US3331971A - Magnetic control stick system - Google Patents

Magnetic control stick system Download PDF

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Publication number
US3331971A
US3331971A US360004A US36000464A US3331971A US 3331971 A US3331971 A US 3331971A US 360004 A US360004 A US 360004A US 36000464 A US36000464 A US 36000464A US 3331971 A US3331971 A US 3331971A
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US
United States
Prior art keywords
elongated member
pole faces
control stick
tubular member
stick system
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
US360004A
Other languages
English (en)
Inventor
Moller Waldemar
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.)
PE Manufacturing GmbH
Original Assignee
Bodenseewerk Perkin Elmer and Co GmbH
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 Bodenseewerk Perkin Elmer and Co GmbH filed Critical Bodenseewerk Perkin Elmer and Co GmbH
Application granted granted Critical
Publication of US3331971A publication Critical patent/US3331971A/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/04—Initiating means actuated personally
    • B64C13/042—Initiating means actuated personally operated by hand
    • B64C13/0421—Initiating means actuated personally operated by hand control sticks for primary flight controls
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/223—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to joystick controls
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
    • G01R33/07—Hall effect devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04722—Mounting of controlling member elastic, e.g. flexible shaft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04755—Magnetic sensor, e.g. hall generator, pick-up coil

Definitions

  • the present invention relates to a control stick system particularly useful for steering airplanes and other types of vehicles.
  • the invention is directed toward the stiff stick type of control wherein control signals are developed from the deflection of a stilf elongated member.
  • one end of the stick is tightly clamped to a fixed body while the other end of the stick is free to undergo resilient deflections in two directions. As the stick is deflected, the movement is sensed and control signals proportional to the deflection are developed.
  • a very desirable feature of these systems is that the operator is able to sense the degree and direction of pressure exerted on the stick without requiring a visual check of the movement.
  • a control stick system constructed in accordance with the present invention comprises a longitudinally magnetized, elongated member and a tubular member surrounding the elongated member and concentric with the elongated member.
  • the system also includes means for fixing one end of the elongated member rigidly to the tubular member and a plurality of pole faces positioned on the outer surface of the elongated member from which magnetic flux from the elongated member emanates.
  • the control stick system further includes a plurality of Hall generators positioned on the inner surface of the tubular member and opposite the pole faces for receiving flux emanating from the pole faces.
  • FIGURE 1 illustrates the mode of operation of a Hall generator which is utilized in the present invention
  • FIGURE 2 shows a control stick system constructed in accordance with the present invention
  • FIGURE 3 is a cross-sectional view taken along line II-IIII of FIGURE 2.
  • FIGURE 4 shows how four Hall generators utilized in the present invention are wired together.
