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EP1396046B9 - Procede d'orientation d'une tourelle hexapode - Google Patents

Procede d'orientation d'une tourelle hexapode Download PDF

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Publication number
EP1396046B9
EP1396046B9 EP02743335.8A EP02743335A EP1396046B9 EP 1396046 B9 EP1396046 B9 EP 1396046B9 EP 02743335 A EP02743335 A EP 02743335A EP 1396046 B9 EP1396046 B9 EP 1396046B9
Authority
EP
European Patent Office
Prior art keywords
moving plate
orientation
hexapod
legs
rotation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP02743335.8A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP1396046A1 (fr
EP1396046B1 (fr
Inventor
Jean-Pierre Gaechter
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.)
Safran Data Systems SAS
Original Assignee
Zodiac Data Systems SAS
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 Zodiac Data Systems SAS filed Critical Zodiac Data Systems SAS
Publication of EP1396046A1 publication Critical patent/EP1396046A1/fr
Publication of EP1396046B1 publication Critical patent/EP1396046B1/fr
Application granted granted Critical
Publication of EP1396046B9 publication Critical patent/EP1396046B9/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/125—Means for positioning
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
    • H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Definitions

  • the invention relates to the application of hexapod turrets to the pointing of equipment such as antennas, optronic devices or telescopes, optical measuring or telecommunication devices or any device whose function requires orientation in space.
  • the hexapod turrets or platforms of Stewart or Gough are devices generally used as antenna supports or telescopes allowing an adjustment of their orientation.
  • the patent EP 0 515 888 filed on May 12, 1992 in the name of ANT NACHRICHTENTECH describes an example of a pointing device comprising a hexapod turret.
  • a hexapod turret comprises a platform or fixed base, a movable plate on which is fixed the device to be oriented and six legs of adjustable length connecting the movable plate to the base. The ends of the legs are fixed in pairs by means of cardan-type links on the movable plate and the base so that the legs form triangles.
  • Each leg includes two nested tubes slidable relative to each other. These tubes are powered by linear piezoelectric motors that adjust the length of the leg.
  • Such a device makes it possible to move the movable plate according to six degrees of freedom.
  • the object of the invention is to use a hexapod device to orient equipment with a large deflection and aiming on at least 2 ⁇ steradians so as to cover at least the half-space above the horizon.
  • Another object of the invention is to orient the equipment in all directions of the half-space while permanently maintaining good rigidity.
  • the document EP 0 266 026 A1 describes a method of moving the movable plate of a hexapod according to the preamble of claim 1.
  • the invention proposes a method of moving the mobile plate of a hexapode according to claim 1.
  • This method advantageously makes it possible to position the plate of the hexapod with an offset to avoid singular points, ie the positions in which the hexapod turret loses its rigidity.
  • a deportation law giving a single position of the center OB of the plate in space according to its orientation is defined.
  • This law defines a geometric surface called “offset surface” on which the center OB of the plate evolves.
  • the displacement of the movable plate can be achieved by controlling a rotation of the movable plate along an axis perpendicular to the plane containing the sighting vectors V i and V i + 1 .
  • This method of controlling the length variation of the legs avoids configurations of the hexapod turret which could reduce its rigidity and damage the mechanisms of the legs by collisions.
  • the global movement of orientation of the moving plate is decomposed into a succession of unit displacements of azimuth ⁇ ⁇ and elevation ⁇ ⁇ of the movable platen. For each unitary displacement, the overall method of displacement (determination of a virtual rotation followed by a virtual translation) is reproduced.
  • the invention further proposes a device for moving the movable plate of a hexapod, according to claim 13.
  • the hexapod turret 100 comprises a base 10 and a movable plate 20 connected by six identical cylinders 1, 2, 3, 4, 5 and 6 constituting legs.
  • Each jack i connects a point A i of the fixed base 10 to a point B i of the movable plate 20 and is set to a length L i corresponding to the distance A i B i .
  • the connections between jacks and base 10 as well as the connections between jacks and movable plate 20 are materialized by twelve gimbal joints (or universal joint). Each of these joints comprise two elementary axes of rotation which intersect at points A 1 , A 2 , A 3 , A 4 , A 5 , A 6 , B 1 , B 2 , B 3 , B 4 , B 5 and B 6. .
