EP1259941B1 - Procede et dispositif pour determiner la duree de vie residuelle d'un produit - Google Patents
Procede et dispositif pour determiner la duree de vie residuelle d'un produit Download PDFInfo
- Publication number
- EP1259941B1 EP1259941B1 EP01913549A EP01913549A EP1259941B1 EP 1259941 B1 EP1259941 B1 EP 1259941B1 EP 01913549 A EP01913549 A EP 01913549A EP 01913549 A EP01913549 A EP 01913549A EP 1259941 B1 EP1259941 B1 EP 1259941B1
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- EP
- European Patent Office
- Prior art keywords
- operating
- product
- sum
- determined
- products
- 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.)
- Expired - Lifetime
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Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C3/00—Registering or indicating the condition or the working of machines or other apparatus, other than vehicles
- G07C3/02—Registering or indicating working or idle time only
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C3/00—Registering or indicating the condition or the working of machines or other apparatus, other than vehicles
- G07C3/14—Quality control systems
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/02—Registering or indicating driving, working, idle, or waiting time only
Definitions
- the present invention relates to a method for determining the remaining service life of a product;
- the invention further relates to methods for detecting operating times until the technical failure of the product, and methods for determining operating duration thresholds of products in dependence on certain time-varying operating variables for monitoring the reliability of products, and finally the invention also relates to a product whose reliability to be monitored, arranged device for comparing the actual operating life of the product with operating time thresholds according to the preambles of the independent claims.
- a control device for a motor vehicle which has an operating data memory in which operating variables of the motor vehicle are stored, which can give information about the probability of failure or future reliability of the control device.
- Essential data of the life history of a control device are stored in the operating data memory in order to be able to make a statement regarding the reliability of the control device if necessary.
- the object of the present invention is to enable the most accurate, non-model-based lifetime estimation for any products that have or have access to an operating data memory.
- Another task is an optimal acquisition of data and storage in an operating data storage to use the memory optimally, in particular to save storage space.
- the invention proposes a method for determining an operating time threshold value of a product which has a microcomputer or microcontroller and an operating data memory connected by a communication system (KS).
- a monitoring of the reliability of the product is carried out by comparing an operating time with a threshold value, whereby values of value ranges of predefinable operating quantities of the product are detected.
- the respective value range of the respective operating size is in classes.
- the values and / or the operating times (t_ijk) are stored in the operating data memory (BSi, BSe) assigned to the product corresponding to the classes (j). From a set of products, a first subset of the products is operated until technical failure, whereby the service life of the classes of the predetermined operating sizes of the product are determined.
- a weighting factor is determined which reflects the influence of the technical failure of the product of the respective class and farm size.
- a second subset of products is operated until technical failure, with the weighting factors determined from the first subset applied to the second subset.
- a critical service life is determined for all operating classes across all classes, and the operating time threshold value is determined from the critical operating times across all classes of all operating variables.
- the product whose operating time is detected until the technical failure is, for example, designed as a control unit or a subsystem (eg brake, engine, transmission, steering, etc.) of a motor vehicle.
- the products have an operating data memory or are assigned to one in which the recorded operating variables or the operating periods can be stored and recalled if necessary.
- the operating data memory preferably has a nonvolatile memory (eg an EEPROM or a flash EEPROM) as well as means for detecting the operating variables or the operating times.
- the operating data memory can be realized, for example, in one or more control units.
- the operating data memories are used to record discrete system states (eg number of starts, number of emergency starts, number of thermal shutdowns, etc.) as well as the time-varying operating variables.
- operating variables for example, sensor data such as temperature, current, voltage, pressure u. a. detected.
- the determination of the individual technical operating life of a product and the calculation of the degree of wear at any given time are performed on the basis of classed operating variables. Due to the classified operating variables, a particularly reliable and accurate determination of the operating life of a product is possible, whereby the memory requirement for the operating data memory is minimized, as it is possible to dispense with a recording of time profiles of the operating variables. This allows a particularly reliable preventive maintenance / repair shortly before reaching the end of the technical service life.
- weighting factors are assigned to the classes of farm sizes that express the relative impact of a particular class of a particular farm size on the aging or wear of the product.
- the invention provides to determine the weighting factors from a subset K of the products and then apply these to the subset Z of the products. As a result, the critical weighted cumulative operating periods of the operating variables for series production can be determined for the products from the subset S, upon reaching which an end of the technical service life can be concluded.
- the correlation between the operating variables can, for example, be taken into account by determining the weighting factors from an equation system in which the weighted cumulative operating times for each operating variable are linked to one another by means of operators.
