WO2003087613A2 - Verfahren zum positionsabgleich in einer bewegungsübertragung von einem aktor zu einer federbelasteten kupplung eines getriebes eines fahrzeuges - Google Patents
Verfahren zum positionsabgleich in einer bewegungsübertragung von einem aktor zu einer federbelasteten kupplung eines getriebes eines fahrzeuges Download PDFInfo
- Publication number
- WO2003087613A2 WO2003087613A2 PCT/DE2003/001181 DE0301181W WO03087613A2 WO 2003087613 A2 WO2003087613 A2 WO 2003087613A2 DE 0301181 W DE0301181 W DE 0301181W WO 03087613 A2 WO03087613 A2 WO 03087613A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- actuator
- clutch
- transmission
- voltage
- movement
- Prior art date
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D48/00—External control of clutches
- F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D48/00—External control of clutches
- F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
- F16D48/064—Control of electrically or electromagnetically actuated clutches
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/10—System to be controlled
- F16D2500/102—Actuator
- F16D2500/1021—Electrical type
- F16D2500/1023—Electric motor
- F16D2500/1024—Electric motor combined with hydraulic actuation
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/10—System to be controlled
- F16D2500/104—Clutch
- F16D2500/10406—Clutch position
- F16D2500/10412—Transmission line of a vehicle
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/10—System to be controlled
- F16D2500/104—Clutch
- F16D2500/10443—Clutch type
- F16D2500/1045—Friction clutch
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/30—Signal inputs
- F16D2500/302—Signal inputs from the actuator
- F16D2500/3023—Force
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/30—Signal inputs
- F16D2500/302—Signal inputs from the actuator
- F16D2500/3026—Stroke
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/30—Signal inputs
- F16D2500/302—Signal inputs from the actuator
- F16D2500/3028—Voltage
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/30—Signal inputs
- F16D2500/306—Signal inputs from the engine
- F16D2500/3069—Engine ignition switch
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/50—Problem to be solved by the control system
- F16D2500/501—Relating the actuator
- F16D2500/5018—Calibration or recalibration of the actuator
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/70—Details about the implementation of the control system
- F16D2500/702—Look-up tables
- F16D2500/70205—Clutch actuator
- F16D2500/70211—Force
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/70—Details about the implementation of the control system
- F16D2500/702—Look-up tables
- F16D2500/70205—Clutch actuator
- F16D2500/70229—Voltage
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/70—Details about the implementation of the control system
- F16D2500/702—Look-up tables
- F16D2500/70205—Clutch actuator
- F16D2500/70235—Displacement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D27/00—Magnetically- or electrically- actuated clutches; Control or electric circuits therefor
- F16D27/004—Magnetically- or electrically- actuated clutches; Control or electric circuits therefor with permanent magnets combined with electromagnets
Definitions
- the present invention relates to a method for position adjustment in a movement transmission from an actuator to a spring-loaded clutch of a transmission of a vehicle.
- the invention has for its object to provide a method for position adjustment, which allows determination of the actuator position regardless of errors or emergency situations occurring.
- This object is achieved according to the invention by a method for position adjustment in a motion transmission from an actuator to a spring-loaded clutch of a transmission of a vehicle, in which the position adjustment is carried out as a function of at least one parameter of the motion transmission.
- the method according to the present invention at least rough positioning for a clutch actuator can be proposed. In this way, information about the current position of the clutch actuator can be obtained.
- the measurement of the engagement and / or disengagement force can be used as a parameter for position adjustment.
- the properties of the self-locking transmission of the transmission link (spring band transmission) are used.
- the load that is to say the engagement and / or disengagement force, thus presents itself as a frictional torque in the spring-band transmission for the actuator motor.
- the voltage applied to the motor of the actuator is increased twice with opposite signs in a predetermined time ramp until the movement of the actuator or a maximum voltage is reached in each case becomes.
- the relationship between the load on the actuator and the frictional torque in the spring-band transmission is used in such a way that the speed of the actuator is evaluated under the constant motor voltage.
- the frictional torque in the spring band transmission also depends on the sign of the moment or the movement of the actuator motor.