  • the points A i are located at a distance RA from the center OA of the fixed base 10 and are divided into three pairs, the pairs (A 1 , A 2 ), (A 3 , A 4 ) and (A 5 , A 6 ) being placed at 120 ° to each other.
  • the points B i are located at a distance RB from the center OB of the moving plate 20 and are divided into three pairs, the pairs (B 2 , B 3 ), (B 4 , B 5 ), (B 6 , B 1 ) being placed at 120 ° to each other.
  • Two jacks from a pair of points on the base 10 are always connected to points of distinct pairs on the movable plate 20. In this way, the jacks 1 to 6 converge two by two alternately towards the base 10 or towards the plateau mobile 20.
  • connection is shown in more detail at the points B 2 and B 3 between the pair of jacks 2 and 3, and the movable plate 20.
  • Such a connection comprises a central support 41 screwed onto the plate 10 and bearing symmetrically two cylindrical axes 42 oriented in the direction B 2 B 3 . Pivoting joints 43 are mounted on the pins 42.
  • Each seal 43 has a bore which allows it to be fitted on one of the axes 42 of the central support 41.
  • a pivot connection is made by a direct contact between a seal 43 and the surface of an axis 42.
  • Each seal 43 is stopped in translation on the axis 42 by a circlip 44 mounted in a groove of the axis 42 or by a nut mounted on the threaded end of the shaft 42.
  • the seals 43 further comprise two axes 45 perpendicular to their bore.
  • the ends 46 of the cylinders 2 and 3 have a general form of clevis, consisting of two symmetrical parts inserting the seal 43 and having bores in which are fitted the shafts 45 of the seal 43.
  • the ends 46 in the yoke of the cylinders 2 and 3 have chamfers so as to allow them maximum clearance relative to the seal 43 in all the orientation configurations thereof.
  • connection is shown in greater detail at the points A 1 and A 2 between the pair of jacks 1 and 2, and the fixed base 10.
  • This connection is comparable to the connection between jacks and movable plate shown in FIG. figure 4 .
  • It comprises a central support 51 screwed onto the base 10 and symmetrically carrying two concentric cylindrical axes 52 oriented along the direction A 1 A 2 .
  • Swivel joints 53 having a bore and two perpendicular axes 55 are mounted on the axes 52.
  • the ends 56 of the cylinders 1 and 2 have a generally clevis shape, consisting of two symmetrical parts inserting a seal 52 and having bores in which are fitted the axes of the seal 52.
  • the end portions 56 of the cylinders 1 and 2 support a device 57 for controlling the lengths L 1 and L 2 of the cylinders 1 and 2.
  • the cylinder 1 comprising two sets LA and L B being able to slide relative to each other so as to vary the length L 1 of the cylinder 1.
  • the device 57 for adjusting the length comprises a motor not 61 whose output axis 62 supports a worm 63 for driving in rotation a toothed wheel 64 disposed perpendicularly to the axis 62.
  • This toothed wheel 64 drives a screw to ball 65 extending in the length of the assembly LA.
  • the assembly L B comprises a nut 66 mounted integrally in which the ball screw 65 pivots. The rotation of the ball screw 65 in the nut 66 causes the translation of the nut 66 along the screw 65.
  • the screw 65 has a speed of rotation proportional to that of the stepper motor 61. To determine the coefficient of proportionality between these speeds, it suffices to know the geometrical characteristics of the different mechanical parts (in particular the steps of the screw 65, the wheel 64 and the worm 63). Theoretically, by controlling the angular position of the output shaft 62 of the motor 61, the length L 1 of the cylinder 1 is obtained. To control this length, it is possible, for example, to use a position servo of the motor 61 in an open loop, or an absolute position measurement of the axis 62 by resolver for a closed-loop servocontrol. It is also possible to use optical encoders, incremental or absolute, single-turn or multi-turn.
  • the Figures 6 to 8 represent the axes of rotation of the various constituent elements of the universal joints.
  • the RPJ axis is linked to the central support 41 or 51 and the RSJ axes to the joints 43 or 53.
  • the figure 10 is a graphical representation of the angle of rotation of the joint 43 at the point A 1 around RPJ as a function of the azimuth ⁇ for a fixed elevation ⁇ of the movable plate 20.
  • the figure 11 is a graphical representation of the angle of rotation of the jack 1 at the point A 1 around RSJ as a function of the azimuth ⁇ for a fixed elevation ⁇ of the moving plate 20.