  • a control stick system constructed in accordance with the present invention includes ice an elongated member 3. Surrounding the elongated member 3 and concentric with the elongated member is a tubular member 1 of ferromagnetic material in the form of a sleeve. The elongated member 3 is tightly clamped at one end in a block 2 placed within sleeve 1 so that the elongated member is rigidly fixed to the sleeve. Like tubular member 1, block 2 is of a ferromagnetic material. The clamped portion 4 of member 3 is somewhat thinner than the handle end so as to permit deflection of this member.
  • the control stick system further includes a plurality of pole faces positioned on the outer surface of the elongated member 3.
  • the pole faces 5 are preferably equally spaced and for the arrangement shown there are four such pole faces.
  • the control stick system additionally includes a plurality of Hall generators positioned on the inner surface of the tubular member 1 and opposite the pole faces 5.
  • One Hall generator is opposite each of the pole faces so that for the arrangement shown the Hall generators are equally spaced and there are four such Hall generators, 7L, 7R, 7H and 7V.
  • the sleeve 1 has an inner square cross-section so that the four Hall generators 7 are arranged in the centers of the sides of a square.
  • Elongated member 3 is longitudinally magnetized so that magnetic flux emanates from the four pole faces 5. Air gaps 6 exist between the pole faces 5 and the inner walls of sleeve 1. The remainder of the magnetic circuit is completed through the sleeve 1 and the block 2.
  • a Hall generator comprises a thin lamina 10 of semiconducting material to which are attached a pair of electrodes 11 and 12.
  • a control current is supplied to the lamina 10 by way of electrodes 11 and 12. If a magnetic field extends through the lamina 10, a Hall voltage is developed which is perpendicular to the direction of control current flow and is proportional to the magnitudes of the control current and the magnetic field.
  • the four Hall generators being positioned opposite the pole faces 5 receive the flux that emanates from the pole faces.
  • the Hall generators are connected electrically, as shown in FIGURE 4, in such a way that the signals developed by oppositely disposed generators are effectively in phase opposition.
  • the voltages developed by Hall generators 7V and 7H are so coupled to a transformer 13, that a voltage is developed at the secondary of this transformer which is equal to the difference of the two voltages supplied to the primaries of this transformer.
  • Hall generators 7L and 7R are connected similarly to a transformer 14.
  • a control stick system comprising:
  • a control stick system according to claim 1 wherein the pole faces are equally spaced around the outer surface of the elongated member and the Hall generators are equal-1y spaced around the inner surface of the tubular member.
  • a control stick system comprising:
  • tubular member formed of ferromagnetic material surrounding said elongated member and concentric with said elongated member;
  • a control stick arrangement comprising:
  • a plurality of equally spaced Hall generators positioned on the inner surface of said tubular member and opposite said pole faces for receiving fluxes emanating therefrom;
  • Hall generators being equal in number to the number of pole faces and having the outputs of oppositely disposed Hall generators coupled in opposition to each other.
  • a control stick system according to claim 5 wherein the tubular member has an inner square cross-section and the four Hall generators are arranged in the centers of the sides of the square.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • Position Input By Displaying (AREA)
  • Soft Magnetic Materials (AREA)
  • Physical Or Chemical Processes And Apparatus (AREA)
US360004A 1963-06-11 1964-04-15 Magnetic control stick system Expired - Lifetime US3331971A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DEB72241A DE1261936B (de) 1963-06-11 1963-06-11 Steuerknueppel, insbesondere fuer Flugzeugsteuerungen

