EP2019808B1 - Organe de levage a moyens de mesure de charge et/ou de contraintes - Google Patents

Organe de levage a moyens de mesure de charge et/ou de contraintes Download PDF

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Publication number
EP2019808B1
EP2019808B1 EP07734655A EP07734655A EP2019808B1 EP 2019808 B1 EP2019808 B1 EP 2019808B1 EP 07734655 A EP07734655 A EP 07734655A EP 07734655 A EP07734655 A EP 07734655A EP 2019808 B1 EP2019808 B1 EP 2019808B1
Authority
EP
European Patent Office
Prior art keywords
lifting member
lifting
load
optical
longitudinal
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.)
Not-in-force
Application number
EP07734655A
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German (de)
English (en)
French (fr)
Other versions
EP2019808A1 (fr
Inventor
Beat Zwygart
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.)
Lasstec
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Lasstec
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Publication of EP2019808A1 publication Critical patent/EP2019808A1/fr
Application granted granted Critical
Publication of EP2019808B1 publication Critical patent/EP2019808B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
    • B66C1/66—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof
    • B66C1/663—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof for containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
    • B66C1/34—Crane hooks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
    • B66C1/34—Crane hooks
    • B66C1/40—Crane hooks formed or fitted with load measuring or indicating devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
    • B66C1/66—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof

