CN1078672C - Method for determing phase of four-stroke internal combustion enjine - Google Patents
Method for determing phase of four-stroke internal combustion enjine Download PDFInfo
- Publication number
- CN1078672C CN1078672C CN97191080.4A CN97191080A CN1078672C CN 1078672 C CN1078672 C CN 1078672C CN 97191080 A CN97191080 A CN 97191080A CN 1078672 C CN1078672 C CN 1078672C
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- CN
- China
- Prior art keywords
- signal
- phase place
- combustion engine
- determining
- cylinder
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- Expired - Fee Related
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/009—Electrical control of supply of combustible mixture or its constituents using means for generating position or synchronisation signals
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/04—Engine intake system parameters
- F02D2200/0406—Intake manifold pressure
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Ignition Installations For Internal Combustion Engines (AREA)
- Output Control And Ontrol Of Special Type Engine (AREA)
- Valve-Gear Or Valve Arrangements (AREA)
Abstract
Disclosed are methods to determine the phase angle of a four stroke internal combustion engine with an odd number of cylinders and without a camshaft detector. According to said methods, recognition of phase angle occurs by emission of a first signal from a crankshaft angle sensor presenting a singularity whereby said signal is placed in relation to a second signal, which is for example a speed signal or an output signal of an inlet-manifold air-pressure sensor and the shape of the second signal is evaluated in the range of singularity of the first signal. As this signal shape is variable according to whether the crankshaft is in first or second revolution, the phase angle can be determined precisely.
Description
The present invention relates to a kind of method that is used for determining the quartastroke engine phase place, the cylinder number of described quartastroke engine is an odd number.
Prior art
For the multi-cylinder engine that has a bent axle and at least one camshaft, combustion engine control will calculate according to the location recognition of bent axle or camshaft after synchronously: which time point to tackle which cylinder injection fuel at, and when which cylinder to break igniting at.In traditional internal-combustion engine, usually by means of the position at the angle of sensor determination bent axle.Disk that is connected on the bent axle of sensor scan, and corresponding signal passed to controller, this disk has a characteristic surface, for example has a plurality of same corner mark and fiducial marks on the surface.
Because a working stroke inside crankshaft at quartastroke engine rotates two circles, and camshaft only rotates a circle, therefore, only can not determine the phase place of internal-combustion engine uniquely from the crankshaft sensor signal.Usually also by means of the sensor of camshaft oneself, promptly so-called phase detector is measured the position of camshaft, and this phase detector scanning is connected in the disk with uniquely tagged on the camshaft.Camshaft whenever turns around and generates a pulse signal, and the signal of this generation is estimated in controller equally.
Known a kind of device that is used for the device of cylinder identification or has the internal combustion engine stroke identification of odd number cylinder number from International Application No. WO 87/05971, this device does not need camshaft-signal sensor good.For this reason, in combustion engine control, the signal (this signal is the pulse that bent axle rotates a week, and promptly camshaft rotates two pulses in a week) that crankshaft sensor is provided connects with secondary signal (for example signal of cyclic fluctuation in the internal combustion engine stroke).This cyclic fluctuation signal or output signal of speed sensor, or the output signal of intake manifold pressure sensor.Has fixed phase relation between the condition of internal-combustion engine of odd-cylinder number and bent axle and the camshaft by sign, can carry out working stroke identification by means of the simple logical communication link of crankshaft signal and secondary signal, because in this turning collar of bent axle, the secondary signal of cyclic fluctuation must be " height ", and in another turning collar of bent axle, it must be " low ".In known devices, carry out working stroke identification by means of this simple logical relation between two signals.But, a kind of use with signal change procedure of feature is not proposed.
Advantage of the present invention
The purpose of this invention is to provide a kind of method that is used for determining the quartastroke engine phase place, this method is applicable to the internal-combustion engine with odd-cylinder number, and it can make motor synchronous under the situation that does not detect camshaft location.
