EP1180594A2 - Verfahren zur Überprüfung einer Abgasrückführanlage - Google Patents
Verfahren zur Überprüfung einer Abgasrückführanlage Download PDFInfo
- Publication number
- EP1180594A2 EP1180594A2 EP01118459A EP01118459A EP1180594A2 EP 1180594 A2 EP1180594 A2 EP 1180594A2 EP 01118459 A EP01118459 A EP 01118459A EP 01118459 A EP01118459 A EP 01118459A EP 1180594 A2 EP1180594 A2 EP 1180594A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- exhaust gas
- gas recirculation
- recirculation rate
- nox
- change
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
- F02M26/00—Engine-pertinent apparatus for adding exhaust gases to combustion-air, main fuel or fuel-air mixture, e.g. by exhaust gas recirculation [EGR] systems
- F02M26/45—Sensors specially adapted for EGR systems
- F02M26/46—Sensors specially adapted for EGR systems for determining the characteristics of gases, e.g. composition
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
- F02M26/00—Engine-pertinent apparatus for adding exhaust gases to combustion-air, main fuel or fuel-air mixture, e.g. by exhaust gas recirculation [EGR] systems
- F02M26/49—Detecting, diagnosing or indicating an abnormal function of the EGR system
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/0025—Controlling engines characterised by use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures
- F02D41/0047—Controlling exhaust gas recirculation [EGR]
- F02D41/005—Controlling exhaust gas recirculation [EGR] according to engine operating conditions
- F02D41/0055—Special engine operating conditions, e.g. for regeneration of exhaust gas treatment apparatus
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1438—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor
- F02D41/1444—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor characterised by the characteristics of the combustion gases
- F02D41/146—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor characterised by the characteristics of the combustion gases the characteristics being an NOx content or concentration
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
- F02M26/00—Engine-pertinent apparatus for adding exhaust gases to combustion-air, main fuel or fuel-air mixture, e.g. by exhaust gas recirculation [EGR] systems
- F02M26/45—Sensors specially adapted for EGR systems
- F02M26/48—EGR valve position sensors
Definitions
- the invention relates to a method for checking a Exhaust gas recirculation system of an internal combustion engine.
- exhaust gas recirculation systems are also known.
- exhaust gas recirculation systems become part of the exhaust gas flow mixed with the fresh gas stream flowing into the cylinders.
- Exhaust gas for combustion is an inert gas, the NOx raw emissions of the internal combustion engine.
- the regulation of recirculated exhaust gas flow, the so-called exhaust gas recirculation rate, usually takes place via a switch in the return line Exhaust gas recirculation valve.
- Such an exhaust gas recirculation system is a emission-relevant component.
- Such components are due applicable or future regulations in the operation of a Internal combustion engine to undergo a review Failure or incorrect operation of the exhaust gas recirculation system the emission behavior of an internal combustion engine drastically deteriorate and exceed given Limit values could result.
- exhaust gas recirculation valve One that is particularly threatened by the failure or particularly in the event of failure Component of an exhaust gas recirculation system leading to increased emissions is the exhaust gas recirculation valve, through which the exhaust gas recirculation rate is set. So far, one relies on diagnosis this exhaust gas recirculation valve arranged in the intake manifold Pressure sensor that detects the intake manifold pressure. at the same time the intake air mass is determined using an air mass meter. From the air mass sucked in, one can expected position of the exhaust gas recirculation valve Intake manifold pressure downstream of an internal combustion engine throttle valve to calculate. If there is a discrepancy between the measured and calculated intake manifold pressure, will be a faulty one Exhaust gas recirculation valve diagnosed. This principle is for example described in DE 44 06 281 A1.
- the invention has for its object a method for Examination of an exhaust gas recirculation system to indicate which none Pressure measurement in the intake manifold is required.
- the invention uses the knowledge that changes in the exhaust gas recirculation rate the NOx emissions of an internal combustion engine can strongly influence. Now change the exhaust gas recirculation rate to a certain extent, can be due to a lack of expected change in the NOx emission of the Internal combustion engine detected a faulty exhaust gas recirculation system become. This concept is for everyone with exhaust gas recirculation systems equipped internal combustion engines.
- One of these can be used to determine the concentration difference NOx concentration measurements also through a model determination of raw NOx emissions, replacing known models can be used from the operating parameters of the Internal combustion engine emitted for this operating state Estimate NOx concentration.