Publications (1)

Publication Number Publication Date
US3331971A true US3331971A (en) 1967-07-18

Family

ID=6977358

Family Applications (1)

Application Number Title Priority Date Filing Date
US360004A Expired - Lifetime US3331971A (en) 1963-06-11 1964-04-15 Magnetic control stick system

Country Status (4)

Country Link
US (1) US3331971A (fr)
DE (1) DE1261936B (fr)
FR (1) FR1390854A (fr)
GB (1) GB1069630A (fr)

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4177567A (en) * 1977-01-26 1979-12-11 Automation Equipment Inc. Tracer head
US4459578A (en) * 1983-01-13 1984-07-10 Atari, Inc. Finger control joystick utilizing Hall effect
US4489303A (en) * 1983-06-03 1984-12-18 Advanced Control Systems Contactless switch and joystick controller using Hall elements
US4498341A (en) * 1978-07-05 1985-02-12 Deutsche Forschungs- u. Versuchsanstalt fur Luft-u-Raumfahrt e.V. Method and arrangement for sensing the acceleration of oscillating bodies
US4703261A (en) * 1983-12-15 1987-10-27 Maag Gear-Wheel And Machine Company Limited Differential Hall-effect gear measure feeler
US4872672A (en) * 1985-09-09 1989-10-10 Microcube Corporation Proportional control with a joystick device for inputting computer variables
US4947070A (en) * 1983-08-09 1990-08-07 British Aerospace Public Limited Company Control apparatus
US5675359A (en) * 1995-01-13 1997-10-07 Advanced Technology Systems, Inc. Joystick controller
US5691637A (en) * 1992-08-28 1997-11-25 True Position Magnetics, Inc. Magnetic field position transducer for two or more dimensions
US5969520A (en) * 1997-10-16 1999-10-19 Sauer Inc. Magnetic ball joystick
US6441610B2 (en) 2000-06-14 2002-08-27 Syron Engineering & Manufacturing Corporation Robotic gripper having proximity sensor with off-set sensor
US20100265176A1 (en) * 2009-04-15 2010-10-21 Seektech, Inc. Magnetic Manual User Interface Devices
FR2977068A1 (fr) * 2011-06-21 2012-12-28 Sagem Defense Securite Instrument de commande et dispositif de commande integrant un tel instrument
FR3006291A1 (fr) * 2013-06-03 2014-12-05 Eurocopter France Manette de commande de vol d'un giravion montee basculante sur un support par encastrement d'une tige flexible
US9134817B2 (en) 2010-11-08 2015-09-15 SeeScan, Inc. Slim profile magnetic user interface devices
US9423894B2 (en) 2010-12-02 2016-08-23 Seesaw, Inc. Magnetically sensed user interface devices
US9678577B1 (en) 2011-08-20 2017-06-13 SeeScan, Inc. Magnetic sensing user interface device methods and apparatus using electromagnets and associated magnetic sensors
US9690390B2 (en) 2013-05-17 2017-06-27 SeeScan, Inc. User interface devices
US10121617B2 (en) 2010-08-20 2018-11-06 SeeScan, Inc. Magnetic sensing user interface device methods and apparatus
US10203717B2 (en) 2010-10-12 2019-02-12 SeeScan, Inc. Magnetic thumbstick user interface devices
US10788901B2 (en) 2010-05-18 2020-09-29 SeeScan, Inc. User interface devices, apparatus, and methods
US11172604B2 (en) * 2018-03-28 2021-11-16 Nanjing Chervon Industry Co., Ltd. Riding lawn mower lap bar position detection

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2428867A1 (fr) * 1978-06-15 1980-01-11 Telemecanique Electrique Dispositif generateur d'un signal analogique a variation lineaire etalonnee en fonction du deplacement d'une masse metallique par rapport a un detecteur de proximite, et applications, en particulier a la commande " intuitive " de mouvements
FR2559305B1 (fr) * 1984-02-08 1986-10-17 Telemecanique Electrique Manipulateur analogique
US4866854A (en) * 1986-12-05 1989-09-19 The Charles Stark Draper Laboratory, Inc. Multiple axis displacement sensor
FR2704056B1 (fr) * 1993-04-16 1995-06-02 Reichert Technology Sa Capteur pour la mesure d'un ballant.

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2888635A (en) * 1957-06-26 1959-05-26 Mandrel Industries Stick force transducer
DE1100305B (de) * 1958-09-09 1961-02-23 Siemens Ag Elektromechanischer Wandler nach Art eines Tonabnehmers
GB938705A (en) * 1961-02-09 1963-10-02 Boelkow Ludwig Apparatus for measuring precession deflections in gyroscopes

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2839733A (en) * 1954-05-13 1958-06-17 Gen Electric Tracer head
DE1133012B (de) * 1958-05-28 1962-07-12 Perkin Elmer Corp Elektrische Zwangssteuerung eines belibigen Teiles aus der Ferne mit Hilfe eines in mehreren Koordinaten bewegten, handbetaetigten Steuerknueppels
DE1063691B (de) * 1958-10-03 1959-08-20 Waldrich Werkzeugmasch Vorrichtung zur elektrischen Fuehlersteuerung entsprechend einem vorgegebenen Modell

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2888635A (en) * 1957-06-26 1959-05-26 Mandrel Industries Stick force transducer
DE1100305B (de) * 1958-09-09 1961-02-23 Siemens Ag Elektromechanischer Wandler nach Art eines Tonabnehmers
GB938705A (en) * 1961-02-09 1963-10-02 Boelkow Ludwig Apparatus for measuring precession deflections in gyroscopes

