EP1562724B1 - Method and device for adjusting a rotary roller printing machine crop mark - Google Patents
Method and device for adjusting a rotary roller printing machine crop mark Download PDFInfo
- Publication number
- EP1562724B1 EP1562724B1 EP03769311A EP03769311A EP1562724B1 EP 1562724 B1 EP1562724 B1 EP 1562724B1 EP 03769311 A EP03769311 A EP 03769311A EP 03769311 A EP03769311 A EP 03769311A EP 1562724 B1 EP1562724 B1 EP 1562724B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- web
- register
- cutting
- regulator
- unit
- 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
Links
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/20—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F13/00—Common details of rotary presses or machines
- B41F13/54—Auxiliary folding, cutting, collecting or depositing of sheets or webs
- B41F13/56—Folding or cutting
- B41F13/60—Folding or cutting crosswise
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- 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
- B65H23/046—Sensing longitudinal register of web
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- 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
- B65H23/1882—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 longitudinal register of web
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
- B65H2557/20—Calculating means; Controlling methods
- B65H2557/24—Calculating methods; Mathematic models
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- 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
Abstract
Description
Die Erfindung betrifft ein Verfahren nach dem Oberbegriff des Anspruchs 1 und eine Rollenrotationsdruckmaschine nach dem Oberbegriff des Anspruchs 7. Derartiges Verfahren bzw. derartige Maschine ist z.B. aus
Bei Rollenrotationsdruckmaschinen ist es bekannt, als Stellglied für die Schnittregisterregelung eine in Linearführungen verfahrbare Stellwalze einzusetzen, mit der die Papierweglänge zwischen zwei Zugeinheiten verändert und damit der Registerfehler korrigiert wird. Derartige Registerwalzen sind beispielsweise in der
Es ist Aufgabe der Erfindung, ein einfaches Verfahren zum Regeln des Schnittregisters zu schaffen. Weiterhin ist eine Vorrichtung zu schaffen, die sich durch einen geringen mechanischen und elektrischen Aufwand auszeichnet.It is an object of the invention to provide a simple method for controlling the cut register. Furthermore, a device is to provide, which is characterized by a low mechanical and electrical effort.
Die Aufgabe wird mit den Merkmalen der unabhängigen Ansprüche gelöst. Die Lösung erfordert kein zusätzliches mechanisches Bahnführungselement. Zur Schnittregisterkorrektur werden vorhandene, nicht druckende Zugeinheiten verwendet, wie z. B. die Kühleinheit, Zugwalzen im Falzaufbau, die Trichterwalze oder weitere im Bahnverlauf zwischen letztem Druckwerk und Messerzylinder liegende Zugeinheiten.The object is achieved with the features of the independent claims. The solution does not require an additional mechanical web guide element. For cutting register correction existing non-printing train units are used, such. As the cooling unit, pull rollers in Falzaufbau, the funnel roller or more lying in the path between the last printing unit and knife cylinder traction units.
Durch die drehzahlvariablen Einzelantriebe an den Zugeinheiten entfällt insbesondere die Linearregisterwalze mit Schrittmotor und zugehöriger Ansteuerelektronik.Due to the variable-speed individual drives on the train units in particular, the linear register roller with stepper motor and associated control electronics deleted.
Infolge der besonderen Eigenschaften der Regelstrecke ist die Schnittregisterregelung dynamisch schneller als bei der herkömmlichen Lösung mittels Registerwalze, da an die Stelle einer Wegänderung eine Voreilungsänderung der betreffenden Zugeinheit tritt.Due to the special properties of the controlled system, the cut-off register control is dynamically faster than in the conventional solution by means of a register roller, since the change in position of the relevant tractor occurs in place of a change in the path.
Die in die Schnittregisterregelstrecke eingehenden Parameter sind weitgehend unabhängig von den Eigenschaften der Rotationsdruckmaschine. Weiterhin lässt sich die Schnittregistergenauigkeit durch das neue Verfahren wesentlich erhöhen.The parameters entering the cutting register control path are largely independent of the properties of the rotary printing press. Furthermore, the cutting register accuracy can be significantly increased by the new method.
Bei dem erfindungsgemäßen Verfahren wird die Laufzeit der Bahnbildpunkte bei einem konstanten Bahnweg verstellt, während nach dem Stand der Technik eine Bahnlängenänderung bei konstanter Bahngeschwindigkeit vorgenommen wurde.In the method according to the invention, the transit time of the web image points is adjusted at a constant web path, while according to the prior art, a web length change was made at a constant web speed.
