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EP1478940A1 - Method for the detection of damage to spacecraft caused by the impact of foreign bodies - Google Patents

Method for the detection of damage to spacecraft caused by the impact of foreign bodies

Info

Publication number
EP1478940A1
EP1478940A1 EP03704310A EP03704310A EP1478940A1 EP 1478940 A1 EP1478940 A1 EP 1478940A1 EP 03704310 A EP03704310 A EP 03704310A EP 03704310 A EP03704310 A EP 03704310A EP 1478940 A1 EP1478940 A1 EP 1478940A1
Authority
EP
European Patent Office
Prior art keywords
impact
damage
caused
detection
foreign bodies
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.)
Withdrawn
Application number
EP03704310A
Other languages
German (de)
French (fr)
Inventor
Wolfgang Wulfken
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.)
Airbus DS GmbH
Original Assignee
Astrium 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 Astrium GmbH filed Critical Astrium GmbH
Publication of EP1478940A1 publication Critical patent/EP1478940A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
    • F41J5/00—Target indicating systems; Target-hit or score detecting systems
    • F41J5/04—Electric hit-indicating systems; Detecting hits by actuation of electric contacts or switches
    • F41J5/056—Switch actuation by hit-generated mechanical vibration of the target body, e.g. using shock or vibration transducers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements

Definitions

  • the invention relates to a method for detecting damage to space vehicles caused by the impact of foreign bodies by means of sound measurement. It also relates to an apparatus for performing such a method.
  • the object of the invention is to develop a method of the type mentioned at the outset in such a way that it enables the exact location of the impact of meteorites and debris and thus immediate hazard detection.
  • Another object of the invention is to provide an apparatus for performing such a method.
  • the invention achieves the first object by a method in which the ultrasonic vibrations caused by an impact are registered electronically and fed to an evaluation unit for the mathematical localization of the location of the damage.
  • the further object is achieved with a device according to claim 4.
  • the invention uses the physical effect that even the smallest openings in the outer skin of a spacecraft generate ultrasonic vibrations due to the gas flowing through them, which are suitable for the detection and localization of the location of the damage. Because the method according to the invention is activated in an advantageous further development only by the impact of a foreign body, it can remain in the idle or waiting state during the predominant part of a space flight mission and thus requires very little electrical energy. In addition, the method according to the invention also enables damage or impacts that do not lead to holes in the outer skin of the spacecraft, but which represent potential sources of danger, to be detected as well.
  • Triangulation method to locate the impact locations.
  • FIG. 2 shows a basic illustration of an evaluation unit for an arrangement according to FIGS. 1 and
  • FIGS. 1 and 2 shows a module of a space station with an arrangement according to FIGS. 1 and 2.
  • FIG. 1 shows a measuring system that uses ultrasound waves to locate ultrasound sources using a triangular transit time and phase measurement, with the aid of mathematical correlation processes, and thus enables a location of an impact or damage to be localized.
  • the vibration is recorded in the initial state with the help of at least three independently working, synchronously working
  • Ultrasonic sensors 1, 2 and 3 which in the arrangement shown in the drawing according to FIG. 1 are mounted in an equilateral-isosceles triangle on a surface 4 to be monitored. It should be noted here that this arrangement is preferred in an equilateral isosceles triangle, but is not absolutely necessary for carrying out the method described here.
  • Each of the sensors 1 to 3 is connected to an associated measurement and storage electronics, which the measurement data for a process computer Evaluation transmitted as shown in detail in FIG. 2.
  • Fig. 2 shows that each ultrasonic sensor 1 to 3 is connected to an associated downstream amplifier 5 to 7, these amplifiers 5 to 7 in turn acting on filters 8 to 10 on sample and hold stages 11 to 13.
  • the latter is followed by an A / D converter 14 to 16, which in turn are connected to a memory unit 17.
  • the areas of this memory unit 17 assigned to the individual sensors 1 to 3 are connected to the process computer 20 via a multiplexer 18 and a data bus 19.
  • the latter applies the appropriate address lines to the individual components listed above via a control bus 21.
  • Transient ultrasonic waves occur immediately after an impact of meteorites and debris and are used in the arrangement described above to activate the detection system on the one hand and to measure the wave propagation time on the other hand.
  • the ultrasound sensor closest to a point of impact in the case of the example shown in FIG. 1, sensor 1 detects the incident ultrasound wave as the first measuring sensor and triggers the measuring system.
  • the remaining sensors 2 and 3 record the ultrasound signal after a corresponding delay time, according to their distance from the point of impact. The resulting phase and amplitude differences are used in the evaluation unit to determine the impact position.
  • the evaluation of ultrasonic vibrations in the steady state takes place by utilizing the damping effect of the ultrasonic waves caused by the Material properties caused and can be detected by means of a phase comparison to be carried out by the sensor and measuring arrangement described above.
  • the process computer is programmed in such a way that known ultrasonic vibrations caused by external systems are masked out.
  • FIG 3 finally shows an arrangement corresponding to the one described above, in which sensors 31 to 36 are arranged distributed on the surface of a space station 37 in order to perform the desired monitoring function.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

