EP1537486A1 - Reconfigurable sequencer structure - Google Patents
Reconfigurable sequencer structureInfo
- Publication number
- EP1537486A1 EP1537486A1 EP03782172A EP03782172A EP1537486A1 EP 1537486 A1 EP1537486 A1 EP 1537486A1 EP 03782172 A EP03782172 A EP 03782172A EP 03782172 A EP03782172 A EP 03782172A EP 1537486 A1 EP1537486 A1 EP 1537486A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- cell
- memory
- data
- element field
- cells
- 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- Withdrawn
Links
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F15/00—Digital computers in general; Data processing equipment in general
- G06F15/76—Architectures of general purpose stored program computers
- G06F15/78—Architectures of general purpose stored program computers comprising a single central processing unit
- G06F15/7867—Architectures of general purpose stored program computers comprising a single central processing unit with reconfigurable architecture
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/14—Handling requests for interconnection or transfer
- G06F13/16—Handling requests for interconnection or transfer for access to memory bus
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/14—Handling requests for interconnection or transfer
- G06F13/36—Handling requests for interconnection or transfer for access to common bus or bus system
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/40—Bus structure
- G06F13/4063—Device-to-bus coupling
- G06F13/4068—Electrical coupling
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/30—Arrangements for executing machine instructions, e.g. instruction decode
- G06F9/30145—Instruction analysis, e.g. decoding, instruction word fields
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K19/00—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits
- H03K19/02—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits using specified components
- H03K19/173—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits using specified components using elementary logic circuits as components
Definitions
- the present invention relates to a line element array and a method for operating the same.
- the present invention deals in particular with reconfigurable data processing architectures.
- a reconfigurable architecture is understood to mean, among other things, building blocks (VPU) which have a large number of elements which are variable in function and / or networking in operation.
- the elements can include arithmetic logic units, FPGA areas, input / output cells, memory cells, analog modules, etc. Blocks of this type are known, for example, under the name VPU.
- the PAEs are arranged in any configuration, mixture and hierarchy, the arrangement being referred to as a PAE array or PA for short.
- a configuration unit can be assigned to the PAE array.
- VPU modules, systolic arrays, neural networks, multiprocessor systems, processors with several arithmetic units and / or logic cells, networking and network components such as crossbar circuit etc. are known, as are FPGAs, DPGAs, transputers etc.
- essential aspects of VPU technology include: B. are described in the following property rights of the same applicant and the associated subsequent applications for the listed property rights:
- the architecture has considerable advantages over conventional processor architectures insofar as data processing is carried out in a manner that has a high proportion of parallel and / or vectorial data processing steps.
- the advantages of the architecture compared to other processor, coprocessor or generally data processing units become less if the advantages of networking and the given special processor architecture can no longer be fully realized.
- the object of the present invention is to provide something new for commercial use.
- function cell / memory cell combinations are formed in which a control connection is made from the function cell means to the memory cell means.
- This control connection serves to make the address and / or data input / output from the memory controllable by the assigned function cell, typically an ALU-PAE. For example, it can be specified whether the next transmitted information is to be treated as an address or as data and whether read and / or write access is required.
- an ALU-PAE that has a separate one Unit represents, in addition to a separate RAM-PAE and possibly a series of I / O-PAEs using or arranging appropriate control lines or connections The same can be arranged because more memory is often required there, for example in order to temporarily store results generated in the field central area of the cell field and / or to pre-store and / or prepare the data required for the data flow through them.
- a small memory can be provided therein for various commands to be executed by the functional cell means such as the ALU. It is in particular possible here to separate the command or configuration memory from a data memory, and it is possible to make the function memory large enough that one of several, for example two, different sequences can alternatively be processed.
- the sequence to be processed can take place in response to results generated in the cell and / or control signals entering the cell from the outside, such as carry, overflow, etc. trigger signals. In this way, this arrangement can also be used for wave reconfiguration processes.
- sequencer-like program parts in the field can be executed in parallel or vectorially when executing largely parallel algorithms per se and vice versa.