Die Schnittregisterkorrektur erfolgt durch die Verstellung der Voreilung einer nicht druckenden Zugeinheit zwischen dem letzten Druckwerk und dem Messerzylinder. Diese Stellgröße beeinflusst den Schnittregisterfehler, im stationären Betrieb betrachtet, proportional zur Länge der freien Bahn zwischen der eingreifenden, nicht druckenden Zugstelle und der davor liegenden Zugstelle.The cut register correction is made by adjusting the lead of a non-printing tractor unit between the last printing unit and the knife cylinder. This manipulated variable influences the cutting register error, considered in stationary operation, in proportion to the length of the free path between the engaging, non-printing train station and the preceding train station.
Die Registerregelstrecke hat infolge der Tatsache, dass nicht ein Winkel oder Weg sondern eine Geschwindigkeit verstellt werden muss, eine um eins niedrigere Ordnung als bei der herkömmlichen Regelung mit Stellwalze. Regelungstechnisch gesehen liegt in guter Näherung eine aperiodische PT2-Strecke vor.The register control line has one order lower by one than the conventional closed-loop control system due to the fact that it is not an angle or a path but a speed that must be adjusted. From a control point of view, there is a good approximation of an aperiodic PT2 path.
Als Registerregler kann daher ein PI-Regler verwendet werden. Es kann zusätzlich eine unterlagerte Bahnspannungsregelung vorgesehen werden.As a register controller, therefore, a PI controller can be used. It can additionally be provided a subordinate web tension control.
Die Anregelzeit des geschlossenen Registerregelkreises hängt nur von der Summe der kleinen Zeitkonstanten der Register-Regelstrecke ab. Die Bahnzeitkonstante wird entweder durch die Nachstellzeit des PI-Registerreglers kompensiert, oder es werden andere Optimierungskriterien der Regelungstechnik angewendet. Da der Drehzahlregelkreis dynamisch sehr schnell ist, ist die Registerregelung nach dem neuen Verfahren wesentlich schneller als bei der herkömmlichen Lösung mit Registerwalze.The startup time of the closed register control loop depends only on the sum of the small time constants of the register controlled system. The trajectory time constant is either compensated by the reset time of the PI register regulator, or other optimization criteria of control engineering are used. Since the speed control loop is dynamic very fast, the register control is much faster according to the new method than in the conventional solution with register roller.
Die Erfindung soll nachfolgend an einem Ausführungsbeispiel näher erläutert werden. Die einzige Figur zeigt eine Vorrichtung zur Regelung des Schnittregisters in einer Rollenrotationsdruckmaschine, wobei beispielhaft die Zugeinheit Z3 als Stellglied benutzt wird.The invention will be explained in more detail below using an exemplary embodiment. The sole figure shows a device for controlling the cut register in a web-fed rotary printing press, wherein, for example, the tractor Z3 is used as an actuator.
In der Figur ist der Verlauf einer Bahn 1 von einem letztem Druckwerk 2 über eine Zugeinheit Z1 in Form einer Kühleinheit 3, eine Zugeinheit Z2 vor einer Wendeeinheit 4, eine Zugeinheit Z3 nach der Wendeinheit 4 und eine Zugeinheit Z4 vor einer Falzeinheit 5 dargestellt. In der Falzeinheit 5 wird die Bahn 1 mittels einer Querschneideinrichtung 6 quer geschnitten, beispielsweise mittels eines Schneidwalzenpaares. Jede Zugeinheit Z1 bis Z4 wird von einem Motor 7.1 bis 7.4 mit zugeordneter Motorregelung angetrieben.In the figure, the course of a
