EP2222566A1 - Actionneur a transfert de moment cinetique pour le controle d'attitude d'un engin spatial - Google Patents
Actionneur a transfert de moment cinetique pour le controle d'attitude d'un engin spatialInfo
- Publication number
- EP2222566A1 EP2222566A1 EP08851272A EP08851272A EP2222566A1 EP 2222566 A1 EP2222566 A1 EP 2222566A1 EP 08851272 A EP08851272 A EP 08851272A EP 08851272 A EP08851272 A EP 08851272A EP 2222566 A1 EP2222566 A1 EP 2222566A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- kinetic
- actuator
- wheels
- ratio
- actuator according
- 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.)
- Ceased
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/283—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using reaction wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/286—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using control momentum gyroscopes (CMGs)
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/285—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using momentum wheels
Definitions
- the present invention belongs to the fields of attitude control of spacecraft and in particular satellites to be oriented in variable directions in operation.
- the invention relates to actuators for attitude control using kinetic energy accumulation means.
- the kinetic energy of the actuator can be used as a source of stored energy.
- a spacecraft in particular a satellite such as an observation satellite, must be able to be oriented and stabilized in particular specific directions.
- This general problem is particularly critical for observation satellites for which the optical line of sight of an observation instrument must be able to switch quickly according to the directions of the centers of interest.
- a first family corresponds to the reaction wheels.
- a reaction wheel generally comprises a disk driven in rotation on demand around a fixed axis in a frame linked to the spacecraft on which it is installed.
- Another family corresponds to the gyroscopic actuators.
- a gyroscopic actuator comprises a kinetic wheel rotating at a constant speed about an axis whose orientation is able to be modified with respect to a reference system of the spacecraft.
- the kinetic wheel is carried by a cardan device in position, the speed of rotation of the wheel being kept constant.
- attitude control devices with gyroscopic actuators also have the defect of presenting singular points for which the attitude control can no longer be ensured normally, which leads to oversizing the actuator system, for example by using four actuators instead of three for the attitude control of the machine along its three axes.
- the actuator of the invention combines the advantages of known actuators of the prior art, reaction wheel actuator and gyroscopic actuator, that is to say achieve significant torque by kinetic momentum transfer to constant kinetic energy as in the case of gyroscopic actuators, but in fixed axis relative to the spacecraft, as in the case of the reaction wheels.
- the attitude control actuator of a spacecraft comprises a first kinetic wheel driven in rotation by at least one engine around the engine. an axis of rotation, fixed relative to a frame of reference related to the spacecraft, and comprises a second reaction wheel:
- the ratio R is negative on the one hand and modifiable by the coupling means in response to a command on the other hand.
- the first kinetic wheel and the second kinetic wheel have the same inertia.
- the ratio R is modifiable in a substantially continuous manner between a first value, or minimum value, less than 1 and a second value, or maximum value, greater than -1.
- the ratio R of the coupling means is between -3 and -1/3.
- the coupling means comprise a toroidal speed variator in which at least one roller, integral with a fixed structure of the actuator, bears on rolling surfaces. reaction wheels.
- the running surfaces in such a variator are determined by the surface of a circular torus of the same axis as the axis of rotation. reaction wheels and circular cross section.
- an inclination ⁇ of the roller, inclination determining the ratio R of the toroidal variator is controlled by a geared motor.
- the actuator comprises:
- a measurement device which delivers at least one characteristic signal of the rotational speed of at least one of the kinetic wheels.
- a measuring device comprises for example at least one tachometer for measuring the speed of rotation of one of the kinetic wheels;
- a measurement device which delivers at least one characteristic signal of the ratio R, or of a derivative dR / dt with respect to the time of said ratio R, of coupling means.
- a measuring device comprises, for example, means for measuring the inclination ⁇ of the roller when the coupling means comprises a toroidal variator provided with a control roller of the ratio R;
- a servo-control device for the wheel drive motor kinetics that generates a torque command, or a current command, to achieve a set torque between a stator and a rotor of the motor; a device for controlling the coupling means, for modifying the value of the ratio R, which generates a torque control of a gear motor acting on the coupling means to modify the ratio R, or in inclination ⁇ of a roller of a toroidal reducer, or in speed of variation of an inclination angle ⁇ of a roller of a toroidal reducer.
- the servo-control device of the motor preferably has a bandwidth of between one-tenth and one-time a bandwidth of a control system. attitude of the spacecraft.
- the control generated by the servo device of the coupling means is calculated from a setpoint Rc or dRc / dt and measures for developing a measured value of Rm, dRm / dt respectively, of the ratio R, respectively dR / dt derived with respect to the time of said ratio R.