- the operators may, for example, represent an AND operation (product formation), an OR operation (summation) or a fuzzy operation (eg an intermediate state between AND and OR).
- the critical accumulated operating times for the individual operating variables are set, which can be concluded when reaching an end of the technical service life.
- K products a number of Z products are operated until technical failure, whereby the weighting factors calculated from the K products are applied to the classified operating variables of the Z products.
- the need for repair, replacement or maintenance by the product can be signaled.
- the operating variables stored in the product are evaluated as part of regular product maintenance.
- no correlation between the individual operating variables is taken into account in the calculation of the weighting factors. It is therefore assumed that each size of operation can lead to the technical destruction of the product, regardless of the values of the other operating variables.
- the largest ratio of a weighted cumulative operating period for an operating variable to the critical threshold of the operating variable can be interpreted as a degree of wear.
- the correlation between the individual operation quantities is taken into account. It is therefore assumed that several Operating variables together lead to the technical destruction of the product.
- the operating variables are linked to one another by means of pure AND operations (product formation).
- the weighting factors are determined such that the weighted class sums of each product associated with the AND operator have a minimal "distance" from each other.
- a third alternative embodiment is intended to link multiple operating variables at the level of individual classes. It is assumed that several operating variables within certain classes lead to a technical destruction of the product.
- the device comprises first means for detecting the values of certain operating variables at regular time intervals, the range of values of the individual operating variables in Classes is divided and the device comprises second means for detecting the operating times depending on the class in which the detected value of the operating variable falls.
- the second means increase a class counter of a certain class if the value of a recorded operating variable falls within this class.
- the device according to the invention for detecting operating times on the basis of classified operating variables has in particular when determining operating time threshold values of products for monitoring the reliability of products special benefits. Therefore, according to an advantageous development of the present invention, a device for determining operating time threshold values of the type mentioned in the introduction is proposed, which is characterized in that the device has means for carrying out the method according to one of claims 5 to 8.
- the operating time threshold values are determined according to the method according to one of claims 5 to 8.
- the operating data memory of the device can be designed to be particularly small, since a determination of the operating time threshold values according to the invention can be dispensed with a memory-intensive detection of time profiles of the operating variables.
- an operational data acquisition in classes has the particular advantage that the memory can be used optimally, ie in particular only little storage space is needed, since no complex acquisition of operating variables over the entire time axis, or with respect to the time axis must be performed.
- the invention in particular the operating data acquisition, may be realized as additional functionality in a control device or in a dedicated device.
- the product k whose operating time t_ijk is detected, is designed, for example, as a control device or a subsystem (eg brake, engine, transmission, steering, etc.) of a motor vehicle.
- the operating data memory preferably has a nonvolatile memory (eg an EEPROM or a flash EEPROM) as well as means for detecting the operating variables or operating times.
- the operating data memory can be realized, for example, in one or more control units.
- the operating data memories are used to record discrete system states (eg number of starts, number of emergency starts, number of thermal shutdowns, etc.) and the time-varying operating variables i.
- operating variables i for example, sensor data such as temperature, current, voltage, pressure u. a. detected.
- the method begins in a function block 10.
- the class assignment is based on the division of the entire value range into relevant load groups.
- the individual classes j have a different influence on aging / wear of the product k.
- values of the operating variables i are acquired at regular time intervals.
- the operating times t_ijk are detected as a function of the class j, in which the detected value of the operating variable i falls.
- a class counter of a certain class j is incremented if the value of the acquired operating variable i falls within this class j.
- Each operating quantity i of a specific product k can thus be assigned, after detecting the operating times t_ijk, an operating time histogram from which the operating time t_ijk of the product k for the operating quantity i within a specific class j results.
- the operating times t_ijk result from the product of the state of the class counters and the time interval between the recorded values of the operating variables i.
- a subsequent query block 14 it is checked whether the detection of the operating times t_ijk has ended. If not, a branch is made to the function block 12 again. If the detection of the operating times t_ijk has ended, the program branches to the end of the method in function block 15.
- FIG. 3 shows a flowchart of a method according to the invention for determining operating time threshold values of the products z according to a preferred embodiment.
- the method according to the invention begins in a functional block 20. Then, first the operating times t_ijk of the products k for the class j of the operating variables i up to the technical failure of the product k are determined by using the method according to FIG Fig. 1 certainly.
- the classes of the operating variables i are assigned weighting factors a_ij. Since the individual classes j have a different influence on the aging / wear of the products k, the classes j of the operating variables i are assigned weighting factors a_ij which determine the relative influence of a particular class j of a specific operating variable i on the aging or wear of the product k expresses.
