EP2358534A1 - Method for axis correction in a processing machine and processing machine - Google Patents
Method for axis correction in a processing machine and processing machineInfo
- Publication number
- EP2358534A1 EP2358534A1 EP09760490A EP09760490A EP2358534A1 EP 2358534 A1 EP2358534 A1 EP 2358534A1 EP 09760490 A EP09760490 A EP 09760490A EP 09760490 A EP09760490 A EP 09760490A EP 2358534 A1 EP2358534 A1 EP 2358534A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- axis
- during
- processing
- speed change
- correction
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F13/00—Common details of rotary presses or machines
- B41F13/02—Conveying or guiding webs through presses or machines
- B41F13/025—Registering devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F13/00—Common details of rotary presses or machines
- B41F13/08—Cylinders
- B41F13/10—Forme cylinders
- B41F13/12—Registering devices
- B41F13/14—Registering devices with means for displacing the cylinders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H23/00—Registering, tensioning, smoothing or guiding webs
- B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
- B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
- B65H23/188—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web
- B65H23/1888—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web and controlling web tension
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41P—INDEXING SCHEME RELATING TO PRINTING, LINING MACHINES, TYPEWRITERS, AND TO STAMPS
- B41P2213/00—Arrangements for actuating or driving printing presses; Auxiliary devices or processes
- B41P2213/90—Register control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41P—INDEXING SCHEME RELATING TO PRINTING, LINING MACHINES, TYPEWRITERS, AND TO STAMPS
- B41P2233/00—Arrangements for the operation of printing presses
- B41P2233/10—Starting-up the machine
- B41P2233/13—Pre-registering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2513/00—Dynamic entities; Timing aspects
- B65H2513/10—Speed
- B65H2513/11—Speed angular
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2513/00—Dynamic entities; Timing aspects
- B65H2513/20—Acceleration or deceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2801/00—Application field
- B65H2801/03—Image reproduction devices
- B65H2801/21—Industrial-size printers, e.g. rotary printing press
Definitions
- the invention relates to a method for axis correction in a processing machine and a corresponding processing machine, a corresponding computer program and a corresponding computer program product.
- the invention is not limited thereto but rather directed to all types of driven and non-driven axis processing machines.
- the invention can be used in particular in printing presses such as, for example, newspaper printing presses, commercial printing presses, gravure printing machines, packaging printing presses or securities printing presses, and in processing machines such as bag making machines, envelope or packaging machines.
- the web can be made of paper, cloth, cardboard, plastic, metal, rubber, in foil form, etc. State of the art
- driven axes transport axes
- non-driven axes such as e.g. Deflection, guide or chill rolls moved.
- the material is simultaneously processed by means of usually likewise driven processing axes, for example, printed, punched, cut, folded, etc.
- the processing and transport of the material affect both a web tension and a processing register, for example a color or longitudinal register.
- a processing register for example a color or longitudinal register.
- longitudinal and / or page registers are regulated in order to achieve an optimum printing result.
- acceleration and deceleration processes are only to a limited extent included in the web tension control and the register control, for example by taking into account a permanently stored run-up curve of the machining axes or by taking into account permanently stored constant web tension value changes.
- a disadvantage of these measures is that during acceleration processes errors in the register and in the web tension are not considered due to the current, but only due to a permanently stored acceleration value, which is why all errors occurring as Control difference of a web tension or a register control must be corrected.
- DE 101 35 773 A1 describes a feedforward control for the time of a roll change, wherein parameters of the new roll, such as e.g. Humidity, thickness, stress-strain characteristics and moisture absorption capacity.
- Material data due to physical influences such as Temperature in the dryer, ambient temperature change, which leads to further deviations. Also, for example, no attenuation-dependent portion of the material web, especially when film-like
- a processing machine in particular a shaftless printing press, has at least one axis for processing and / or transporting a material, at least one detection device for detecting a processing parameter and at least one
- Control device for calculating a controller output variable or manipulated variable for an axis correction of the at least one axis based on the detected processing parameter.
- the detected processing parameter can be, in particular, a register position or a web tension or the corresponding deviations or errors, in which case register and / or web tension correction is carried out in the case of a detected register and / or web tension error as axis correction.
- the regulator device is set up to carry out a method according to the invention, namely to determine pre-control output values for the precontrol of the axis correction during a second rotation speed change of the at least one axis on the basis of an observation of the controller output variable during a first rotation speed change. The procedure is carried out iteratively.
- the associated precontrol values for example, model-based determined or taken from a stored recipe, as will be described below.
- model is, for example, one of the above described in the presentation of the prior art.
