Method of and apparatus for handheld printing of images on a media

TECHNICAL FIELD

The present invention relates generally to handheld printing devices and more specifically to handheld printing devices having “navigation” systems for determining the position of the handheld printing device with respect to the printable object.

BACKGROUND

Handheld or portable optical scanners are well known in the prior art and are designed to be moved by hand across the object or document being scanned. The handheld scanner may store the scanned image within its own memory or may be connected directly to a separate computer by a data cable which is used to store the scanned image. For example, U.S. Pat. No. 5,381,020 of Kochis, et al., for “Hand-held Optical Scanner With Onboard Battery Recharging Assembly” discloses a hand-held optical scanner which comprises a hand-displaceable scanner housing; scanner electrical components mounted within the housing for performing scanner operating functions; a battery disposed in the housing and electrically connected to the electrical components; a generator disposed in the housing and operatively associated with the battery; and a roller assembly mounted in the housing and drivingly linked to the generator. U.S. Pat. No. 5,306,908 of McConica, et al., for “Manually Operated Hand-held Optical Scanner With Tactile Speed Control Assembly” describes a hand-held optical scanner comprising an optical sensor for generating a data signal representative of a scanned object; a housing for hand-displaceably supporting the optical sensor; a roller mounted on the housing for enabling rolling displacement of the housing over a scanned object in a predetermined scan direction; a displacement sensing device for sensing the angular displacement of the roller and generating a displacement signal representative thereof; a motor drivingly linked to the roller for applying a driving torque thereto; a controller for actuating the motor responsive to the displacement signal for angularly accelerating and decelerating the roller for urging an operator to hand displace the housing across a scanned object within a predetermined speed range which is optimal for scanning.

Additionally, U.S. Pat. No. 6,002,124 of Bohn, et al., for “Portable Image Scanner With Optical Position Sensor” discloses an imaging device which may be comprise of an image head having an elongate slot therein with first and second lengthwise ends. The image head may also include a first navigation sensor aperture and a second navigation sensor aperture positioned adjacent the elongate slot at positions other than positions that are aligned with the first and second lengthwise ends of the elongate slot. An image sensing system optically aligned with the elongate slot in the image head is responsive to image light passing through the elongate slot and produces an image signal based on the image light. A first navigation sensor optically aligned with the first navigation sensor aperture in the image head is responsive to first navigation light passing through the first navigation sensor aperture and produces a first navigation data signal based on the first navigation light. A second navigation sensor optically aligned with the second navigation sensor aperture in the image head is responsive to second navigation light passing through the second navigation sensor aperture and produces a second navigation data signal based on the second navigation light. U.S. Pat. No. 6,005,681 of Pollard for “Image Scanning Device and Method” describes a method of reconstructing an image from scanned parts of an original image obtained by relative movement between a scanning device and the original image so that adjacent scanned image swaths overlap. The scanning device comprises navigation means for determining the position of the scanning device relative to the original image. Navigation corrections are calculated by correlating features within the area of overlap between adjacent swaths.

Also related is U.S. Pat. No. 5,552,597 of McConica for “Hand-held Scanner Having Adjustable Light Pad” discloses a lens assembly which is positioned between an illuminated scanning area and a detector. Positioned between the lens assembly and the illuminated scanning area is a multiple reflecting assembly which defines a folded light path between the lens assembly and the illuminated scanning area. A prismic reflecting assembly is movably mounted between the lens assembly and the multiple reflecting assembly, so that the length and direction of the folded light path can be changed by moving the prismic reflecting assembly to align and focus the image of the illuminated scanning area on the surface of the detector. U.S. Pat. No. 5,586,212 of McConica, et.al., for “Optical Wave Guide for Hand-held Scanner” describes first and second elongate curved reflecting surfaces which are positioned in non-parallel, spaced apart relation, which collect light from an elongate light source and direct the light onto a scanning area. One edge of the first curved reflecting surface is positioned adjacent the light source and the opposite edge is positioned adjacent the illuminated scan area so that the first curved reflecting surface extends from about the light source to about the illuminated scan area. The second curved reflecting surface is positioned in opposed spaced-apart non-parallel relation to the first curved reflecting surface such that the distance separating the reflecting surfaces at the light source is less than the distance separating the reflecting surfaces at the end adjacent the illuminated scanning area. An elongate planar reflecting surface is positioned adjacent the second curved reflecting surface so that it is substantially perpendicular to the illuminated scan area. Some of the light rays from the light source are reflected by the first curved reflecting surface and the second curved reflecting surface onto the planar reflecting surface, which in turn reflects the light rays onto the illuminated scan area so that they are incident on the illuminated scan area at substantially oblique angles. Other light rays from the light source are directly reflected by either the first curved reflecting surface, the second curved reflecting surface, or by a combination of the two, onto the illuminated scan area so that they are also incident on the illuminated scan area at substantially oblique angles.

Each of the above described patents are assigned to the assignee of the present application and are hereby incorporated in their entirety by reference for all that they disclose.

