed.
- the frequency generator should only require a small amount of space so that the size of the device can be reduced.
- the structure of the frequency generator should advantageously enable inexpensive, reproducible mass production.
- the solution to this problem consists in a method for frequency synthesis, in particular in a distance measuring device, which has the features listed in the characterizing section of claim 1.
- a trained according to the invention Device for carrying out the method has in particular the features stated in the characterizing part of patent claim 11.
- a distance measuring device equipped with a frequency generator according to the invention is the subject of claim 19.
- Preferred embodiment variants and / or developments of the invention are the subject of the respective dependent method and device claims.
- the method according to the invention for frequency synthesis is based on the fact that a frequency, preferably supplied by a quartz oscillator, is used is set in a ring oscillator with N delay elements to a desired first high frequency, which is used as a mixer frequency or as a modulation frequency.
- the signals at the N delay elements are fed to a multiplexer which is switched over with a clock cycle which corresponds to 2 * N times the frequency of the low-frequency measurement signal to be evaluated.
- a second high frequency which is different from the first high frequency by the frequency of the low-frequency measurement signal, is generated at the output of the multiplexer and can be used as a modulation frequency or as a mixer frequency.
- a first high frequency for example the mixer frequency
- the requirements for the accuracy of the quartz oscillator are not so high, so that inexpensive quartz crystals can be used.
- the actual high frequency is generated with the ring oscillator, which has N delay elements. If a delay element has a delay time td, then the frequency 1 / (2 * N *) is present at the output of the ring oscillator. The voltage curve at the individual delay elements is phase-shifted by one delay time each. If the multiplexer is switched over with a clock cycle that is N times the frequency of the low-frequency measurement signal to be evaluated, the second high frequency at the modulation output for the radiation source loses exactly one high-frequency period during a low-frequency period.
- the second high frequency, the modulation frequency is smaller than just by the frequency of the low-frequency measurement signal the first radio frequency, which represents the mixer frequency.
- the low-frequency beat frequency that arises when the mixer frequency and the modulation frequency are superimposed does not have a continuous signal curve.
- the result is a signal with 2N steps, corresponding to twice the number of delay elements in the ring oscillator. With a sufficiently high number of delay elements and the use of a smoothing filter, however, this is not a further problem.
- the requirements for the phase noise of the ring oscillator are relatively small, since both high frequencies are derived from the same oscillator.
- the phase of the low frequency resulting from the superimposition in the receiver is proportional to the difference in the phase of the two high frequencies. Large parts of the phase noise of the high-frequency oscillators in the receiver are eliminated, since both phase noise are correlated with one another.
- the number of delay elements in the ring oscillator determines the phase steps.
- the number of possible delay elements can be limited by the required modulation frequency and possibly also by the manufacturing method for the ring oscillator. If, on the other hand, smaller phase steps are required for accuracy requirements, these can be generated, for example, with a delay line at the output of the multiplexer.
- the second high frequency present at the output of the multiplexer is fed to a further arrangement of delay elements and a further multiplexer, which is switched in time with the number of further delay elements multiplied by the frequency of the low-frequency measurement signal, in order to subdivide the coarse phase steps applied to the first multiplexer into finer phase steps , and to achieve a smoother low-frequency signal.
- the intermediate stages of the high frequency can be digitally interpolated.
- the output signal at the first multiplexer is not passed through a further delay circuit in order to switch directly from one phase step to the next. Rather, the time between the individual phase steps is divided into further time windows, for example into 8 time windows.
- the multiplexer is first switched fully to the lower stage.
- the multiplexer will be at the given example in a ratio of 1/8 . , 7/8 switched to higher or lower phase. The ratio is now increased with each subsequent time window. This results in ratios of 2/8, 6/8; 3/8, 5/8; etc. This method allows interpolation between the individual phase stages with little effort in order to obtain a smoothed signal curve.
- the delay elements are designed with a voltage-controlled delay.
- the ring oscillator frequency is preferably regulated from 8 times to 64 times the frequency of the quartz oscillator.
- bistable flip-flops for example RS flip-flops, inverters or the like, are preferably used as delay elements.
- a ring oscillator with 8 to 32, for example with 16, delay elements has proven to be advantageous for achieving the required high frequencies with the desired fine gradation of the phase steps.
- the evaluation of the low-frequency measurement signal takes place synchronously with an internal low-frequency synchronization frequency derived from the mixer frequency by a divider. As the measuring distance increases, the phase of the received signal shifts to the phase of the internal low-frequency Synchronization signal. Due to the non-ideal delay elements and other tolerances, it is not possible to generate absolutely uniform phase steps by switching the multiplexer. The resulting systematic phase errors are greatly reduced by measuring and then averaging the same distance in different phase positions with respect to the internal synchronization signal. This is very easy to do by starting the switching process of the multiplexer not at input 1 but at another input.
