[go: up one dir, main page]

WO2004111570A3 - Determination de la position angulaire absolue d’un volant par mesure incrementale et mesure de la vitesse differentielle des roues - Google Patents

Determination de la position angulaire absolue d’un volant par mesure incrementale et mesure de la vitesse differentielle des roues Download PDF

Info

Publication number
WO2004111570A3
WO2004111570A3 PCT/FR2004/001453 FR2004001453W WO2004111570A3 WO 2004111570 A3 WO2004111570 A3 WO 2004111570A3 FR 2004001453 W FR2004001453 W FR 2004001453W WO 2004111570 A3 WO2004111570 A3 WO 2004111570A3
Authority
WO
WIPO (PCT)
Prior art keywords
angular position
measurement
steering wheel
absolute angular
determining
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/FR2004/001453
Other languages
English (en)
Other versions
WO2004111570A2 (fr
Inventor
Pascal Desbiolles
Christophe Duret
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.)
NTN Europe SA
Original Assignee
Societe Nouvelle de Roulements SNR SA
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 Societe Nouvelle de Roulements SNR SA filed Critical Societe Nouvelle de Roulements SNR SA
Priority to US10/560,106 priority Critical patent/US20060279278A1/en
Priority to JP2006516285A priority patent/JP2007526987A/ja
Priority to EP04767318A priority patent/EP1631485A2/fr
Publication of WO2004111570A2 publication Critical patent/WO2004111570A2/fr
Publication of WO2004111570A3 publication Critical patent/WO2004111570A3/fr
Anticipated expiration legal-status Critical
Priority to US12/003,528 priority patent/US7605586B2/en
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Gyroscopes (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Steering Controls (AREA)

Abstract

Système de détermination de la position angulaire absolue θ du volant de direction (1) d'un véhicule automobile par rapport au châssis dudit véhicule, ledit système comprenant un dispositif de mesure incrémentale de la position angulaire relative δ du volant, un dispositif de mesure (2) de la vitesse différentielle ΔVΝ des roues d'un même essieu, et un dispositif de traitement (8) apte à échantillonner avec une période t les positions angulaires et les vitesses différentielles, ledit dispositif comprenant des moyens de calcul aptes, à des instants tn, à : déterminer une estimation θ*(tn) de la position angulaire absolue θ(tn) en fonction de la vitesse différentielle ΔVΝ (tn) ; déterminer la différence moyenne offset(tn) entre les positions angulaires θ*(ti) et δ(ti), i variant de 0 à n ; déterminer la positon angulaire absolue θ(tn) par addition entre la différence moyenne offset(tn) et la position angulaire δ(tn).
PCT/FR2004/001453 2003-06-11 2004-06-10 Determination de la position angulaire absolue d’un volant par mesure incrementale et mesure de la vitesse differentielle des roues Ceased WO2004111570A2 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US10/560,106 US20060279278A1 (en) 2003-06-11 2004-06-10 Determining of the absolute angular position of a steering wheel by means of an incremental measurement and the measurement of the differential velocity of wheels
JP2006516285A JP2007526987A (ja) 2003-06-11 2004-06-10 増分測定および車輪の差速の測定によるステアリングホイールの絶対角位置の決定
EP04767318A EP1631485A2 (fr) 2003-06-11 2004-06-10 DETERMINATION DE LA POSITION ANGULAIRE ABSOLUE D’UN VOLANT PAR MESURE INCREMENTALE ET MESURE DE LA VITESSE DIFFERENTIELLE DES ROUES
US12/003,528 US7605586B2 (en) 2003-06-11 2007-12-28 Determination of the absolute angular position of a steering wheel by incremental measurement and measuring the differential speed of the wheels

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR03/07002 2003-06-11
FR0307002A FR2856142B1 (fr) 2003-06-11 2003-06-11 Determination de la position angulaire absolue d'un volant par mesure incrementale et mesure de la vitesse differentielle des roues

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US10/560,106 A-371-Of-International US20060279278A1 (en) 2003-06-11 2004-06-10 Determining of the absolute angular position of a steering wheel by means of an incremental measurement and the measurement of the differential velocity of wheels
US12/003,528 Continuation US7605586B2 (en) 2003-06-11 2007-12-28 Determination of the absolute angular position of a steering wheel by incremental measurement and measuring the differential speed of the wheels