Similarly, portable computer printers are well known in the prior art and include dot matrix printers, piezo-electric inkjet printers, laser printers and thermal inkjet printers. Additionally, scanner/printer combinations are known in the prior art as are combination machines which include scanner features, printer features, facsimile machines, and document copying capabilities. However, the scanners used in these combinations are relatively large desktop units serving to optically scan sheet documents transported through or placed on a scan window of the device.

A need exists for a portable printer that is adaptable to print in combination with a portable device on a desktop unit. A further need exists for a compact printer compatible with a handheld device such as a personal digital assistant (PDA).

SUMMARY OF THE INVENTION

The present invention describes a system and method of printing an image onto a page with a handheld printer. A page is defined to be the print receiving media or object as including paper sheets, cartons, printable object or media or any other surface capable of receiving an ink, dye, or other material to be applied to a surface. The method comprises the steps of moving a handheld printhead over the surface of a page; locating a position of the printhead relative to the page; and printing a corresponding portion of the image onto a corresponding portion of a print receiving page in response to continuously updated determinations of the location of the printer relative to the page and previously printed portions of the image. A manual movement of the handheld printhead is performed using a series of continuous motions. The location of the printhead may be continuously or near continuously determined with respect to a corner or an edge of the page and/or may use the inherent structural features of the page to detect direction and degree of movement. The determination of the handheld printhead's position may also use visible or microscopic servo marks formed on the page. The image printed on the page may be stored in a memory of the handheld printer in a bit-mapped representation, printable format, or other acceptable format. The image may also be optically scanned into the handheld printhead in a digital representation of the image. If the image is scanned into the handheld printhead, the scanning may include reading a first swath of the image; reading a second swath of the image; and stitching the first swath with the second swath to produce the image.

According to another embodiment of the invention, a handheld device includes a printhead for printing a facsimile of an image onto a page. The device includes a navigation sensor which determines a position of the printhead relative to the page. A controller correlates the image information with the navigation information from the navigation sensor so that the printhead responds to the image information to print a facsimile of the image onto the surface of the page. The navigation sensor may determine the position of the handheld device from the inherent structural features (e.g., fibers contained in a paper, etc.) and/or with respect to an edge or a corner of the page and/or may use servo marks to calculate its position. The handheld device may also use printed information on the page to determine its position. A memory stores the image data. An optical scanner may be included to capture a representation of the image from an image source such as a printed media.

According to another embodiment of the invention, a handheld device includes an image detector used to scan an image and a printhead for printing a facsimile of the image onto a page. The handheld device includes at least one navigation sensor used to determine a position of the handheld device relative to the surface of the page to provide navigation information. A scanner is used to scan the image from an image source to provide image information. A controller is configured to correlate the navigation information with the image information. A printhead is then included to transfer a facsimile of the image onto the surface of the page. The handheld device may include a memory which stores and maintains links between the navigation information and the image information. The navigation sensor may determine the position of the handheld device from and relative to an edge of the surface of the page, from information printed on the surface of the page, or from a combination of these reference points and methods. The scanner included in the handheld device may provide the image information in elongated, substantially rectangular “swaths” that are stitched together to form a complete image. The printhead of the handheld device may also write servo marks on the surface of the page to help keep track of its motion over featureless portions of the media (e.g. blank portions of page).

The foregoing has outlined rather broadly the features and technical advantages of the present invention in order that the detailed description of the invention that follows may be better understood. Additional features and advantages of the invention will be described hereinafter which form the subject of the claims of the invention. It should be appreciated by those skilled in the art that the conception and specific embodiment disclosed may be readily utilized as a basis for modifying or designing other structures for carrying out the same purposes of the present invention. It should also be realized by those skilled in the art that such equivalent constructions do not depart from the spirit and scope of the invention as set forth in the appended claims.

BRIEF DESCRIPTION OF THE DRAWING

For a more complete understanding of the present invention, reference is now made to the following descriptions taken in conjunction with the accompanying drawing, in which:

FIG. 1

is a perspective view of a pen-like embodiment of a handheld printer;

FIG. 2

is a perspective view of a “pen-like” embodiment handheld printer of

FIG. 1

being used to print an image onto a paper medium;

FIG. 3

is a perspective view of a handheld printing device having a linear arrayed printhead;

FIG. 4

is a perspective view of the handheld printing device of

FIG. 3

printing a rectangular swath onto a portion of a paper sheet;

FIG. 5

is a diagram depicting the orientation of the handheld printing device of

FIG. 3

on a sheet of paper so as to detect a starting reference point;

FIG. 6

is a flow diagram of a process for determining the position of the handheld printing device; and

FIG. 7

is a flow diagram of a process for printing an image onto a media using the handheld printing device according to one aspect of the invention.

DETAILED DESCRIPTION

FIG. 1

is a perspective view of one embodiment of a handheld printer in the form of an elongated writing stylus or “pen-like” device

101

. Pen-like handheld printer

101

includes printhead

102

, connected by cable

103

, and connector

104

to circuit board

105

. Printhead

102

is used to print the images onto a print receiving media such as paper, film, or any other surface capable of receiving an ink or dye (hereinafter page) applied by printhead

102

. Cable

103

and connector

104

are used to pass print commands from circuit board

105

to printhead

102

. These commands are in the form of conventional printhead driver signals appropriate to the type, make and model of printhead employed. Typically, these commands would come from an external service, such as a computer, personal digital assistant, facsimile machine, etc. These commands could also come from the user by way of pressure points activated, voice commands, or by optical impulses.