- the servocontrol device of the coupling means has a bandwidth equal to at least twice a bandwidth of an attitude control system of the vehicle. spacecraft, and preferably between five times and twenty times a bandwidth of the attitude control system of the spacecraft.
- the actuator preferably comprises integrated actuator means for calculating values that produce values. set of instructions for the motor servocontrol device and the servocontrol device of the coupling means as a function of setpoint values of a Cc pair and / or a total kinetic momentum Htc and / or total energy Etc.
- the total kinetic energy Et of the two kinetic wheels is slaved to the total energy reference value Etc from a measurement of the speeds ⁇ 1, ⁇ 2 of rotation of the two kinetic wheels and the instruction Etc, by means of a torque or current command sent to the engine.
- the output torque C of the actuator is slaved to a setpoint value Cc from a measurement of the speeds ⁇ 1, ⁇ 2 of rotation of the two kinetic wheels and the setpoint Cc, by means of a command Rc or dRc / dt sent to actuators coupling means acting on the ratio R.
- the total kinetic moment Ht of the two kinetic wheels is slaved to a setpoint value Htc from a measurement of the rotational speeds. ⁇ 1, ⁇ 2 of the two kinetic wheels and the setpoint Htc, by means of a command Rc sent to the actuators of the coupling means acting on the ratio R.
- at least one of the kinetic wheels of the actuator is coupled to a generator capable of delivering energy by braking the kinetic wheels.
- the motor used to rotate the kinetic wheels operates as a generator for braking said kinetic wheels in the energy recovery mode.
- the invention also relates to an attitude control system of a spacecraft comprising at least one actuator according to the invention for making pairs along the axis of the kinetic wheels of said actuator.
- the actuator (s) according to the invention are used to produce torques along the axis of the kinetic wheels of the actuators and to store or restore electrical energy. stored in kinetic form.
- a system for regulating and distributing the power of a power supply carries out the management of energy transfers between on-board and off-board energy sources. the actuator on the one hand and between energy consumers and the actuator on the other hand.
- At least three actuators according to the invention are arranged fixed in a reference system of the spacecraft so that directions defined by the axes of rotation of the kinetic wheels of each of the actuators correspond to independent directions of attitude control of the spacecraft.
- Figure 2 a section of the actuator of Figure 1 in a second position
- Figure 3 a block diagram of an example of a control system for an actuator.
- an actuator 9 with kinetic wheels comprises:
- the kinetic wheels 1, 2 are rotatably mounted on a shaft 6 of axis 61 coincident with axes of rotation of each of said kinetic wheels.
- each kinetic wheel 1, 2 has a general disc shape and is made of a material whose density and distribution on the disc provide the disc around its axis of rotation 61 a rotational inertia, respectively J1, J2, and the mechanical strength and rigidity required for the intended field of application.
- the kinetic wheels 1, 2 are also mounted on the shaft 6 to limit the friction sources of energy and wear losses, for example by means of ball bearings 63 adapted to the speeds and forces involved during the rotation of the said wheels.
- the two kinetic wheels 1, 2 of the actuator 9 are independent in rotation at the level of the shaft 6 and, because of the alignment of their axes of rotation, kinetic moments, respectively H1, H2, of said two wheels in rotation are also aligned.
- the ratio R is on the one hand negative, that is to say that ⁇ 1 and ⁇ 2 are of opposite signs, that is to say that the two kinetic wheels 1, 2 turn about the axis 61 in opposite directions, and is also modifiable continuously, or in steps less than a desired resolution, by the coupling means 4 in response to a command.
- the coupling means 4 essentially comprise a mechanical vahateur of a rotational ratio between two rotating shafts, for example a toroidal vahateur, a belt drive, or an epicyclic train hoist.
- each kinetic wheel 1, 2 comprises a partial recessed impression 11, 21, on faces opposite said kinetic wheels, of the same volume in the form of a torus of circular section, section materialized on FIG. 1 by a dashed line 62, the torus being itself circular and of axis coincident with the axis 61 of rotation of the kinetic wheels 1, 2.
- the indentations 11, 21 form rolling surfaces for at least a driving roller 41.
- the drive roller 41 corresponds to a disk, in practice substantially a section of small thickness relative to the diameter of a sphere in an equatorial plane 43 of said sphere or plane of the roller, having an axis 42 of rotation perpendicular to the plane 43 of the roller, and held between the kinetic wheels 1, 2 so that:
- the axis 42 of the driving roller 41 is perpendicular to a local tangent of a circle defined by the centers of the circles 62 corresponding to the straight sections of the torus.
