WO2014118469A1 - Systeme de determination d'une image tridimensionnelle d'un circuit electronique - Google Patents
Systeme de determination d'une image tridimensionnelle d'un circuit electronique Download PDFInfo
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- WO2014118469A1 WO2014118469A1 PCT/FR2014/050168 FR2014050168W WO2014118469A1 WO 2014118469 A1 WO2014118469 A1 WO 2014118469A1 FR 2014050168 W FR2014050168 W FR 2014050168W WO 2014118469 A1 WO2014118469 A1 WO 2014118469A1
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- projector
- images
- image
- camera
- card
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Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N2013/0074—Stereoscopic image analysis
- H04N2013/0081—Depth or disparity estimation from stereoscopic image signals
Definitions
- the present invention generally relates to optical inspection systems and, more particularly, to three-dimensional image determination systems intended for the on-line analysis of objects, in particular electro ⁇ nic circuits.
- the invention relates more particularly to systems equipped with digital cameras.
- An optical inspection system of an object for example an electronic circuit, generally comprises a particular pattern projection device on the circuit to be inspected and at least one digital camera adapted to acquire several images of the circuit.
- the projected image includes, for example, a succession of light and dark fringes.
- An example of a method for determining three-dimensional images comprises projecting several images onto the circuit to be inspected. This is, for example, images having a repetition of patterns. It can also be a random image. Images projected in two successive projections differ from each other. For example, when the image includes patterns, they can be shifted from one projected image to another. An image of the circuit is acquired at each new position of the image projected on the circuit.
- a three-dimensional image can be determined from the circuit images acquired by the digital camera.
- an embodiment provides a method for determining three-dimensional images of an object, including projecting a display on the object by a projector; the acquisition of several two-dimensional images of the object by at least a first image sensor, a relative displacement of the object with respect to the assembly comprising the projector and the image sensor being performed during the acquisitions of the images ; and determining the height of each point of the object as corresponding to an extremum of a function obtained from the acquired two-dimensional images.
- the projector and / or the first image sensor are of the perspective type.
- the projected display is identical when acquiring each two-dimensional image.
- the display comprises fringes.
- a relative displacement of the object with respect to the assembly comprising the projector and the image sensor is performed during the acquisition of at least one of the two-dimensional images.
- a relative displacement of the object with respect to the assembly comprising the projector and the image sensor is performed during the acquisition of each two-dimensional image.
- the relative displacement is accelerated between the acquisitions of the two images of at least one pair of successive two-dimensional images.
- the speed of the relative displacement is constant to within 10%.
- the method comprises the acquisition of several two-dimensional images of the object by at least a second image sensor, the height of each point of the object corresponding to an extremum of a function obtained from images acquired by the first and second image sensors.
- An embodiment also provides a three-dimensional image system for determining an object, compre ⁇ nant:
- a projector adapted to project a display on
- a first image sensor adapted to acquire a plurality of two-dimensional images of the object
- a conveyor adapted to perform a relative movement of the object with respect to the assembly comprising the projector and the first image sensor during successive acquisitions of two-dimensional images;
- processing means adapted to determine the height of each point of the object as corresponding to an extremum of a function obtained from the acquired two-dimensional images.
- the projector and / or the image sensor are of the perspective type.
- Figure 1 schematically shows an embodiment of an optical inspection system of electronic circuits
- FIG. 2 represents an evolution curve of the displacement as a function of time of a circuit to be inspected for a conventional optical inspection system
- FIGS. 3 and 4 show curves of evolution of the displacement as a function of time of a circuit to be inspected for two embodiments of optical inspection systems
- FIG. 5 schematically illustrates an example of a method for determining three-dimensional images
- FIGS. 6 and 7 schematically illustrate other examples of three-dimensional image determination method
- Figure 8 schematically illustrates an embodiment of a three-dimensional image determination method
- Fig. 9 schematically shows another embodiment of an optical inspection system of electronic circuits.
- the term "electronic circuit” is understood to mean either a set of electronic components interconnected via a support, the only support used to make this interconnection without the electronic components or the support without the electronic components but provided with means for fixing the electronic components.
- the support is a printed circuit and the electronic components are fixed to the printed circuit by dough pads which, after heating, form solder joints.