- sequencer-like structures in the cell element field be it sequencer-like structures in an area connected by connection with neighboring cells or buses, or combinations of spatially distinguishable, separate and also separately usable functional cell elements, such as ALU-PAEs and memory cell elements such as RAM -PAEs to be clocked higher.
- HUFFMANN coding which can be processed much better sequentially than in parallel and which also plays an important role for applications such as MPEG4 coding, but the essential other parts of MPEG4 coding can be easily parallelized.
- Parallel data processing is then used for most parts of an algorithm and a sequential processing block is provided therein.
- increasing the clock frequency in the sequencer area by a factor of 2 to 4 will be sufficient.
- the cell element field with the cells that can be configured in function and / or networking can, of course, form a processor, a coprocessor and / or a microcontroller, or a parallel plurality or combinations thereof.
- the function cells are typically formed as arithmetic logic units, whereby they represent in particular coarse-grained elements, but which, for. B. can be provided with a fine-grained state machine.
- the ALUs are so-called extended ALUs (EALU), as described in the earlier applications of the present applicant.
- An extension can include, in particular, the control line control, command decoding unit, etc., if necessary.
- the memory cells can store data and / or information in a volatile and / or non-volatile manner. If information stored in the memory cells, be it program steps, addresses for accessing data or data stored in register or heap-like form as volatile data, complete reconfiguration can take place during operation. Alternatively, it is possible to provide non-volatile memory cells.
- the non-volatile memory cells can be provided, for example, as an EE prom area and the like, in which a rudimentary bios program is stored, which is to be executed when the arrangement is started up. In this way, a data processing device can be started up without additional components.
- a non-volatile data memory can also be provided if, for reasons of cost and / or space, it is decided that the same program parts are to be executed again and again, whereby it is also possible to switch under such fixed program parts, for example according to the type of WAVE reconfiguration.
- the possibilities of providing and using such non-volatile memories are the subject of other protective rights of the applicant. It is possible to store both volatile and non-volatile data in the memory cells, for example by to save a bios program f.est and still be able to use the memory cell for other purposes.
- the memory cell is preferably designed such that it can store a sufficient number of data to be processed and / or program parts to be processed.
- these program parts can be designed both as program steps, each of which specifies what an individual, in particular the assigned PAE, in particular the function cell controlling the memory cell, has to do in the next step, as well as entire configurations for field areas or other fields.
- the built-up sequencer structure it is easily possible for the built-up sequencer structure to issue a command, on the basis of which a reconfiguration of row element field areas takes place.
- the functional cell that triggers this configuration then also works as a charging logic.
- the information stored in the memory cell upon activation of the function cell controlling it, gives directly or indirectly to a bus leading to the function cell. Indirect output can take place in particular when the two cells are adjacent and the information requested by the control must arrive at the ALU-PAE via a bus segment that cannot be connected directly to the output of the memory cell. In such a case, the memory cell can output data on this bus system in particular via a backward register. It is therefore preferred if at least one of the
- ⁇ o - cher cell and / or functional cell has such a backward register, which can be arranged in the information path between the memory cell and the functional cell.
- these registers do not necessarily have to be provided with further functionalities, although this is the case, for example, when data is requested from the memory cell for further processing, in accordance with a conventional LOAD command from a typical microprocessor, in order to change the data before it is loaded into the PAE is easily conceivable to z. B. to implement a LOAD ++ command.
- the data transmission through reverse-working ALUs and the like having PAEs should be mentioned.
- the memory cell will preferably be arranged to receive information from the functional cell controlling it, it also being possible to store information via an input-output cell and / or a cell that does not control the memory cell.
- this input / output cell I / O-PAE
- the address at which information to be written into the memory cell or possibly also directly transmitted to the function cell (PAE) can be read to the I / O-PAE from the ALU-PAE.