Disclosed is a method for detecting damage to spacecraft caused by the impact of foreign bodies, according to which the ultrasonic waves generated by an impact are electronically registered and are fed to an evaluation unit mathematically locating the damage. The registering process and the evaluation process are automatically triggered and known ultrasonic waves that are caused by foreign systems are masked. A device for carrying out the inventive method comprises at least three ultrasonic sensors which are positioned on the surface of the body that is to be monitored and an electronic detection and evaluation unit assigned thereto.

Description

Verfahren zur Erfassung von durch den Aufprall von Procedure for the detection of the impact of
Fremdkörpern verursachten Beschädigungen anForeign bodies cause damage
Raumfahrzeugenspace vehicles
Die Erfindung betrifft ein Verfahren zur Erfassung von durch den Aufprall von Fremdkörpern verursachten Beschädigungen an Raumfahrzeugen mittels Schallmessung. Ferner betrifft sie eine Vorrichtung zur Durchführung eines derartigen Verfahrens.The invention relates to a method for detecting damage to space vehicles caused by the impact of foreign bodies by means of sound measurement. It also relates to an apparatus for performing such a method.
An Bord von Raumfahrzeugen führen Einschläge von Meteoriten und Trümmerteilen in der Regel zu Beschädigungen der Struktur, insbesondere können sie zu Löchern in der Außenhülle, führen die eine erhebliche Gefahr für die Besatzung des betroffenen Fahrzeuges darstellen, da der Innendruck abfällt und damit der Atemsauerstoff verlorengeht. Die bisher an Bord von Raumfahrzeugen verwendeten Systeme und Verfahren zur Detektion derartiger Schäden, die auf einer Messung des hörbaren Schalls beruhen, sind jedoch nicht in der Lage, den genauen Ort des Einschlages eines solchen Fremdkörpers zu orten und anzuzeigen. Nach der JP 0 429 7400 A ist ein Schwingungsmeßverfahren zur Erfassung von Beschädigungen/Einschlägen von Fremdkörpern bei Raumfahrzeugen bekannt geworden, wobei die Schwingungen elektronisch registriert und über eine Auswerteeinheit mathematisch der Aufprall bestimmt wird. Es sind aber keine Hinweise bekannt, um welche Schwingungen es sich handelt und wie ein Meßverfahren durchführbar ist .On board spacecraft, impacts of meteorites and debris usually damage the structure, in particular they can lead to holes in the outer shell, which pose a considerable risk to the crew of the vehicle concerned, since the internal pressure drops and the breathing oxygen is therefore lost. However, the systems and methods previously used on board spacecraft for the detection of such damage, which are based on a measurement of the audible sound, are unable to locate and display the exact location of the impact of such a foreign body. According to JP 0 429 7400 A, a vibration measurement method for detecting damage / impacts of foreign bodies in spacecraft has become known, the vibrations being registered electronically and the impact being mathematically determined via an evaluation unit. However, there are no known indications of what vibrations are involved and how a measuring method can be carried out.
Es ist zwar allgemein gemäß der DE 30 33 990 C2 aufgezeigt worden, ein verfahren zur Ortung und Analyse vor (Ultra-) Schallemissionen, erzeugt beispielsweise durch Rißentstehung im Mikrobereich, für die Früherkennung von Schadenstellen in Einrichtungen und Bauteilen. Es wird dabei nicht mit einer aktiven Anregung gearbeitet, sondern es werden rein passiv die auftretenden Ultraschallsignale detektiert und verarbeitet.Although it has been shown generally in accordance with DE 30 33 990 C2, a method for locating and analyzing before (ultra) sound emissions, generated for example by crack formation in the micro range, for the early detection of damage points in facilities and components. It is not an active excitation that is used, but the occurring ultrasound signals are detected and processed purely passively.
