[go: up one dir, main page]

DE69030592D1 - Generierungsverfahren für Bewegungstrajektoren in einem dynamischen System - Google Patents

Generierungsverfahren für Bewegungstrajektoren in einem dynamischen System

Info

Publication number
DE69030592D1
DE69030592D1 DE69030592T DE69030592T DE69030592D1 DE 69030592 D1 DE69030592 D1 DE 69030592D1 DE 69030592 T DE69030592 T DE 69030592T DE 69030592 T DE69030592 T DE 69030592T DE 69030592 D1 DE69030592 D1 DE 69030592D1
Authority
DE
Germany
Prior art keywords
tractors
motion
generation method
dynamic system
dynamic
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 - Fee Related
Application number
DE69030592T
Other languages
English (en)
Other versions
DE69030592T2 (de
Inventor
Mitsuo Atr Auditory And Kawato
Yoshiharu Int Inst Advan Maeda
Yoji C O Faculty Of Engine Uno
Ryoji C O Faculty Of En Suzuki
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.)
Sony Corp
Original Assignee
ATR AUDITORY AND VISUAL PERCEPTION RESEARCH LABORATORIES KYOTO JP
ATR AUDITORY VISUAL PERCEPTION
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 ATR AUDITORY AND VISUAL PERCEPTION RESEARCH LABORATORIES KYOTO JP, ATR AUDITORY VISUAL PERCEPTION filed Critical ATR AUDITORY AND VISUAL PERCEPTION RESEARCH LABORATORIES KYOTO JP
Application granted granted Critical
Publication of DE69030592D1 publication Critical patent/DE69030592D1/de
Publication of DE69030592T2 publication Critical patent/DE69030592T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/04—Architecture, e.g. interconnection topology
    • G06N3/045—Combinations of networks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33027—Artificial neural network controller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42155—Model
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49157—Limitation, collision, interference, forbidden zones, avoid obstacles

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Computing Systems (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Human Computer Interaction (AREA)
  • Computational Linguistics (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • Fuzzy Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Biophysics (AREA)
  • Mechanical Engineering (AREA)
  • Data Mining & Analysis (AREA)
  • General Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • General Engineering & Computer Science (AREA)
  • Feedback Control In General (AREA)
  • Manipulator (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
DE69030592T 1989-01-05 1990-01-05 Generierungsverfahren für Bewegungstrajektoren in einem dynamischen System Expired - Fee Related DE69030592T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP64000768A JP2676397B2 (ja) 1989-01-05 1989-01-05 動的システムの運動軌道生成方法

Publications (2)

Publication Number Publication Date
DE69030592D1 true DE69030592D1 (de) 1997-06-05
DE69030592T2 DE69030592T2 (de) 1997-09-18

Family

ID=11482876

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69030592T Expired - Fee Related DE69030592T2 (de) 1989-01-05 1990-01-05 Generierungsverfahren für Bewegungstrajektoren in einem dynamischen System

Country Status (4)

Country Link
US (1) US4990838A (de)
EP (1) EP0377467B1 (de)
JP (1) JP2676397B2 (de)
DE (1) DE69030592T2 (de)