Der Motor 7.3 der Zugeinheit Z3 ist mit dem Ausgang eines Reglers 8 verbunden, auf den eingangsseitig ein Schnittregistersensor 9 geführt ist. Auf den Regler 8 ist außerdem ein weiterer Schnittregistersensor 10 geführt, der an einem Bahnabschnitt angeordnet ist, der sich in Bahnlaufrichtung an einer der Zugeinheit Z3 vorgelagerten weiteren Zugeinheit befindet. So könnte der vor der Zugeinheit Z2 befindliche Schnittregistersensor 10 auch am Bahnabschnitt zwischen dem letzten Druckwerk 2 und der Kühleinheit 3 angeordnet sein. Der Regler 8 ist weiterhin mit dem Motor 7.4 der in Bahnlaufrichtung der Zugeinheit Z3 nachfolgenden Zugeinheit Z4 zwecks deren Sollwertführung der Voreilung verbunden.The motor 7.3 of the tractor Z3 is connected to the output of a
Die Bahn 1 wird in einer Druckmaschine bedruckt und nach dem Verlassen des letzten Druckwerkes 2 auf dem in der Figur vereinfacht dargestellten Weg zur Falzeinheit 5 geführt. Sie durchläuft dabei die als Kühleinheit 3 ausgeführte Zugeinheit Z1, die Zugeinheit Z2 vor der Wendeeinheit 4, die Wendeeinheit 4, die Zugeinheit Z3 nach der Wendeeinheit 4 und die Zugeinheit Z4 vor der Falzeinheit 5. In der Querschneideinrichtung 6 wird die Bahn 1 quergeschnitten, wobei die Bahn 1 mit passendem Schnittregister zugeführt werden muss. Das Schnittregister wird mittels des Reglers 8 geregelt, wobei die Zugeinheit Z3 als Stellglied fungiert. Der Istzustand des Schnittregisters wird mittels des Schnittregistersensors 9, der auf die Bahn 1 gedrückte Schnittregistermarken abtastet, ermittelt und an den Regler 8 gegeben. Entsprechend der Abweichung vom Sollwert wird der Motor 7.3 hinsichtlich seiner Umfangsgeschwindigkeit verändert. Mittels des Schnittregistersensors 10 wird weiterhin an einem der Zugeinheit Z3 vorgelagerten Bahnabschnitt der Istwert des Schnittregisters ermittelt und ein differenzierender Anteil dem Regler 8 für dessen Vorsteuerung zugeführt. Es wird weiterhin der Stelleingriff des Reglers 8 zur Sollwertführung der Voreilung der Zugeinheit Z4 verwendet. Für den Fall, dass sich weitere Zugeinheiten in Bahnlaufrichtung nach der Zugeinheit Z3 befinden, kann auch für diese der Stelleingriff des Regelkreises 8 zur Sollwertführung der Voreilungen benutzt werden.The
Der Regler 8 kann auch derart vorgesteuert werden, dass der Istzustand des Schnittregisters sensorlos mittels eines mathematischen Modells ermittelt und ein differenzierender Anteil abgeleitet und zur Vorsteuerung des Reglers 8 verwendet wird. Diese Variante ist in der Figur dünn und mit Klammerposition 11 eingezeichnet. Der Rechen- und Speichereinheit 11 werden Messwerte, beispielsweise die Voreilung des Kühlwerks 3, die Bahnspannung am Einzugswerk und ggf. weitere oder andere, zugeführt, aus denen anhand des mathematischen Modells der Istzustand des Schnittregisterfehlers errechnet wird.The
Der Regelalgorithmus des Reglers 8 enthält weiterhin ein mathematisches Modell derart, dass die auf das Drehmoment des Motors, der das Schnittregister korrigiert, rückwirkende Kräfte der Bahn 1 weitestgehend kompensiert werden.The control algorithm of the
- 11
- Bahntrain
- 22
- Druckwerkprinting unit
- 33
- Kühleinheitcooling unit
- 44
- Wendeeinheitturning unit
- 55
- Falzeinheitfolding unit
- 66
- QuerschneideinrichtungCross-cutting device
- 7.17.1
- Motorengine
- 7.27.2
- Motorengine
- 7.37.3
- Motorengine
- 7.47.4
- Motorengine
- 88th
- Reglerregulator
- 99
- SchnittregistersensorCrop mark sensor
- 1010
- SchnittregistersensorCrop mark sensor
- 1111
- Rechen- und SpeichereinheitComputing and storage unit
- Z1Z1
- Zugeinheittractor
- Z2Z2
- Zugeinheittractor
- Z3Z3
- Zugeinheittractor
- Z4Z4
- Zugeinheittractor
Claims (11)
- Method for regulating the cutting register of a web-fed rotary printing machine, characterised in that a web (1) after leaving the last printing unit (2) is guided by way of traction units (Z1 to Z4) with adjustable advance to a cross-cutting device (6), wherein in order to adjust the cutting register one of the traction units is varied with regard to its circumferential speed.