Definitions

  • the present invention relates to lifting members for transmitting all or part of a lifting force between a lifting device and a load to be lifted.
  • lifting devices are commonly used in fields such as civil engineering or port handling.
  • the "spreaders” or gripping and lifting frames which include a plurality of rotary locks for engaging and locking on the load complementing forms.
  • "Spreaders” are used in particular for lifting and handling of port containers by engaging latches in oblong holes arranged at the four upper corners of the containers. Depending on the state of wear of the container and shocks, the oblong holes can be deformed and no longer allow locking. Lifting is then performed with only part of the lifting members, which can lead to overloading and breaking them.
  • Such a stress sensor makes it possible to monitor the loading of the lifting member and to monitor the stress induced by the load lifted in the lifting member by measuring the pressure in the compression chamber.
  • a first problem proposed by the invention is to accurately measure a load and / or induced stresses in a lifting member when lifting a load.
  • the invention seeks to achieve this measurement closer to the lifting member, to minimize the risk of errors that may result from approximations by calculation.
  • the invention aims to design a measuring device having a high durability, capable of withstanding shocks, insensitive to electromagnetic fields, and requiring no voluntary recalibration operation to compensate for temperature variations.
  • the invention also seeks to design a device for measuring the weight of a load lifted by a lifting member and / or constraints induced by the lifting of a load, which has a high reactivity and a high speed, allowing a real time measurement.
  • the invention aims to provide a compact measuring device, easily adaptable to most existing lifting devices and commonly used in the field of lifting, the adaptation can be achieved without detectable changes in the properties of organs lifting.
  • optical stress sensor allows a high reactivity as well as a high accuracy in the measurement of the load and / or the stresses induced by the lifting of the load in the lifting member.
  • the optical stress sensor is fixed to the side wall of the longitudinal channel in at least a first and a second attachment zone located at a distance from each other in the longitudinal direction of the longitudinal channel.
  • the longitudinal section of the lifting member When lifting a load, the longitudinal section of the lifting member will elongate elastically under the action of the lifting force. This lengthening of the longitudinal section will vary the distance between the two attachment zones, which will cause a variation of the signals of the optical stress sensor, which variation will directly deduce the state of stress induced by the load on the lifting member and / or the weight of the load lifted by the lifting member.
  • the first and second attachment zones may be arranged in a zone of constant diameter of the longitudinal section of the lifting member.
  • the longitudinal channel may be disposed in the middle of the cross section of the longitudinal section of the lifting member.
  • the optical stress sensor is thus inserted into the neutral fiber of the longitudinal section of the lifting member.
  • the stress measured by the optical stress sensor will thus be a pure axial stress.
  • the measurement will not be parasitized by any bending of the lifting member that would distort the calculation of the weight of the load raised.
  • optical strain sensors can be used, provided that they can be housed at least partly in the longitudinal channel of the lifting member.
  • the optical stress sensor may be an optical fiber optical sensor, said optical fiber being made integral with the side wall of the longitudinal channel according to the first and second attachment zones.
  • Such a structure is compact and robust, and it can be connected by the same optical fiber to reception and analysis means placed at a distance.
  • the optical fiber may advantageously be glued in a metal tube itself glued in the longitudinal channel.
  • the optical constraint sensor may comprise a laser distance sensor, capable of producing an image signal of the extension of the longitudinal section of the lifting member.
  • the distal portion of the lifting member may be shaped hook.
  • the distal portion of the lifting member may be shaped as "T".
  • one or more lifting members according to the invention may be provided on a frame for gripping and lifting loads.
  • the load and / or stress spectrum makes it possible to estimate the state of fatigue of the lifting member. It is thus possible to safely provide for the replacement of the lifting member.
  • the device for measuring and analyzing a load can be used on a lifting device such as a gantry crane, a container crane, a crane, a mobile crane, or a stacker or industrial truck. with fork carriage.
  • a lifting device such as a gantry crane, a container crane, a crane, a mobile crane, or a stacker or industrial truck. with fork carriage.
  • the longitudinal section 1c of the lifting member 1 comprises a blind longitudinal channel 1d, extending from the proximal portion 1a.
  • An optical stress sensor 2 is inserted into the longitudinal channel 1d and is attached to the side wall of the longitudinal channel 1d. The attachment to the side wall of the optical stress sensor 2 can be performed using a common epoxy resin.