- This friction torque consists of at least two components, namely a load-dependent friction torque in the spring-band transmission, which is direction-independent, and a torque translated from the load, which is direction-dependent.
- a next embodiment of the invention can provide that a non-zero value is used as the starting value for the voltages applied. In this way, time can be saved in the method according to the invention, since the voltage ramps are not at zero, but z. B. can be started at a predetermined starting value.
- a brake voltage is applied after the application of the voltage ramps, whereby the movement of the actuator is braked.
- the braking voltage can be chosen to be so small that it does not keep the actuator in the same direction or can even cause the actuator to start up.
- a method is thus specified with which, in particular in the case of a clutch actuator of an uninterruptible manual transmission (USG), a rough determination of its reference position can be carried out with an unknown position without directly using a mechanical stop.
- the method according to the invention can be used for a basic initialization, for example at the end of a production line.
- a rough measurement can first be carried out by roughly measuring the disengagement or engagement force using the minimum voltage for movements of the actuator motor.
- the reference position can initially be determined to be about +/- 0.5 mm.
- the reference position can then be precisely determined using a suitable fine adjustment.
- This method according to the invention can also be used for other clutch systems.
- Control unit is carried out without using stops.
- the plausibility of the actuator position can preferably be moved in both directions of movement of the actuator actuator.
- the stop is not necessary for the plausibility check of the position.
- the procedure defined in the EKM / ASG control system should be changed from the zero position (parking lock) to the HUB position, i.e. over the entire working range of the clutch control system, in such a way that a plausibility check is provided at the same time. This checks whether a rough change in the zero position has been made in the "ignition off" phase. It is assumed that the working range of the clutch control with the limits zero point and HUB is known from the last phase "ignition on”.
- the actuator can be in the parking lock position, for example, which corresponds to the zero point of the working range of the clutch control. This is the starting position of the travel path. It can e.g. B. a short distance in the direction of "close clutch” (delta_HUB). A maximum speed to be determined is not exceeded. If the actuator is still in the same position which corresponds to that when the control unit is switched off, the actuator can advantageously not hit a stop. Accordingly, the travel distance should be selected accordingly.
- the actuator can then be moved to the HUB + deltaJHUB position, since the starter is actuated in neutral. This procedure should only be used for one limited speed can be carried out, since it is possible that it is driven against the stop, especially if the actuator position has been adjusted in the "ignition off" state. If the actuator was in the same position when switching on the ignition as when switching off the ignition, which characterizes the normal case, the actuator is not moved against the stop. Therefore deltaJHUB should be chosen accordingly. Then you can move to the HUB position and the normal driving mode is available.
- Possible errors in the transmission link can e.g. B. An emergency opening, an improper clutch exchange, a reset due to undervoltage or a reset by ISM. An additional comparison when an error is detected can provide that the stops are also used for the plausibility check.
- the method according to the invention can be used to obtain more information about the position of the stops with particular advantage.
- a further development of the method according to the invention can consist in the fact that a suitable monitoring takes place during the opening of the clutch in the "ignition on” state whether a stop has been hit. In this way, the process in the other direction can be dispensed with (delta_NP and delta_Hub are equal to zero). This further development has the advantage that the paths below the zero point and above the HUB position do not have to be maintained.
- the method according to the invention for checking the plausibility of the actuator position can be used to check in both directions, if there are corresponding paths, whether stops can be approached. Furthermore, it can be provided that the coupling is opened by touch if there are no paths or if the search takes too long.
- Figure 1 is a representation of the friction torque via an external force of an actuator in a transmission link
- FIG. 2 shows a graphical representation of a force measurement in an actuator, the actuator position being shown above and the output voltage shown below;
- FIG. 3 shows a flow diagram of a possible force measurement
- Figure 4 is a graphical representation of the results of the force measurement
- FIG. 5 shows a flow diagram of a possible rough positioning
- FIG. 6 shows a graphical representation of a measurement of a rough positioning
- Figure 7 is a graphical representation of another measurement of a
- FIG. 8 shows a further flow diagram of a force measurement
- Figure 9 is a graphical comparison of a coordinate system
- FIG. 1 shows a theoretical relationship between the external force and the frictional torque on the self-locking actuator system of an uninterruptible manual transmission (USG), with Mr + (upper profile) indicating movement against the load and Mr- (lower profile) indicating movement with the load are.