Aufgabe der Erfindung ist es, ein Verfahren der eingangs genannten Art so auszubilden, daß es die genaue Ermittlung des Einschlagortes von Meteoriten und Trümmerteilen und somit eine sofortige Gefahrenerkennung ermöglicht . Weitere Aufgabe der Erfindung ist es, eine Vorrichtung zur Durchführung eines derartigen Verfahrens bereitzustellen.The object of the invention is to develop a method of the type mentioned at the outset in such a way that it enables the exact location of the impact of meteorites and debris and thus immediate hazard detection. Another object of the invention is to provide an apparatus for performing such a method.
Die Erfindung löst die erste Aufgabe durch ein Verfahren, bei dem die durch einen Aufprall hervorgerufenen Ultraschallschwingungen elektronisch registriert und einer Auswerteeinheit zur mathematischen Lokalisierung des Ortes der Beschädigung zugeführt werden. Die weitere Aufgabe wird mit einer Vorrichtung gemäß dem Patentanspruch 4 gelöst . Die Erfindung nutzt dabei den physikalischen Effekt, daß bereits kleinste Öffnungen in der Außenhaut eines Raumfahrzeuges aufgrund des durch diese ausströmenden Gases Ultraschallschwingungen erzeugen, die zur Detektion und Lokalisierung des Schadensortes geeignet sind. Dadurch, daß das Verfahren gemäß der Erfindung in vorteilhafter Weiterbildung erst durch den Aufschlag eines Fremdkörpers aktiviert wird, kann es während des überwiegenden Teils einer Raumflugmission im Ruhe- bzw. Wartezustand verharren und benötigt damit nur sehr wenig elektrische Energie. Außerdem ermöglicht es das erfindungsgemäße Verfahren, daß auch Beschädigungen bzw. Aufschläge, die nicht zu Löchern in der Außenhaut des Raumfahrzeugs führen, die jedoch potentielle Gefahrenquellen darstellen, ebenfalls erfaßt werden.The invention achieves the first object by a method in which the ultrasonic vibrations caused by an impact are registered electronically and fed to an evaluation unit for the mathematical localization of the location of the damage. The further object is achieved with a device according to claim 4. The invention uses the physical effect that even the smallest openings in the outer skin of a spacecraft generate ultrasonic vibrations due to the gas flowing through them, which are suitable for the detection and localization of the location of the damage. Because the method according to the invention is activated in an advantageous further development only by the impact of a foreign body, it can remain in the idle or waiting state during the predominant part of a space flight mission and thus requires very little electrical energy. In addition, the method according to the invention also enables damage or impacts that do not lead to holes in the outer skin of the spacecraft, but which represent potential sources of danger, to be detected as well.
Zwar ist es aus dem Bereich der zerstörungsfreien Werkstoffprüfung für sich genommen bereits bekannt, Materialuntersuchungen mittels Ultraschallschwingungen der Art durchzuführen, daß Ultraschallschwingungen bestimmter Frequenzen in das zu prüfende Material bzw. Werkstück eingeleitet werden und daß Texturveränderungen im • Material, die durch Beschädigungen hervorgerufen wurden und die zu Reflexionen, Modewandlung, Beugung und Abschwächung der Ultraschallwellen führen, zur Identifikation der Fehler genutzt werden. Diese Technik beruht jedoch auf einer aktiven Anregung der zu prüfenden Werkstücke und ist für eine Anwendung in der Raumfahrttechnik nicht geeignet.It is already known from the field of non-destructive material testing to carry out material examinations by means of ultrasonic vibrations in such a way that ultrasonic vibrations of certain frequencies are introduced into the material or workpiece to be tested and that texture changes in the material that were caused by damage and the lead to reflections, fashion change, diffraction and attenuation of the ultrasonic waves, can be used to identify the errors. However, this technique is based on active stimulation of the workpieces to be tested and is not suitable for use in space technology.