Publications (2)

Publication Number Publication Date
WO2004111570A2 WO2004111570A2 (fr) 2004-12-23
WO2004111570A3 true WO2004111570A3 (fr) 2005-03-24

Family

ID=33484340

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FR2004/001453 Ceased WO2004111570A2 (fr) 2003-06-11 2004-06-10 Determination de la position angulaire absolue d’un volant par mesure incrementale et mesure de la vitesse differentielle des roues

Country Status (7)

Country Link
US (2) US20060279278A1 (fr)
EP (1) EP1631485A2 (fr)
JP (1) JP2007526987A (fr)
KR (1) KR20060022690A (fr)
CN (2) CN100447534C (fr)
FR (1) FR2856142B1 (fr)
WO (1) WO2004111570A2 (fr)

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2862382B1 (fr) 2003-11-18 2006-06-02 Roulements Soc Nouvelle Systeme capteur de couple absolu de torsion et module le comprenant
FR2899862B1 (fr) * 2006-04-13 2009-06-05 Siemens Vdo Automotive Sas Procede et dispositif de mesure de la position angulaire, entre deux butees de braquage,d'un volant de direction d'un vehicule
JP2010002297A (ja) * 2008-06-20 2010-01-07 Nippon Soken Inc 車両用操舵角検出装置
CN101293535B (zh) * 2008-06-27 2010-06-23 中国科学院合肥物质科学研究院 用于汽车方向盘转角的测量方法
FR2935485B1 (fr) * 2008-08-28 2010-09-10 Roulements Soc Nouvelle Systeme et procede de mesure du mouvement axial d'une piece mobile en rotation
FR2935486B1 (fr) * 2008-08-28 2010-09-10 Roulements Soc Nouvelle Dispositif de codage magnetique
US8077303B2 (en) * 2009-11-30 2011-12-13 Bi Technologies Corporation Rotation and differential angle optical sensor with short optical sensing array
US8218134B2 (en) * 2009-11-30 2012-07-10 Bi Technologies Corporation Rotation and differential angle optical sensor with non-transition pattern sampling
US8077301B2 (en) * 2009-11-30 2011-12-13 Bi Technologies Corporation Rotation and differential angle optical sensor with integral bearing races
US8077302B2 (en) * 2009-11-30 2011-12-13 Bi Technologies Corporation Rotation and differential angle optical sensor which does not require keyed installation
CN102243082B (zh) * 2010-05-10 2015-05-20 上海宏曲电子科技有限公司 光敏角位传感器
CN102241273A (zh) * 2010-05-10 2011-11-16 上海宏曲电子科技有限公司 激光式数码舵角指示系统
CN102478409A (zh) * 2010-11-25 2012-05-30 上海宏曲电子科技有限公司 间接式被动激光角位传感器
CN102478391A (zh) * 2010-11-25 2012-05-30 上海宏曲电子科技有限公司 直接式主动激光角位传感器
CN102478394A (zh) * 2010-11-25 2012-05-30 上海宏曲电子科技有限公司 间接式分体型主动激光角位传感器
CN102478393A (zh) * 2010-11-25 2012-05-30 上海宏曲电子科技有限公司 直接式分体型被动激光角位传感器
CN102478406A (zh) * 2010-11-25 2012-05-30 上海宏曲电子科技有限公司 直接式被动激光角位传感器
CN103017786B (zh) * 2011-09-26 2016-02-17 东莞易步机器人有限公司 自平衡两轮车转向偏移量校准装置及校准方法
CN103177311A (zh) * 2011-12-21 2013-06-26 上海华虹Nec电子有限公司 尼尔森规格管理方法及系统
CN107356273B (zh) * 2016-05-09 2021-04-30 成都安驭科技有限公司 一种提高编码检测装置可靠性的方法
FR3052254B1 (fr) * 2016-06-07 2018-06-15 Stmicroelectronics (Rousset) Sas Dispositif de determination du mouvement d'un element rotatif, en particulier pour les releves de compteurs d'eau et/ou de gaz
CN107628110A (zh) * 2017-09-29 2018-01-26 株洲易力达机电有限公司 一种汽车电动助力转向盘角度识别方法
FR3077263B1 (fr) * 2018-01-31 2021-01-08 Jtekt Europe Sas Amelioration de l’evaluation de la position angulaire absolue d’un volant de conduite par prise en consideration de la situation lors de la coupure de contact du vehicule
FR3101704B1 (fr) 2019-10-08 2021-09-24 Robert Bosch Automotive Steering Vendome Procédé de détection d’une position angulaire absolue ou d’une course de déplacement angulaire absolue d’un organe tournant
JP7443140B2 (ja) * 2020-04-09 2024-03-05 Dmg森精機株式会社 位置検出装置
CN111516755A (zh) * 2020-04-22 2020-08-11 东风汽车集团有限公司 一种方向盘转角信号校准方法和转角零位确认方法
KR102521764B1 (ko) 2020-09-25 2023-04-14 한국신발피혁연구원 실리카 마스터배치 제조방법 및 이로부터 제조된 실리카 마스터배치