- USG uninterruptible manual transmission
- the frictional moments can also be adjusted via the voltages required for starting in the respective direction of the actuator rough be determined.
- the latter has the advantage that the measurement results obtained in this way are proportional to the load torque, ie also proportional to the external force.
- PWM pulse width modulation
- the motor voltage is slowly increased until movement of the actuator is detected.
- the actuator starts to move when the engine torque M M o / oc [exceeds the friction torque Mr. This is done in both directions so that Mr + and Mr- can be measured.
- the difference between the minimum required voltages then gives a measure of the external force on the actuator.
- FIG. 2 A single force measurement is shown in FIG. 2, the actuator position above and the output voltage below being indicated as a PWM ratio.
- Position change detected by one increment The interaction between the anchor locking and the positions at which the increments are recognized it requires at least one movement to wait for two increments. However, a limit of four increments further reduces uncertainty. If a large number of measurements are carried out, however, the force curve can be recognized.
- FIG. 4 shows the results of the force measurements on the clutch system. In addition, the position areas used for rough positioning are already marked.
- the actuator can be roughly positioned. In this the actuator gropes through the system until it recognizes the transition from negative to positive position values. It is important to find a compromise between the speed and the accuracy of this positioning. The low accuracy of the force measurement only allows a rough approach to the Reference position. A larger one is only possible if the measured values are clearly large
- Position step are carried out in order to keep the duration of the rough positioning short.
- FIG. 5 shows a flow chart in which the limit values are given in the same way as they are e.g. are implemented in the uninterruptible manual transmission (USG).
- USG uninterruptible manual transmission
- a number of measurements are carried out to check the rough positioning.
- a rough positioning was started at different positions in the adjusted state (reference position at position 0).
- a measurement of a rough positioning with start at -6 mm is shown graphically in FIG.
- the movements By resetting the incremental travel sensor, the movements always start at position 0 mm and then move in the direction of the negative start position.
- the actual force measurement process can be seen in the paired back and forth movements of the actuator.
- FIG. 7 shows a measurement of a rough positioning with a start at +6 mm.
- the measurements shown here are extreme cases. The closer the starting position of the reference run is to the reference point, the fewer steps are required to find it.
- Coarse positions from the same starting position are different. In rare cases (less than 1 in 25 in these examinations), the noise also leads to a Error detection of the position. In these cases, the subsequent fine positioning does not work. However, this can be recognized by the software, whereupon a new rough positioning is started.
- this rough positioning procedure is quite robust. It can preferably be used in three different pairings of clutch and EZA, if the force characteristic of the clutches is changed due to a mechanical defect (flatter increase in force towards positive positions), the rough positioning works unchanged.
- the actuator can lift more than 1 mm from the plate spring. This force-free millimeter can be found with this rough positioning. In addition, the fine positioning then also has sufficient distance reading.
- This method can be used advantageously for push-pull couplings.
- the reference point search procedure used must of course be adapted to the conditions of the respective coupling system.
- the flow of an individual force measurement is shown in FIG. 8 in a flow chart.
- the voltage ramps can not be zero, but z. B. can be started at a predetermined starting value.
- the movement of the actuator can only be recognized when there is a minimum number of position increments, which is preferably greater than 1.
- the limit can be 4.
- the braking voltage is selected to be so small that it does not keep the actuator in the same direction or can even cause the actuator to start up. It has been shown that, although this force measurement is subject to a lot of noise, sufficient information about the current position of the actuator is provided.
- the force curve in the clutch system should be sufficiently structured. Large portions of approx. ⁇ 1/6 of the range of motion with clear force levels must be available. In addition to an area with a very low load, a change in the sign of the load is particularly advantageous. From this it can be decided which position change is to be carried out next in order to obtain more information about the absolute position of the actuator.