Unter Ausnutzung des physikalischen Effektes, sich mit einer Laufzeitdifferenz von etwa 50% im festen Medium fortschreitend ausbreitenden Transversal- und Longitudinalwellen, die am Ort der Beschädigung auftreten, ist es möglich, mit Hilfe derTaking advantage of the physical effect, transversal and progressively spreading in the solid medium with a transit time difference of about 50% Longitudinal waves that occur at the location of the damage, it is possible to use the
Triangulationsmethode eine Ortung der Einschlagsorte durchzuführen.Triangulation method to locate the impact locations.
Nachfolgend soll die Erfindung anhand eines in der Zeichnung dargestellten Ausführungsbeispiels näher erläutert werden. Es zeigen:The invention will be explained in more detail below on the basis of an exemplary embodiment shown in the drawing. Show it:
Fig. 1 eine Anordnung zur Detektion von Beschädigungen mittels Ultraschallsensoren,1 shows an arrangement for the detection of damage by means of ultrasonic sensors,
Fig. 2 eine Prinzipdarstellung einer Auswerteeinheit für eine Anordnung gemäß Fig. 1 undFIG. 2 shows a basic illustration of an evaluation unit for an arrangement according to FIGS. 1 and
Fig. 3 ein Modul einer Raumstation mit einer Anordnung gemäß den Figuren 1 und 2.3 shows a module of a space station with an arrangement according to FIGS. 1 and 2.
Die Darstellung in Fig. 1 zeigt ein Meßsystem, das über eine trianguläre Laufzeit- und Phasenmessung von Ultraschallwellen unter Zuhilfenahme mathematischer Korrelationsprozesse eine Ortung von ultraschallquellen durchführt und somit eine Lokalisierung eines Aufprall- bzw. Schadensortes ermöglicht. Die Erfassung der Schwingung im Anfangszustand geschieht mit Hilfe mindestens dreier unabhängig voneinander aufzeichnender, synchron arbeitenderThe illustration in FIG. 1 shows a measuring system that uses ultrasound waves to locate ultrasound sources using a triangular transit time and phase measurement, with the aid of mathematical correlation processes, and thus enables a location of an impact or damage to be localized. The vibration is recorded in the initial state with the help of at least three independently working, synchronously working
Ultraschallsensoren l, 2 und 3, die bei der in der Zeichnung gemäß Fig. 1 dargestellten Anordnung in einem gleichwinklig-gleichschenkligen Dreieck auf einer zu überwachenden Fläche 4 angebracht sind. Anzumerken ist dabei, daß diese Anordnung in einem gleichwinkliggleichschenkligen Dreieck zwar bevorzugt, aber für die Durchführung des hier beschriebenen Verfahrens nicht zwingend erforderlich ist. Jeder der Sensoren 1 bis 3 ist mit einer zugeordneten Meß- und Speicherelektronik verbunden, die die Meßdaten einem Prozeßrechner zur Auswertung übermittelt, wie dies in Fig. 2 im Detail dargestellt ist.Ultrasonic sensors 1, 2 and 3, which in the arrangement shown in the drawing according to FIG. 1 are mounted in an equilateral-isosceles triangle on a surface 4 to be monitored. It should be noted here that this arrangement is preferred in an equilateral isosceles triangle, but is not absolutely necessary for carrying out the method described here. Each of the sensors 1 to 3 is connected to an associated measurement and storage electronics, which the measurement data for a process computer Evaluation transmitted as shown in detail in FIG. 2.