Families Citing this family (92)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04310384A (ja) * 1991-04-09 1992-11-02 Toyota Motor Corp 複腕ロボット
CA2031765C (en) * 1989-12-08 1996-02-20 Masahide Nomura Method and system for performing control conforming with characteristics of controlled system
US5581662A (en) * 1989-12-29 1996-12-03 Ricoh Company, Ltd. Signal processing apparatus including plural aggregates
US5167006A (en) * 1989-12-29 1992-11-24 Ricoh Company, Ltd. Neuron unit, neural network and signal processing method
JP2573715B2 (ja) * 1990-03-28 1997-01-22 三菱電機株式会社 エレベータ制御装置
US5485546A (en) * 1990-04-27 1996-01-16 Neurosciences Research Foundation, Inc. Discrimination and testing methods and apparatus employing adaptively changing network behavior based on spatial and heterocellular modification rules
KR940009984B1 (ko) * 1990-05-29 1994-10-19 미쓰비시덴키 가부시키가이샤 엘리베이터 제어장치
US5529147A (en) * 1990-06-19 1996-06-25 Mitsubishi Denki Kabushiki Kaisha Apparatus for controlling elevator cars based on car delay
US5172253A (en) * 1990-06-21 1992-12-15 Inernational Business Machines Corporation Neural network model for reaching a goal state
KR100191107B1 (ko) * 1990-11-06 1999-06-15 이데이 노부유끼 신호 처리 방법
US5485545A (en) * 1991-06-20 1996-01-16 Mitsubishi Denki Kabushiki Kaisha Control method using neural networks and a voltage/reactive-power controller for a power system using the control method
US5852817A (en) * 1991-08-14 1998-12-22 Kabushiki Kaisha Toshiba Intelligent control apparatus
US5566275A (en) * 1991-08-14 1996-10-15 Kabushiki Kaisha Toshiba Control method and apparatus using two neural networks
JP3242950B2 (ja) * 1991-08-14 2001-12-25 株式会社東芝 予測制御方法
DE59205627D1 (de) * 1991-12-09 1996-04-11 Siemens Ag Verfahren zur optimierung von steuerparametern für ein system, das in abhängigkeit der steuerparameter ein ist-verhalten aufweist
US5396415A (en) * 1992-01-31 1995-03-07 Honeywell Inc. Neruo-pid controller
JP3273443B2 (ja) * 1992-05-22 2002-04-08 本田技研工業株式会社 ロボットのリンクなどの軌道生成方法及び装置
US5404423A (en) * 1992-06-16 1995-04-04 Nippon Telegraph And Telephone Corporation Method and apparatus for indetification, forecast, and control of a non-linear flow on a physical system network using a neural network
US5428710A (en) * 1992-06-29 1995-06-27 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Fast temporal neural learning using teacher forcing
US5412754A (en) * 1992-06-30 1995-05-02 At&T Corp. Reverse time delay neural network for pattern generation
US5371834A (en) * 1992-08-28 1994-12-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Adaptive neuron model--an architecture for the rapid learning of nonlinear topological transformations
US5384895A (en) * 1992-08-28 1995-01-24 The United States Of America As Represented By The Secretary Of The Navy Self-organizing neural network for classifying pattern signatures with `a posteriori` conditional class probability
EP0589394A1 (de) * 1992-09-21 1994-03-30 Toyoda Koki Kabushiki Kaisha Verfahren und Gerät zur Steuerung eines Roboters mit einem neuronalen Netzwerk
US5673367A (en) * 1992-10-01 1997-09-30 Buckley; Theresa M. Method for neural network control of motion using real-time environmental feedback
US5377307A (en) * 1992-10-07 1994-12-27 Schlumberger Technology Corporation System and method of global optimization using artificial neural networks
JPH06203005A (ja) * 1992-10-27 1994-07-22 Eastman Kodak Co 高速区分化ニューラルネットワーク及びその構築方法
US5930781A (en) * 1992-10-27 1999-07-27 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Neural network training by integration of adjoint systems of equations forward in time
CA2081519C (en) * 1992-10-27 2000-09-05 The University Of Toronto Parametric control device
JPH06314103A (ja) * 1993-04-30 1994-11-08 Fujitsu Ltd 制御装置と能動的センシング装置
DE4416364B4 (de) * 1993-05-17 2004-10-28 Siemens Ag Verfahren und Regeleinrichtung zur Regelung eines Prozesses