According to the present invention, the technical solution that realizes above-mentioned purpose is: a kind of method of definite quartastroke engine phase place, the cylinder number of described quartastroke engine is an odd number, in described method, constitute first signal with a feature, this feature is corresponding to a predetermined crank angle, and be associated with secondary signal, this secondary signal is made of speed probe output signal and/or intake manifold pressure sensor output signal, and in described method, also by detecting described secondary signal, constitute an identification signal in the characteristic area of first signal, it is characterized in that: detection can characterize the first lap of bent axle rotation and the change procedure of second secondary signal of enclosing in the characteristic area of first signal.
The above-mentioned advantage that is used for the method for definite quartastroke engine phase place is to make motor synchronous under the situation that does not detect camshaft location.This also is applicable to the transformable system of phase relationship between bent axle and the camshaft.If realize this advantage, can connect to determine phase place by signal with feature and the secondary signal (this signal fluctuates in combustion stroke, and has the distinctive characteristic of cylinder) that crankshaft sensor is provided.In this course, when the feature of first signal occurring, the change procedure that detects secondary signal is to determine phase place.Because this method is only at the internal-combustion engine with odd-cylinder number, therefore, the change procedure of the secondary signal the when change procedure of the secondary signal that obtains when the feature of first signal occurring in bent axle first turning collar is different from bent axle second turning collar.Reason is, cylinder is in the stroke that is different from bent axle second turning collar in bent axle first turning collar, and like this, the engine torque that provides is different, this is to the change procedure generation effect of secondary signal, for example to rotation speed change process and suction press change procedure generation effect.This effect is measurable, and can consider to be used for cylinder identification.Therefore, secondary signal will be the output signal of speed probe or intake manifold pressure sensor.
Utilize following further feature can obtain other advantage of the present invention:
Implement this method before the igniting first time when starting in a cylinder of internal-combustion engine;
The detection of secondary signal is comprised identification to this signal slope symbol transition, perhaps to the estimation of the minimum/maximum in the feature near zone of first signal;
Controller decides according to cylinder of internal-combustion engine number and/or valve control time: be to come testing signal by means of the slope of secondary signal or by means of the estimation of minimum/maximum;
Detecting the measuring point of rotating speed and/or suction press determines according to the characteristics of motor;
In running, predesignate the time ask or condition under further carry out determining or check of phase place, wherein, during the phase place when this move is definite, only detect the output signal of intake manifold pressure sensor;
In having the internal-combustion engine of phase detector,, promptly implement this method, to carry out emergency operating in case controller detects phase detector or the electricity of the signal processing under it defective.
Wherein being proved to be particularly advantageous is, when determining phase place, phase displacement between first and second tach signals is no problem, because be that the minimum value or the peaked appearance of the change procedure of secondary signal rather than secondary signal is relevant with the feature of first signal.
Particularly advantageously be, can in starting process, implement to be used for determining this method of phase place, promptly carry out before the igniting in the first time of cylinder.Determining ahead of time of phase place is possible, even because different strokes also can be in a different manner to rotating speed or suction press generation effect under the situation that does not have igniting.
Can save sensor and electronic component, camshaft wheel and corresponding cable joining for the system that does not have camshaft-signal sensor.On engine controller, can save shaping circuit and a computer plug of three plugs, sensor.Equally, can reduce the area of printed circuit board (PCB).At the diagnosis and the fault treating apparatus that do not have to save under the situation of camshaft-signal sensor to this sensor, improve the workability of whole system thus.The realization of these savings can not have a negative impact to the waste gas performance or the starting performance of internal-combustion engine.Another advantage is, method of the present invention can not cause controller software additional working time of load, because finished synchronously before the motor real work, thereby asks restriction when computer resource do not moved.
Accompanying drawing
Accompanying drawing shows one embodiment of the present of invention, and in the following description this embodiment is elaborated.
Embodiment's explanation
In Fig. 1, schematically show out the parts of the required control system for internal combustion engine of description invention.Wherein the transmitter disk is represented with 10, and the bent axle 11 of it and internal-combustion engine is fixedly connected, and the angle mark 12 of a plurality of same types is arranged at its periphery.Also have fiducial marks 13 except the angle mark 12 of these same types, fiducial marks for example lacks the angle mark of falling by two and realizes.