- Material parameters to be determined which are used in addition to the pilot control output values for the precontrol of the axis correction and, for example, in the sum Monovor tenumaschineausgangshong form.
- Controller output proportional to the register error so in this case the observation of the register error is equivalent to the observation of the controller output.
- register error the respective register error determined on the axis is expediently observed.
- pre-control output values for precontrol of the axis correction during a subsequent rotation speed change of the at least one axis can also be determined on the basis of an observation of the control variable (feedback variable) or of the control deviation during a previous rotational speed change.
- the precontrol of all affected axes of the processing machine In particular, to control or adjust the web tension in a web tension section, a precontrol of the web clamping section delimiting clamping points and for controlling or setting the register of a processing axis within a web tension section a precontrol of the processing axis and / or the web tension limiting terminal points performed. If the machining axes at the same time provide for the transport of the material and are thus designed as clamping points, a feedforward control of this machining axis itself is carried out for the regulation or adjustment of the register.
- pilot control output values additive angle offsets, additive speeds and / or multiplicative speed factors (so-called fine adjustment, gear factors) are precontrolled.
- the inventive adaptive precontrol represents a significant improvement over the prior art, since now a predictive feedforward of the expected
- Error can be provided instead of having to respond to an error that has already occurred.
- the adaptive method iteratively observes the controller output variable and / or the processing parameter during an acceleration process in order to use this output variable or the processing parameter as pre-control output variable in the following, similar acceleration process or to incorporate this in order to reduce the occurrence of axis deviations.
- the regulator Thus, only smaller residual deviations need to be corrected during the second pass, whereby the requisite controller output variables or the processing parameters then determined are in turn used to improve the precontrol. It is very advantageous that no machine or material parameters need to be used for this process.
- the invention is thus universally applicable. It is not necessary to determine machine and material data in some cases extremely laboriously, which are nevertheless subject to errors or change again during operation.
- the axis correction reduces register and / or web tension changes during an acceleration or deceleration phase, which directly translates into a reduction of rejects, the so-called waste. Due to the additional pre-control, more effective control strategies can be designed, since greater influence on the material web is possible.
- An iterative feedforward control taking into account the controller output variable or a processing parameter is not used in the known prior art. Therefore, only slow acceleration and deceleration operations can be performed. In addition, a committee created during these phases must be accepted. The invention overcomes these disadvantages.
- the inventive measure a greater decoupling of the web is achieved in register and / or web tension controls.
- the stationary and dynamic error between the individual processing or printing units decreases.
- a faster compensation of register errors can take place.
- the retroactive effect of an acceleration or deceleration phase on the machining parameter (web tension or register) becomes reduced, which in particular makes faster or more dynamic acceleration or deceleration possible.
- waste or waste is significantly reduced, which among other things leads to a reduction in production costs.
- the pilot control output values are determined as a function of a speed, for example an axis speed (rotation), a machine speed (master axis) and / or a speed
- Acceleration eg, the at least one axis and / or the machine
- the method can thus be implemented in a very simple way. The unavoidable changes in the machine and material data are largely compensated by the iterative procedure.
- the feedforward control takes into account a leading axis speed
- the acceleration from this leading axis can be determined, for example, by time derivation.
- the feedforward control Taking into account a real speed of a processing device, for example a rotational speed, the acceleration can be determined, for example, by deriving specific transmitter values, for example two times derivative of the position encoder values or one time derivative of the speed sensor values.
- the position or speed measurement for example, also a scanning of printed on the web information such as brands, perforation, etc. take place.
- the determination by means of an accelerator is possible.
- the transmission of the values from the machine control to the arithmetic unit for web tension control or register control for example by means of fieldbus communication, where, for example, a setpoint position, setpoint speed, setpoint acceleration, setpoint jerk, actual position, actual position Speed, actual acceleration or actual jerk of the machine master position can be transmitted.
- a field bus communication which is designed as real-time communication and synchronously exchanges data between the machine control and the web tension or register control.
- Such fieldbus systems are known, for example, under the name SERCOS III, PROFINET or Ethernet Powerlink.
- a transmission of binary signals indicative of a speed change is of the
- a first functional relationship between the pilot output value and the speed, and a second functional relationship between the pilot output value and the acceleration can be advantageously determine and indicate enters into each of which a compensation value that is easy on the basis of observation of the regulator output variable and the • Processing Parameters can be determined.
- Compensation value for the precontrol of the axis correction during the (n + 1) th run is preferably iteratively determined from a first correction value and the first compensation value of the nth pass, preferably as a sum.
- the second, dependent on the acceleration, compensation value for the precontrol of the axis correction during the (n + 1) -th run is also advantageously iteratively determined from a second correction value and the second compensation value of the nth pass, preferably as a sum.