- the term “electronic circuit” means the printed circuit alone (without electronic components or dough pads), the printed circuit provided with dough pads and without electronic components, the printed circuit provided with dough pads and electronic components. before the heating operation or the printed circuit provided with electronic components attached to the printed circuit by the solder joints.
- the system 10 makes it possible to determine a three-dimensional image of the electronic circuit card.
- Each electronic circuit Card is placed on a conveyor 12, for example a flat conveyor.
- the conveyor 12 is able to move the card circuit in a direction X, for example a horizontal direction.
- the conveyor 12 may comprise a set of belts 13 and rollers driven by a rotating electric motor 14.
- the conveyor 12 may comprise a linear motor moving a carriage on which rests the electronic circuit card .
- the system 10 comprises an image projection device P comprising at least one projector, a single projector P being represented in FIG. 1.
- the projector P is connected to a computer system 16 for processing images.
- the projectors P can be substantially aligned, preferably in a direction perpendicular to the direction X.
- the system 16 can comprise a microcontroller comprising a processor and a non-volatile memory in which are stored instructions whose execution by the processor allows the system 16 to perform the desired functions.
- the system 16 may correspond to a dedicated electronic circuit.
- the electric motor 14 is further controlled by the system 16.
- the system 10 further comprises an image acquisition device C comprising at least one digital camera, a single camera C being represented in FIG. 1.
- the camera C is connected to the computer system 16 for processing images.
- the cameras C may be substantially aligned, preferably in a direction perpendicular to the direction X and / or be arranged on either side of the pro ector or protectors P.
- the camera C and the projector P are fixed and the electronic circuit Card is moved relative to the camera C and the projector P via the conveyor 12.
- the electronic circuit Card is fixed and the camera C and the projector P are moved relative to the electronic circuit card by any suitable conveying device.
- the dimensions of the circuit Card are generally greater than the field of view of the camera C so that the card circuit must be moved relative to the projector. P and the camera C so that the entire surface of the circuit Card is seen by the camera C.
- FIG. 2 represents an evolution curve of the displacement of the electronic circuit Card according to the direction X as a function of time for an example of an image acquisition method for the determination of a three-dimensional image.
- the instants tg to t5 are successive instants.
- each star 20 represents the moment of acquisition of an image by the camera C.
- a Phase A] _ image acquisition is made between the moments tg and t] _.
- the card circuit is stationary relative to the projector P and the camera C.
- the three-dimensional image of the portion of the circuit Card seen by the camera C is determined from several images acquired by the camera C during phase A ] _ while different images are projected on the circuit card by the projector P.
- Each projected image corresponds, for example, to fringes.
- the position of the projected fringes is shifted from one projected image to another.
- a phase D ] _ of displacement is carried out between times t and t2 in which the card circuit is moved by the conveyor 12 until another part of the electronic circuit is seen by the camera C.
- a phase A2 of image acquisition is performed between instants t2 and t3 for the determination of a three-dimensional image of this other part of the circuit Card.
- a displacement phase D2 is performed between the instants t3 and tq, and an image acquisition phase A3 is performed between the instants and t5.
- each acquisition phase A] _, A2, A3 is about 1.2 s in the case of acquiring 11 images and about 0.76 s in the case the acquisition of 7 images and the duration of a phase of displacement
- D] _, D2 is about 0.35 s.
- a disadvantage of the three-dimensional image determination method described above is that the total time required for the determination of the three-dimensional image of the entire Card circuit, which is equal to the sum of the durations image acquisition phases A ] _, A2, A3 and times of the displacement phases D ] _, D2 of the card circuit can be important, in particular because of the time taken for the displacement of the card circuit during which no Image acquisition is not performed.
- an object of an embodiment is to overcome all or part of the disadvantages of three-dimensional image determination methods by an optical inspection system.
- Another object of an embodiment is that the duration of an operation for determining a three-dimensional image of the entire electronic circuit to be inspected is reduced.
- Another object of an embodiment is to simplify the supply of images projected by the projector P.
- Another object of an embodiment is to use projectors and / or cameras whose optics are simple and low cost.
- Another object of an embodiment is to provide a three-dimensional image determination system involving fast image processing, regardless of the shape of the three-dimensional scene to be observed.
- an optical inspection system of electronic circuits in which the electronic circuit to inspect is no longer stationary during an image acquisition phase for the determination of a three-dimensional image but is moved during an image acquisition phase for determining a three-dimensional image.
- a telecentric optical system is an optical system whose principal rays are parallel in the object space.
