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WO1999014113A1 - Systeme et procede de propulsion - Google Patents

Systeme et procede de propulsion Download PDF

Info

Publication number
WO1999014113A1
WO1999014113A1 PCT/FI1998/000725 FI9800725W WO9914113A1 WO 1999014113 A1 WO1999014113 A1 WO 1999014113A1 FI 9800725 W FI9800725 W FI 9800725W WO 9914113 A1 WO9914113 A1 WO 9914113A1
Authority
WO
WIPO (PCT)
Prior art keywords
propeller
ice
vanes
nozzle
blades
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
Application number
PCT/FI1998/000725
Other languages
English (en)
Inventor
Yuriy Nikolaevich Alekseyev
Alexandre Vladislavovich Andryushin
Oleg Nikolaevich Bezzubik
Valeriy Adamovich Belyashov
Valentin Mikhailovich Pashin
Andrei Vasilievich Ponomarev
Vadim Evgenievich Spiro
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB Azipod Oy
KRYLOV SHIPBUILDING RESEARCH INSTITUTE
Original Assignee
ABB Azipod Oy
KRYLOV SHIPBUILDING RESEARCH INSTITUTE
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by ABB Azipod Oy, KRYLOV SHIPBUILDING RESEARCH INSTITUTE filed Critical ABB Azipod Oy
Priority to DE69811919T priority Critical patent/DE69811919D1/de
Priority to JP2000511678A priority patent/JP2001516675A/ja
Priority to KR1020007002691A priority patent/KR20010015586A/ko
Priority to AU92675/98A priority patent/AU9267598A/en
Priority to EP98945326A priority patent/EP1015308B1/fr
Priority to AT98945326T priority patent/ATE233692T1/de
Priority to CA002303523A priority patent/CA2303523A1/fr
Publication of WO1999014113A1 publication Critical patent/WO1999014113A1/fr
Priority to NO20001355A priority patent/NO20001355L/no
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/16—Arrangements on vessels of propulsion elements directly acting on water of propellers characterised by being mounted in recesses; with stationary water-guiding elements; Means to prevent fouling of the propeller, e.g. guards, cages or screens
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
    • B63H5/10—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller of coaxial type, e.g. of counter-rotative type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/14—Arrangements on vessels of propulsion elements directly acting on water of propellers characterised by being mounted in non-rotating ducts or rings, e.g. adjustable for steering purpose
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/16—Arrangements on vessels of propulsion elements directly acting on water of propellers characterised by being mounted in recesses; with stationary water-guiding elements; Means to prevent fouling of the propeller, e.g. guards, cages or screens
    • B63H5/165—Propeller guards, line cutters or other means for protecting propellers or rudders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2211/00—Applications
    • B63B2211/06—Operation in ice-infested waters