- the respective correction values are in turn advantageously determined on the basis of the controller output variables or processing parameters at specific, selected speeds during the n-th rotational speed change.
- the distance and the number of speed values used can in principle be freely selected.
- the first correction value according to this embodiment is particularly easy to calculate. It is advantageous if the first speed is the speed at the beginning of the nth rotational speed change and the second speed is the speed at the end of the nth rotational speed change.
- the controller output variable or the processing parameter at a third speed in particular the first speed, i.
- the speed at the beginning of the nth rotation speed change may correspond to an acceleration value during the nth rotation speed change, for which the maximum value of the acceleration is preferably used, and a differentiated controller output, i. in particular, a maximum value of the derivative during the n-th rotation speed change.
- Weighting factor can also be changed during operation between the rotational speed changes, for example, at higher controller outputs (above a threshold) to accelerate a transient occurring the iterative adaptation process by larger weighting factors, for example.> 0.5 and at smaller controller outputs (below a threshold) by smaller Weighting factors, for example, ⁇ 0.5 allow only minor changes to the iteration process.
- the first and the second functional relationship are divided into at least two dependency areas.
- the first functional relationship is divided into at least two speed ranges and the second functional relationship is divided into at least two acceleration ranges.
- the areas can be easily used to define different dependencies in sections.
- the precursor output may be constant in one region, in another region proportional to the instantaneous velocity or acceleration, and in yet another region another dependency, e.g. polynomial.
- the compensation values describe in these cases, for example, the constant, the proportionality factor, a polynomial factor, etc.
- compensation values can be stored in the sense of a recipe in order to be able to use them again after a production change at a later date.
- Each recipe is identified by specific, production-specific parameters such as machine used, material used, colors used, etc.
- the invention additionally relates to a computer program with program code means in order to carry out all the steps of a method according to the invention when the computer program is executed on a computer or a corresponding arithmetic unit, in particular in a processing machine according to the invention.
- the inventively provided computer program product with program code means which are stored on a computer-readable data carrier is designed to perform all the steps of a method when the computer program is executed on a computer or a corresponding computing unit, in particular in a processing machine.
- Suitable data carriers are, in particular, floppy disks, hard disks, flash memories, EEPROMs, CD-ROMs, DVDs and the like. It is also possible to download a program via computer networks (Internet, intranet, etc.).
- FIG. 1 shows a schematic representation of a preferred embodiment of a printing machine according to the invention
- FIG. 2 shows a schematic representation of a
- Control circuit of a processing machine comprising a pilot control and
- FIG. 3 shows schematically three courses of
- a processing machine designed as a printing machine is designated by 100 as a whole.
- a printing material for example paper 101
- the paper 101 is guided and printed by processing devices designed as printing units 111, 112, 113 ' , 114 and output again by means of an outfeed 115.
- the input, extraction and printing units are positioned, in particular cylinder or angle correctable, arranged.
- the printing units 111 to 114 are located in a web-tension-controlled area between the intake unit 110 and the extension unit 115.
- the printing units 111 to 114 each have a Druckzylin- of Hl 1 to 114 'to' 1 1 to 114 • against a respective impression roller Hl 'is employed with a strong pressure.
- the impression cylinders are individually and independently drivable.
- the associated drives 111 "'to 114'" are shown schematically.
- the impression rollers are freely rotatable.
- the drives of the individual plants are connected to a controller 150 via a data connection 151.
- the controller 150 is set up to carry out the method according to the invention.
- Reference numeral 102 provided.
- these may be deflection rollers, drying, cooling or trimming devices, etc.
- Printing machine a register and / or web tension control is performed.
- the sensors 132, 133, 134 are arranged, which determine the register position of the web 101 and, for example, are designed as a brand reader.
- the web 101 e.g. Paper
- a mark reader When passing the web 101, e.g. Paper, is each detected by a mark reader when a print mark (not shown), which is preferably applied by the first printing unit 111, reaches the mark reader.
- the measured value becomes a device for register control
- Register controller supplied. Subsequently, the position of the corresponding pressure cylinder 112 'to 114' is detected and this measured value is also supplied to the register controller. This can be a respective Register deviation can be calculated (path / cylinder correction). The detected register deviations are used for positioning the printing units 112 to 114 and preferably also for the positioning of the feed train 110 and the drawing unit 115.