Cited By (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4177567A (en) * 1977-01-26 1979-12-11 Automation Equipment Inc. Tracer head
US4498341A (en) * 1978-07-05 1985-02-12 Deutsche Forschungs- u. Versuchsanstalt fur Luft-u-Raumfahrt e.V. Method and arrangement for sensing the acceleration of oscillating bodies
US4459578A (en) * 1983-01-13 1984-07-10 Atari, Inc. Finger control joystick utilizing Hall effect
US4489303A (en) * 1983-06-03 1984-12-18 Advanced Control Systems Contactless switch and joystick controller using Hall elements
US4947070A (en) * 1983-08-09 1990-08-07 British Aerospace Public Limited Company Control apparatus
US4703261A (en) * 1983-12-15 1987-10-27 Maag Gear-Wheel And Machine Company Limited Differential Hall-effect gear measure feeler
US4872672A (en) * 1985-09-09 1989-10-10 Microcube Corporation Proportional control with a joystick device for inputting computer variables
US5691637A (en) * 1992-08-28 1997-11-25 True Position Magnetics, Inc. Magnetic field position transducer for two or more dimensions
US5675359A (en) * 1995-01-13 1997-10-07 Advanced Technology Systems, Inc. Joystick controller
US5969520A (en) * 1997-10-16 1999-10-19 Sauer Inc. Magnetic ball joystick
US6441610B2 (en) 2000-06-14 2002-08-27 Syron Engineering & Manufacturing Corporation Robotic gripper having proximity sensor with off-set sensor
US6545465B1 (en) 2000-06-14 2003-04-08 Syron Engineering & Manufacturing Corporation Gripper with coiled sensor wire
US9870021B2 (en) 2009-04-15 2018-01-16 SeeScan, Inc. Magnetic manual user interface devices
US20100265176A1 (en) * 2009-04-15 2010-10-21 Seektech, Inc. Magnetic Manual User Interface Devices
US10528074B1 (en) 2009-04-15 2020-01-07 SeeScan, Inc. Magnetic manual user interface devices
US10788901B2 (en) 2010-05-18 2020-09-29 SeeScan, Inc. User interface devices, apparatus, and methods
US10121617B2 (en) 2010-08-20 2018-11-06 SeeScan, Inc. Magnetic sensing user interface device methods and apparatus
US10203717B2 (en) 2010-10-12 2019-02-12 SeeScan, Inc. Magnetic thumbstick user interface devices
US9134817B2 (en) 2010-11-08 2015-09-15 SeeScan, Inc. Slim profile magnetic user interface devices
US10296095B2 (en) 2010-11-08 2019-05-21 SeeScan, Inc. Slim profile magnetic user interface devices
US11476851B1 (en) 2010-12-02 2022-10-18 SeeScan, Inc. Magnetically sensed user interface devices
US10523202B2 (en) 2010-12-02 2019-12-31 SeeScan, Inc. Magnetically sensed user interface devices
US9423894B2 (en) 2010-12-02 2016-08-23 Seesaw, Inc. Magnetically sensed user interface devices
FR2977068A1 (fr) * 2011-06-21 2012-12-28 Sagem Defense Securite Instrument de commande et dispositif de commande integrant un tel instrument
US10466803B1 (en) 2011-08-20 2019-11-05 SeeScan, Inc. Magnetic sensing user interface device, methods, and apparatus
US9678577B1 (en) 2011-08-20 2017-06-13 SeeScan, Inc. Magnetic sensing user interface device methods and apparatus using electromagnets and associated magnetic sensors
US10088913B1 (en) 2013-05-17 2018-10-02 SeeScan, Inc. User interface devices
US9690390B2 (en) 2013-05-17 2017-06-27 SeeScan, Inc. User interface devices
EP2810871A1 (fr) 2013-06-03 2014-12-10 Airbus Helicopters Manette de commande de vol d'un giravion montée basculante sur un support par encastrement d'une tige flexible
FR3006291A1 (fr) * 2013-06-03 2014-12-05 Eurocopter France Manette de commande de vol d'un giravion montee basculante sur un support par encastrement d'une tige flexible
US11172604B2 (en) * 2018-03-28 2021-11-16 Nanjing Chervon Industry Co., Ltd. Riding lawn mower lap bar position detection
US11812688B2 (en) 2018-03-28 2023-11-14 Nanjing Chervon Industry Co., Ltd. Riding lawn mower and operating apparatus with position detection for the same

Also Published As

Publication number Publication date
DE1261936B (de) 1968-02-29
FR1390854A (fr) 1965-02-26
GB1069630A (en) 1967-05-24

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