Definitions

  • This invention relates to vessel propulsion arrangements, and, in particular but not exclusively, to propulsion systems intended for operation in ice-covered waters and/or in ice conditions .
  • a vessel such as a ship or a ferry
  • the drive shaft is rotated by a drive apparatus positioned within the hull of the vessel, and the drive shaft is then lead through the hull such that the propeller extends to the water.
  • the vessels are maneuvered by separate steering gears, such as by rudder gears.
  • azimuth thruster units or azimuthing propulsion units which provide both the vessel propulsion and also the maneuvering.
  • azimuthing propulsion units are gaining increasing popularity, and they are applied for many type of vessels, as they have proven to provide many benefits when compared to conventional solutions. They have proven to be especially advantageous when using the vessels in ice conditions .
  • ABB Azipod Oy One widely known azimuth thruster unit for ship propulsion and maneuvering in ice is offered by ABB Azipod Oy, the tradename for these being Azipod.
  • These azimuthing units operate in a pulling mode and consist of a streamlined strut and a torpedo-shaped pod containing drive elements and a propeller shaft with a screw propeller mounted on the overhanging part of the shaft (for more details, see e.g. Azipod, Project Guide, Sept. 1995 or FI patent No. 76977 in the name of ABB Azipod Oy) .
  • a shortcoming of the azimuthing unit of the above type is that the screw propeller is not protected against possible damages caused by the ice while the propulsive efficiency of the fixed-pitch propeller is not sufficient in all conditions .
  • a Norwegian company Ugland Offshore provides azimuth thruster unit which operate in a pulling mode and consist of a streamlined strut and a torpedo-shaped pod containing drive elements and a propeller shaft with a controllable- pitch ducted propeller mounted on the overhanging part of the shaft (for more details, see e.g. Brochures on the Fennica and Nordica Icebreakers published by Ugland Offshore, Norway) .
  • the drawback of the above unit is also that the propeller blades are unprotected against the destructive effect of ice.
  • the performance of a vessel operating in heavy ice is also unsatisfactory as it is not advantageous to use a nozzle arrangement surrounding the propeller owing to the tendency of the nozzle inlet to clog with ice blocks which are drawn in to the nozzle by the propeller. This results in a sharp reduction of propeller thrust and an increase in hull vibration.
  • In case of clogging the ship often comes to a standstill state which, among other disadvantages affects of stopping the ship, increases the danger of collision with the following ship moving in the convoy. If the ice is seized between the blades and the nozzle when the ship is moving through hammocky ice, the removal of this by reversing the propeller has proven to be difficult and in many instances impossible.
  • One known improvement is an azimuth thruster for ship propulsion and maneuvering in ice conditions, which has a streamlined strut and a torpedo-shaped pod containing drive elements and propeller shaft with the ducted propeller and particular ice-breaking elements mounted on the overhanging part of the shaft, thus making it possible to break and crush the ice before entering into the nozzle (see Finnish patent No. 91513 A, int. class B63H 5/16) .
  • the drawback of such a unit is that the nozzle inlet is still unprotected against clogging with ice fragments. It is also impossible to throw ice fragments away from the nozzle owing to the relatively small size of the ice-breaking elements when compared to the propeller, and thus to the nozzle, diameter.
  • the unit disclosed by the FI patent 91513 is intended for breaking (crushing) of ice and admitting it through the nozzle, but this operation can be accomplished only for a substantially thin ice in conditions in which comparatively small propellers are used, for instance in propulsive systems used in harbor icebreakers . In heavy ice conditions, such as in the Arctic, this unit is ineffective and unable to throw the larger size ice fragments away from the nozzle, while the smaller size fragments entrained into the nozzle deteriorate the propeller performance.
  • An object of the invention is to provide an improvement to a performance and characteristics of a vessel used in ice conditions by providing a reliable protection of nozzle inlet against clogging of the same with ice fragments and by raising the effectiveness of propulsion in general in ice conditions.
  • a further object is to provide a corresponding improvement for vessels using azimuthing propulsion units or thrusters in heavy ice conditions.
  • propulsion system comprising ice-breaking elements which are in form of rotatable blades or vanes and attached to a portion of the drive shaft projecting outside the water inlet of a nozzle for breaking and/or crushing ice before the ice enters into the nozzle are designed.
  • the design is such that the point of maximum diameter of the blades or vanes is having an axial distance from the plane of the water inlet which is 0.02 to 0.25 times the diameter of the propeller and the rotatable blades or vanes are having a diameter which is 0.6 to 0.8 times the diameter of the propeller.