  • the figure 12 gives the relative angle of rotation between the two elements LA and LB of the cylinder 1 as a function of the azimuth ⁇ for a fixed elevation ⁇ of the movable plate 20.
  • hexapod turret 100 supports a satellite dish 30, it is shown in the reference position.
  • the cylinders 1, 2, 3, 6, 5 and 6 are all set to the same length L 0 .
  • the center OB is located vertically from the center OA on the vertical axis z 0 .
  • the reference position can also be chosen as a virtual position of the turret.
  • the reference position can be defined as a position for which the cylinders would take a length L 0 greater than the length that they can mechanically reach.
  • a reference R 0 is defined, linked to the base 10, of center OA and of axes (x 0 , y 0 , z 0 ).
  • the position of the movable plate 20 can be entirely determined by the position of its center OB and a viewing direction V defined by an azimuth ⁇ and an elevation ⁇ .
  • the reference R 01 of center OB and of axes (x 01 , y 01 , z 01 ) is defined as the image by the rotation of the coordinate system R 0 with respect to the axis z 0 and of angle ⁇ .
  • the reference R 02 of center OB and of axes (x 02 , y 02 , z 02 ) are defined as the image by the rotation of the reference R 01 with respect to the axis y 01 and of angle ⁇ .
  • the reference R 02 is a reference fixed with respect to the movable plate 20.
  • the direction x 02 defines the viewing direction V in the R 0 mark.
  • the hexapod structure theoretically makes it possible to position the mobile plate 20 in the space according to six degrees of freedom. However, some positions lead to unstable configurations of the hexapod structure.
  • the figure 15 represents a hexapod turret 100 in a configuration approaching instability.
  • the movable plate 20 is substantially aligned with the cylinders 1 and 2 (the angle between leg and normal plateau reaches the limit value of 80 degrees).
  • the structure 100 loses its rigidity when the angles between its elements (angles between axes jacks 1 to 6 and the normal to the plane of the fixed base 10 or movable plate 20) become close to 90 degrees. This phenomenon is particularly detrimental when the structure is placed outside and likely to be exposed to difficult climatic conditions.
  • the hexapod turret 100 is used to point equipment towards elements situated at great distances from the dimensions of the turret, one is only interested in the orientation of its plate 20 and not in the position of the latter in the reference R 0 .
  • the pointing direction V fixes the two orientation parameters ⁇ and ⁇ .
  • An offset law d of the moving plate 20 is defined as a function of the aiming direction V to be pointed. For example, it is possible to control the variation of the lengths L 1 to L 6 of the legs 1 to 6 so that the center OB of the movable plate 20 moves in a plane perpendicular to the axis z 0 , that is to say at a height z constant with respect to the base 10. This plane defines the "offset surface" on which the OB point must always be.
  • the point OB is offset by a distance d in the direction x 01 from its reference configuration illustrated in FIG. figure 13 .
  • the direction x 01 of offset therefore depends on the azimuth angle ⁇ and the offset distance d is a function of the plateau elevation ⁇ .
  • the Figures 16 and 17 give examples of laws of offset according to the elevation ⁇ .
  • the hexapod turret 100 is in configurations in which the angles between the axes of the cylinders 1 to 6 and the normal to the plane of the fixed base 10 or movable plate 20 are always less than 45 degrees for example (giving a 45 degree safety margin).
  • These laws make it possible to position the turret 100 away from singular points of low rigidity.
  • the lengths L i of the jacks i obtainable are limited. Indeed, one must take into account the minimum and maximum possible elongations. On the other hand, one must respect the margin of safety chosen concerning the angles between the elements. One can choose a maximum angle of 135 or 150 degrees for example.
  • FIG. 18 there is shown a displacement of the moving plate 20 of the turret 100.
  • V 1 ( ⁇ 1 , ⁇ 1 ) towards a direction of view
  • this reference R 02 we consider a virtual axis of rotation RH y 02 direction and passing through a fixed point PRH on the axis z 0 .
  • a virtual rotation of the mobile plate 20 of RH axis and angle 90 ° - ⁇ 2 is performed. This rotation makes it possible to pass from the reference position of the turret (platform oriented at the zenith) to the position corresponding to the sighting direction V 2 .
  • the reference position can be virtual.
  • the offset of the moving plate (20) is determined in the direction of azimuth ⁇ 2 by virtue of the law of offset and the position of the points A 1 to A 6 and B 1 to B 6 are deduced therefrom. configuration.