- the inventive device for frequency synthesis is characterized by a particularly simple structure.
- the means for generating a first high frequency comprise a crystal oscillator which interacts with a ring oscillator with N delay stages.
- the means for generating a second high frequency which is different from the first high frequency by the frequency of the low-frequency measurement signal comprise a multiplexer which can be switched over with a clock which corresponds to 2 * N times the frequency of the low-frequency measurement signal.
- the requirements for the accuracy of the quartz oscillator are not so high, so that inexpensive quartz crystals can be used.
- the actual high frequency is generated with the ring oscillator, which has N delay elements.
- the requirements for the phase noise of the ring oscillator are relatively small, since both high frequencies are derived from the same oscillator.
- the phase of the low frequency arising in the superposition in the receiver is proportional to the difference in the phase of the two high frequencies. Large parts of the phase noise of the high-frequency oscillators in the receiver are eliminated, since both phase noise
- the number of delay elements gives the required modulation frequency and the fineness of the phase steps. On the other hand, the number of delay elements also determines the level of the low-frequency signal obtained from the superimposition of the two high frequencies. It has proven expedient for the ring oscillators 8 to 64, for example 16, delay elements. If, for example, the ring oscillator is tuned to 400 MHz and a low frequency of approx. 6J kHz is required, then 16 delay elements prove to be expedient. These are designed, for example, as RS flip-flops. In order to achieve the required low-frequency To obtain a frequency of 6J kHz, the ring oscillator frequency is divided by the factor 2 16 .
- the multiplexer which must have 32 inputs for 16 RS flip-flops, must be switched with a frequency 32 times higher than the low frequency: sequentially. This results in a second high frequency at the output of the multiplexer that deviates from the ring oscillator frequency by the amount of the low frequency.
- the ring oscillator is equipped with a phase-locked loop (PLL), by means of which the ring oscillator frequency can be adjusted to a multiple, preferably 8 to 64 times the frequency of the quartz oscillator.
- PLL phase-locked loop
- the PLL control loop reduces the phase noise of the ring oscillator, which primarily regulates the low-frequency phase noise components.
- the possible number of delay elements is limited by the required modulation frequency and possibly also by the manufacturing process. If the gradation of the phase steps with the number of delay elements is too coarse for the required accuracy, the output of the multiplexer can be connected to a delay element which comprises a ring oscillator with delay stages and a downstream multiplexer. In this way, the required finer phase gradations can be generated from the rough phase steps.
- ring oscillators and multiplexers are produced in an integrated semiconductor design, for example using C-MOS technology.
- the components produced in this way can be reproduced as desired, are inexpensive to manufacture and, particularly in C-MOS technology, have low energy consumption.
- a distance measuring device equipped according to the invention according to the principle of phase measurement has a transmitter for emitting optical radiation, a receiving optics for the optical measuring radiation remitted or scattered by a measurement object, a high-electrical receiver downstream of the receiving optics for converting the optical radiation into electrical measuring signals, and one Signalverarbei- processing system for comparing the measurement signals with reference signals and for examining their phase position in order to determine the distance of the measurement object and to make the result available to the user.
- the emitted radiation is modulated with a high-frequency modulation frequency.
- a high-frequency mixer frequency deviates from the modulation frequency by the frequency of the low-frequency measurement signal to be evaluated and is superimposed on the electrical signal supplied by the receiver.
- the means for generating the high-frequency modulation frequency for the emitted optical radiation and the high-frequency mixer frequency different from the modulation frequency, which can be superimposed on the electrical signals supplied by the high-voltage receiver, are designed according to the invention or one of its modifications. This reduces the cost of manufacturing the distance measuring device. Its dimensions can be kept small. In particular when the means for generating the high frequencies are integrated on one or more semiconductor components, preferably in C-MOS technology, the device also has reduced energy consumption. This is a great advantage especially for battery-operated handheld devices.
- FIG. 1 shows a distance measuring device according to the invention
- FIG. 2 shows a first exemplary embodiment of a device for frequency synthesis
- FIG. 3 shows a variant of the device from FIG. 2 for generating fine phase gradations
- FIG. 5 shows a further variant of a device for frequency synthesis.
- 1 shows an example of a distance measuring device which is equipped with a device for frequency synthesis according to the invention.
- the distance measuring device has a laser source 1, which preferably emits visible laser radiation.
- the laser radiation emitted and collimated by collimating optics 2 is split by a beam splitter 11 into a measuring beam S and into a reference beam R.
- a partially permeable toy gel is used as the beam splitter 11.