  • the inventive method utilizes the above design.
  • the blades or vanes are uniformly placed in a circle on the plane perpendicular to the propeller shaft .
  • the propulsion unit is formed by an azimuthing propulsion unit.
  • Figure 1 shows, partially in section, an azimuth thruster with ice-breaking elements
  • Figure 2 shows the results obtained from model tests of the propulsive unit fitted with ice-breaking elements.
  • the azimuth thruster disclosed by Fig. 1 comprises a streamlined strut or support 1 rotatably mounted relative to the hull of the vessel.
  • a torpedo-shaped pod 2 is attached to the strut 1 and contains drive elements (not shown in the figure) .
  • a propeller drive shaft 3 is connected to the drive elements, and project outside from the pod 2.
  • a screw propeller 4 is mounted on the overhanging part of the shaft 3 and inside a nozzle 5.
  • the nozzle 5 is a hollow, tube like element (the nozzle is sectioned in figure 1) attached to the pod 2 by means of support arms or mounting brackets 7 and has an inlet 10 for the inflowing water and correspondingly an outlet for the outflowing water.
  • the azimuth thruster as a whole is usually fitted in the rear end 8 of a vessel, but the thruster may also be fitted otherwise, such as in the forward end of the vessel.
  • the skilled person is familiar with the above described basic members of an azimuthing propulsion system provided with a nozzle and the possible modifications and variations thereof as well, and these are thus not explained in more detail herein.
  • the blades or vanes 6 are robustly constructed, i.e. they are made more solid than it is actually necessary for guiding the flow of water, so that they can effectively fulfill also the other basic functions thereof, namely breaking and/or throwing away the ice in front of the nozzle inlet.
  • the diameter of the ice- breaking blades and vanes has to be chosen so that they can effectively perform their basic functions: throwing away and breaking/crushing of ice and formation of flow before the nozzle.
  • the blade diameter must be 1.5-2 times larger than that of the propeller hub 9.
  • the upper limit of the blade (vane) diameter is, in turn, dictated by the need to avoid much heavier ice loads on the propeller shaft than what is the case when using an open screw propeller (i.e. no nozzle) .
  • the blades (vanes) will have to frequently mill the ice.
  • ice anti-torque moment will be proportional to the blade diameter to the power 2-2.5 (see e.g.
  • the ice-breaking blades or vanes 6 must be mounted fore of the nozzle inlet 10 and spaced from the fore edge i.e. the inlet 10 of the nozzle 5.
  • the blades positioned in too close proximity to the nozzle inlet opening 10, ice casting away by the blades will be hindered by drawing in forces of the nozzle. In this case, all ice pieces in way of the nozzle inlet opening will be destroyed by milling which will, in turn, result to an undesired wasting of the shaft rotation energy and excessive loading of the shaft line.
  • the blades cannot be mounted at a too great distance in front of the nozzle either since they will then loose their screw/nozzle protection capability.
  • the inventors also found that in most cases it is preferred to position the ice-breaking blades or vanes uniformly in the plane perpendicular to that of the propeller shaft in order to eliminate inertial loads on the shaft line.
  • the final diameter of the ice-breaking blades (vanes) , their number and spacing from the nozzle fore edge for each particular vessel and navigation conditions should be selected on the basis of data obtained from tests in hydrodynamic and ice model basins.
  • V relative advance is ⁇ - — , and nD
  • the curves (1) , (2) , (3) in this plot correspond to the values of K ⁇ , K Q ⁇ and ⁇ p for the standard v scre -nozzle" propulsion unit.
  • the curves (4), (5) and (6) show the values of K ⁇ , K Q ⁇ and ⁇ p , respectively, for the proposed propulsive unit.
  • a rotating screw propeller develops a thrust that drives the vessel . Owing to the nozzle the thrust is additionally increased by 20-25%. Blades and/or vanes dimensioned as stated above and which rotate together with the screw propeller cast away and/or destroy ice and prevent blocking of the nozzle inlet opening .
  • the invention provides apparatus and a method by which a significant improvement is achieved in the area of propulsion systems. It should, however, be understood that the above description of an example of the invention is not meant to restrict the invention to the specific forms presented in this connection but rather the present invention is meant to cover all modifications, similarities and alternatives which are included in the spirit and scope of the present invention, as defined by the appended claims. For instance, upon reading the above description together with the annexed drawing it will be obvious to the skilled person to use this invention in connection with conventional propulsion units.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Earth Drilling (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Mixers Of The Rotary Stirring Type (AREA)
  • Cleaning In General (AREA)
  • Vehicle Body Suspensions (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Control Of Turbines (AREA)