- this address can be defined in the I / O-PAE via an address translation table, an address translation buffer or an MMU-like structure. In such a case, the full functionalities of typical microprocessors result. That there is also an I / O functionality with a functional cell medium, a memory cell medium and / or Function cell agent-memory cell agent combination can be integrated, should be mentioned.
- function cells and memory cells be it as an integrated function cell and memory cell combination or as a function cell and memory cell combination made up of separate units, is therefore assigned in a preferred variant at least one input / output means, with which an external device is then assigned Unit, another function cell, function cell-memory cell combination and / or memory cells information can be sent and / or received by this.
- the input / output unit is preferably also designed to receive control commands from the functional cell or from the functional cell means.
- control connection is designed to transmit at least some and preferably all of the following commands:
- PROGRAM POINTER WRITE EXTERN PROGRAM POINTER READ INTERNAL
- the arrangement will typically be selected such that the functional cell can access the control connection and / or a bus segment or bus system serving as a control connection as the sole master.
- the result is an arrangement in which the control line acts as a command line, as is provided in conventional processors.
- the functional cell and the memory cell or I / O cell are preferably arranged adjacent. Neighboring can, as preferred, mean that the cells are arranged directly next to one another. Immediately means in particular a combination of such cells to form integrated units that are repeated on the cell element field or as part be provided to form the field. This can mean an integral unit of memory and logic cells. Alternatively, they are at least close together.
- the arrangement of the function and memory cells in an integrated or close proximity to one another ensures that no, at least no significant, latency times occur between activation and data input of the requested information in the function cell, simply because the connections between the cells are too long. This should be understood as "direct”. If latency times have to be taken into account, pipelining can also be provided in the sequencer structures.
- the function cells, the information provision cells such as memory cells, I / O cells and the like are arranged in a multidirectional manner, in particular in the manner of a matrix or on grid points of a one-dimensional grid, etc. If a regular As is the case there, a cell is typically supplied with information, ie operands, configurations, trigger signals, etc.
- Protection is also claimed for a method for operating a cell element field, in particular multidimensional cell element field with functional cells for performing algebraic and / or logical functions and information provision cells, in particular memory cells and / or
- Input / output cells for receiving and / or outputting information and / or storing the same, at least one of the function cells issuing control commands to at least one information supply cell, information is provided there for the function cell in response to the control commands, and the function cell is designed to carry out the further data processing in response to the information provided, in order to at least temporarily process data in the manner of a sequencer.
- Fig. 1 a cell element field according to the invention
- FIG. 3 shows an alternative embodiment of the detail from FIG. 2,
- FIG. 5 shows an example of the functional folding onto a functional cell / memory cell combination of the invention
- FIG. 6a shows an example of a sequentially parallel one
- FIG. 6b a particularly preferred exemplary embodiment of the invention
- FIG. 7 an alternative to a function folding unit.
- a cell element field, generally designated 1, for data processing 1 comprises functional cell means 2 for performing arithmetic and / or logical functions and memory cell means 3 for receiving, storing and / or outputting information, a control connection 4 from functional cells 2 to the memory cells 3 is performed.
- the cell element field 1 is freely configurable in the networking of the elements 2, 3, 4, and specifically without disrupting the line element parts that are not to be reconfigured during operation.
- the connections can be configured by switching bus systems 5 as required.
- the respective function cells 2 can also be configured.
- the function cells are arithmetic logic units that are expanded by certain circuits that enable reconfiguration, such as state machines, interface circuitry for communication with the external charging logic 6, etc. Reference is made to the applicant's corresponding advance registrations.
- the cell elements 2, 3 of the cell element array 1 are arranged two-dimensionally in rows and columns, a memory cell 3 lying directly next to a function cell 2 and here three rows of memory cells and function cells each in which the function and memory cells are located Control connections 4 are interconnected.
- the function and memory cells 2, 3, or the combination thereof have inputs which can be connected to the bus system above the row in which the respective cell elements are located in order to receive data therefrom.
- the cells 2, 3 have outputs which output data to the bus system 5 below the row.