US5446829A (en) * 1993-06-24 1995-08-29 The United States Of America As Represented By The Department Of Health And Human Services Artificial network for temporal sequence processing
US5426722A (en) * 1993-09-09 1995-06-20 Stratasys, Inc. Method for optimizing the motion of a multi-axis robot
DE4338615B4 (de) * 1993-11-11 2005-10-13 Siemens Ag Verfahren und Vorrichtung zur Führung eines Prozesses in einem geregelten System
US5495158A (en) * 1994-09-30 1996-02-27 Allen-Bradley Company, Inc. Apparatus and method used with AC motors for controlling motor operation
US5642461A (en) * 1994-11-14 1997-06-24 Seagate Technology, Inc. Economical wide range speed control system
US6266578B1 (en) 1998-05-15 2001-07-24 Firdaus E. Udwadia Computer based control system
US6028410A (en) * 1999-01-11 2000-02-22 Stratasys, Inc. Resonance detection and resolution
US6341246B1 (en) * 1999-03-26 2002-01-22 Kuka Development Laboratories, Inc. Object oriented motion system
US7169093B2 (en) * 1999-09-14 2007-01-30 Free Motion Fitness, Inc. Cable crossover exercise apparatus
US6633783B1 (en) 2000-06-06 2003-10-14 Honda Giken Kogyo Kabushiki Kaisha Fuzzy logic based control
US6643555B1 (en) * 2000-10-10 2003-11-04 Schneider Automation Inc. Method and apparatus for generating an application for an automation control system
US6691010B1 (en) * 2000-11-15 2004-02-10 Caterpillar Inc Method for developing an algorithm to efficiently control an autonomous excavating linkage
US6901681B2 (en) * 2001-11-05 2005-06-07 Chrispatrick A. Bueno Siding installation tool, kit and method
US7437201B2 (en) 2003-01-14 2008-10-14 Cullen Christopher P Electric motor controller
US7904488B2 (en) 2004-07-21 2011-03-08 Rockwell Automation Technologies, Inc. Time stamp methods for unified plant model
US7676281B2 (en) 2005-05-13 2010-03-09 Rockwell Automation Technologies, Inc. Distributed database in an industrial automation environment
US7672737B2 (en) 2005-05-13 2010-03-02 Rockwell Automation Technologies, Inc. Hierarchically structured data model for utilization in industrial automation environments
US7809683B2 (en) * 2005-05-13 2010-10-05 Rockwell Automation Technologies, Inc. Library that includes modifiable industrial automation objects
US8799800B2 (en) * 2005-05-13 2014-08-05 Rockwell Automation Technologies, Inc. Automatic user interface generation
US7650405B2 (en) * 2005-05-13 2010-01-19 Rockwell Automation Technologies, Inc. Tracking and tracing across process boundaries in an industrial automation environment
US7601105B1 (en) 2005-07-11 2009-10-13 Icon Ip, Inc. Cable crossover exercise apparatus with lateral arm movement
US20070067458A1 (en) * 2005-09-20 2007-03-22 Rockwell Software, Inc. Proxy server for integration of industrial automation data over multiple networks
US7548789B2 (en) 2005-09-29 2009-06-16 Rockwell Automation Technologies, Inc. Editing lifecycle and deployment of objects in an industrial automation environment
US7881812B2 (en) * 2005-09-29 2011-02-01 Rockwell Automation Technologies, Inc. Editing and configuring device
US8484250B2 (en) * 2005-09-30 2013-07-09 Rockwell Automation Technologies, Inc. Data federation with industrial control systems
US7526794B2 (en) * 2005-09-30 2009-04-28 Rockwell Automation Technologies, Inc. Data perspectives in controller system and production management systems
US7801628B2 (en) 2005-09-30 2010-09-21 Rockwell Automation Technologies, Inc. Industrial operator interfaces interacting with higher-level business workflow
US8275680B2 (en) * 2005-09-30 2012-09-25 Rockwell Automation Technologies, Inc. Enabling transactional mechanisms in an automated controller system
US7734590B2 (en) 2005-09-30 2010-06-08 Rockwell Automation Technologies, Inc. Incremental association of metadata to production data
US7660638B2 (en) * 2005-09-30 2010-02-09 Rockwell Automation Technologies, Inc. Business process execution engine