  • a virtual translation of the mobile plate 20 is carried out making it possible to bring the point OB back onto the offset surface.
  • the lengths L 1 to L 6 of the legs 1 to 6 of the hexapod 100 are determined in this position of the plate 20. From this is deduced the elongation of each leg 1 to 6 necessary to pass from the orientation V 1 to V 2 with offset.
  • t 1 second
  • each leg length adjustment device i We realize a interpolation of the length of the legs: for example, an elongation speed of each jack i of / t ⁇ ⁇ The i (Linear interpolation).
  • the turret 100 may pass through a singular point.
  • the displacement of the plateau 20 from V 1 to V 2 can be decomposed into a series of unit displacements of azimuth ⁇ and elevation ⁇ ⁇ .
  • Each unitary displacement makes it possible to go from a viewing direction V i to a viewing direction V i + 1 close to V i .
  • the elongations of the cylinders are calculated by means of the two successive virtual transformations (a virtual rotation followed by a virtual translation) as previously described. In this way, the plate 20 is moved in a series of positions corresponding to target directions V 1 , ...
  • V i , V i + 1 ... V 2 having a deviation of ⁇ ⁇ and ⁇ ⁇ .
  • the values of ⁇ ⁇ and ⁇ ⁇ are chosen sufficiently small so that the plate 20 never goes through singular points or configurations that are physically impossible to achieve. Indeed, the smaller ⁇ ⁇ and ⁇ ⁇ are, the fewer the successive positions OB of the plateau 20 can approach a singular point.
  • the successive positions of the viewing direction V i are illustrated. These positions are for example chosen with successive deviations of 1 °.
  • the unitary trajectory of the orientation vector V i between two successive positions corresponds to a rotation of axis perpendicular to the plane containing the two successive orientations.
  • the successive positions of V i can follow a direct global trajectory corresponding to an axis rotation perpendicular to V 1 and V 2 as illustrated on FIG. figure 19 or any global trajectory as illustrated on the figure 20 .
  • the method of moving the movable plate 20 of the hexapod 100 previously described has the effect of linking the rotation of the movable plate 20 about its own axis x 02 to its azimuth rotation about the axis z 0 linked to the base 10
  • V 1 ( ⁇ 1 , ⁇ 1 )
  • V 2 ( ⁇ 2 , ⁇ 2 )
  • the mobile plate 20 continuously compensates for this rotation of azimuth by rotating about its own axis z 02 of angle - ( ⁇ 2 - ⁇ 1 ).
  • the overall rotation of the movable plate 20 about the axis z 0 is always zero.
  • This method has for example the advantage that electrical cables connected to the device 30 mounted on the movable plate 20 and connecting the device to the ground never undergo torsion during the displacement of the movable plate 20.
  • This feature makes it possible to control a continuous rotation the movable plate 20 about the azimuth axis z 0 without risking damage to the mechanism of the hexapod 100.
  • the moving plate moving device does not require a rotary joint.
  • Another advantage of this method is that it permanently controls the proper operation of the displacement device. Indeed, in the case where one of the leg length adjustment devices or one of the cylinders would be deficient, it is sometimes difficult to perceive a malfunction of the hexapod.
  • the stops of the cylinders are in this case the only arrangements likely to stop the movement device in its movement.
  • the hexapod structure risks passing through singular points leading to an inevitable damage to the universal joints.
  • the orientation device comprises means for controlling that the overall rotation of the movable plate 20 about the axis z 0 is always zero.
  • figure 21 represents an example of such control means.
  • These means comprise a cable 80 connecting the center OB of the movable plate 20 to the center OA of the fixed base 10.
  • This cable 80 has the properties of being flexible in bending and rigid in torsion. It is connected at a first end, at the center OB mobile plate 20 by a rigid connection and at a second end, at the center OA of the fixed base 10 by a pivot connection 82.
  • the cable 80 is provided at this second end of 84.
  • the second end of the cable 80 is always fixed with respect to the base 10 and the indicator element 84 is in contact with a detection circuit 86.
  • the rotation of the plate 20 around the Z axis 0 generates the rotation of the cable 80 relative to the base 10.
  • This rotation causes the rotation of the indicator element 84, which is no longer in contact with the detection circuit 86.
  • the detection circuit 86 detects this cut of contact and sends an alert signal to a control device of the leg adjustment devices. In response to this signal, the controller stops movement of the hexapod 100.
  • control means could be used.