- each memory cell 3 is also provided with a backward register (BW), through which data can be passed through from the bus below a row to the bus above the respective row.
- BW backward register
- the memory cell means 3 also preferably has at least 3 memory areas, namely a so-called data area, a program memory area and a stack area, etc. However, in other variants of the invention it may be sufficient to provide only two areas, namely a data memory and a program memory area, each of which can form part of a memory cell means. In particular, it is possible not simply to separate a memory which is homogeneous per se and which is identical in terms of hardware into different areas, but rather to actually provide memory areas which are physically or hardware-technically separate. In particular, an adaptation of the storage width and / or depth to the respective requirements can also be provided.
- this memory or memory area for simultaneous access to data and program memory areas, for example as a dual-port memory. It may also be possible to provide closely coupled memory areas, in particular within a memory cell means-functional cell means combination, which is formed to form an integrated area, as a pure cache memory, in which data from more distant memory locations in particular for quick access during data processing be preloaded.
- the cell element field for data processing from FIG. 1 is a conventional cell element field, as is the case with reconfigurable ones Data processing arrangements, for example a VPU according to the applicant's XPP technology, are common and known.
- the cell element field of FIG. 1 can be operated as is known, that is to say it has corresponding circuits for wave reconfiguration, for debugging, transmission of trigger signals, etc.
- the first peculiarities of the cell element field of the present invention result from the control connection 4 and the associated circuitry, which will be described in more detail below with reference to FIGS. 2a-c. It should be mentioned that while in FIG.
- control connection 4 is always led from a functional cell element located further to the left to a memory cell located further to the right, and only and precisely to such a memory cell, it is evidently possible also for the control lines to provide configurable networking in order either to address memory cells located elsewhere and / or to be able to address more than one memory cell if necessary, for example if there is a large amount of memory required for information to be received, stored and / or output from the memory cells is.
- FIGS. 1 and 2 reference is only made in FIGS. 1 and 2 to fixedly provided individual control connections, which makes understanding of the invention considerably easier.
- the control connection can, if necessary, be replaced by conventional lines, provided the appropriate protocols are used.
- the function cell 2 is referred to as an ALU and the function cell 3 as a RAM.
- the bus 5a which connects the backward register 3a already mentioned to the inputs 3b of the memory cell and 2b of the ALU.
- the bus system running below the row is designated 5b and only the relevant segments of the bus system 5a, 5b are drawn. It can be seen that the bus system 5b alternatively receives data from an output 2c of the ALU 2, an output 3c of the RAM 3 and that it feeds data into the input 3al of the backward register.
- the ALU 2 also has further inputs and outputs 2a, 2a2, which can be connected to other bus segments and via which the ALU receives data such as operands or outputs results.
- the control connection 4 is permanently under the control of the extended circuits of the ALU and here represents a connection via which a large number of bits can be transmitted.
- the width of the control connection 4 is selected such that at least the following control commands can be transmitted to the memory cell: DATA WRITE, DATA READ, ADRESSPOINTER WRITE, ADRESSPOINTER READ, PROGRAMMPOINTER WRITE, PROGRAMMPOINTER READ, PROGRAMMPOINTER INCREMENT, STACKPOINTER WRITE, STACKPOINTER , PUSH, POP.
- the memory cell 3 also has at least three memory areas, namely a so-called stack area, a heap area and a program area. Each area is assigned its own pointer, which is used to determine which area of the stack, the heap and the program area is read or write accessed.
- Bus 5a is shared by units 2 and 3 in time division. This is indicated in FIGS. 2b, 2c. 2b shows a situation in which data can be sent from the output 2a2 of the ALU-PAE via the backward register to the input of the RAM cell, whereas the connection which exists at the same time, but is not used, between the output 3c of the RAM to the bus 5b and the connection between the output of the backward register BW to the input 2b of the ALU-PAE is of no importance at the time of FIG. 2b, which is why they are indicated by dashed lines.
- a circuit 3d is provided within the RAM cell 3, in which the information received via the control line 4 or the control line bus segment 4 is decoded.