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0353995A2 (fr) * 1988-08-01 1990-02-07 Honda Giken Kogyo Kabushiki Kaisha Détecteur d'angle de rotation du volant de direction et méthode pour contrôler le lacet d'un véhicule
EP0460582A2 (fr) * 1990-06-04 1991-12-11 Nippondenso Co., Ltd. Appareil de détection d'angle de direction pour véhicules à moteur
FR2754063A1 (fr) * 1996-09-30 1998-04-03 Roulements Soc Nouvelle Circuit de multiplication de resolution et de determination de sens de deplacement
DE19856304A1 (de) * 1998-03-31 1999-10-07 Continental Teves Ag & Co Ohg Vorrichtung und Vorrichtung zum Überprüfen und Korrigieren der Ausgabe eines Lenkwinkelsensors
FR2792403A1 (fr) * 1999-04-14 2000-10-20 Roulements Soc Nouvelle Capteur de position et/ou de deplacement comportant une pluralite d'elements sensibles alignes

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0671863B2 (ja) * 1988-08-01 1994-09-14 本田技研工業株式会社 車両の転舵角検出装置
JPH0316879A (ja) * 1989-06-15 1991-01-24 Nippon Soken Inc 車両用パワーステアリング制御装置
DE4142457C2 (de) * 1991-12-20 2000-12-21 Bayerische Motoren Werke Ag Verfahren zur Bestimmung der Drehlage einer Lenkwelle von Kraftfahrzeugen
JPH07159112A (ja) * 1993-12-07 1995-06-23 Mazda Motor Corp 舵角検出装置
DE69506741T2 (de) * 1994-01-14 1999-09-02 Matsushita Electric Industrial Co. Vorrichtung zum Steuern eines Lenkwinkels
CN1178577A (zh) * 1995-03-30 1998-04-08 西门子公司 在尤其串行传输检测的位置实际值的绝对角位置测量发生器中用于旋转方向判定和真实性验证的装置
KR100215458B1 (ko) * 1996-07-19 1999-08-16 윤종용 회전모터의 절대각위치 산출장치 및 이를 적용한 속도제어장치
WO1999032345A1 (fr) * 1997-12-18 1999-07-01 Petri Ag Detecteur adaptatif pour la determination absolue d'un angle de braquage
JP2001151127A (ja) * 1999-11-25 2001-06-05 Yazaki Corp 回転角検出センサ
JP2001336912A (ja) * 2000-05-29 2001-12-07 Yazaki Corp ステアリング角センサ
FR2811077B1 (fr) * 2000-06-30 2002-09-13 Roulements Soc Nouvelle Dispositif de determination de la position angulaire absolue d'un organe tournant
JP2002168651A (ja) * 2000-11-28 2002-06-14 Yazaki Corp ステアリング角センサ
FR2829986B1 (fr) * 2001-09-26 2003-12-26 Roulements Soc Nouvelle Systeme de direction assistee electrique commande par impulsions
FR2845154B1 (fr) * 2002-09-27 2005-03-18 Roulements Soc Nouvelle Capteur d'angle absolu comprenant un codeur a singularites non-equireparties