  • the longitudinal channel 1d is blind and extends from the proximal portion 1a of the lifting member 1. Such a configuration makes it possible not to affect the distal portion 1b which is the "active" part of the lifting member 1 which allows the attachment of the load.
  • the longitudinal channel 1d may be through to facilitate, for example, the introduction and / or extraction of the optical stress sensor 2.
  • Linking means 3 are provided for transmitting the signals of the optical stress sensor 2 to means for receiving and analyzing the signals of the optical stress sensor 2.
  • the optical stress sensor 2 is fixed to the side wall of the longitudinal channel 1d in two attachment zones 5a and 5b located at a distance from each other in the longitudinal direction of the longitudinal channel 1d.
  • the longitudinal portion 1c elastically elongate under the lifting force.
  • the optical stress sensor 2 being attached to the side wall of the longitudinal channel 1d according to the attachment areas 5a and 5b, will also undergo a variation in length. This variation in length will vary the signals of the optical stress sensor 2 sent to the reception and analysis means 4 by the connecting means 3. The variation of the signals of the optical stress sensor 2 is directly related to the elongation undergone by the optical stress sensor 2.
  • the lifting member 1 thus becomes itself a means of measuring the weight of the load. An internal measurement of the stresses induced in the lifting member is thus performed, as close as possible to them, which limits the risk of error that may occur during approximations by calculation.
  • optical strain sensor 2 it is advantageous to use, according to a first embodiment of the invention, an optical fiber optic stress sensor 2.
  • the optical fiber is made integral with the side wall of the longitudinal channel 1 d according to the first 5a and the second 5b attachment zones, an intermediate section of optical fiber being situated between the two fixing zones 5a and 5b.
  • an elongation under load of the longitudinal section 1c of the lifting member 1 the same elongation of the optical fiber intermediate section occurs, and this elongation produces a corresponding variation in the optical properties of the optical fiber.
  • By sending in the optical fiber a suitable light wave it is possible to detect, by the analysis of the reflected wave, this variation in length of the longitudinal section 1c of the lifting member 1, and to deduce the load borne by the lifting member.
  • the optical fiber may extend beyond the lifting member 1, to a housing containing both the light source and means for receiving and analyzing the signals of the optical stress sensor.
  • the optical fiber may have a diameter of about 0.2 mm, and may be protected by a layer of wax wrapped in a layer of rubber, itself wrapped in a metal braid also wrapped in a layer rubber, the assembly having a diameter of about 5 mm.
  • Such a fiber can be flexed to possible radii of about 10 cm, which allows to associate it in parallel with other connection means such as electrical cables and flexible hydraulic supply tubes.
  • the housing can be deported 5 to 10 m away from the lifting member, without loss of efficiency of the load measuring means.
  • the optical fiber may be glued into a metal tube itself adhered in the longitudinal channel 1d.
  • the optical fiber with a diameter of 0.2 mm for example, can be glued into a metal tube whose inside diameter is approximately 0.6 mm and the outside diameter about 3 mm, the tube itself being glued into the longitudinal channel 1 d.
  • an optical fiber optical stress sensor 2 it is possible to use, for example, a Bragg grating optical fiber elongation optical sensor. It is a sensor in which a single mode optical fiber comprises a section whose refractive index has been modulated periodically at a determined pitch along the optical fiber by intense ultraviolet radiation. The fiber section with periodically modulated refractive index is called the Bragg grating. This Bragg grating produces a reflection of the light waves traveling through the optical fiber, at a wavelength called the Bragg wavelength, which is substantially equal to twice the modulation step of the refractive index along the fiber. optical in the Bragg network.
  • the wavelength of light reflected by the Bragg grating is substantially proportional to the distance between two refractive index variations in the optical fiber, and any variation in this distance, as a result of an elongation, for example , can be detected by measuring the wavelength of reflected light.
  • optical fiber elongation sensors may however be used, for example a Fabry-Perot interferometer sensor.
  • optical fiber optic stress sensor 2 makes it possible to carry out a rapid measurement with high reliability. This measurement can also be made independent of temperature differences in a simple way using mathematical formulas, as indicated in the document WO 86/01303 . Alternatively, one can consider using an optical fiber strain sensor additional optical stress free and not subject to a load, to use its signal to compensate for temperature changes.
  • an optical stress sensor 2 it is possible to use a laser distance sensor capable of producing an image signal of the elongation of the longitudinal section 1 c of the lifting member 1