- the tag reader may measure positions of all previously applied register marks and register control means
- a respective register deviation between applied register marks can be calculated (path / path correction) and for the positioning of the printing units 111 to 114 and preferably also for the positioning of the infeed unit 110 and the extension unit
- the web is preferably between the infeed 110 and the first printing unit 111 with a first sensor and between the last printing unit
- register controller in a common computing unit 150 such as a computer, may be embodied.
- FIG. 2 shows a control circuit 200 which describes the basic features of the regulation according to the invention.
- the Control circuit can for example be based on a printing press according to FIG.
- the control loop 200 comprises a comparison element 201 to which the reference variable w and the controlled variable y are fed.
- the reference variable w describes, for example, a register deviation depending on the selected control strategy and is usually specified as "0" in this case.
- the controlled variable y in this case supplies the determined register error.
- the comparison element 201 calculates therefrom the control difference e, which is supplied to the actual control element 202.
- the control element 202 calculates a controller output variable u R , which has a
- Pre-control output variable rf - in the example shown is additive applied and finally as a manipulated variable of a controlled system G, which is denoted by 204, is supplied.
- the manipulated variable acts on a printing unit to correct its angular position. It is understood that instead of the illustrated additive feedforward control 203, a multiplicative or differently configured feedforward control can also be used.
- Disturbances d which are usually to be compensated in a register control, in the example shown also additively via an adder 205 in the controlled variable y.
- the disturbance d causes a change in the controlled variable, which is not desired and must be compensated.
- FIG. 3 shows the register error profiles in a dynamic case, two being used per pass
- Printers are usually set up by the printer.
- the register error 301 occurring during the first acceleration phase shows large deflections upwards and downwards which exceed the permissible limit of 0.1 mm go out. Thus waste will be generated in this phase as well.
- the register error or the controlled variable y in the acceleration range can also be used to determine the correction values.
- the first correction value ACP for the first, speed-dependent compensation value CP for the range from V 1 to v 2 the following applies:
- ACP n U R (V 2 ) - U R (V 1 ) with
- ACP n first correction value obtained from the nth pass;
- the first correction value is expediently calculated as the difference of the controller output variable u R at the time at which the
- the correction value thus obtained is added to the existing compensation value to obtain the compensation value
- CP n + 1 CP n + ACP n with CP n : first compensation value during the nth
- ACP n first correction value determined based on the observation of the regulator output during the n th rotation speed change.
- a correction value ACP 2 can again be determined for the correction of the compensation value CP 2 , the compensation value CP 3 obtained therefrom being used for precontrol for the third pass.
- the associated register error profile is denoted by 303 and in turn has smaller values on the courses 301 and 302.
- acceleration-dependent pilot control output variables rf are also simultaneously determined, which are added to the speed-dependent pilot control output variables rf. It has become the use of the following relationships has proved expedient: with 4CA n : second correction value obtained from the nth pass; ⁇ A : weighting factor between 0 and 1; u * R : maximum controller output during the nth
- the weighting factor ⁇ A can be between
- Acceleration phases are changed in order to influence the changes of the second compensation value in successive rotational speed changes can.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Inking, Control Or Cleaning Of Printing Machines (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008058458A DE102008058458A1 (en) | 2008-11-21 | 2008-11-21 | Axis correction method for a processing machine and a processing machine |
PCT/EP2009/008240 WO2010057636A1 (en) | 2008-11-21 | 2009-11-19 | Method for axis correction in a processing machine and processing machine |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2358534A1 true EP2358534A1 (en) | 2011-08-24 |
EP2358534B1 EP2358534B1 (en) | 2018-05-09 |
Family
ID=41667809
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP09760490.4A Not-in-force EP2358534B1 (en) | 2008-11-21 | 2009-11-19 | Method for axis correction in a processing machine and processing machine |
Country Status (4)
Country | Link |
---|---|
US (1) | US8768491B2 (en) |