- the invention is used as follows:
- the ALU 2 receives configuration information from a central loading logic, as is already known in the prior art.
- the information transmission can be done in a manner known per se using the RDY / ACK protocol and the like. Provided, etc. to the possibility for the PLU a FIL MO memory to proper configurations "ration of the arrangement to allow is pointed.
- the data for the configuration of the ALU 2 is also used to transmit a series of data from the loading logic, which represents a program or program part to be processed sequentially.
- the loading logic which represents a program or program part to be processed sequentially.
- FIG. 6a in which the HUFFMANN coding is shown as a central sequential part of an MPEG4 coding which is per se data flow-like.
- the ALU therefore issues a corresponding command on line 4 during its configuration, which sets the program pointer for writing to a predetermined value within the RAM.
- the Charging logic at the ALU receives data received via output 2c via bus 5bl and backward register 3a and from there it arrives at input 3b of RAM-PAE 3.
- ALU-PAE The relevant communication between ALU-PAE and RAM -PAE takes place via the control line 4, so that the ALU-PAE can carry out the decoding at any time.
- data can also be received from a stack or another RAM memory area and data can also be received from outside as operands in the ALU-PAE.
- the program sequence that was preconfigured in the RAM-PAE by the loading logic takes place.
- command decoding is carried out at the same time, as required per se. This is done with the same circuits per se, which are already used for decoding the commands received from the loading logic.
- the control line 4 is checked at all times via the ALU that the RAM cell always follows the type of memory access which is specified by the ALU. In this way it is ensured that regardless of the time-multiplex use of the bus elements 5a, b, the elements present in the sequencer structure are predetermined at any time whether there are addresses on the buses for data or codes to be fetched and / or to be written or whether and if so where to write data etc.
- FIG. 2 The arrangement shown in relation to FIG. 2 can be expanded or changed in different ways.
- the variants shown in FIGS. 3, 4 and 6 are particularly relevant.
- the ALU-PAE not only communicates with a RAM-PAE, but also with an input / output-PAE, which is designed to provide an interface circuit for communication with external components, such as hard disks, other XPP-VPUs, and others Processors and coprocessors, etc.
- the ALU-PAE is the unit that acts as the master for the control connection referred to as "CMD", and again the buses are used in a multiplexed manner. Again, data transfer from the bus can be under the row into the bus above the row through the backward register.
- the arrangement shown in FIG. 4 makes it particularly easy to make external access to information that cannot be stored in the RAM-PAE memory cell and thus enables the sequencer structure to be adapted to an even greater extent to existing, conventional CPU technologies and their operating methods than address translation means, memory management units (MMU functions) and the like can now be implemented in the input / output cell.
- the RAM-PAE can serve as a cache, but in particular as a preloaded cache.
- sequencer structures can be configured into one and the same field at the same time, that function cells, memory cells and possibly input / output cells can optionally be configured for sequencer structures and / or in a conventional manner for XPP technology, and that it can be easily done it is possible that an ALU outputs data to another ALU, which they configure in a sequencer manner and / or to part of a cell make field with which a certain configuration is processed. In this way, the charging logic may then also be unnecessary.
- two embodiments of the invention are combined in one and the same cell element field, namely at the edges of two PAEs each, namely a sequencer formed from one RAM and one ALU-PAE, and inside with integrated RAM-ALU-PAEs as integrated Function cell memory cell units are formed sequencers, it being possible to form only a part of the cells inside the field as combination cells.
- FIG. 5 shows on the right (FIG. 5c) a combination of functional cells and memory cells.
- a function cell / memory cell means combination comprises bus connections or inputs 51 for the input of operand and configuration data and, as is particularly preferred here, also trigger signals (not shown) and the like and a bus output 52 for the output of corresponding data or signals.
- An ALU 53 is provided within the functional cell means-memory cell means combination, as well as input registers RiO to Ri3 for operand data and trigger signal input register (not shown).