  • a laser diode emits at the input of the longitudinal channel 1d. pulses of light which are reflected near the bottom of the channel 1d, and a sensor receives the reflected wave. We then measure the transit time of the light back and forth in the longitudinal channel 1d, to deduce its length and its possible elongation under the action of a load.
  • Such a laser distance sensor may be similar to those commonly used for measuring short distances.
  • an optical stress sensor 2 makes it possible, by virtue of its reactivity and speed of measurement, to measure high transient stresses that can appear very briefly during shocks and vibrations occurring during a lifting operation, and without the optical stress sensor 2 being damaged by these shocks or vibrations. This allows to better know the state of fatigue of the lifting member 1, and to provide preventive replacement if it has been or may have been damaged by previous lifting operations. It is indeed possible to know in real time the state of charge and / or constraints of the lifting member 1, and thus establish accurately and reliably its load spectrum and / or constraints.
  • the optical stress sensor 2 is directly integrated in the lifting member 1, which is not modified in its functional external form.
  • the lifting members 1 shown on the figures 1 and 2 thus remain adaptable to all the lifting gear to which they were originally intended.
  • An optical fiber optical stress sensor 2 has a very small diameter d, so that the lifting member 1 is not or very little affected in its mechanical strength by the presence of the longitudinal channel 1d.
  • the attachment zones 5a and 5b are arranged in a zone of constant diameter of the longitudinal section 1c of the lifting member 1.
  • the optical stress sensor 2 extends in the same way as the area of the lifting member 1 between the first attachment zone 5a and the second attachment zone 5b. Since this zone has a constant diameter D, it extends linearly as a function of the load attached to the distal portion 1b of the lifting member 1.
  • the longitudinal channel 1d is disposed in the middle of the cross section of the longitudinal section 1c of the lifting member 1.
  • the optical stress sensor 2 is thus housed in the neutral fiber of the longitudinal section 1c of the lifting member 1. This makes it possible to measure a pure axial stress exerted on the lifting member 1. The measurement is thus not not by the possible bending effects of the lifting member 1. Otherwise, in the case of an off-center position of the optical stress sensor 2, bending effects could reduce or increase the stress calculated by the receiving means and analysis 4 from the signals given by the optical stress sensor 2.
  • the distal end 1b of the lifting member 1 is shaped as "T".
  • the distal portion 1b of the lifting member 1 is shaped hook.
  • the lifting member 1 shown on the figure 2 is commonly used in many lifting devices such as cranes in the field of civil engineering.
  • This device 9 for measuring and analyzing the load can also be connected to a safety device (not shown) provided on the hoisting apparatus, intended to cut off the power supply of the hoisting apparatus in the case where the device 9 for measuring and analyzing the load would detect a load greater than the maximum load that can be raised by the lifting member 1, or greater than the maximum load that can safely lift the hoist.
  • a safety device not shown
  • Such a device 9 for measuring and analyzing the load also makes it possible to monitor the state of fatigue and stress of the lifting member 1. It will thus be possible to easily identify any residual stresses in the lifting member 1, or non-elastic behaviors of the longitudinal section 1 c, indicating a beginning of plastic deformation of the lifting member 1 can lead to breaking.
  • FIG. 3 there is shown a gripping and lifting frame 6 comprising four lifting members 1 according to the embodiment illustrated in FIG. figure 1 .
  • the lifting members 1 are arranged at the four corners of the frame 6, which frame 6 can be used indifferently with a handling crane 7 or a crane as shown in FIG. figure 4 , or with a fork pallet stacker 8 as shown on the figure 5 .
  • the lifting members 1 are all provided with optic optical fiber optical sensors themselves connected by the connecting means 3 by optical fiber sheathed to the same reception and analysis means 4 which analyze in sequence the signals of the sensors optic optical fiber constraints (not shown) contained in the lifting members 1.
  • the reception and analysis means 4 scan the light waves reflected by the optical fibers, and deduce the elongation of each lifting member 1 and therefore the value of the load that it supports.
  • gripping and lifting frame 6 shown on the Figures 3 to 5 it comprises only four lifting members 1, it is possible to envisage a larger number of lifting members 1, arranged differently for the simultaneous lifting of several containers.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Light Guides In General And Applications Therefor (AREA)
  • Measuring Instrument Details And Bridges, And Automatic Balancing Devices (AREA)
  • Control And Safety Of Cranes (AREA)
EP07734655A 2006-05-24 2007-05-24 Organe de levage a moyens de mesure de charge et/ou de contraintes Not-in-force EP2019808B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0651916A FR2901548B1 (fr) 2006-05-24 2006-05-24 Organe de levage a moyens de mesure de charge et /ou de contraintes
PCT/IB2007/001349 WO2007138418A1 (fr) 2006-05-24 2007-05-24 Organe de levage a moyens de mesure de charge et/ou de contraintes