EP (1) | EP2358534B1 (en) |
DE (1) | DE102008058458A1 (en) |
WO (1) | WO2010057636A1 (en) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011101842A1 (en) * | 2011-05-17 | 2012-11-22 | Robert Bosch Gmbh | Method of controlling web tension in a web-processing machine |
CN103158415B (en) * | 2013-03-13 | 2016-02-10 | 辽宁超烁图码科技板业有限公司 | The production method of the multi color effect roller coat color steel improved |
CN103204011B (en) * | 2013-03-19 | 2016-06-01 | 辽宁超烁图码科技板业有限公司 | The roller coat production method of a kind of figure code warming plate being applicable to skin |
US10227197B2 (en) | 2013-08-16 | 2019-03-12 | The Procter & Gamble Plaza | Method for reducing the effects of parent roll variations during unwinding |
CN103941588B (en) * | 2014-04-21 | 2017-01-11 | 华中科技大学 | Modeling and control method for color register system in electronic shaft gravure printing machine acceleration process |
US9953318B1 (en) | 2015-05-22 | 2018-04-24 | Intuit Inc. | Automatic transaction-based verification of account ownership |
CN105599439A (en) * | 2015-10-29 | 2016-05-25 | 华中科技大学 | Online-parameter-identified self-adapting color register control system |
CN106476425B (en) * | 2016-10-18 | 2018-10-16 | 郑州轻工业学院 | Intaglio press chromatography control method based on film algorithm |
CN108388279B (en) * | 2018-02-12 | 2021-09-17 | 浙江中控技术股份有限公司 | Control method and device for high-speed rotating mechanical equipment |
DE102021120371A1 (en) * | 2021-08-05 | 2023-02-09 | Multivac Sepp Haggenmüller Se & Co. Kg | PACKAGING MACHINE WITH FILM TRANSPORT DEVICE AND PROCESS |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4322744C2 (en) * | 1993-07-08 | 1998-08-27 | Baumueller Nuernberg Gmbh | Electrical drive system and positioning method for the synchronous adjustment of several rotatable and / or pivotable functional parts in devices and machines, drive arrangement with an angular position encoder and printing machine |
DE4434843A1 (en) | 1994-09-29 | 1996-04-18 | Roland Man Druckmasch | Procedure to avoid register differences |
DE10135773C5 (en) | 2001-07-23 | 2009-07-09 | Koenig & Bauer Aktiengesellschaft | Method and device for controlling drives of a printing machine |
CN1652938A (en) * | 2002-03-25 | 2005-08-10 | 三菱重工业株式会社 | Misregistration when printing speed is changed, cutting misregistration, or pinter in which variation of printing density can be controlled |
US7181296B2 (en) * | 2003-08-06 | 2007-02-20 | Asml Netherlands B.V. | Method of adaptive interactive learning control and a lithographic manufacturing process and apparatus employing such a method |
DE10335888B4 (en) * | 2003-08-06 | 2008-03-13 | Man Roland Druckmaschinen Ag | Method and apparatus for controlling the total cut register error of a web-fed rotary press |
US7165959B2 (en) | 2003-09-09 | 2007-01-23 | 3M Innovative Properties Company | Apparatus and method for producing two-sided patterned webs in registration |
DE102005008223A1 (en) * | 2005-02-22 | 2006-08-31 | Man Roland Druckmaschinen Ag | Reel changer of a web-fed printing machine and method for controlling a reel changer |
US20070068210A1 (en) * | 2005-09-29 | 2007-03-29 | University Of Pittsburgh - Of The Commonwealth System Of Higher Education | System for controlling a rolling mill and method of controlling a rolling mill |
DE102005054975B4 (en) | 2005-11-16 | 2016-12-15 | Siemens Aktiengesellschaft | Register control in a printing machine |
DE102005057975A1 (en) * | 2005-12-05 | 2007-06-06 | Robert Bosch Gmbh | Method for controlling fuel or air flow to individual cylinder of internal-combustion engine, involves evaluation of signal which is influenced by combustion or affects value which has influence on combustion |
DE102007037564B4 (en) | 2007-08-09 | 2013-11-14 | Robert Bosch Gmbh | Method for axis correction in a processing machine |
DE102007062454A1 (en) * | 2007-12-22 | 2009-07-02 | Robert Bosch Gmbh | Method for regulating a web tension and / or a register |
KR100953475B1 (en) * | 2008-02-19 | 2010-04-16 | 건국대학교 산학협력단 | Feedforward control of downstream register errors for electronic roll-to-roll printing system |
JP4636117B2 (en) * | 2008-05-09 | 2011-02-23 | トヨタ自動車株式会社 | Meander control system and meander control method |
-
2008
- 2008-11-21 DE DE102008058458A patent/DE102008058458A1/en not_active Withdrawn
-
2009
- 2009-11-19 US US13/130,504 patent/US8768491B2/en not_active Expired - Fee Related
- 2009-11-19 WO PCT/EP2009/008240 patent/WO2010057636A1/en active Application Filing
- 2009-11-19 EP EP09760490.4A patent/EP2358534B1/en not_active Not-in-force
Non-Patent Citations (1)
Title |
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See references of WO2010057636A1 * |
Also Published As
Publication number | Publication date |
---|---|
US20110307082A1 (en) | 2011-12-15 |
US8768491B2 (en) | 2014-07-01 |
EP2358534B1 (en) | 2018-05-09 |
WO2010057636A1 (en) | 2010-05-27 |
DE102008058458A1 (en) | 2010-05-27 |
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