(19)

(11)

EP 1 642 181 A2

(12)

(88) Date of publication A3: 10.02.2005 (43) Date of publication: 05.04.2006 Bulletin 2006/14 (21) Application number: 04750655.5 (22) Date of filing: 23.04.2004

(51) International Patent Classification (IPC):  G05D 1/00(1968.09) (86) International application number: PCT/US2004/012812 (87) International publication number: WO 2004/108524 (16.12.2004 Gazette 2004/51)

(84) Designated Contracting States: AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PL PT RO SE SI SK TR (30) Priority: 30.05.2003 US 449372 (71) Applicant: Neural Robotics, Inc. Huntsville, AL 35801 (US)	(72) Inventor: FOUCHE, Michael, J. Huntsville, AL 35803 (US) (74) Representative: Moreland, David et al Marks & Clerk Scotland 19 Royal Exchange Square Glasgow G1 3AE Glasgow G1 3AE (GB)