- a model value for the NOx concentration can be the concentration difference along with measuring the NOx concentration after the change form and either the model value for the NOx concentration before changing the exhaust gas recirculation rate or the model value for the operating state after the change the exhaust gas recirculation rate. It is useful here however, that otherwise largely constant operating conditions of the internal combustion engine, since then the fault when determining the NOx concentration, if possible is low.
- the internal combustion engine has a NOx storage catalytic converter
- you can also use a NOx concentration sensor for diagnosis use as usual to control a NOx storage catalyst of this catalyst is provided.
- a well-known arrangement is e.g. a sensor located downstream of the catalyst. Because such a NOx storage catalytic converter is in usually the NOx compounds absorbed in the exhaust gas must this arrangement for carrying out the check that this absorption does not take place temporarily. In a preferred development of the invention, this can be done can be achieved by having the catalyst before checking saturated to its maximum storage capacity becomes.
- One can reach the state of saturation with the downstream NOx concentration sensor capture, e.g. by comparing a modeled NOx concentration with a measured NOx concentration or by appropriate interpretation of the during a storage process resulting gradients of the NOx concentration downstream of the NOx storage catalytic converter.
- Saturation can be reached particularly quickly if for high raw NOx emissions upstream of the NOx storage catalytic converter is taken care of, for example by the Exhaust gas recirculation rate below a certain threshold or particularly preferred is set near zero.
- Figure 1 is an Otto engine in the form of a block diagram shown with direct injection, whereby only those components are shown that are for the Understanding of the invention are necessary; are in particular the fuel circuit and an exhaust gas aftertreatment system not shown.
- the internal combustion engine of FIG. 1 has an intake tract 1 with an air collector 2 on a suction pipe 3 in one Cylinder 6 of the internal combustion engine opens.
- the better clarity only one cylinder 6 is shown for the sake of this; the number of cylinders is not important.
- Injector 20 fuel injected.
- Air collector 2 there is a throttle valve 5 by one Throttle valve actuator 12 is operated, which is also from Control unit 10 is controlled.
- an air mass meter 4 provided upstream of the throttle valve 5 in the intake tract 1.
- Downstream of the throttle valve 5 opens into the intake tract 1 an exhaust gas recirculation line 8, which on the other hand to the exhaust tract 7 of the internal combustion engine is connected, in which the Combustion gases flow out of cylinder 6.
- In the exhaust gas recirculation line 8 there is an exhaust gas recirculation valve 9, which is actuated by an actuator 14 which is operated by the control unit 10 is controlled.
- There is a position feedback provided, via which the control unit 10 on the exhaust gas recirculation valve 9 detected degree of opening.
- crankshaft sensor 13 which Speed of the crankshaft 15 senses.
- NOx sensor in exhaust tract 7 16, which measures the NOx concentration in the exhaust gas by the Exhaust tract flows.
- Any catalysts provided in the exhaust tract, NOx storage or 3-way catalysts are the Not shown for the sake of clarity.
- the control device 10 has a plurality of program modules 11, 17, 19 and 18, which will be discussed later.
- a first NOx concentration NOxl measured is done using the measuring module 11 of the Control unit 10, which reads out the NOx sensor 16. Subsequently becomes a in step S2 on the exhaust gas recirculation valve 9 preset change in the exhaust gas recirculation rate in the memory module 17 set; this is done by the EGR module 18 of the control unit 10 made.
- the change is chosen so that the exhaust gas recirculation rate has a predetermined jump of high Exhaust gas recirculation rate to low exhaust gas recirculation rate, for example from a high setpoint to 0%.
- step S3 After this change in the exhaust gas recirculation rate is again over the NOx sensor 16 the NOx concentration in the exhaust gas of the internal combustion engine measured and as the value NOx2 in the memory module 17 of the control unit 10 stored. This is also done again the measuring module 11 (step S3). Then it is checked in step S4 whether the difference between NOx1 and NOx2 is also one threshold value SW1 stored in the memory module 17 exceeds. If this is not the case (N branch), then in a step S5 an error of the exhaust gas recirculation system (in particular of the exhaust gas recirculation valve 9). Otherwise (J-branch) becomes a proper return system in step S6 diagnosed.
- NOx1 a NOx concentration determined in a model be used.
- This model is determined in the NOx model module 19 of the control unit 10.