DE102008029657A1 (de) 2008-06-24 2009-12-31 Technische Universität Carolo-Wilhelmina Zu Braunschweig Positionsgesteuerter Mechanismus und Verfahren zur Steuerung von in mehreren Bewegungsfreiheitsgraden beweglichen Mechanismen
US7977906B1 (en) * 2008-08-14 2011-07-12 Hrl Laboratories, Llc Saccadic tracking for an electro-mechanical system
US8396282B1 (en) 2008-10-31 2013-03-12 Hrl Labortories, Llc Method and system for computing fused saliency maps from multi-modal sensory inputs
KR101667030B1 (ko) * 2009-08-10 2016-10-17 삼성전자 주식회사 로봇의 경로 계획 장치 및 그 방법
KR101691940B1 (ko) * 2009-10-30 2017-01-02 삼성전자주식회사 로봇 및 그 제어방법
US8484401B2 (en) 2010-04-15 2013-07-09 Rockwell Automation Technologies, Inc. Systems and methods for conducting communications among components of multidomain industrial automation system
US9392072B2 (en) 2010-04-15 2016-07-12 Rockwell Automation Technologies, Inc. Systems and methods for conducting communications among components of multidomain industrial automation system
US8984533B2 (en) 2010-04-15 2015-03-17 Rockwell Automation Technologies, Inc. Systems and methods for conducting communications among components of multidomain industrial automation system
US10373160B2 (en) 2011-02-10 2019-08-06 Paypal, Inc. Fraud alerting using mobile phone location
JP5752500B2 (ja) * 2011-06-27 2015-07-22 本田技研工業株式会社 軌道生成システム
US8843235B2 (en) 2012-01-13 2014-09-23 Toyota Motor Engineering & Manufacturing North America, Inc. Robots, computer program products, and methods for trajectory plan optimization
US9014857B2 (en) 2012-01-13 2015-04-21 Toyota Motor Engineering & Manufacturing North America, Inc. Methods and computer-program products for generating grasp patterns for use by a robot
US9014850B2 (en) 2012-01-13 2015-04-21 Toyota Motor Engineering & Manufacturing North America, Inc. Methods and computer-program products for evaluating grasp patterns, and robots incorporating the same
JP5829968B2 (ja) * 2012-04-06 2015-12-09 トヨタ自動車株式会社 多関節ロボット、その関節協調制御装置および方法
US9486918B1 (en) * 2013-03-13 2016-11-08 Hrl Laboratories, Llc System and method for quick scripting of tasks for autonomous robotic manipulation
EP2969058B1 (de) 2013-03-14 2020-05-13 Icon Health & Fitness, Inc. Krafttrainingsvorrichtung mit schwungrad und zugehörige verfahren
WO2015100429A1 (en) 2013-12-26 2015-07-02 Icon Health & Fitness, Inc. Magnetic resistance mechanism in a cable machine
US10426989B2 (en) 2014-06-09 2019-10-01 Icon Health & Fitness, Inc. Cable system incorporated into a treadmill
TWI644702B (zh) 2015-08-26 2018-12-21 美商愛康運動與健康公司 力量運動機械裝置
US10940360B2 (en) 2015-08-26 2021-03-09 Icon Health & Fitness, Inc. Strength exercise mechanisms
US11854308B1 (en) * 2016-02-17 2023-12-26 Ultrahaptics IP Two Limited Hand initialization for machine learning based gesture recognition
US11714880B1 (en) 2016-02-17 2023-08-01 Ultrahaptics IP Two Limited Hand pose estimation for machine learning based gesture recognition
US11841920B1 (en) 2016-02-17 2023-12-12 Ultrahaptics IP Two Limited Machine learning based gesture recognition
US10441840B2 (en) 2016-03-18 2019-10-15 Icon Health & Fitness, Inc. Collapsible strength exercise machine
US10293211B2 (en) 2016-03-18 2019-05-21 Icon Health & Fitness, Inc. Coordinated weight selection
US9857795B2 (en) * 2016-03-24 2018-01-02 Honda Motor Co., Ltd. System and method for trajectory planning for unexpected pedestrians
US10252109B2 (en) 2016-05-13 2019-04-09 Icon Health & Fitness, Inc. Weight platform treadmill
US10514799B2 (en) 2016-09-08 2019-12-24 Google Llc Deep machine learning to perform touch motion prediction
US10661114B2 (en) 2016-11-01 2020-05-26 Icon Health & Fitness, Inc. Body weight lift mechanism on treadmill
CN107253194B (zh) * 2017-07-31 2018-04-03 中南大学 一种运载机器人手臂操控多点映射智能控制方法及系统
DE102017129665B3 (de) 2017-12-12 2019-01-24 Pilz Gmbh & Co. Kg Kollisionsfreie Bewegungsplanung bei geschlossener Kinematik
US11334085B2 (en) * 2020-05-22 2022-05-17 The Regents Of The University Of California Method to optimize robot motion planning using deep learning