Transmitter disk 10 is received device 14, for example inducing receiver or Hall transducer and detects.Angle mark is handled with further by shaping in suitable mode in combustion engine control 15 through the voltage pulse of the out-of-date signal S1 that produces in receiver.
Except bent axle 11, internal-combustion engine also has a camshaft usually at least, and this camshaft represents with 25 in Fig. 1, and usually with getting in touch that bent axle 11 is maintained fixed, this contact 16 is represented by a dotted line.The angular orientation of camshaft 15 is not detected in the control system of internal-combustion engine shown in Figure 1.For the contact between bent axle 11 and the camshaft 15 is kept synchronously, in controller, handle the secondary signal of cyclic fluctuation in the combustion stroke.Can obtain this secondary signal S2 by means of sensor 17.Sensor 17 for example is a sensor of measuring pressure in the intake lines of combustion engines.Also can utilize in the combustion stroke other fluctuation parameter in principle.
Also other can be used for internal-combustion engine control or regulate required input parameter sending controller 15 to, in Fig. 1, only represented input parameter " igniting beginning " signal, when the contact K1 15 of ignition key connects ignition switch 18, provide this signal, and show engine starting to controller 15.
Controller 15 itself comprises at least one central computer device 19 and storage 20.The injection of the internal-combustion engine corresponding part that is used for not marking in detail and the control signal of igniting in controller 15, have been formed.These signals provide by the output terminal 21 and 22 of controller 15.Usually, supply with controller voltage by battery 23 by switch 24, switch 24 is connected when internal combustion engine or in the possible inertia motion stage.Signal processing of in controller 15, describing subsequently and calculating.
Can detect the angular orientation of bent axle 11 in any time of internal combustion engine with the control system of describing among Fig. 1.When starting, the corresponding feature of fiducial marks with bent axle appears in signal S1 after bent axle 11 rotates a week the latest.Because bent axle 11 is the same with the layout between camshaft location and each cylinder position of internal-combustion engine with layout between the camshaft 25, is known, can carries out synchronously according to the identification of fiducial marks thus, but have only when existence has the signal of phase property.
There is not phase detector, there is not camshaft-signal sensor in other words, promptly do not measure in the good system of the present invention of the sensor of camshaft 25 positions, have such problem: the reference mark signals that is provided by crankshaft sensor has multiple implication, because bent axle rotates twice in a work cycle, and 25 rotations of camshaft once.Therefore, in controller 15, except that signal S1, also use signal S2, the output signal of tach signal or intake manifold pressure sensor for example, this signal has the feature of cylinder position.This signal S2, the feature of this signal in other words, S1 is associated with signal, and when fiducial marks occurring and occur the feature of signal S1 in other words, the change procedure of special estimating signal S2.
A kind of like this estimation is possible, because for the internal-combustion engine with odd-cylinder number, being not that the bent axle revolution is moving a week all has same relation.In internal-combustion engine or motor, be different from the number of cylinders that is in a certain definite stroke on second possible engine location M2 at the number of cylinders that is in a certain definite stroke on the engine location (M1 is abbreviated as in the back).This can be described below by means of a three cylinder engine:
For example, for engine location M1:
Cylinder 1 is in compression stroke,
Cylinder 2 is in aspirating stroke,
Cylinder 3 is in exhaust stroke.
For engine location M2:
Cylinder 1 is in exhaust stroke,
Cylinder 2 is in working stroke,
Cylinder 3 is in aspirating stroke.
From this layout, can be clear that, all have a cylinder to be in air inlet and exhaust stroke, but the 3rd cylinder perhaps is in compression stroke according to engine location or be in working stroke for two engine location M1 and M2 at every turn.Compression stroke has the influence that rotating speed is hindered, and working stroke makes rotating speed raise.Like this, rotation speed change process in bent axle rotation first lap and suction press change procedure are different from the change procedure in bent axle rotation second circle in distinctive mode.Therefore, the rotation speed change process of signal S1 feature near zone and suction press change procedure are the criterions of engine location in other words near the fiducial marks, can consider to be used for to substitute camshaft signal, wherein produce the identification signal of explanation engine location M1 and M2.