- the NOx model module 19 calculates the raw emission of NOx in the exhaust gas in a known manner the internal combustion engine. So that this model calculation is possible fails exactly, the review process will only performed when the crankshaft sensor 13 indicates that the Speed of the crankshaft 15 and the engine remains within a certain window, preferably constant is. The accuracy is further increased if at the same time the load, i.e. that indicated by the air mass meter 4, Air mass flowing into the internal combustion engine in certain Limits is constant.
- step S4 takes place between the modeled NOx concentration and the measured NOx concentration NOx2 after changing the exhaust gas recirculation rate in step S2.
- Step S1 can be omitted in this modification, since no longer the measured NOx concentration NOx1, but a modeled value is input in step S4.
- the memory module 17 then contains suitable maps.
- step S7 the exhaust gas recirculation rate to a level below a threshold Value, in this case set to zero.
- the NOx concentration is measured by means of the NOx sensor 16 and stored as the value NOx3 in the memory module 17.
- step S9 it is then checked whether the value NOx3 exceeds a threshold value.
- step S8 jumps back. Only when the query in step S9 to a leads to a positive result (J-branching) is the NOx storage catalytic converter in saturation and NOx levels supplied to it punch through to its exit. Then in step S10 the exhaust gas recirculation rate to a high value, for example 100% set and the process steps of the figure follow Second
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Analytical Chemistry (AREA)
- Exhaust-Gas Circulating Devices (AREA)
- Exhaust Gas After Treatment (AREA)
- Testing Of Engines (AREA)
Abstract
Description
- Figur 1
- eine schematische Darstellung einer Brennkraftmaschine mit einer Abgasrückführanlage,
- Figur 2
- ein Ablaufdiagramm eines Verfahrens zur Überprüfung einer Abgasrückführanlage und
- Figur 3
- ein weiteres Ablaufdiagramm für ein abgewandeltes Überprüfungsverfahren.
Claims (9)
- Verfahren zur Überprüfung einer Abgas mit einer Abgasrückführrate vom Auspufftrakt zum Ansaugtrakt rückführenden Abgasrückführanlage einer Brennkraftmaschine, bei dem eine bestimmte Veränderung der Abgasrückführrate eingestellt, die NOx-Konzentration im Abgas gemessen und bei Ausbleiben einer bestimmten von der Veränderung der Abgasrückführrate abhängigen Konzentrationsdifferenz ein Defekt der Abgasrückführanlage festgestellt wird.
- Verfahren nach Anspruch 1, dadurch gekennzeicnet, daß die Konzentrationsdifferenz aus der vor und nach der Veränderung der Abgasrückführrate im Abgas gemessenen NOx-Konzentration ermittelt wird.
- Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß die Konzentrationsdifferenz aus der nach der Veränderung der Abgasrückführrate im Abgas gemessene NOx-Konzentration und einer mit einem Modell aus Betriebsparametern der Brennkraftmaschine für den vor oder nach der Veränderung der Abgasrückführrate vorliegenden Betriebszustand der Brennkraftmaschine erhaltenen NOx-Konzentration ermittelt wird.
- Verfahren nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, daß die NOx-Konzentration stromab eines NOx-Speicherkatalysators gemessen wird und vor der Einstellung der bestimmten Veränderung der Abgasrückführrate der NOx-Speicherkatalysator bis zu seiner maximalen Speicherfähigkeit gesättigt wird.
- Verfahren nach Anspruch 4, dadurch gekennzeichnet, daß die Sättigung an einer vorbestimmten NOx-Konzentration stromab des Katalysators erkannt wird.
- Verfahren nach Anspruch 4 oder 5, dadurch gekennzeichnet, daß zum schnellen Erreichen der Sättigung die Abgasrückführrate unter einem bestimmten Minimalwert, vorzugsweise nahe Null, gestellt wird.
- Verfahren nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, daß die bestimmte Veränderung der Abgasrückführrate eine rampen- oder stufenförmige Verringerung ist.
- Verfahren nach den Ansprüchen 6 und 7, dadurch gekennzeichnet, daß die zum schnellen Erreichen der Sättigung unter einen bestimmten Minimalwert Abgasrückführrate wieder erhöht und anschließend in der bestimmten Veränderung verringert wird.