- Object space refers to the scene (Card circuit) independently for cameras and projectors.
- a perspective optical system is an optical system that is not telecentric.
- at least one of the projector P and the camera C is of the perspective type. This advantageously makes it possible to reduce the size of the inspection system since projection or image acquisition devices of the perspective type have a smaller footprint than similar telecentric type devices. This also advantageously makes it possible to reduce the cost of the inspection system since the projection-type or perspective-type image acquisition apparatus has a lower cost than the telecentric-type analogue apparatus.
- FIGS. 3 and 4 illustrate embodiments of methods for determining a three-dimensional image of the entire Card circuit.
- each star 22 represents the instant of acquisition of an image by the camera C.
- a relative displacement between the circuit Card and the assembly comprising the projector P and the camera C is performed throughout the operation of determining the three-dimensional image.
- the circuit Card can be moved by the conveyor 12 during the acquisition of the images, the projector P and the camera C remaining fixed.
- the card circuit may be fixed and the assembly comprising the projector P and the camera C is moved during the acquisition of the images.
- the duration between two successive acquisitions of images is between 10 ms and 250 ms.
- the duration between two successive acquisitions of images may be substantially constant at 10% near.
- the relative speed of movement between the circuit Card and the assembly comprising the projector P and the camera C is substantially constant at 10% near.
- the speed of movement depends in particular on the image projection method used. By way of example, the speed of movement is between 20 mm / s and 200 mm / s.
- the relative speed of movement is temporarily increased, for example by more than 30%, between two successive acquisitions of images by the camera.
- the relative speed of displacement is increased and then decreased so that the relative speed of movement at the moment of acquisition of an image is substantially the same for each acquisition. image.
- the conveyor 12 is controlled by the computer processing system 16 to control the movement of the Card circuit between two successive acquisitions.
- the acquired images are used to determine the three-dimensional image of the entire Card circuit.
- only a few images acquired successively are used, preferably more than three images, for example eight images.
- the image projected by the projector P on the card circuit during the acquisition of the images by the camera C is identical for several images acquired successively, preferably for all the images acquired successively.
- FIG. 5 illustrates an exemplary method for determining a three-dimensional image in the case where the card circuit to be inspected is stationary relative to the projector P and to the camera C during the acquisition of several successive images.
- REF is a reference plane, parallel to the plane on which the Card circuit rests.
- Rj; p (0, X, Y, Z) is a reference linked to the reference plane REF in which the direction X is the direction of movement of the circuit Card, Y is a direction parallel to the plane REF and perpendicular to the direction X and Z is a direction perpendicular to the X and Y directions.
- a three-dimensional image of the circuit Card corresponds to a cloud of an integer M of points Q where i is an integer ranging from 1 to M.
- M is greater than several millions.
- the exponent number of Q denotes the position occupied by the circuit Card relative to the camera C and the projector P during the acquisition of images.
- the card circuit is stationary relative to the projector P and to the camera C during the acquisition of the images by the camera C necessary for the determination of the three-dimensional image of a part of the card circuit. .
- This position is indicated by the exponent "1".
- a point Q ( n i) of the outer surface of the circuit Card is located in the reference RREF by the coordinates (x-j, y, _, hj_).
- the coordinate hj_ corresponds to the height of the point Q with respect to the plane REF.
- a method for determining a three-dimensional image of the circuit Card consists in determining the height hj_ of each point Q.
- Each point Q corresponds to the intersection of a line DQ associated with the camera C and a line Dp associated with the spotlight P.
- Ii (3 ⁇ 4 (hi)) A (h + BCh costpiChi) (2)
- a (hj_) is the luminous intensity of the background at point Q of the image
- B (hj_) represents the amplitude between the minimum intensities and maximum at the Q point of the projected image.
- the projector P successively projects N different images on the circuit, where N is a natural integer strictly greater than 1, preferably greater than or equal to 4, for example about 8.
- Id ( C qi (hi)) A + BcosCcpiCh + ckx) (3) where d is an integer that varies between 0 and Nl and a is equal to 2n / N.
- phase cpj_ (hj_) is given by the following relation:
- the projector P and the camera C are of the telecentric type.