- the correlation between the individual operating variables i is taken into account and it is assumed that several operating variables i together lead to the technical destruction of the product k.
- the operating variables i are linked together in the exemplary embodiment by means of pure AND operations (product formation).
- a combination of a plurality of operating variables i on the level of individual classes j is conceivable. It is assumed that several operating variables i within certain classes j lead to a technical destruction of the product k.
- the invention provides for determining the weighting factors a_ij from a subset K of the products k and then applying them to the subset Z of the products z.
- critical cumulative operating periods P_iz_krit of the operating variables i can be determined for series production, which can be concluded when they reach an end of the technical operating period.
- all the data items s equipped with operating data memories can be signaled by the product s shortly before reaching the critical threshold value, the need for repair, replacement or maintenance. This can be done in particular in the form of a self-diagnosis of the series product. Alternatively, the operating variables stored in the product s are evaluated as part of regular product maintenance. This product maintenance may then also be e.g. in a partial product of a vehicle, or the vehicle itself in operation itself be carried out in the form of an on-board diagnosis.
- FIG. 3 schematically shows a possible device according to the invention.
- P is the product itself. This is connected by a communication system KS, in particular a line or bus system, with a product external operating data memory BSe.
- KS communication system
- BSe product external operating data memory
- BSi internal operating data memory
- Both memories can also be present at the same time and, for example, a virtual memory can be formed from BSe and BSi.
- M the funds are summarized, for example in the form of a Microcomputers or microcontroller, which are used for carrying out the inventive method as shown above. These means may, for example, be present or incorporated in a control unit of a motor vehicle.
- the product P whose operating time is detected is embodied, for example, as a control device or a subsystem (eg brake, engine, transmission, steering, and the like) of a motor vehicle.
- the products P have an operating data memory BSi or are assigned to one (BSe) in which the recorded operating variables or the operating periods can be stored and recalled if necessary.
- the operating data memory preferably has a nonvolatile memory (eg an EEPROM or a flash memory) as well as means EM for detecting the operating variables or the operating times.
- the operating data memory can be realized, for example, in one or more control units.
- the detection means EM obtain their information e.g. via the communication system KS or other interfaces of the product, e.g.
- the evaluation, operating time detection, operating time determination by threshold value comparison, etc. is carried out in particular by the means M, which also initiate or carry out the signaling or the initiation of further measures.
- the detection means EM and the means M can also be present in combination, that is to say in a combined manner, and can likewise be assigned to the operating data memories in a targeted manner or integrated into them.
- the operating data memories are used to record discrete system states (eg number of starts, number of emergency starts, number of thermal shutdowns, etc.) as well as the time-varying operating variables.
- Operating variables are, for example, sensor data such as temperature, current, voltage, pressure, etc. recorded.
- the necessary sensor technology is connected, for example, via the communication system KS or coupled with the product via further interfaces. Depending on the product, the sensor system may also be partially or completely integrated in the product. The same applies to particular inventive information delivering actuator.
- the need for repair, replacement or maintenance by the product s can be signaled shortly before the critical threshold value is reached.
- This may in particular also take the form of a self-diagnosis of the series product s, e.g. by operating data memory with integrated means M or detection means EM.