- Verfahren nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, daß die Überprüfung nur erfolgt, wenn Betriebsparameter der Brennkraftmaschine, insbesondere Last und/oder Drehzahl, innerhalb eines bestimmten Bereiches liegen und/oder begrenzte Dynamik aufweisen.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10039952 | 2000-08-16 | ||
DE10039952A DE10039952C2 (de) | 2000-08-16 | 2000-08-16 | Verfahren zur Überprüfung einer Abgasrückführanlage |
Publications (3)
Publication Number | Publication Date |
---|---|
EP1180594A2 true EP1180594A2 (de) | 2002-02-20 |
EP1180594A3 EP1180594A3 (de) | 2003-01-02 |
EP1180594B1 EP1180594B1 (de) | 2006-09-06 |
Family
ID=7652567
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP01118459A Expired - Lifetime EP1180594B1 (de) | 2000-08-16 | 2001-07-31 | Verfahren zur Überprüfung einer Abgasrückführanlage |
Country Status (3)
Country | Link |
---|---|
US (1) | US6598470B2 (de) |
EP (1) | EP1180594B1 (de) |
DE (2) | DE10039952C2 (de) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112539121A (zh) * | 2020-11-27 | 2021-03-23 | 潍柴动力股份有限公司 | 一种egr***的积碳在线检测方法、检测装置及机动车 |
CN114183260A (zh) * | 2021-10-29 | 2022-03-15 | 东风商用车有限公司 | EGR故障模式下的NOx控制方法 |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001304043A (ja) * | 2000-04-20 | 2001-10-31 | Hitachi Ltd | 排気ガス再循環装置の故障診断装置 |
US6666201B1 (en) * | 2002-05-29 | 2003-12-23 | Ford Global Technologies, Llc | System and method for diagnosing EGR performance using NOx sensor |
US7263823B2 (en) * | 2004-05-27 | 2007-09-04 | Cummins, Inc. | System for measuring NOx content of exhaust gas |
US20090139210A1 (en) * | 2007-11-30 | 2009-06-04 | Rodrigo Lain Sanchez | Gas concentration sensor drift and failure detection system |
DE102009029257B3 (de) * | 2009-09-08 | 2010-10-28 | Ford Global Technologies, LLC, Dearborn | Identifikation einer Luft- und/oder Kraftstoffdosierungsabweichung |
KR20130063946A (ko) * | 2011-12-07 | 2013-06-17 | 현대자동차주식회사 | 배기가스 재순환 진단장치 및 배기가스 재순환 진단방법 |
FR2999646B1 (fr) * | 2012-12-18 | 2017-10-27 | Continental Automotive France | Procede de determination du debit d'air recycle et de la quantite d'oxygene disponible a l'entree d'un cylindre d'un moteur a combustion interne |
CN111780903B (zh) * | 2020-06-30 | 2022-03-15 | 东风商用车有限公司 | 蝶片式egr阀电机力矩特性测量装置及测量方法 |
US11636870B2 (en) | 2020-08-20 | 2023-04-25 | Denso International America, Inc. | Smoking cessation systems and methods |
US11828210B2 (en) | 2020-08-20 | 2023-11-28 | Denso International America, Inc. | Diagnostic systems and methods of vehicles using olfaction |
US12017506B2 (en) | 2020-08-20 | 2024-06-25 | Denso International America, Inc. | Passenger cabin air control systems and methods |
US11813926B2 (en) | 2020-08-20 | 2023-11-14 | Denso International America, Inc. | Binding agent and olfaction sensor |
US11932080B2 (en) | 2020-08-20 | 2024-03-19 | Denso International America, Inc. | Diagnostic and recirculation control systems and methods |
US11881093B2 (en) | 2020-08-20 | 2024-01-23 | Denso International America, Inc. | Systems and methods for identifying smoking in vehicles |
US11760169B2 (en) | 2020-08-20 | 2023-09-19 | Denso International America, Inc. | Particulate control systems and methods for olfaction sensors |