- the plane 43 of the driving roller 41 is furthermore, as illustrated in FIG. 2, capable of being inclined in an axial plane of the kinetic wheels 1, 2 so that the axis 42 of the roller forms an angle of inclination ⁇ relative to a plane 64 normal to the axis 61 of rotation of the kinetic wheels.
- the coupling means 4 are held stationary between the kinetic wheels 1, 2 for example fixed to the shaft 6 and or to a cage 3 forming a structure in which the actuator 1 is integrated.
- An actuator of the coupling means 4 for example a motor reducer, not shown, makes it possible to modify the angle of inclination ⁇ .
- At least one of the two kinetic wheels, the first wheel 1 in the drawing, is further driven in rotation by a motor 5 such as an electric motor of which a stator 51 is integral with the cage 3 of the actuator 9 and a rotor 52 is integral with the driven wheel.
- a motor 5 such as an electric motor of which a stator 51 is integral with the cage 3 of the actuator 9 and a rotor 52 is integral with the driven wheel.
- the two kinetic wheels 1, 2 have the same moment of inertia:
- the variation of the total kinetic moment Ht is obtained by transferring kinetic energy from one wheel to another by modifying the reduction ratio R of the coupling means 4.
- the motor 5 also allows the wheels to rotate from a rest position in which the wheels do not rotate, for example during a launch phase of the spacecraft. In this case it is possible to perform this rotation without creating torque since the action on the coupling means 4 allow, for example by maintaining the angle ⁇ to zero if both wheels have the same rotational inertia OJ, to keep at all times the total kinetic momentum at zero during this operation.
- Variations in kinetic moment obtained in the case of the actuator 9 of the invention by action on the coupling means 4, induce a torque C aligned with the axis 6 of the kinetic wheels 1, 2, torque C which is taken over by interfaces of the structure 3 of the actuator and transmitted to a structure of the spacecraft.
- the torque C is produced practically without energy consumption (with close friction).
- the speed with which such an actuator generates a controlled kinetic moment depends on the performance of the coupling means 4, in particular the actuator of the coupling means inclining the roller 41 in the case of the toroidal vahator.
- Said actuator inclining the roller 41 is chosen so that the bandwidth of the coupling means 4 is greater than at least twice the bandwidth of the attitude control system of the spacecraft and preferably between 5 and 20 times the bandwidth of the attitude control system of the spacecraft.
- the control of the inclination ⁇ of the roller 41 is carried out for example in position or speed or torque.
- the actuator 9 of the invention notably has sensors, not shown, which make it possible to ensure its control and control members, not shown in the figures.
- at least one wheel, and preferably each wheel 1, 2 is advantageously equipped with rotational speed sensors, for example tachometers (at least one), and the means 4 coupling of position sensors of the movable elements, for example sensors (at least one) of the inclination of the drive roller 41.
- each kinetic wheel 1, 2 is equipped with an electric motor 5 for driving in rotation.
- the combined action of the motors makes it possible to make the wheels rotate faster and to provide redundancy in the event of engine failure.
- the coupling means 4 comprise two or more coupling rollers distributed around the axis of rotation 61 of the wheels, which makes it possible, if necessary, to ensure better contact of the rollers on the rolling surfaces 11, 21 without introducing any asymmetrical axial forces in the wheels.
- such an actuator 9 is also used on board a spacecraft as a kinetic energy accumulator.
- the kinetic wheels are braked by the same motor (s) 5 operating as generators when energy is taken from said wheels.
- the engine-generator means used determine the dynamics of the operation of the actuator in a storage mode and energy restoration.
- the energy management is advantageously carried out at first order by means of the generator motor (s) 5 and the management of the steering torque of the orientation of the spacecraft is advantageously ensured at first. order by means of the coupling means 4.
- Such internal sensors of the actuator are determined to calculate the total kinetic moment Ht and the total energy And of the actuator, for example the measurement of the rotational speeds ⁇ 1, ⁇ 2 of the two kinetic wheels 1, 2, for example at means of tachometers, or the measurement of the speed of rotation ⁇ 1 or ⁇ 2 of one of the kinetic wheels and a characteristic value of the ratio R.
- the actuator is equipped with integrated control systems that compensate for the cross-effects of one function, "attitude control” or “energy”, on the other, respectively “energy” or “attitude control”, of so that a high level command produces for the spacecraft only the expected effect.
- FIG. 3 illustrates by block diagram an example of a control system 100 for an actuator according to the invention.