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- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Quality & Reliability (AREA)
- Testing And Monitoring For Control Systems (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Debugging And Monitoring (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- General Factory Administration (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Multi-Process Working Machines And Systems (AREA)
- Spinning Or Twisting Of Yarns (AREA)
- Vending Machines For Individual Products (AREA)
Claims (4)
- Procédé pour déterminer un seuil de durée de fonctionnement d'un produit comportant un microordinateur ou un microcontrôleur et une mémoire de données et de fonctionnement interne ou reliée à un système de communication (KS) pour surveiller la fiabilité du produit par comparaison d'une durée de fonctionnement à un seuil, selon lequelon saisit des valeurs de plage de valeurs de paramètres de fonctionnement prédéfinis du produit,on subdivise en classes, la plage respective de valeurs du paramètre de fonctionnement respectifon saisit des données de capteur comme paramètres de fonctionnement,
caractérisé en ce qu'on dépose les valeurs et/ou les durées de fonctionnement (t-ijk) dans une mémoire de données de fonctionnement (BSi, BSe) associée au produit en fonction des classes (j) età partir de l'ensemble des produits on fait fonctionner un premier sous-ensemble des produits jusqu'à leur défaillance technique pour déterminer ainsi les durées de fonctionnement des classes des paramètres de fonctionnement prédéfinis du produit,on en déduit un coefficient de pondération par classe et par paramètre de fonctionnement qui traduit l'influence vis-à-vis de la défaillance technique du produit de la classe respective et du paramètre de fonctionnement,on fait fonctionner un second sous-ensemble de produits jusqu'à leur défaillance technique, on détermine les facteurs de pondération à partir du premier sous-ensemble et on l'applique au second sous-ensemble et pour le second sous-ensemble du produit, on détermine un durée de fonctionnement critique par paramètre pour toutes les classes et à partir des durées de fonctionnement critiques concernant toutes les classes de tous les paramètres de fonctionnement, on détermine le seuil de durée de fonctionnement. - Procédé selon la revendication 1,
caractérisé en ce qu'
on détermine les facteurs de pondération (a-ij) en résolvant un problème d'optimisation min {f(x)}, avec x = {a-ij, t-ijk}, en tenant compte de la corrélation entre les différents paramètres de fonctionnement,- pour les produits (z) on détermine les durées de fonctionnement cumulées, critiques, (P-iz-krit) pour les différents paramètres de fonctionnement (i) à partir de l'équation :
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10007308 | 2000-02-17 | ||
DE10007308A DE10007308A1 (de) | 2000-02-17 | 2000-02-17 | Verfahren und Vorrichtung zur Ermittlung der verbleibenden Betriebsdauer eines Produktes |
PCT/DE2001/000362 WO2001061653A1 (fr) | 2000-02-17 | 2001-01-31 | Procede et dispositif pour determiner la duree de vie residuelle d'un produit |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1259941A1 EP1259941A1 (fr) | 2002-11-27 |
EP1259941B1 true EP1259941B1 (fr) | 2008-03-19 |
Family
ID=7631345
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP01913549A Expired - Lifetime EP1259941B1 (fr) | 2000-02-17 | 2001-01-31 | Procede et dispositif pour determiner la duree de vie residuelle d'un produit |
Country Status (10)
Country | Link |
---|---|
US (1) | US7076396B2 (fr) |
EP (1) | EP1259941B1 (fr) |
JP (1) | JP4813732B2 (fr) |
KR (1) | KR20020076314A (fr) |
CN (1) | CN1313983C (fr) |
AT (1) | ATE389921T1 (fr) |
AU (2) | AU3914801A (fr) |
BR (1) | BR0108490A (fr) |
DE (3) | DE10007308A1 (fr) |
WO (1) | WO2001061653A1 (fr) |
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DE10212064B4 (de) * | 2002-03-19 | 2008-08-21 | Robert Bosch Gmbh | Betriebssteuerung für eine Handwerkzeugmaschine |
US6922656B2 (en) * | 2002-04-18 | 2005-07-26 | Caterpillar Inc | Method and system of identifying a problem prone part |
KR100471959B1 (ko) * | 2002-06-17 | 2005-03-10 | 대진 시스템(주) | 광역상수도 요금고지용 전기식 수도계량기의 정지시간 누적계측장치 |
DE60208028T2 (de) * | 2002-09-17 | 2006-07-13 | Maillefer Instruments Holding S.A.R.L. | Verfahren und Vorrichtung zur Messung der Ermüdung von zahnärztlichen Instrumenten |
US6993457B2 (en) * | 2003-09-22 | 2006-01-31 | Daimlerchrysler Corporation | Failed component search technique |