Not only when estimation rotation speed change process, and when the estimated pressure signal, all to decide: be the symbol transition of secondary signal slope, or be that near the minimum/maximum of the secondary signal the signal S1 feature is the best way of identification phase place near the fiducial marks according to the valve control time of number of cylinders and motor.In order to try to achieve symbol transition or estimation minimum/maximum, secondary signal is also obtained slope and/or maximum/minimum thus to the time differentiate.The accurate measuring point that is used to measure rotating speed or suction press will be determined according to the characteristics of motor.
Considered that as measuring when internal-combustion engine or engine start, but the controller Direct Recognition goes out the operation of starting arrangement.Not only rotation speed change process, and suction press change procedure all can be used as synchronous signal S2.In the case, can carry out this measurement under the non-ignition operation state before spraying for the first time or lighting a fire, after motor begins to rotate.At the first lap of the rotation of non-igniting, it all is characteristic that not only rotation speed change process, and suction press change procedure rotates for first lap or the second circle bent axle.After the motor proper functioning, particularly under high engine speed or rotation speed change condition, if possible, can no longer consider to determine engine location with the rotation speed change process.In case require at work just must finish synchronously by means of the suction press signal processing.
If use method of the present invention in having the system of camshaft-signal sensor, when detecting the camshaft-signal sensor defectiveness, it can be used as emergency operating and uses so.
Use the output signal of camshaft-signal sensor to determine phase place during in direct use method of the present invention after the starting and in proper functioning, the two combination also is fine.
Claims (7)
1. method that is used for determining the quartastroke engine phase place, the cylinder number of described quartastroke engine is an odd number, in described method, constitute first signal with a feature, this feature is corresponding to a predetermined crank angle, and be associated with secondary signal, this secondary signal is made of speed probe output signal and/or intake manifold pressure sensor output signal, and in described method, also by detecting described secondary signal, constitute an identification signal in the characteristic area of first signal, it is characterized in that: detection can characterize the first lap of bent axle rotation and the change procedure of second secondary signal of enclosing in the characteristic area of first signal.
2. the method that is used for determining phase place according to claim 1 is characterized in that: the road has when starting implements this method before the igniting first time in a cylinder of internal-combustion engine.
3. the method that is used for determining phase place according to claim 1 and 2 is characterized in that: the detection of secondary signal is comprised identification to this signal slope symbol transition, perhaps to the estimation of the minimum/maximum in the feature near zone of first signal.
4. the method that is used for determining phase place according to claim 3, it is characterized in that: controller decides according to cylinder of internal-combustion engine number and/or valve control time: be to come testing signal by means of the slope of secondary signal or by means of the estimation of minimum/maximum.
5. the method that is used for determining phase place according to claim 1 and 2 is characterized in that: the measuring point that detects rotating speed and/or suction press is determined according to the characteristics of motor.
6. the method that is used for determining phase place according to claim 1 and 2, it is characterized in that: in running, under time of predesignating or condition, further carry out determining or check of phase place, wherein, during phase place when this moves is determined, only detect the output signal of intake manifold pressure sensor.