- optical axes of the projector P and the camera C are coplanar
- a row of the image projected by the projector P is associated with a row of the image acquired by the camera C, these rows being situated in a plane parallel to the direction X;
- the projected images include straight fringes which extend, for example, perpendicular to the X direction and whose amplitude varies sinusoidally;
- the straight lines Dp are perpendicular to the plane REF and the straight lines DQ make an angle ⁇ with the plane REF,
- the system of equations (1) can be simplified according to the system of considering that the coordinate point QJ EF (REF A Yi REF ') is the point of the reference plane REF associated with the point cq1 of the camera C.
- able 1 1 a9 i (h i) + b (7)
- a and b are real numbers, where a is equal to pg / 2n with pg corresponding to the pitch of the sinusoidal fringes.
- Y is equal to pg / (2ntan9) and (i (Qj REF) t are equal to the phase at the point Q i REF of the reference plane REF, that is to say, the phase in the absence of the circuit .
- FIG. 6 illustrates an exemplary method for determining a three-dimensional image in the case where the card circuit to be inspected is immobile with respect to the projector P and the camera C during the acquisition of several successive images and in the case where the camera C and the projector P are of perspective type.
- FIG. 7 illustrates an exemplary method for determining a three-dimensional image in the case where the card circuit to be inspected is mobile with respect to the projector P and the camera C during the acquisition of the N successive images and in the case where the camera C and the projector P are telecentric type.
- two positions of the circuit are represented in FIG. 7 for the acquisition of two successive images.
- the point Qj which corresponds to the point Q after displacement of the circuit is obtained by the following relation (9):
- R ⁇ - is a rotation matrix and ⁇ - a translation matrix, these matrices being representative of the movement of the circuit from position "1" to position "t".
- the projector P projects the same image on the circuit during the acquisitions of the N successive images.
- This image includes fringes which extend, for example, perpendi ⁇ angles to the X direction and whose amplitude varies sinusoidally. Since the circuit is displaced with respect to the headlamp, the luminous intensity I ⁇ ( C qi t (h i )) reflected by the point Q is not the same as the reflected luminous intensity I ⁇ (3 ⁇ 4 (3 ⁇ 4)). by the point Qf when d is different from s.
- the phase difference between the intensity I ⁇ ( c q (j)) reflected by the point Q and the intensity I d + i ( C q +1 (hi)) reflected by the point Q +1 is the same regardless of the considered point of the circuit.
- the relative speed of movement of the circuit relative to the assembly comprising the camera C and the projector P can therefore be chosen so that the phase difference between the intensities
- I d (qj (hi)) and I d + i (3 ⁇ 4i ( n i)) corresponds to a phase difference of 2 ⁇ / ⁇ .
- the abscissa P 1 of the point P q1 follows the relationship (7) described above.
- the displacement of each point c q of the camera associated with the point Q is the same regardless of the point Q of the circuit. In particular, this displacement is independent of the height h-;
- the height h 1 is a solution of a linear equation so that an analytical expression of the height h 1 can be obtained directly.
- FIG. 8 illustrates one embodiment of a method for determining a three-dimensional image in the case where a relative displacement of the card circuit to be inspected with respect to the projector P and the camera C is performed during the acquisition of several successive images. and in the case where the camera C and / or the projector P are of perspective type.
- the inventors have demonstrated that an analytical expression of the height h i can not be obtained especially when the projector is of the perspective type.
- the phase difference between the intensity I ⁇ ( C q? (Hj)) reflected by the point Q and the intensity ⁇ ⁇ + ⁇ ( C q? +1 (hi)) reflected by the point Q +1 is different depending on the considered point.
- this phase difference necessarily varies according to the height h j _.
- the inventors have shown that an analytical expression of the height hj can not be obtained when the camera C is of the perspective type. Indeed, when a relative displacement of the card circuit with respect to the set comprising the camera C and the projector P is made between the acquisition of two images, the displacement of the pixel at the point cq of the camera associated with the point Q n It is not the same for all the points Q of the circuit, and, in particular, depends on the height hj_ of the point Q.
- the determination algorithms of the three-dimensional image described above can not be applied.
- the inventors nevertheless determined that the three-dimensional image of the circuit could be obtained by determining a Cost cost function which depends in particular on the height hj_.
- the desired height h 1 is then that for which the Cost cost function reaches a minimum according to the following relation (13):
- the cost function can be based on the comparison between signals obtained from the image acquired by the camera and the image displayed by the projector, images acquired by more than one camera and the image displayed by the camera. the projector or images acquired by at least two or more cameras.