Fig. 2 zeigt, daß jeder Ultraschallsensor 1 bis 3 mit einem zugeordneten nachgeschalteten Verstärker 5 bis 7 verbunden ist, wobei diese Verstärker 5 bis 7 wiederum über Filter 8 bis 10 auf Sample-and-Hold-Stufen 11 bis 13 wirken. Letzteren ist jeweils ein A/D-Wandler 14 bis 16 nachgeschaltet, die ihrerseits mit einer Speichereinheit 17 verbunden sind. Die den einzelnen Sensoren l bis 3 zugeordneten Bereiche dieser Speichereinheit 17 sind über einen Multiplexer 18 und einen Datenbus 19 mit dem Prozeßrechner 20 verbunden. Dieser wiederum beaufschlagt über einen Kontrollbus 21 mit entsprechenden Adreßleitungen die einzelnen vorangehend aufgeführten Komponenten.Fig. 2 shows that each ultrasonic sensor 1 to 3 is connected to an associated downstream amplifier 5 to 7, these amplifiers 5 to 7 in turn acting on filters 8 to 10 on sample and hold stages 11 to 13. The latter is followed by an A / D converter 14 to 16, which in turn are connected to a memory unit 17. The areas of this memory unit 17 assigned to the individual sensors 1 to 3 are connected to the process computer 20 via a multiplexer 18 and a data bus 19. The latter, in turn, applies the appropriate address lines to the individual components listed above via a control bus 21.
Transiente Ultraschallwellen treten unmittelbar nach einem Aufschlag von Meteoriten und Trümmerteilen auf und werden bei der vorangehend beschriebenen Anordnung dazu genutzt, um einerseits das Detektionssystem zu aktivieren und andererseits die Wellenlaufzeit zu messen. Der einer Einschlagstelle nächstgelegene Ultraschallsensor, im Fall des in Fig. 1 gezeigten Beispiels der Sensor 1, erfaßt dabei als erster Meßaufnehmer die auftreffende Ultraschallwelle und triggert das Meßsystem. Die übrigen Sensoren 2 und 3 nehmen das Ultraschallsignal nach entsprechender Verzögerungszeit, entsprechend ihrem Abstand zur Einschlagstelle, auf. Die sich ergebenden Phasen- und Amplitudenunterschiede werden in der Auswerteeinheit zur Ermittlung der Einschlagposition genutzt. Die Auswertung von Ultraschallschwingungen im stationären Zustand erfolgt unter Ausnutzung des Dämpfungseffektes der Ultraschallwellen, der durch die Materialeigenschaften hervorgerufen und mittels eines von der vorangehend beschriebenen Sensor- und Meßanordnung durchzuführenden Phasenvergleiches detektiert werden kann. Der Prozeßrechner ist dabei so programmiert, daß bekannte, durch fremde Systeme verursachte Ultraschallschwingungen ausgeblendet werden .Transient ultrasonic waves occur immediately after an impact of meteorites and debris and are used in the arrangement described above to activate the detection system on the one hand and to measure the wave propagation time on the other hand. The ultrasound sensor closest to a point of impact, in the case of the example shown in FIG. 1, sensor 1 detects the incident ultrasound wave as the first measuring sensor and triggers the measuring system. The remaining sensors 2 and 3 record the ultrasound signal after a corresponding delay time, according to their distance from the point of impact. The resulting phase and amplitude differences are used in the evaluation unit to determine the impact position. The evaluation of ultrasonic vibrations in the steady state takes place by utilizing the damping effect of the ultrasonic waves caused by the Material properties caused and can be detected by means of a phase comparison to be carried out by the sensor and measuring arrangement described above. The process computer is programmed in such a way that known ultrasonic vibrations caused by external systems are masked out.
Fig. 3 zeigt abschließend eine der vorangehend beschriebenen entsprechende Anordnung, bei der Sensoren 31 bis 36 auf der Oberfläche einer Raumstation 37 verteilt angeordnet sind, um die angestrebte Überwachungsfunktion auszuüben. 3 finally shows an arrangement corresponding to the one described above, in which sensors 31 to 36 are arranged distributed on the surface of a space station 37 in order to perform the desired monitoring function.