7. the method that is used for determining phase place according to claim 1 and 2, it is characterized in that: in having the internal-combustion engine of phase detector, in case controller detects phase detector or the electricity of the signal processing under it defective, promptly implements this method, to carry out emergency operating.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19638010A DE19638010A1 (en) | 1996-09-18 | 1996-09-18 | Method for determining the phase position in a 4-stroke internal combustion engine |
| DE19638010.3 | 1996-09-18 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1198801A CN1198801A (en) | 1998-11-11 |
| CN1078672C true CN1078672C (en) | 2002-01-30 |
Family
ID=7805981
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN97191080.4A Expired - Fee Related CN1078672C (en) | 1996-09-18 | 1997-08-09 | Method for determing phase of four-stroke internal combustion enjine |
Country Status (9)
| Country | Link |
|---|---|
| EP (1) | EP0862692B1 (en) |
| JP (1) | JP3998719B2 (en) |
| KR (1) | KR100572132B1 (en) |
| CN (1) | CN1078672C (en) |
| AT (1) | ATE213307T1 (en) |
| CZ (1) | CZ130698A3 (en) |
| DE (2) | DE19638010A1 (en) |
| ES (1) | ES2172807T3 (en) |
| WO (1) | WO1998012432A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100368673C (en) * | 2004-06-24 | 2008-02-13 | 雅马哈发动机株式会社 | Stroke discriminating device of four stroke engine |
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| GB2337123A (en) * | 1998-05-09 | 1999-11-10 | Rover Group | Calculation of crankshaft angle in a four stroke engine having an odd number of cylinders |
| EP1050676A3 (en) * | 1999-05-05 | 2002-06-05 | Delphi Technologies, Inc. | Engine position sensing |
| JP4093682B2 (en) * | 1999-05-28 | 2008-06-04 | 本田技研工業株式会社 | 4-cycle engine stroke discrimination device |
| US6499341B1 (en) * | 2000-07-20 | 2002-12-31 | Harley-Davidson Motor Company Group, Inc. | Motorcycle having system for determining engine phase |
| DE10036436C2 (en) * | 2000-07-26 | 2002-06-13 | Siemens Ag | Method for synchronizing an internal combustion engine |
| DE10113194A1 (en) * | 2001-03-19 | 2002-09-26 | Volkswagen Ag | Detecting working cycle of internal combustion engine cylinder involves detecting pressure variation in cylinder, differentiating, identifying compression cycle if differential has null crossing |
| DE10116485B4 (en) * | 2001-04-03 | 2007-01-11 | Bayerische Motoren Werke Ag | Device and method for determining the engine speed of an internal combustion engine |
| TWI221880B (en) * | 2001-10-24 | 2004-10-11 | Yamaha Motor Co Ltd | Engine control device |
| ES2392820T3 (en) | 2002-07-31 | 2012-12-14 | Yamaha Hatsudoki Kabushiki Kaisha | Engine control device |
| DE10234949C1 (en) * | 2002-07-31 | 2003-10-30 | Siemens Ag | Crankshaft position determination method for multi-cylinder IC engine using evaluation of angle markings in camshaft signal |
| DE10344773B3 (en) * | 2003-09-26 | 2005-05-25 | Siemens Ag | Method and device for determining a phase position between a crankshaft and a camshaft of an internal combustion engine |
| JP2006037944A (en) * | 2004-06-24 | 2006-02-09 | Yamaha Motor Co Ltd | Stroke discrimination device of four-stroke cycle engine |
| DE102004062406B4 (en) | 2004-12-23 | 2007-08-09 | Siemens Ag | Method and device for determining a phase of an internal combustion engine |
| EP1710421A1 (en) * | 2005-04-06 | 2006-10-11 | Scania CV AB (publ) | Method and system for internal combustion engine |
| FI121150B (en) | 2005-11-30 | 2010-07-30 | Waertsilae Finland Oy | Apparatus and method for a piston combustion engine for identifying an uneven cylinder power ratio |
| CN101360913B (en) * | 2006-01-26 | 2010-09-29 | 德尔菲技术公司 | Method and apparatus preventing recoil of motorcycle pedal starter |