DE102004024840B4 (de) * | 2004-05-14 | 2007-02-22 | Getrag Getriebe- Und Zahnradfabrik Hermann Hagenmeyer Gmbh & Cie Kg | Verfahren zum Steuern eines automatisierten Kraftfahrzeug-Antriebsstranges |
EP1817728A4 (fr) * | 2004-07-02 | 2009-07-15 | Australasian Steel Products Pt | Appareil et procedes d'analyse d'un ensemble tuyau |
DE102004050769A1 (de) * | 2004-10-16 | 2006-04-20 | Robert Bosch Gmbh | Verfahren zum Ermitteln einer Information über eine einer Temperatur ausgesetzten Vorrichtung |
GB2430039B (en) * | 2005-09-07 | 2008-06-04 | Motorola Inc | Product age monitoring device and method of use of the device |
US20070204230A1 (en) * | 2006-02-27 | 2007-08-30 | Eastman Kodak Company | System and method for managing operator replaceable components |
US20070260342A1 (en) * | 2006-05-08 | 2007-11-08 | Standard Aero Limited | Method for inspection process development or improvement and parts inspection process |
DE102006029495A1 (de) * | 2006-06-27 | 2008-01-03 | Abb Patent Gmbh | Verfahren und Einrichtung zur Kalkulation eines wahrscheinlichen Ausfallzeitpunkts eines Steuer- oder Messgerätes |
US8396571B2 (en) * | 2007-03-19 | 2013-03-12 | United Technologies Corporation | Process and system for multi-objective global optimization of maintenance schedules |
EP2012209A1 (fr) * | 2007-07-02 | 2009-01-07 | Siemens Aktiengesellschaft | Procédé destiné au calcul de la durée de vie d'un composant d'une centrale |
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CN101373495B (zh) * | 2007-08-24 | 2010-09-29 | 西门子公司 | 使用寿命终点判定及当前历史使用寿命估计的方法和*** |
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US20090271127A1 (en) * | 2008-04-25 | 2009-10-29 | General Motors Of Canada Limited | System and method for monitoring vehicle residual integrity |
DE102008038890B4 (de) * | 2008-08-13 | 2021-09-02 | Volkswagen Ag | Verfahren und Vorrichtung zur Belastungszählung in einem elektromechanischen Lenksystem |
EP2323105B1 (fr) | 2009-10-16 | 2014-12-03 | Alcatel Lucent | Surveillance de machines |
DE102012103030B3 (de) * | 2012-04-05 | 2013-05-23 | Reis Group Holding Gmbh & Co. Kg | Verfahren zur Bedienung eines Industrieroboters |
US10495010B2 (en) | 2016-08-16 | 2019-12-03 | Dana Heavy Vehicle Systems Group, Llc | Damage protection for multi-function axle |
JP6752739B2 (ja) * | 2017-02-15 | 2020-09-09 | 株式会社日立製作所 | 保守装置、提示システム及びプログラム |
CN106951701B (zh) * | 2017-03-15 | 2019-03-05 | 珠海全志科技股份有限公司 | Nand flash使用寿命的计算方法及*** |
DE102017204440A1 (de) | 2017-03-16 | 2018-09-20 | Robert Bosch Gmbh | Verfahren zur Dimensionierung eines Aktors |
DE102018103008A1 (de) * | 2018-02-09 | 2019-08-14 | Trw Airbag Systems Gmbh | Verfahren zur überwachung eines sicherheitssystems in einem fahrzeug und überwachungssystem |
CN109030548B (zh) * | 2018-08-08 | 2021-06-29 | 苏州科技大学 | 基于变活化能的聚合物材料热老化寿命评估方法 |
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2000
- 2000-02-17 DE DE10007308A patent/DE10007308A1/de active Pending
-
2001
- 2001-01-31 WO PCT/DE2001/000362 patent/WO2001061653A1/fr active IP Right Grant
- 2001-01-31 KR KR1020027010734A patent/KR20020076314A/ko not_active Application Discontinuation
- 2001-01-31 EP EP01913549A patent/EP1259941B1/fr not_active Expired - Lifetime
- 2001-01-31 DE DE10190532T patent/DE10190532D2/de not_active Expired - Lifetime
- 2001-01-31 AU AU3914801A patent/AU3914801A/xx active Pending
- 2001-01-31 BR BR0108490-9A patent/BR0108490A/pt not_active IP Right Cessation
- 2001-01-31 US US10/204,113 patent/US7076396B2/en not_active Expired - Lifetime
- 2001-01-31 JP JP2001560959A patent/JP4813732B2/ja not_active Expired - Fee Related
- 2001-01-31 CN CNB018052770A patent/CN1313983C/zh not_active Expired - Lifetime
- 2001-01-31 AT AT01913549T patent/ATE389921T1/de not_active IP Right Cessation
- 2001-01-31 AU AU2001239148A patent/AU2001239148B2/en not_active Ceased
- 2001-01-31 DE DE50113758T patent/DE50113758D1/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
JP4813732B2 (ja) | 2011-11-09 |
ATE389921T1 (de) | 2008-04-15 |
KR20020076314A (ko) | 2002-10-09 |
CN1313983C (zh) | 2007-05-02 |
DE10007308A1 (de) | 2001-08-23 |
CN1422415A (zh) | 2003-06-04 |
WO2001061653A1 (fr) | 2001-08-23 |
JP2003523588A (ja) | 2003-08-05 |
EP1259941A1 (fr) | 2002-11-27 |
AU3914801A (en) | 2001-08-27 |
AU2001239148B2 (en) | 2005-12-01 |
US20030101019A1 (en) | 2003-05-29 |
DE10190532D2 (de) | 2003-01-30 |
BR0108490A (pt) | 2003-04-22 |
DE50113758D1 (de) | 2008-04-30 |
US7076396B2 (en) | 2006-07-11 |
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