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3950733A (en) * 1974-06-06 1976-04-13 Nestor Associates Information processing system
JPS625408A (ja) * 1985-07-01 1987-01-12 Fanuc Ltd 関節形ロボツトの制御方式
US4852018A (en) * 1987-01-07 1989-07-25 Trustees Of Boston University Massively parellel real-time network architectures for robots capable of self-calibrating their operating parameters through associative learning
US4796199A (en) * 1987-02-24 1989-01-03 Oregon Graduate Center Neural-model, information-handling architecture and method
US4860215A (en) * 1987-04-06 1989-08-22 California Institute Of Technology Method and apparatus for adaptive force and position control of manipulators
US4884216A (en) * 1987-11-09 1989-11-28 Michael Kuperstein Neural network system for adaptive sensory-motor coordination of multijoint robots for single postures
JP2635066B2 (ja) * 1987-12-18 1997-07-30 川崎重工業株式会社 対向型デッキクレーンの自動運転方法
US4897811A (en) * 1988-01-19 1990-01-30 Nestor, Inc. N-dimensional coulomb neural network which provides for cumulative learning of internal representations

Also Published As

Publication number Publication date
US4990838A (en) 1991-02-05
DE69030592T2 (de) 1997-09-18
JP2676397B2 (ja) 1997-11-12
JPH02181201A (ja) 1990-07-16
EP0377467A2 (de) 1990-07-11
EP0377467B1 (de) 1997-05-02
EP0377467A3 (de) 1993-03-03

Similar Documents

Publication Publication Date Title
DE69030592D1 (de) Generierungsverfahren für Bewegungstrajektoren in einem dynamischen System
EP0428264A3 (en) A method for generating an access plan in a database system
IT1237697B (it) Carrozzeria per un autoveicolo
DE69034141D1 (de) Steuerungssystem für einen Wechselstromgenerator eines Kraftfahrzeuges
DE69031251D1 (de) Stromversorgungssteuerungssystem und -methode für einen Rechner
DE3854481D1 (de) Datenverarbeitungsverfahren in einem dezentralisierten Verarbeitungssystem.
DE68920100D1 (de) Einrichtung zum Versprühen von Duftstoffen in einem Kraftfahrzeug.
NO863764D0 (no) Dynamisk systemanalyse i et vibrerende straaleaksellerometer.
DE3856313D1 (de) Anpassungsprogramm zum Datenaustausch zwischen Objekten in einem objektbasierten Datenverarbeitungssystem
DE69120495D1 (de) Video-trigger in einem festkörpersystem für bewegungsanalyse
DE69122986D1 (de) Kodierverfahren für Antikollisionsanlage für die Seefahrt
DE69019349D1 (de) Einrichtung für die aufhängung eines fahrzeuges.
DE3770100D1 (de) Verfahren zur montierung von rohren in einem dampferzeuger.
ATA84996A (de) Vorrichtung zum befestigen von lasten an einem kraftfahrzeug
DE69623691D1 (de) Ein Gerät und Verfahren, das ein für Cache-Kollisionen weniger anfälliges Cache-Indizierungsverfahren vorsieht
DE69026740D1 (de) Fehler absorbierendes System in einem neuronalen Rechner
DE3850389D1 (de) Verfahren zum unterteilen einer figur in bereiche in einem graphischen anzeigesystem.
DE3789736D1 (de) Verfahren zur Auswertung eines Teilchengrössenverteilung.
DE69212848D1 (de) An einem mastschlitz befestigtes laufschienensystem
FR2706043B1 (fr) Installation et procédé de reconstruction d'images tridimensionnelles.
FR2560068B1 (fr) Procede de fluoration in situ d'un catalyseur
DE3570434D1 (en) An optically active borane complex and a method for producing an optically active alcohol derivative by the use thereof
ZA895338B (en) Method for monitoring periodontal disease by monitoring endotoxins and inflammatory agents
GB2221859B (en) Method and system for forming a three-dimensional frame structure
DE3884609D1 (de) Verfahren und anordnung bei magnetostritiven bewegungssystemen.

Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8327 Change in the person/name/address of the patent owner

Owner name: SONY CORP., TOKIO/TOKYO, JP

8328 Change in the person/name/address of the agent

Representative=s name: MITSCHERLICH & PARTNER, PATENT- UND RECHTSANWAELTE,

8339 Ceased/non-payment of the annual fee