- the signal may correspond to a pseudo-phase or the luminous intensity.
- the cost function is determined by comparing the phase of the projected image with at least one determined phase estimate from the image acquired by a camera or by comparing phase estimates determined from the images acquired by at least two cameras. Expression (13) then amounts to minimizing a phase difference.
- the phase c f C j) can be determined from the operating equations of the projector P.
- the cost function Cost ] _ is given by the following relation (17):
- the optical inspection system 30 includes at least two cameras C] _ and C2 ⁇ P projector and / or the cameras C] _ and C2 are perspective category.
- the cost function Cost2 for the system 30 is determined according to the following relation (18):
- the optical inspection system 30 comprises G cameras C ] _, C2, ⁇ , Cc, where G is an integer greater than or equal to 3 and the cost function Cost is given by the following relation (19):
- the optical inspection system 30 includes cameras G C] _, C2, C G, where G is an integer greater than or equal to 3 and the Cost cost function is given ar equation (20 ) next :
- the cost function is determined by directly comparing the images provided by at least two different cameras. Expression (13) then amounts to minimizing a difference in light intensity.
- the cost function Cost5 is given by the following relation (21): (2i)
- the optical inspection system 30 comprises G cameras C] _, 0.2, ⁇ , Cç and the cost function Costg is given by the following relation (22):
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Abstract
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Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201480006571.4A CN105283732A (zh) | 2013-01-31 | 2014-01-30 | 用于确定电子电路的三维图像的系统 |
US14/763,865 US20150365651A1 (en) | 2013-01-31 | 2014-01-30 | System for determining a three-dimensional image of an electronic circuit |
EP14705849.9A EP2951526A1 (fr) | 2013-01-31 | 2014-01-30 | Systeme de determination d'une image tridimensionnelle d'un circuit electronique |
KR1020157021069A KR20150111944A (ko) | 2013-01-31 | 2014-01-30 | 전기 회로의 3차원 이미지를 결정하기 위한 시스템 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1350813A FR3001564B1 (fr) | 2013-01-31 | 2013-01-31 | Systeme de determination d'une image tridimensionnelle d'un circuit electronique |
FR1350813 | 2013-01-31 |
Publications (1)
Publication Number | Publication Date |
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WO2014118469A1 true WO2014118469A1 (fr) | 2014-08-07 |
Family
ID=48521153
Family Applications (1)
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PCT/FR2014/050168 WO2014118469A1 (fr) | 2013-01-31 | 2014-01-30 | Systeme de determination d'une image tridimensionnelle d'un circuit electronique |
Country Status (6)
Country | Link |
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US (1) | US20150365651A1 (fr) |
EP (1) | EP2951526A1 (fr) |
KR (1) | KR20150111944A (fr) |
CN (1) | CN105283732A (fr) |
FR (1) | FR3001564B1 (fr) |
WO (1) | WO2014118469A1 (fr) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102017129737A1 (de) * | 2017-12-13 | 2019-06-13 | Hauni Maschinenbau Gmbh | Vorrichtung zur berührungslosen, optischen 3D-Erfassung einer Stirnfläche eines sich queraxial bewegenden, stabförmigen Artikels der tabakverarbeitenden Industrie |
FR3096126B1 (fr) * | 2019-05-15 | 2021-04-23 | Vit | Procede d'inspection optique d'un objet |
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2013
- 2013-01-31 FR FR1350813A patent/FR3001564B1/fr active Active
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2014
- 2014-01-30 US US14/763,865 patent/US20150365651A1/en not_active Abandoned
- 2014-01-30 KR KR1020157021069A patent/KR20150111944A/ko not_active Application Discontinuation
- 2014-01-30 WO PCT/FR2014/050168 patent/WO2014118469A1/fr active Application Filing
- 2014-01-30 CN CN201480006571.4A patent/CN105283732A/zh active Pending
- 2014-01-30 EP EP14705849.9A patent/EP2951526A1/fr not_active Withdrawn
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Also Published As
Publication number | Publication date |
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CN105283732A (zh) | 2016-01-27 |
KR20150111944A (ko) | 2015-10-06 |
FR3001564B1 (fr) | 2016-05-27 |
FR3001564A1 (fr) | 2014-08-01 |
US20150365651A1 (en) | 2015-12-17 |
EP2951526A1 (fr) | 2015-12-09 |
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