- an actuator energy instruction Etc is produced from a supply voltage Ub and a setpoint voltage Uc, for example by a control system 102 and power distribution of a power supply of the spacecraft.
- a torque setpoint Cc or in an equivalent manner a total kinetic momentum setpoint Htc, to be delivered by the actuator is produced by a control computer.
- attitude 103 from a target state vector Xc and a measured state vector Xm of the attitude of the spacecraft.
- Calculation means 101 of the control system 100 from the state information of the actuator, ie essentially the measured speeds ⁇ m1 and ⁇ m2 of rotation of the two kinetic wheels of the actuator, or equivalently velocities ⁇ m1 or ⁇ m2 and a reduction ratio of the measured coupling means Rm, developed from a behavior model of the actuator implemented in the calculation means 101 on the one hand setpoint values ⁇ c d a speed of rotation of a wheel, for example a set speed ⁇ d of the first wheel 1 and secondly a setpoint dRc / dt of derivative with respect to the time of the reduction ratio R.
- the value of the reference speed ⁇ d is compared with a rotational speed ⁇ m1 measured by a measuring device 108 of the rotational speed ⁇ 1 of the wheel 1 to generate an error signal ⁇ d - ⁇ m1 received by a device 104.
- servo-control of the speed of rotation of the wheels for example a device delivering a torque or current command enabling a set torque to be obtained between the stator 51 and the rotor 52 of the motor 5.
- the value of the setpoint dRc / dt is compared with a dRm / dt value of the derivative with respect to the time of the measured reduction ratio Rm, measured by a measuring device 109, for generating a derivative error signal of the reduction ratio dRc / dt - dRm / dt.
- the calculation means 101 produce a set-point reduction ratio Rc which is used to slave a measured value of the ratio Rm as a function of an error signal Rc-Rm.
- the said error signal is received by a device 105 for controlling the coupling means 4 of the actuator.
- the device 105 for controlling the coupling means generates, for example, a torque control of a gear motor acting on the coupling means to modify the ratio R, or an inclination control of the roller 41 in the case of a variator. toroidal or at a speed of variation of the angle of inclination of the roller 41.
- the dynamic response 111 of the spacecraft to the operation of the actuator modifies the state vector of the attitude of the spacecraft whose measurement Xm is provided by a device 112 for measuring the attitudes of the spacecraft.
- the internal measurement means and integrated control systems of the actuator according to the invention advantageously make it possible to use said actuator in the same way as a conventional reaction wheel with regard to the attitude control of a spacecraft.
- the setpoint torque sent to the servo-control of said actuator according to the invention is the same as that sent to a reaction wheel, with the difference that the operating range of said actuator according to the invention goes well beyond beyond that of a conventional reaction wheel, as regards the achievable torque.
- control and the management of a cluster of actuators according to the invention can be carried out according to the same principles as for a conventional cluster of reaction wheels according to the state of the art of the space domain, not only to achieve the fine pointing of the satellite, but also to perform rapid failover thereof, or to manage the desaturation of the cluster of actuators.
- an actuator 9 adapted to the attitude control of a satellite of about 1000 Kg, flywheels from 4 to 8 Kg for a diameter of 500 to 350 mm, in practice a kinetic moment of 50 to 120 Nms, are driven by a motor delivering 20 to 5OW in steady state and delivers a torque C of attitude control that can reach 50 Nm.
- a spacecraft is equipped with at least three actuators 9 according to the invention whose axes 61 are oriented in independent directions in the reference system of the spacecraft in order to allow the orientation of said spacecraft in all directions. .
- actuators 9 are, if necessary, arranged to provide redundancy in the event of a failure of an actuator, the directions of said other actuators being determined so that each cluster of 3 actuators makes it possible to orient the spacecraft in all directions.
- the actuator according to the invention thus makes it possible to produce an actuator which, in an actuator function acts directly on the controlled axes without significant energy consumption, thus combining the advantages of the reaction wheels for the direction of the axes and controlled and gyroscopic actuators for energy consumption, and which further provides a kinetic energy accumulator function without disturbing the attitude of the spacecraft.