- the measurement radiation S arrives at a measurement object whose distance from the distance measuring device is to be measured.
- the radiation L remitted or scattered by the measurement object is collected by an optical receiving system 3 and directed to a measurement receiver 4.
- a PIN photodiode is used as the measuring receiver 4.
- the reference radiation R is deflected by a deflecting mirror 12 and collected by an optical system 13 and directed to a reference receiver 14.
- the reference receiver 14 is advantageously structurally identical to the receiver 14 for the measuring radiation L.
- the path traveled by the reference radiation R from the beam splitter 11 to the reference receiver 14 forms the reference path required for determining the phase difference.
- the optical radiation emitted by the laser source 1 is embossed with a high-frequency modulation frequency M which is generated by a frequency synthesizer 9 which is controlled by a reference quartz 10.
- the high-frequency modulation frequency M generates high-frequency electrical measurement signals HFL, HFR on the receiver 4 and on the reference receiver 14, which are present at the input of devices for signal detection designed according to the invention, which have reference numerals 5 and 15 in FIG. 1.
- the frequency synthesizer 9 also generates a control frequency F of a similarly high frequency, which is fed to the two devices for signal detection 5, 15 via a connecting line and indicates the clock for both devices 5, 15.
- the high-frequency input signals HFL, HFR are converted into low-frequency measurement signals NF L or calibration signals NFR.
- the low-frequency measurement signals NF L or calibration signals NF R present at the output of the two devices for signal detection 5, 15 according to the invention are transferred via an analog switch 17 is sequentially supplied to a low-frequency filter 6, in which the remaining high-frequency signal components are filtered out.
- the filter is an anti-AHasing filter.
- the filtered and amplified measurement or calibration signals NFL or NF R are digitized in an analog / digital converter 7 and their phase position is evaluated in a digital signal processing device 8. From the phase position, the distance of the measurement object is deduced, which is passed on as signal O to an output unit.
- the control frequency F is thus an integer multiple of the modulation frequency M increased or decreased by the value of the low-frequency signal NF.
- the value of n is greater than 0.
- the frequency synthesizer is provided with the reference number 9 as a whole. It comprises a ring oscillator 19 with N delay elements Vt, V 2 , V 3 , ..., VN.
- the delay elements Vi, V 2 , V 3 , ..., VN have a delay which is controlled by a voltage Vc is.
- the delay elements Vi, V 2 , V 3 , ..., VN are bistable flip-flops, preferably RS FHp flops. Instead of FHp flops, inverters can also be used as delay elements.
- the outputs of the delay elements Vi, V 2 , V 3 , ..., V are connected to a multiplexer 20, which is controlled via a frequency divider 21.
- the voltage-controlled ring oscillator 19 is tuned to 400 MHz, for example.
- This first high frequency is used, for example, as a mixer frequency F.
- the ring oscillator 19 has, for example, 16 RS FHp flops as delay elements. In order to obtain a low frequency of approximately 6.1 kHz, the ring oscillator frequency in the frequency divider 21 is divided by the factor 2 16 .
- the multiplexer 20, which has 32 inputs for 16 flip-flops, is switched sequentially with a frequency 32 times higher than the desired low frequency. This creates a second high frequency M at the output of the multiplexer 20, which has a value that deviates from the first high frequency F by the amount of the low frequency. This second high frequency serves, for example, as the modulation frequency M for the laser.
- the frequency synthesizer shown in FIG. 2 is prepared in terms of its structure for integration on a semiconductor component. For example, it is manufactured using the C-MOS method.
- the possible number of delay elements Vt, V 2 , V 3 , ..., VN is limited by the semiconductor technology used and the required modulation frequency M. If smaller phase steps are required for accuracy requirements, a further delay line at the output of the multiplexer can be used to produce finer phase steps.
- This variant of the frequency synthesizer is shown in FIG. 3.
- the high-frequency signal M * is fed to a further arrangement of delay elements 22 at the output of the multiplexer 20.
- the outputs of the delay elements are in turn connected to the inputs of a further multiplexer 23, which is also controlled by the frequency divider 21.
- the delay elements 22 can also be non-inverting buffers, for example, which are connected in series.
- schHessHch applies the desired second radio frequency M.
- the signals at the output of the multiplexer can also be digitally interpolated.
- the radio frequencies In order to be able to determine the distance with the required accuracy, the radio frequencies must be precisely regulated. As indicated in FIG. 4, the frequency of the ring oscillator 19 with a phase locked loop, which consists of a phase detector 24, a loop feeder 25 and a divider 26, is exactly a multiple, for example 8 times to 64 times the frequency of the crystal oscillator 10 adjusted.