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  • Control Of Position Or Direction (AREA)
  • Manipulator (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)
  • Shaping Of Tube Ends By Bending Or Straightening (AREA)
EP02743335.8A 2001-05-31 2002-05-30 Procede d'orientation d'une tourelle hexapode Expired - Lifetime EP1396046B9 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR0107136 2001-05-31
FR0107136A FR2825445B1 (fr) 2001-05-31 2001-05-31 Procede d'orientation d'une tourelle hexapode
PCT/FR2002/001816 WO2002097920A1 (fr) 2001-05-31 2002-05-30 Procede d'orientation d'une tourelle hexapode

Publications (3)

Publication Number Publication Date
EP1396046A1 EP1396046A1 (fr) 2004-03-10
EP1396046B1 EP1396046B1 (fr) 2013-01-02
EP1396046B9 true EP1396046B9 (fr) 2013-07-10

Family

ID=8863813

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02743335.8A Expired - Lifetime EP1396046B9 (fr) 2001-05-31 2002-05-30 Procede d'orientation d'une tourelle hexapode

Country Status (6)

Country Link
US (1) US7081866B2 (ko)
EP (1) EP1396046B9 (ko)
KR (1) KR100880290B1 (ko)
ES (1) ES2402406T3 (ko)
FR (1) FR2825445B1 (ko)
WO (1) WO2002097920A1 (ko)

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US7469381B2 (en) 2007-01-07 2008-12-23 Apple Inc. List scrolling and document translation, scaling, and rotation on a touch-screen display
US7250939B2 (en) 2002-03-19 2007-07-31 Aol Llc Display motion multiplier
ES2231026A1 (es) * 2003-10-27 2005-05-01 Ramem, S.A. Posicionador tipo hexapodo para seguimiento solar de reflectores solares.
ITRM20050338A1 (it) * 2005-06-28 2006-12-29 Finmeccanica Spa Struttura isostatica di sostegno per riflettori di antenne di grandi dimensioni fissi o ripuntabili.
US7671797B1 (en) * 2006-09-18 2010-03-02 Nvidia Corporation Coordinate-based system, method and computer program product for adjusting an antenna
DE102006046758A1 (de) * 2006-09-29 2008-04-03 Abb Patent Gmbh Vorrichtung insbesondere zum Positionieren von Objekten
SE530700C2 (sv) * 2006-12-21 2008-08-19 Hexagon Metrology Ab Förfarande och anordning för kompensering av geometriska fel i bearbetningsmaskiner
FR2929195B1 (fr) * 2008-03-27 2010-05-07 Peugeot Citroen Automobiles Sa Projecteur d'eclairage a orientation variable commandee, pour vehicule automobile
US8215199B2 (en) * 2008-11-17 2012-07-10 Marcroft Sacha L Parallel kinematic positioning system
US9027545B2 (en) 2010-11-24 2015-05-12 William J. DeVillier Solar collector positioning apparatus
TWI493148B (zh) * 2011-11-22 2015-07-21 William J Devillier 太陽能收集器定位裝置
US9376221B1 (en) * 2012-10-31 2016-06-28 The Boeing Company Methods and apparatus to point a payload at a target

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JPH0742812B2 (ja) * 1986-06-04 1995-05-10 富士重工業株式会社 展開構造物
EP0266026A1 (en) * 1986-08-01 1988-05-04 HER MAJESTY THE QUEEN in right of New Zealand Department of Scientific and Industrial Research Tracking antenna mount
DE4117538C1 (ko) 1991-05-29 1992-07-09 Ant Nachrichtentechnik Gmbh, 7150 Backnang, De
GB9324218D0 (en) * 1993-11-25 1994-01-12 Renishaw Plc Position determination machines
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US6041500A (en) * 1998-01-23 2000-03-28 Giddings & Lewis, Inc. Automatic assembly machine and method utilizing six-axis positioning device
US6542132B2 (en) * 2001-06-12 2003-04-01 Harris Corporation Deployable reflector antenna with tensegrity support architecture and associated methods

Also Published As

Publication number Publication date
WO2002097920A8 (fr) 2005-04-07
KR100880290B1 (ko) 2009-01-23
FR2825445A1 (fr) 2002-12-06
ES2402406T3 (es) 2013-05-03
KR20030051608A (ko) 2003-06-25
US20040244525A1 (en) 2004-12-09
EP1396046A1 (fr) 2004-03-10
WO2002097920A1 (fr) 2002-12-05
US7081866B2 (en) 2006-07-25
EP1396046B1 (fr) 2013-01-02
FR2825445B1 (fr) 2004-02-13

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