- Method according to claim 1, characterised in that a motor of the traction unit is regulated with regard to its rotational speed by means of a regulator (8), and the actual value of the cutting register is picked up by a cutting-register sensor (9), fed to the regulator (8) and compared with the desired cutting-register value.
- Method according to claim 2, characterised in that by means of a further cutting-register sensor (10) at a web section arranged on one of the further traction units mounted upstream of the traction unit in the web-running direction an actual value of the cutting register is determined and derived as a differentiating portion, and with that the regulator (8) is pre-controlled.
- Method according to claim 2, characterised in that the actual state of the cutting register is determined by means of a mathematical model, and a differentiating portion is derived, and with that the regulator (8) is pre-controlled.
- Method according to one of claims 2 to 4, characterised in that, with the adjustment action of the regulator (8) in the case of traction units downstream of the traction unit in the web-running direction, desired-value guidance of the advances is effected.
- Method according to one of claims 2 to 5, characterised in that the forces of the web (1) reacting on the torque of the motor are to the greatest possible extent compensated for by means of a suitable algorithm in the regulator (8).
- Web-fed rotary printing machine having a cutting-register-regulating arrangement with a plurality of traction units and with one cross-cutting device (6), wherein a web (1) after leaving the last printing unit (2) is guided by way of traction units (Z1 to Z4) with adjustable advance to a cross-cutting device (6), characterised in that the motor of one traction unit is connected to the output of a regulator (8) which regulates the speed and to the input side of which a cutting-register sensor (9) is run.
- Web-fed rotary printing machine having a cutting-register-regulating arrangement according to claim 7, characterised in that in order to pre-control the regulator (8) there is run to the latter a further cutting-register sensor (10) which is arranged at a web section which, in the web-running direction, is located on a further traction unit mounted upstream of the traction unit.
- Web-fed rotary printing machine having a cutting-register-regulating arrangement according to claim 7, characterised in that for the purposes of pre-control connected up to the regulator (8) there is a computing and storage unit (11), by means of which the actual state of the cutting register can be calculated according to a mathematical model.
- Web-fed rotary printing machine having a cutting-register-regulating arrangement according to one of claims 7 to 9, characterised in that the regulator (8) for the desired-value guidance of the advances is connected to the motors of traction units downstream of the traction unit in the web-running direction.
- Web-fed rotary printing machine having a cutting-register-regulating arrangement according to one of claims 7 to 10, characterised in that the regulator (8) contains an algorithm with which the forces of the web (1) reacting on the torque of the motor are to the greatest possible extent compensated for.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10245962 | 2002-10-02 | ||
DE10245962A DE10245962A1 (en) | 2002-10-02 | 2002-10-02 | Regulating crop mark register of rotary printing machine, by changing circumferential speed of one of draw-in units to displace crop-mark register |
PCT/EP2003/010615 WO2004033167A1 (en) | 2002-10-02 | 2003-09-24 | Method and device for adjusting a rotary roller printing machine crop mark |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1562724A1 EP1562724A1 (en) | 2005-08-17 |
EP1562724B1 true EP1562724B1 (en) | 2009-05-13 |
Family
ID=32010091
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP03769311A Expired - Lifetime EP1562724B1 (en) | 2002-10-02 | 2003-09-24 | Method and device for adjusting a rotary roller printing machine crop mark |
Country Status (6)
Country | Link |
---|---|
US (1) | US8820238B2 (en) |
EP (1) | EP1562724B1 (en) |
JP (1) | JP4472527B2 (en) |
AT (1) | ATE431229T1 (en) |
DE (2) | DE10245962A1 (en) |
WO (1) | WO2004033167A1 (en) |
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DE10335886B4 (en) | 2003-08-06 | 2013-12-19 | Manroland Web Systems Gmbh | Method and apparatus for controlling a total cut register error of a rotary press |