| FR2911919A1 (en) * | 2007-06-04 | 2008-08-01 | Siemens Vdo Automotive Sas | Internal combustion engine and crankshaft synchronizing method for vehicle, involves comparing space between positions of crankshaft to reference value, and deducing phase of motor based on comparison |
| FR2925593B1 (en) * | 2007-12-20 | 2014-05-16 | Renault Sas | METHOD FOR GENERATING A SYNCHRONIZATION SIGNAL OF THE OPERATING CYCLE OF AN INTERNAL COMBUSTION ENGINE |
| JP5359932B2 (en) * | 2010-02-26 | 2013-12-04 | 日産自動車株式会社 | 4-stroke cycle internal combustion engine and cylinder discrimination method thereof |
| DE102011086124B3 (en) * | 2011-11-10 | 2013-01-31 | Continental Automotive Gmbh | Method for cylinder detection in an internal combustion engine and control unit |
| JP5884589B2 (en) * | 2012-03-23 | 2016-03-15 | アイシン精機株式会社 | Engine control device |
| CN102678362A (en) * | 2012-05-16 | 2012-09-19 | 联合汽车电子有限公司 | System of phase-free sensor for identifying one cylinder compression TDC (Top Dead Center) of three-cylinder engine |
| CN103630365B (en) * | 2012-08-29 | 2016-09-07 | 比亚迪股份有限公司 | The phase determination method of three-cylinder engine |
| CN103016185B (en) * | 2012-11-26 | 2016-01-20 | 联合汽车电子有限公司 | The method of quick identification crank position |
| CN104314688B (en) * | 2014-08-13 | 2016-10-05 | 吉林大学 | A kind of device and method judging engine crankshaft rotation phase place and real time position |
| CN104806368B (en) * | 2015-04-09 | 2017-06-06 | 中国第一汽车股份有限公司无锡油泵油嘴研究所 | Suitable for the engine quick start method of any installation phase |
| SE541683C2 (en) | 2016-12-19 | 2019-11-26 | Scania Cv Ab | Cylinder Detection in a Four-stroke Internal Combustion Engine |
| DE102018200521A1 (en) * | 2018-01-15 | 2019-07-18 | Robert Bosch Gmbh | Method for determining a position of an internal combustion engine |
| DE102019219278A1 (en) * | 2019-12-11 | 2021-06-17 | Volkswagen Aktiengesellschaft | Method for determining the camshaft position of a series engine |
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| US4266427A (en) * | 1979-07-11 | 1981-05-12 | Creative Tool Company | Combustion timing method and apparatus with direct TDC detection |
| JPS57200811A (en) * | 1981-06-04 | 1982-12-09 | Fuji Heavy Ind Ltd | Crank angle detecting device |
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-
1996
- 1996-09-18 DE DE19638010A patent/DE19638010A1/en not_active Withdrawn
-
1997
- 1997-08-09 DE DE59706384T patent/DE59706384D1/en not_active Expired - Lifetime
- 1997-08-09 EP EP97938754A patent/EP0862692B1/en not_active Expired - Lifetime
- 1997-08-09 KR KR1019980703544A patent/KR100572132B1/en not_active IP Right Cessation
- 1997-08-09 AT AT97938754T patent/ATE213307T1/en not_active IP Right Cessation
- 1997-08-09 CZ CZ981306A patent/CZ130698A3/en unknown
- 1997-08-09 CN CN97191080.4A patent/CN1078672C/en not_active Expired - Fee Related
- 1997-08-09 JP JP51413898A patent/JP3998719B2/en not_active Expired - Fee Related
- 1997-08-09 WO PCT/DE1997/001707 patent/WO1998012432A1/en active IP Right Grant
- 1997-08-09 ES ES97938754T patent/ES2172807T3/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100368673C (en) * | 2004-06-24 | 2008-02-13 | 雅马哈发动机株式会社 | Stroke discriminating device of four stroke engine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1198801A (en) | 1998-11-11 |
| ATE213307T1 (en) | 2002-02-15 |
| JP2000500841A (en) | 2000-01-25 |
| CZ130698A3 (en) | 1998-12-16 |
| EP0862692A1 (en) | 1998-09-09 |
| EP0862692B1 (en) | 2002-02-13 |
| DE19638010A1 (en) | 1998-03-19 |
| WO1998012432A1 (en) | 1998-03-26 |
| KR19990067522A (en) | 1999-08-25 |
| JP3998719B2 (en) | 2007-10-31 |
| DE59706384D1 (en) | 2002-03-21 |
| KR100572132B1 (en) | 2006-09-22 |
| ES2172807T3 (en) | 2002-10-01 |
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