Claims

Patentansprüche claims
1. Verfahren zur Erfassung von durch den Aufprall von Fremdkörpern verursachten Beschädigungen an Raumfahrzeugen mittels Schallmessung, dadurch gekennzeichnet, daß die durch einen Aufprall hervorgerufenen Ultraschallschwingungen elektronisch registriert und einer Auswerteeinheit zur mathematischen Lokalisierung des Ortes der Beschädigung zugeführt werden.1. A method for detecting damage to spacecraft caused by the impact of foreign bodies by means of sound measurement, characterized in that the ultrasonic vibrations caused by an impact are electronically registered and fed to an evaluation unit for the mathematical localization of the location of the damage.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß eine automatische Auslösung des Registrier- und Auswertevorgangs erfolgt .2. The method according to claim 1, characterized in that an automatic triggering of the registration and evaluation process takes place.
3. Verfahren nach Anspruch 1 oder 2 , dadurch gekennzeichnet, daß bekannte, durch fremde Systeme verursachte Ultraschallschwingungen ausgeblendet werden.3. The method according to claim 1 or 2, characterized in that known, caused by external systems ultrasonic vibrations are hidden.
4. Vorrichtung zur Durchführung des Verfahrens nach einem der Ansprüche 1 bis 3, bestehend aus wenigstens drei räumlich auf der Oberfläche (4, 37) des zu überwachenden Körpers angeordneten Ultraschallsensoren (1-3, 31-36) sowie einer diesen zugeordneten Erfassungs- und Auswerteeinheit (5-21). 4. Device for performing the method according to one of claims 1 to 3, consisting of at least three spatially arranged on the surface (4, 37) of the body to be monitored ultrasonic sensors (1-3, 31-36) and a detection and associated therewith Evaluation unit (5-21).
EP03704310A 2002-02-28 2003-02-15 Method for the detection of damage to spacecraft caused by the impact of foreign bodies Withdrawn EP1478940A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10208724A DE10208724C1 (en) 2002-02-28 2002-02-28 Method for detecting damage to spacecraft caused by the impact of foreign objects
DE10208724 2002-02-28
PCT/DE2003/000462 WO2003073122A1 (en) 2002-02-28 2003-02-15 Method for the detection of damage to spacecraft caused by the impact of foreign bodies

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EP1478940A1 true EP1478940A1 (en) 2004-11-24

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US (1) US20050063252A1 (en)
EP (1) EP1478940A1 (en)
JP (1) JP2005519268A (en)
AU (1) AU2003206662A1 (en)
DE (1) DE10208724C1 (en)
RU (1) RU2004108125A (en)
WO (1) WO2003073122A1 (en)

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JP5671316B2 (en) * 2010-12-01 2015-02-18 株式会社Ihi Space floating object detection device
ITMI20111332A1 (en) 2011-07-18 2013-01-19 Orbit S R L D DEVICE FOR THE DEORBITATION OF ARTIFICIAL SATELLITES.
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CN105784303B (en) * 2016-03-04 2018-09-18 北京卫星环境工程研究所 Method is determined based on the spacecraft control of product envelope of vibration rig ability
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WO2003073122A1 (en) 2003-09-04
RU2004108125A (en) 2005-03-27
AU2003206662A1 (en) 2003-09-09
DE10208724C1 (en) 2003-09-25
US20050063252A1 (en) 2005-03-24
JP2005519268A (en) 2005-06-30

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