Publications (2)

Publication Number Publication Date
EP2019808A1 EP2019808A1 (fr) 2009-02-04
EP2019808B1 true EP2019808B1 (fr) 2011-08-17

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP07734655A Not-in-force EP2019808B1 (fr) 2006-05-24 2007-05-24 Organe de levage a moyens de mesure de charge et/ou de contraintes

Country Status (15)

Country Link
US (1) US8276461B2 (da)
EP (1) EP2019808B1 (da)
JP (1) JP4972686B2 (da)
KR (1) KR101391272B1 (da)
CN (1) CN101454235B (da)
AT (1) ATE520618T1 (da)
AU (1) AU2007266739B2 (da)
CA (1) CA2653832C (da)
DK (1) DK2019808T3 (da)
ES (1) ES2371681T3 (da)
FR (1) FR2901548B1 (da)
MY (1) MY146747A (da)
PT (1) PT2019808E (da)
TW (1) TWI388494B (da)
WO (1) WO2007138418A1 (da)

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US5429007A (en) * 1993-03-23 1995-07-04 Khachaturian; Jon E. Tension load cell apparatus
CN2173229Y (zh) * 1993-10-11 1994-08-03 冶金工业部钢铁研究总院 动态称量吊钩秤
FR2726646B1 (fr) * 1994-11-09 1996-12-06 Otis Elevator Co Capteur de force a fibre optique, notamment pour la mesure de la charge des cabines d'ascenseur
JP2697782B2 (ja) * 1995-03-10 1998-01-14 工業技術院長 変位速度またはひずみ速度計測方法およびそれに用いる装置
US5594819A (en) * 1995-07-26 1997-01-14 Electric Power Research Institute Field-mountable fiber optic sensors for long term strain monitoring in hostile environments
US6073496A (en) * 1996-03-14 2000-06-13 Mannesmann Ag Load hoisting apparatus
US6354152B1 (en) * 1996-05-08 2002-03-12 Edward Charles Herlik Method and system to measure dynamic loads or stresses in aircraft, machines, and structures
US5945665A (en) * 1997-05-09 1999-08-31 Cidra Corporation Bolt, stud or fastener having an embedded fiber optic Bragg Grating sensor for sensing tensioning strain
US5973317A (en) * 1997-05-09 1999-10-26 Cidra Corporation Washer having fiber optic Bragg Grating sensors for sensing a shoulder load between components in a drill string
JPH1183646A (ja) * 1997-09-01 1999-03-26 Kazumasa Sasaki 光ファイバ形荷重計
JP2000028448A (ja) * 1998-07-14 2000-01-28 Furukawa Electric Co Ltd:The 送配電線荷重監視システム
FR2821614B1 (fr) * 2001-03-02 2003-10-03 Ppm Verrou peseur d'agrippement pour palonnier de prise en charge d'un engin de levage-manutention et palonnier en faisant application
CN2479489Y (zh) * 2001-04-12 2002-02-27 梅特勒－托利多常州衡器有限公司 无线数传电子钩头秤
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FR2854689B1 (fr) * 2003-05-07 2005-09-02 Commissariat Energie Atomique Dispositif, systeme et procede de mesure de deformations mecaniques et/ou thermiques uniaxiales au moyen d'une fibre optique a reseau de bragg
JP4318113B2 (ja) * 2003-06-20 2009-08-19 株式会社日立製作所 ボルトゲージ
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CN2744661Y (zh) * 2004-11-11 2005-12-07 郑州恒科实业有限公司 起重机钩头电子秤

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012003650A1 (de) 2012-02-24 2013-08-29 recognitec Gesellschaft für digitale Bildverarbeitung mbH Verfahren und Vorrichtung zum überwachten vertikalen Anheben eines Normcontainers
DE102012003650B4 (de) * 2012-02-24 2014-02-13 recognitec Gesellschaft für digitale Bildverarbeitung mbH Verfahren und Vorrichtung zum überwachten vertikalen Anheben eines Normcontainers
GB2517967A (en) * 2013-09-06 2015-03-11 Strainstall Uk Ltd Twist-lock collar
GB2517967B (en) * 2013-09-06 2015-09-02 Strainstall Uk Ltd Twist-lock collar

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TWI388494B (zh) 2013-03-11
JP2009537843A (ja) 2009-10-29
ATE520618T1 (de) 2011-09-15
US20100037700A1 (en) 2010-02-18
PT2019808E (pt) 2011-11-25
KR20090027661A (ko) 2009-03-17
EP2019808A1 (fr) 2009-02-04
CN101454235A (zh) 2009-06-10
FR2901548B1 (fr) 2008-07-25
CA2653832C (fr) 2014-08-26
WO2007138418A1 (fr) 2007-12-06
AU2007266739B2 (en) 2012-11-15
DK2019808T3 (da) 2011-12-05
US8276461B2 (en) 2012-10-02
ES2371681T3 (es) 2012-01-09
CN101454235B (zh) 2013-05-15
MY146747A (en) 2012-09-14
TW200815275A (en) 2008-04-01
FR2901548A1 (fr) 2007-11-30
AU2007266739A1 (en) 2007-12-06
KR101391272B1 (ko) 2014-05-02
CA2653832A1 (fr) 2007-12-06
JP4972686B2 (ja) 2012-07-11

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