- the registers Rc and Rd for the configuration data or opcode data are controlled by the ALU 53 via control command lines 4 and feed data via suitable data lines into the ALU or received from this result data. It is also possible to feed information from the bus 51 or the input registers Ri directly to the output register or the bus 52, just as information can be fed not only to the ALU but also to the output registers from the data registers RdO. If necessary, connections can be provided between the memory areas Rd and Rc, for example to implement the possibility of self-modifying codes.
- the configuration data area RcO to Rc7 has a controller which allows work to be carried out on parts of the area, in particular repeatedly cyclically and / or by means of jumps. This makes it possible, for example in a first partial configuration, to repeatedly process commands which are in RcO to Rc3 and, alternatively, for example on receipt of a corresponding other trigger signal via bus line 51, to process configuration commands which are in Rc4 to Rc7. This ensures that a wave configuration can be executed. It should be noted that the configuration commands stored typically only represent instructions to the ALU, but do not define complete bus connections, etc.
- the above-described unit shown in FIG. 5 is designed here to be operated at four times the clock rate, like a normal PAE without memory cell means and / or control signal lines 4.
- registers are understood as memory cell means or parts thereof. It is clear that by enlarging the memory cell areas, more complex tasks can be arranged in a sequence-like manner, but that with the small sizes specified, essential parts of important algorithms can be processed with high efficiency.
- the function folding units are preferably formed in such a way that data can be switched through them without being processed in the ALU.
- This can be used to achieve path balancing, in which, for example, data packets have to be processed via different branches and then (again) merged without using forward registers, as are known from the applicant's architecture.
- FIG. 7 An alternative to the functional folding unit shown in FIG. 5 is shown in FIG. 7.
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Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP03782172A EP1537486A1 (en) | 2002-09-06 | 2003-09-08 | Reconfigurable sequencer structure |
Applications Claiming Priority (10)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10241812A DE10241812A1 (en) | 2002-09-06 | 2002-09-06 | Cell element field for processing data has function cells for carrying out algebraic/logical functions and memory cells for receiving, storing and distributing data. |
DE10241812 | 2002-09-06 | ||
DE10315295 | 2003-04-04 | ||
DE10315295 | 2003-04-04 | ||
DE10321834 | 2003-05-15 | ||
DE10321834 | 2003-05-15 | ||
EP03019428 | 2003-08-28 | ||
EP03019428 | 2003-08-28 | ||
EP03782172A EP1537486A1 (en) | 2002-09-06 | 2003-09-08 | Reconfigurable sequencer structure |
PCT/EP2003/009957 WO2004038599A1 (en) | 2002-09-06 | 2003-09-08 | Reconfigurable sequencer structure |
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EP1537486A1 true EP1537486A1 (en) | 2005-06-08 |
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EP03782172A Withdrawn EP1537486A1 (en) | 2002-09-06 | 2003-09-08 | Reconfigurable sequencer structure |
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US (9) | US7394284B2 (en) |
EP (1) | EP1537486A1 (en) |
JP (1) | JP4388895B2 (en) |
AU (1) | AU2003289844A1 (en) |
WO (1) | WO2004038599A1 (en) |
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US10296488B2 (en) | 2019-05-21 |
US20100039139A1 (en) | 2010-02-18 |
US20080191737A1 (en) | 2008-08-14 |
WO2004038599A1 (en) | 2004-05-06 |
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US8803552B2 (en) | 2014-08-12 |
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AU2003289844A1 (en) | 2004-05-13 |
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US9274984B2 (en) | 2016-03-01 |
US20180067896A1 (en) | 2018-03-08 |
US9817790B2 (en) | 2017-11-14 |
US7782087B2 (en) | 2010-08-24 |
US20060192586A1 (en) | 2006-08-31 |
US7928763B2 (en) | 2011-04-19 |
US20160170925A1 (en) | 2016-06-16 |
US20130024657A1 (en) | 2013-01-24 |
US20110148460A1 (en) | 2011-06-23 |
JP2006501782A (en) | 2006-01-12 |
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