- the phase noise of the ring oscillator 19 is also reduced by this control circuit, since the crystal oscillator 10 has a very low-noise signal Hefert and, above all, the low-frequency phase noise components are corrected.
- the mixer frequency F can be produced, for example, via a ring oscillator according to FIG. 2. This can be arranged in an integrated design on a separate semiconductor component.
- the mixer frequency is fed to a phase detector 27. After passing a loop feeder 28, the signal of the phase detector 27 arrives in a voltage-controlled delay arrangement 29 with N delay elements and a multiplexer.
- the mixer frequency F is also used to control the delay arrangement 29. Order 29 the desired modulation frequency M. Due to the spatial separation of the synthesis of the two high frequencies F, M, a significantly improved signal separation is achieved. Crosstalk is practically eliminated.
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Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2002212027A AU2002212027A1 (en) | 2000-11-30 | 2001-11-08 | Method and device for carrying out frequency synthesis in a distance measuring device |
DE50113871T DE50113871D1 (de) | 2000-11-30 | 2001-11-08 | Verfahren und vorrichtung zur frequenzsynthese in einem entfernungsmessgerät |
KR1020037007216A KR100802969B1 (ko) | 2000-11-30 | 2001-11-08 | 거리 측정 장치 내의 주파수 합성을 위한 방법 및 장치 |
JP2002546245A JP3935841B2 (ja) | 2000-11-30 | 2001-11-08 | 距離計における周波数合成方法および装置並びに距離計 |
EP01980099A EP1337875B1 (de) | 2000-11-30 | 2001-11-08 | Verfahren und vorrichtung zur frequenzsynthese in einem entfernungsmessgerät |
US10/446,786 US6859744B2 (en) | 2000-11-30 | 2003-05-29 | Method and device for carrying out frequency synthesis in a distance measuring device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CH2333/00 | 2000-11-30 | ||
CH23332000 | 2000-11-30 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US10/446,786 Continuation US6859744B2 (en) | 2000-11-30 | 2003-05-29 | Method and device for carrying out frequency synthesis in a distance measuring device |
Publications (1)
Publication Number | Publication Date |
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WO2002044754A1 true WO2002044754A1 (de) | 2002-06-06 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/CH2001/000654 WO2002044754A1 (de) | 2000-11-30 | 2001-11-08 | Verfahren und vorrichtung zur frequenzsynthese in einem entfernungsmessgerat |
Country Status (9)
Country | Link |
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US (1) | US6859744B2 (de) |
EP (1) | EP1337875B1 (de) |
JP (1) | JP3935841B2 (de) |
KR (1) | KR100802969B1 (de) |
CN (1) | CN1304851C (de) |
AT (1) | ATE392632T1 (de) |
AU (1) | AU2002212027A1 (de) |
DE (1) | DE50113871D1 (de) |
WO (1) | WO2002044754A1 (de) |
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CN110716193B (zh) * | 2019-12-12 | 2020-05-08 | 深圳市迈测科技股份有限公司 | 一种信号生成的方法和装置 |
US11747474B2 (en) | 2019-11-18 | 2023-09-05 | Shenzhen Mileseey Technology Co., Ltd. | Systems and methods for laser distance measurement |
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- 2001-11-08 KR KR1020037007216A patent/KR100802969B1/ko not_active IP Right Cessation
- 2001-11-08 EP EP01980099A patent/EP1337875B1/de not_active Expired - Lifetime
- 2001-11-08 CN CNB01819768XA patent/CN1304851C/zh not_active Expired - Fee Related
- 2001-11-08 DE DE50113871T patent/DE50113871D1/de not_active Expired - Lifetime
- 2001-11-08 JP JP2002546245A patent/JP3935841B2/ja not_active Expired - Fee Related
- 2001-11-08 WO PCT/CH2001/000654 patent/WO2002044754A1/de active IP Right Grant
- 2001-11-08 AT AT01980099T patent/ATE392632T1/de active
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Also Published As
Publication number | Publication date |
---|---|
JP2004522145A (ja) | 2004-07-22 |
CN1478204A (zh) | 2004-02-25 |
US20030204345A1 (en) | 2003-10-30 |
KR100802969B1 (ko) | 2008-02-14 |
JP3935841B2 (ja) | 2007-06-27 |
DE50113871D1 (de) | 2008-05-29 |
EP1337875A1 (de) | 2003-08-27 |
CN1304851C (zh) | 2007-03-14 |
AU2002212027A1 (en) | 2002-06-11 |
EP1337875B1 (de) | 2008-04-16 |
US6859744B2 (en) | 2005-02-22 |
KR20030057563A (ko) | 2003-07-04 |
ATE392632T1 (de) | 2008-05-15 |
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