Abstract

La présente invention concerne un système de propulsion pour navires ainsi qu'un procédé de déplacement d'un navire dans des conditions de glace. Le système comprend un arbre d'entraînement (3), une hélice (4) fixée à l'arbre d'entraînement, un ajutage (5) entourant l'hélice, l'ajutage présentant une entrée (10) d'eau et une sortie d'eau, ainsi que des aubes aux pales rotatives (6) fixées à une partie de l'arbre d'entraînement dépassant à l'extérieur de l'entrée d'eau afin de rompre et/ou d'écraser la glace avant que la glace ne pénètre dans l'ajutage. Le point de diamètre maximum des pales est positionné à une distance axiale du plan de l'entrée d'eau représentant 0,02 à 0,25 fois le diamètre de l'hélice. Les pales rotatives présentent également un diamètre représentant 0,6 à 0,8 fois le diamètre de l'hélice.
PCT/FI1998/000725 1997-09-15 1998-09-15 Systeme et procede de propulsion Ceased WO1999014113A1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
DE69811919T DE69811919D1 (de) 1997-09-15 1998-09-15 Antriebssystem und verfahren
JP2000511678A JP2001516675A (ja) 1997-09-15 1998-09-15 推進システム及び方法
KR1020007002691A KR20010015586A (ko) 1997-09-15 1998-09-15 추진 시스템 및 방법
AU92675/98A AU9267598A (en) 1997-09-15 1998-09-15 Propulsion system and method
EP98945326A EP1015308B1 (fr) 1997-09-15 1998-09-15 Systeme et procede de propulsion
AT98945326T ATE233692T1 (de) 1997-09-15 1998-09-15 Antriebssystem und verfahren
CA002303523A CA2303523A1 (fr) 1997-09-15 1998-09-15 Systeme et procede de propulsion
NO20001355A NO20001355L (no) 1997-09-15 2000-03-15 Fremdriftssystem for skip og fremgangsmÕte for fremdrift

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
RU97115318 1997-09-15
RU97115318/28A RU2126762C1 (ru) 1997-09-15 1997-09-15 Судовая винторулевая колонка

Publications (1)

Publication Number Publication Date
WO1999014113A1 true WO1999014113A1 (fr) 1999-03-25

Family

ID=20197130

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FI1998/000725 Ceased WO1999014113A1 (fr) 1997-09-15 1998-09-15 Systeme et procede de propulsion

Country Status (10)

Country Link
EP (1) EP1015308B1 (fr)
JP (1) JP2001516675A (fr)
KR (1) KR20010015586A (fr)
AT (1) ATE233692T1 (fr)
AU (1) AU9267598A (fr)
CA (1) CA2303523A1 (fr)
DE (1) DE69811919D1 (fr)
NO (1) NO20001355L (fr)
RU (1) RU2126762C1 (fr)
WO (1) WO1999014113A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2869586A1 (fr) * 2004-04-30 2005-11-04 Alstom Sa Ensemble de propulsion pour navire, comprenant une nacelle destinee a une installation sous la carene du navire
WO2012008901A1 (fr) * 2010-07-12 2012-01-19 Rolls-Royce Aktiebolag Groupe propulseur pour un navire et navire présentant un groupe propulseur
WO2013119175A1 (fr) * 2012-02-07 2013-08-15 Rolls-Royce Ab Aménagement de propulseurs pour navire, et navire construit avec ce type d'aménagement de propulseurs
EP2808247A1 (fr) 2013-05-29 2014-12-03 ABB Technology AG Unité de propulsion comprenant un moteur éléctrique dont le stator entoure l'hélice
KR101486060B1 (ko) * 2013-09-24 2015-01-23 옥질표 반전 프로펠러를 이용한 선박 추진 장치
EP2944560A1 (fr) 2014-05-14 2015-11-18 ABB Oy Unité de propulsion
EP2955099A4 (fr) * 2013-02-08 2016-09-28 Samsung Heavy Ind Dispositif de propulsion de navire
WO2018083370A1 (fr) * 2016-11-03 2018-05-11 Abb Oy Unité de propulsion

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20030025067A (ko) * 2001-09-19 2003-03-28 정창호 석류 추출물을 함유하는 화장료 조성물
EP2461142B1 (fr) * 2010-12-01 2015-08-19 AGUSTAWESTLAND S.p.A. Procédé de calcul du poids de décollage d'un avion et système associé
CN109018197B (zh) * 2018-07-25 2020-05-05 中国船舶重工集团公司第七0四研究所 极地冰级船舶主推进系统设计方法
KR102702351B1 (ko) 2019-04-02 2024-09-03 한화오션 주식회사 결빙 방지 장치를 구비한 추진기 및 그를 포함하는 선박

Citations (2)

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US4427393A (en) * 1980-10-24 1984-01-24 Vickers Public Limited Company Propulsion of ships
FI91513B (fi) * 1989-09-18 1994-03-31 Aquamaster Rauma Oy Suulakepotkurilaite

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2085827B (en) * 1980-10-24 1984-05-16 Stone Vickers Ltd Improvements relating to the propulsion of ships
FI79991C (fi) * 1986-04-29 1990-04-10 Hollming Oy Propelleranordning foer ett fartyg.