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0353995A2 (fr) * 1988-08-01 1990-02-07 Honda Giken Kogyo Kabushiki Kaisha Détecteur d'angle de rotation du volant de direction et méthode pour contrôler le lacet d'un véhicule
EP0460582A2 (fr) * 1990-06-04 1991-12-11 Nippondenso Co., Ltd. Appareil de détection d'angle de direction pour véhicules à moteur
FR2754063A1 (fr) * 1996-09-30 1998-04-03 Roulements Soc Nouvelle Circuit de multiplication de resolution et de determination de sens de deplacement
DE19856304A1 (de) * 1998-03-31 1999-10-07 Continental Teves Ag & Co Ohg Vorrichtung und Vorrichtung zum Überprüfen und Korrigieren der Ausgabe eines Lenkwinkelsensors
FR2792403A1 (fr) * 1999-04-14 2000-10-20 Roulements Soc Nouvelle Capteur de position et/ou de deplacement comportant une pluralite d'elements sensibles alignes

Also Published As

Publication number Publication date
FR2856142B1 (fr) 2005-09-30
CN100447534C (zh) 2008-12-31
US20080177502A1 (en) 2008-07-24
WO2004111570A2 (fr) 2004-12-23
FR2856142A1 (fr) 2004-12-17
EP1631485A2 (fr) 2006-03-08
US7605586B2 (en) 2009-10-20
CN1826510A (zh) 2006-08-30
KR20060022690A (ko) 2006-03-10
US20060279278A1 (en) 2006-12-14
JP2007526987A (ja) 2007-09-20
CN1819945A (zh) 2006-08-16

Similar Documents

Publication Publication Date Title
WO2004111570A3 (fr) Determination de la position angulaire absolue d’un volant par mesure incrementale et mesure de la vitesse differentielle des roues
CN102582626B (zh) 重型半挂车状态估计方法
CN102112354B (zh) 路面摩擦系数估计装置和路面摩擦系数估计方法
CN105151047B (zh) 一种汽车质心侧偏角测量方法
CN106184225B (zh) 分布式四驱电动车动力学控制的纵向车速估算方法
CN110077392B (zh) 一种自动泊车定位系统的航迹推算方法
JP2016034826A (ja) タイヤ摩耗を決定するためのシステムおよび方法
EP0970876A3 (fr) Système de détection d'angle de dérapage de roue d'un véhicule
JP3939612B2 (ja) 路面摩擦状態推定装置
WO2005023614A3 (fr) Appareil de commande de stabilite et instrument de mesure de charge pour palier a roulement soutenant une roue
WO2008087778A1 (fr) Dispositif de navigation de voiture
CN105074649A (zh) 用于惯性传感器偏移补偿的系统和方法
DE50303396D1 (de) System zur beeinflussung der geschwindigkeit eines kraftfahrzeuges
EP1271098A3 (fr) Dispositif et procédé pour évaluer des pentes de chaussée, et logiciel pour évaluer des pentes
CN105172793A (zh) 自动驾驶汽车的位姿估算方法
US6631321B1 (en) Vehicle heading change determination using compensated differential wheel speed
BR9909749A (pt) Estrutura de volante de direção com sensor de toque integrado ou diretamente montado para dispositivo de direção de veìculo
CN111806430B (zh) 一种用于自动泊车的车速计算方法
JP2010281691A (ja) 車速検出装置、ドライブレコーダ、および二輪車
US20040113382A1 (en) Absolute angle sensor with a magnetic encoder having even spaced reference pulses
JPH03165265A (ja) 標高差計測装置
JP3557508B2 (ja) 方向検出装置
BRPI0417755A (pt) dispositivo que permite controlar um banco destinado a medir, regular e/ou controlar um trem circulante de veìculos automotores
CN115056799B (zh) 一种用于自动泊车航迹推算的优化算法
EP0359150A3 (fr) Dispositif d'affichage de la position d'un véhicule

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 200480019760.1

Country of ref document: CN

AK Designated states

Kind code of ref document: A2

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A2

Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
WWE Wipo information: entry into national phase

Ref document number: 2004767318

Country of ref document: EP

Ref document number: 2006516285

Country of ref document: JP

WWE Wipo information: entry into national phase

Ref document number: 1020057023787

Country of ref document: KR

WWP Wipo information: published in national office

Ref document number: 2004767318

Country of ref document: EP

WWP Wipo information: published in national office

Ref document number: 1020057023787

Country of ref document: KR

WWE Wipo information: entry into national phase

Ref document number: 2006279278

Country of ref document: US

Ref document number: 10560106

Country of ref document: US

WWP Wipo information: published in national office

Ref document number: 10560106

Country of ref document: US