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0759224A FR2924095B1 (fr) | 2007-11-22 | 2007-11-22 | Actionneur a transfert de moment cinetique pour le controle d'attitude d'un engin spatial |
PCT/EP2008/065732 WO2009065818A1 (fr) | 2007-11-22 | 2008-11-18 | Actionneur a transfert de moment cinetique pour le controle d'attitude d'un engin spatial |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2222566A1 true EP2222566A1 (fr) | 2010-09-01 |
Family
ID=39529413
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP08851272A Ceased EP2222566A1 (fr) | 2007-11-22 | 2008-11-18 | Actionneur a transfert de moment cinetique pour le controle d'attitude d'un engin spatial |
Country Status (4)
Country | Link |
---|---|
US (1) | US9180983B2 (fr) |
EP (1) | EP2222566A1 (fr) |
FR (1) | FR2924095B1 (fr) |
WO (1) | WO2009065818A1 (fr) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11174046B2 (en) * | 2019-02-26 | 2021-11-16 | Larry D. Sinclair | System and method for rotating mass attitude control |
FR3094479B1 (fr) * | 2019-03-25 | 2021-08-27 | Airbus Defence & Space Sas | Dispositif et procédé de détermination d’attitude d’un satellite équipé d’actionneurs gyroscopiques, et satellite embarquant un tel dispositif |
US11230384B2 (en) | 2019-04-23 | 2022-01-25 | Joby Aero, Inc. | Vehicle cabin thermal management system and method |
CN114408219B (zh) * | 2022-01-21 | 2023-06-16 | 北京控制工程研究所 | 一种主动指向超静平台指令力分配阵重构方法 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2786363A (en) * | 1955-05-31 | 1957-03-26 | Gen Motors Corp | Torus ring for infinitely variable transmission |
US3270985A (en) * | 1963-12-26 | 1966-09-06 | Schmidt Richard | Reactance control system |
CA1011715A (en) * | 1974-03-18 | 1977-06-07 | Asim K. Sen | Attitude stabilization and control of dual-spin spacecraft |
US4382188A (en) * | 1981-02-17 | 1983-05-03 | Lockheed Corporation | Dual-range drive configurations for synchronous and induction generators |
US4723735A (en) * | 1984-12-28 | 1988-02-09 | The Charles Stark Draper Laboratory, Inc. | Energy storage attitude control and reference system |
US5423727A (en) * | 1988-11-21 | 1995-06-13 | Torotrak (Development) Limited | Transmission of the toroidal-race rolling-traction type |
EP0392130A1 (fr) * | 1989-04-11 | 1990-10-17 | CONTRAVES ITALIANA S.p.A. | Commande du contrôle d'attitude paticulièrement pour engin spatial |
GB9002060D0 (en) * | 1990-01-30 | 1990-03-28 | Fellows Thomas G | Improvements in or relating to transmissions of the toroidal-race rolling-traction type |
JP3509181B2 (ja) * | 1994-05-19 | 2004-03-22 | 日産自動車株式会社 | トロイダル型無段変速機 |
DE19640277A1 (de) * | 1996-09-30 | 1997-03-20 | Geuer Mann Ernst | Maschine zur Erzeugung von Winkelbeschleunigungen, für Steuerzwecke durch das Wechselwirkungsprinzip |
US6340137B1 (en) * | 1998-08-26 | 2002-01-22 | Honeywell International Inc. | Moment control unit for spacecraft attitude control |
FR2800350B1 (fr) * | 1999-10-29 | 2001-12-28 | Matra Marconi Space France | Systeme de gestion d'energie electrique et de controle d'attitude pour satellite |
US6311931B1 (en) * | 1999-12-17 | 2001-11-06 | The Boeing Company | Bi-directional momentum bias spacecraft attitude control |
US6454218B1 (en) * | 2000-02-28 | 2002-09-24 | Quoin International, Inc. | Integrated system for providing 3-axis attitude-control, energy-storage, and electrical power |
WO2006004581A2 (fr) * | 2004-04-06 | 2006-01-12 | University Of North Texas | Unite de direction de roue a reaction entrainee par un embrayage |
-
2007
- 2007-11-22 FR FR0759224A patent/FR2924095B1/fr active Active
-
2008
- 2008-11-18 WO PCT/EP2008/065732 patent/WO2009065818A1/fr active Application Filing
- 2008-11-18 EP EP08851272A patent/EP2222566A1/fr not_active Ceased
- 2008-11-18 US US12/744,174 patent/US9180983B2/en active Active
Non-Patent Citations (2)
Title |
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None * |
See also references of WO2009065818A1 * |
Also Published As
Publication number | Publication date |
---|---|
US20100314499A1 (en) | 2010-12-16 |
FR2924095B1 (fr) | 2010-02-12 |
WO2009065818A1 (fr) | 2009-05-28 |
FR2924095A1 (fr) | 2009-05-29 |
US9180983B2 (en) | 2015-11-10 |
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