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4427393A (en) * 1980-10-24 1984-01-24 Vickers Public Limited Company Propulsion of ships
FI91513B (fi) * 1989-09-18 1994-03-31 Aquamaster Rauma Oy Suulakepotkurilaite

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO337466B1 (no) * 2004-04-30 2016-04-18 Alstom Fremdriftsenhet for skip omfattende en motorkasse for installasjon under skipets skrog
WO2005110840A1 (fr) * 2004-04-30 2005-11-24 Alstom Ensemble de propulsion pour navire, comprenant une nacelle destinee a une installation sous la carene du navire
CN100471755C (zh) * 2004-04-30 2009-03-25 阿尔斯托姆公司 包括一用于安装在船舶的水下部分下面的舱艇的船舶推进组件
US8435089B2 (en) 2004-04-30 2013-05-07 Alstom Marine engine assembly including a pod mountable under a ship's hull
FR2869586A1 (fr) * 2004-04-30 2005-11-04 Alstom Sa Ensemble de propulsion pour navire, comprenant une nacelle destinee a une installation sous la carene du navire
WO2012008901A1 (fr) * 2010-07-12 2012-01-19 Rolls-Royce Aktiebolag Groupe propulseur pour un navire et navire présentant un groupe propulseur
CN103097238A (zh) * 2010-07-12 2013-05-08 罗尔斯-罗伊斯股份公司 用于海洋船舶的推进单元及具有推进单元的海洋船舶
CN103097238B (zh) * 2010-07-12 2016-09-21 罗尔斯-罗伊斯股份公司 具有推进单元的海洋船舶
US9457880B2 (en) 2012-02-07 2016-10-04 Rolls-Royce Ab Propulsor arrangement for a marine vessel and a marine vessel constructed with this type of propulsor arrangement
EP2812240B1 (fr) 2012-02-07 2019-01-23 Rolls-Royce AB Aménagement de propulseurs pour navire, et navire construit avec ce type d'aménagement de propulseurs
WO2013119175A1 (fr) * 2012-02-07 2013-08-15 Rolls-Royce Ab Aménagement de propulseurs pour navire, et navire construit avec ce type d'aménagement de propulseurs
EP2955099A4 (fr) * 2013-02-08 2016-09-28 Samsung Heavy Ind Dispositif de propulsion de navire
US10040528B2 (en) 2013-02-08 2018-08-07 Samsung Heavy Ind. Co., Ltd. Propulsion device for ship
CN104210633A (zh) * 2013-05-29 2014-12-17 Abb技术有限公司 推进装置
EP2808247A1 (fr) 2013-05-29 2014-12-03 ABB Technology AG Unité de propulsion comprenant un moteur éléctrique dont le stator entoure l'hélice
US9869320B2 (en) 2013-05-29 2018-01-16 Abb Schweiz Ag Propulsion unit
KR101486060B1 (ko) * 2013-09-24 2015-01-23 옥질표 반전 프로펠러를 이용한 선박 추진 장치
RU2629812C1 (ru) * 2014-05-14 2017-09-04 Абб Ой Движительная установка
WO2015173468A1 (fr) * 2014-05-14 2015-11-19 Abb Oy Unité de propulsion
EP2944560A1 (fr) 2014-05-14 2015-11-18 ABB Oy Unité de propulsion
US10259551B2 (en) 2014-05-14 2019-04-16 Abb Oy Propulsion unit
WO2018083370A1 (fr) * 2016-11-03 2018-05-11 Abb Oy Unité de propulsion

Also Published As

Publication number Publication date
DE69811919D1 (de) 2003-04-10
EP1015308B1 (fr) 2003-03-05
RU2126762C1 (ru) 1999-02-27
KR20010015586A (ko) 2001-02-26
NO20001355L (no) 2000-05-15
ATE233692T1 (de) 2003-03-15
NO20001355D0 (no) 2000-03-15
EP1015308A1 (fr) 2000-07-05
AU9267598A (en) 1999-04-05
CA2303523A1 (fr) 1999-03-25
JP2001516675A (ja) 2001-10-02

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