- FIG. 9 A comparison of the physical coordinate system of the clutch and the coordinate system of the clutch control is indicated in FIG. 9, the suggested travel path of the actuator for plausibility checking of the emergency position being indicated by the arrows arranged below the diagram.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Electromagnetism (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
- Control Of Transmission Device (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10316433A DE10316433A1 (de) | 2002-04-10 | 2003-04-10 | Verfahren zum Positionsabgleich in einer Bewegungsübertragung von einem Aktor zu einer federbelasteten Kupplung eines Getriebes eines Fahrzeuges |
AU2003232599A AU2003232599A1 (en) | 2002-04-10 | 2003-04-10 | Method for position adjustment in the transmission of motion from an actuator to a spring-loaded clutch of a vehicle gearbox |
DE10391570T DE10391570D2 (de) | 2002-04-10 | 2003-04-10 | Verfahren zum Positionsabgleich in einer Bewegungsübertragung von einem Aktor zu einer federbelasteten Kupplung eines Getriebes eines Fahrzeuges |
PCT/DE2003/001181 WO2003087613A2 (de) | 2002-04-10 | 2003-04-10 | Verfahren zum positionsabgleich in einer bewegungsübertragung von einem aktor zu einer federbelasteten kupplung eines getriebes eines fahrzeuges |
FR0304481A FR2839478B1 (fr) | 2002-04-10 | 2003-04-10 | Procede de reglage de position dans une transmission de mouvement, d'un actionneur a un embrayage, commande par ressorts, d'une transmission d'un vehicule |
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10215715 | 2002-04-10 | ||
DE10215715.4 | 2002-04-10 | ||
DE10219737 | 2002-05-02 | ||
DE10219737.7 | 2002-05-02 | ||
PCT/DE2003/001181 WO2003087613A2 (de) | 2002-04-10 | 2003-04-10 | Verfahren zum positionsabgleich in einer bewegungsübertragung von einem aktor zu einer federbelasteten kupplung eines getriebes eines fahrzeuges |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2003087613A2 true WO2003087613A2 (de) | 2003-10-23 |
WO2003087613A3 WO2003087613A3 (de) | 2004-02-12 |
Family
ID=35655129
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2003/001181 WO2003087613A2 (de) | 2002-04-10 | 2003-04-10 | Verfahren zum positionsabgleich in einer bewegungsübertragung von einem aktor zu einer federbelasteten kupplung eines getriebes eines fahrzeuges |
Country Status (3)
Country | Link |
---|---|
DE (1) | DE10316433A1 (de) |
FR (1) | FR2839478B1 (de) |
WO (1) | WO2003087613A2 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004015185A1 (de) * | 2004-03-24 | 2005-10-27 | Fte Automotive Gmbh & Co. Kg | Hydraulische Betätigungsvorrichtung für eine Kraftfahrzeug-Reibkupplung |
DE102007055793B4 (de) * | 2007-12-13 | 2021-05-20 | Zf Friedrichshafen Ag | Kupplungssteuerungsverfahren einer automatisierten Kupplung |
DE102013206046A1 (de) * | 2012-04-26 | 2013-10-31 | Schaeffler Technologies AG & Co. KG | Kupplungsbetätigungssystem und Verfahren zu dessen Steuerung |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11247890A (ja) * | 1998-02-27 | 1999-09-14 | Isuzu Motors Ltd | 半クラッチストローク値の特定方法及び異常診断方法 |
US6341552B1 (en) * | 2000-04-27 | 2002-01-29 | Eaton Corporation | Self-calibrating system and method for controlling a hydraulically operated device |
-
2003
- 2003-04-10 FR FR0304481A patent/FR2839478B1/fr not_active Expired - Fee Related
- 2003-04-10 WO PCT/DE2003/001181 patent/WO2003087613A2/de not_active Application Discontinuation
- 2003-04-10 DE DE10316433A patent/DE10316433A1/de not_active Ceased
Non-Patent Citations (1)
Title |
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None |
Also Published As
Publication number | Publication date |
---|---|
DE10316433A1 (de) | 2003-10-23 |
FR2839478A1 (fr) | 2003-11-14 |
WO2003087613A3 (de) | 2004-02-12 |
FR2839478B1 (fr) | 2008-05-09 |
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