DE102004051634A1 (en) | 2004-10-23 | 2006-05-18 | Man Roland Druckmaschinen Ag | Method for cutting register control in a web-fed rotary printing press |
DE102005013361B4 (en) * | 2005-03-23 | 2017-04-13 | Manroland Web Systems Gmbh | Method for controlling a folding apparatus of a printing machine |
FR2888527B1 (en) * | 2005-07-18 | 2009-01-16 | Goss Int Montataire Sa | PRINTING MACHINE AND CORRESPONDING METHOD |
US20100064917A1 (en) * | 2006-11-24 | 2010-03-18 | Goss International Montataire Sa | Printing machine and corresponding method |
FR2916676B1 (en) * | 2007-06-01 | 2011-04-15 | Goss Int Montataire Sa | PRINTING MACHINE AND CORRESPONDING METHOD. |
DE102007039373C5 (en) * | 2007-08-21 | 2018-10-25 | Koenig & Bauer Ag | Method for monitoring the strand run in a funnel structure of a rotary printing machine |
DE102008027625A1 (en) * | 2008-06-10 | 2009-12-24 | Manroland Ag | Method for operating web-fed printing machine, involves determining total transporting breakdown of printing web, where total transporting breakdown is transported with running printing web at clamping position |
DE102008054019A1 (en) * | 2008-10-30 | 2010-05-06 | Manroland Ag | Method for adjusting crop mark of web rotary press, involves detecting actual position of crop mark by theme, where crop mark actual position is compared with crop mark reference position |
US10279584B2 (en) * | 2010-07-27 | 2019-05-07 | Goss International Americas, Inc. | Observation-enhanced virtual master system for a printing press |
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WO2016139056A1 (en) * | 2015-03-03 | 2016-09-09 | Pfm Iberica Packaging Machinery S.A. | Device for continuous compensation of stretching of film during drawing applicable on packaging machines |
US10926506B2 (en) | 2017-05-11 | 2021-02-23 | Pregis Innovative Packaging Llc | Fanfold supply cart |
US11020930B2 (en) | 2017-05-11 | 2021-06-01 | Pregis Innovative Packaging Llc | Splice member on stock material units for a dunnage conversion machine |
US11034121B2 (en) | 2017-05-11 | 2021-06-15 | Pregis Innovative Packaging Llc | Dunnage apparatus carton filler |
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2002
- 2002-10-02 DE DE10245962A patent/DE10245962A1/en not_active Withdrawn
-
2003
- 2003-09-24 JP JP2004542367A patent/JP4472527B2/en not_active Expired - Fee Related
- 2003-09-24 WO PCT/EP2003/010615 patent/WO2004033167A1/en active Application Filing
- 2003-09-24 EP EP03769311A patent/EP1562724B1/en not_active Expired - Lifetime
- 2003-09-24 US US10/529,271 patent/US8820238B2/en not_active Expired - Fee Related
- 2003-09-24 AT AT03769311T patent/ATE431229T1/en not_active IP Right Cessation
- 2003-09-24 DE DE50311526T patent/DE50311526D1/en not_active Expired - Lifetime
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0011595A1 (en) * | 1978-11-20 | 1980-05-28 | SAPAL, Société Anonyme des Plieuses Automatiques | Method and device for controlling the advance of a tape bearing marks at regular distances |
US4361260A (en) * | 1980-06-27 | 1982-11-30 | Hanlan Marc A | Web registration control |
EP0452704A2 (en) * | 1990-04-19 | 1991-10-23 | MAN Roland Druckmaschinen AG | Printing machines arrangement |
DE10038551A1 (en) * | 2000-08-03 | 2002-02-14 | Roland Man Druckmasch | Determining the preset adjustment data for crop mark (and color register) for printing machines without longitudinal shafts by monitoring length of paper drawn in at individual printing stations |
EP1505025A2 (en) * | 2003-08-06 | 2005-02-09 | MAN Roland Druckmaschinen AG | Method and device for controlling the web tension forces and the cutting register of a rotary printer |
EP1505023A2 (en) * | 2003-08-06 | 2005-02-09 | MAN Roland Druckmaschinen AG | Method and device for controlling the web tension and the cutting register of a rotary printer |
EP1505024A2 (en) * | 2003-08-06 | 2005-02-09 | MAN Roland Druckmaschinen AG | Method and device for controlling the cutting register of a rotary printing machine |
Also Published As
Publication number | Publication date |
---|---|
DE10245962A1 (en) | 2004-04-15 |
WO2004033167A1 (en) | 2004-04-22 |
JP2006500236A (en) | 2006-01-05 |
US8820238B2 (en) | 2014-09-02 |
DE50311526D1 (en) | 2009-06-25 |
ATE431229T1 (en) | 2009-05-15 |
US20050247220A1 (en) | 2005-11-10 |
EP1562724A1 (en) | 2005-08-17 |
JP4472527B2 (en) | 2010-06-02 |
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