US11760170B2 (en) | 2020-08-20 | 2023-09-19 | Denso International America, Inc. | Olfaction sensor preservation systems and methods |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3624441A1 (de) | 1986-07-19 | 1988-01-28 | Bosch Gmbh Robert | Diagnoseverfahren zur quantitativen ueberpruefung von stellgliedern bei brennkraftmaschinen |
DE4216044A1 (de) | 1992-05-15 | 1993-11-18 | Bosch Gmbh Robert | Abgasrückführungs-Diagnosesystem an einem Verbrennungsmotor |
DE4406281A1 (de) | 1993-03-01 | 1994-09-08 | Mitsubishi Motors Corp | Verfahren zum Bestimmen eines Ausfalls einer Vorrichtung zur Abgasrückführung |
EP0635629A1 (de) | 1993-07-21 | 1995-01-25 | Siemens Aktiengesellschaft | Verfahren zur Diagnose eines Abgasrückführungssystems einer Brennkraftmaschine |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
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DE3435465A1 (de) * | 1984-08-03 | 1986-02-13 | Robert Bosch Gmbh, 7000 Stuttgart | Verfahren und vorrichtung zur eigendiagnose von stellgliedern |
JPH0652065B2 (ja) * | 1986-01-08 | 1994-07-06 | 株式会社日立製作所 | エンジンの排気再循環装置 |
JPS63263258A (ja) * | 1987-04-20 | 1988-10-31 | Toyota Motor Corp | 排気ガス再循環装置のダイアグノ−シス装置 |
JP2822731B2 (ja) * | 1991-10-23 | 1998-11-11 | トヨタ自動車株式会社 | 内燃機関の排気ガス浄化装置 |
US5426938A (en) * | 1992-09-18 | 1995-06-27 | Honda Giken Kogyo Kabushiki Kaisha | Control system for internal combustion engines |
JPH07208272A (ja) * | 1994-01-25 | 1995-08-08 | Fuji Heavy Ind Ltd | エンジンのegr制御装置 |
JPH10103161A (ja) * | 1996-09-26 | 1998-04-21 | Isuzu Motors Ltd | 排気還流制御装置 |
US6035834A (en) * | 1997-02-10 | 2000-03-14 | Industrial Power Generating Corporation | Nitrogen oxides reducing aftercooler for turbocharged engines |
JP3617240B2 (ja) * | 1997-03-14 | 2005-02-02 | 日産自動車株式会社 | 内燃機関の排気還流制御装置 |
JP2001098989A (ja) * | 1999-09-29 | 2001-04-10 | Mazda Motor Corp | エンジンの制御装置及びエンジンの制御装置の異常診断装置 |
-
2000
- 2000-08-16 DE DE10039952A patent/DE10039952C2/de not_active Expired - Fee Related
-
2001
- 2001-07-31 EP EP01118459A patent/EP1180594B1/de not_active Expired - Lifetime
- 2001-07-31 DE DE50110924T patent/DE50110924D1/de not_active Expired - Lifetime
- 2001-08-13 US US09/928,958 patent/US6598470B2/en not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3624441A1 (de) | 1986-07-19 | 1988-01-28 | Bosch Gmbh Robert | Diagnoseverfahren zur quantitativen ueberpruefung von stellgliedern bei brennkraftmaschinen |
DE4216044A1 (de) | 1992-05-15 | 1993-11-18 | Bosch Gmbh Robert | Abgasrückführungs-Diagnosesystem an einem Verbrennungsmotor |
DE4406281A1 (de) | 1993-03-01 | 1994-09-08 | Mitsubishi Motors Corp | Verfahren zum Bestimmen eines Ausfalls einer Vorrichtung zur Abgasrückführung |
EP0635629A1 (de) | 1993-07-21 | 1995-01-25 | Siemens Aktiengesellschaft | Verfahren zur Diagnose eines Abgasrückführungssystems einer Brennkraftmaschine |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112539121A (zh) * | 2020-11-27 | 2021-03-23 | 潍柴动力股份有限公司 | 一种egr***的积碳在线检测方法、检测装置及机动车 |
CN112539121B (zh) * | 2020-11-27 | 2022-03-01 | 潍柴动力股份有限公司 | 一种egr***的积碳在线检测方法、检测装置及机动车 |
CN114183260A (zh) * | 2021-10-29 | 2022-03-15 | 东风商用车有限公司 | EGR故障模式下的NOx控制方法 |
CN114183260B (zh) * | 2021-10-29 | 2023-05-12 | 东风商用车有限公司 | EGR故障模式下的NOx控制方法 |
Also Published As
Publication number | Publication date |
---|---|
DE50110924D1 (de) | 2006-10-19 |
DE10039952C2 (de) | 2003-04-24 |
US6598470B2 (en) | 2003-07-29 |
EP1180594A3 (de) | 2003-01-02 |
EP1180594B1 (de) | 2006-09-06 |
DE10039952A1 (de) | 2002-02-28 |
US20020033045A1 (en) | 2002-03-21 |
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