In addition to the device components which are required for the printing function, printing device

101

also includes components to ascertain its location on the page. Light source

106

transmits light through light pipes or fiber optical strands

107

. Detector pickups

108

examine features of the page while light pipes

109

illuminate the page. Fiber optic strands

110

transmit images to CCD array

111

(or similar device). In order for pen-like printing device

101

to determine its position on the printable surface, light source

106

illuminates the surface of the printable object or media. The illumination from light source

106

is transmitted, for example, through fiber optical strands

107

to illuminate the printable surface. The fiber strands are terminated at an angle of between 5 and 45 degrees and more preferably, at an angle of between 15 and 30 degrees relative to the print receiving media when printing device

101

is operationally positioned relative to the media. Illuminating the surface of the media at an angle enhances surface details which may be used to determine movement across the surface. Although

FIG. 1

shows a bottom end

112

of tube

113

oriented at right angles relative to the tube walls, bottom end

112

may be canted to accommodate a user holding tube

113

at a slight angle (e.g. approximately 30 degrees) relative to the media as a conventional writing instrument, such as a pen or pencil, might be grasped and held when writing.

Once the printable surface is illuminated, features of the printed surface may be captured to allow device

101

to determine its position on the printable surface. In

FIG. 1

, an inner ring of optical detectors are used to identify features on the printable surface, such as lines, previously printed text, or similar features on the surface of the page. Light pipes

109

transmit light from light source

106

to illuminate the surface of the media and reveal the structure of the page itself. For instance, if the printable media is paper, light pipes

109

illuminate the surface so that detector

108

may detect the microstructure of the paper itself to identify the location of printing device

101

on the page. Images detected by detector

108

are transmitted via fiber optic strands

110

to CCD array

111

. One of ordinary skill in the art would understand that a CCD array or an equivalent optical detector may be used.

FIG. 2

is a perspective view of printing device

101

in use. The user (not shown) moves printing device

101

across the page and printhead

102

(

FIG. 1

) is properly positioned to transfer an image onto the media. Printhead

102

may be a linear or, more preferably, a square array or circular configuration of ink jets. The image may be stored in pen-like printing device

101

's memory

120

and passed to connector

104

via cable

121

. The user (not shown) moves printing device

101

towards top

202

of media

201

to print portions of the image closer to the top of the page. Similarly, printing device

101

can be moved down

203

, left

205

or right

204

to print portions of the image in those directions. Once the user (not shown) has manipulated printing device

101

over page

201

for a period of time, a partial image

206

will appear. Typically the user will move printer

101

in a raster fashion, left and right, top to bottom, across the surface of the page, much as “coloring in” an image so that all portions of the page are covered by the process. Printer

101

detects surface features such as previously printed matter, media grain structure, etc., to track direction and speed of motion across the page, causing printhead

102

to transfer images appropriate to the present calculated portion onto the page. Printer

101

tracks position and compares it to the bit mapped image stored in memory to check that the image has been properly printed and, if necessary, print missing portions of the image. The printer may include a visual or audio indicator activated upon completion of printing or some predetermined portion of the image (e.g., 99.5%, etc.). Indicators may further be included to direct the user to move the printer to an incomplete portion of the image so that a portion can be “filled in” or completed.

FIG. 3

is an alternate embodiment in which handheld printing device

300

prints a column wide “swath” down or across a page is described. This configuration is similar to, and may include, a handheld scanner device as previously described. Thus, printer

300

is enclosed in a substantially rectangular enclosure

301

rather than the pen-like housing of printing device

101

previously depicted. The enclosure

301

includes one or more rows of printheads

302

which are included in a rectangular lower surface

303

which is passed over the page. Printheads

302

are connected via a cable (not shown) to a circuit board (not shown). One or more optical position sensors

304

are included in enclosure

301

to optically detect position and motion across the page to identify where the rectangular handheld printing device is orientated with respect to the page and image area. These optical positioning sensors may be mounted on lower surface

303

or remotely mounted, connected by a suitable light pipe or fiber optic bundle to a CCD scanning array

305

. CCD array

305

may be used to scan material for input to image memory and, when operated in the print mode, used to detect printer location on the page. Alternatively, CCD array

305

may be located in lower surface

303

adjacent or surrounding printhead

302

. Additionally, skids or spacers

306

may be included to ensure the handheld printing device

300

is held by the user (not shown) a suitable distance from the printable media. Additional optical position sensors may be included on rectangular surface

303

to better ascertain the rectangular handheld printing device's position and orientation relative to the page.

FIG. 4

is a perspective view of printing device

300

which has printed a partial image

206

onto a page. As previously described, skids or spacers

306

insure that the printing device is held at a suitable distance from printable media

201

to provide proper operation of printhead

302

(FIG.

3

).

Ideally, handheld printing device

300

would be positioned at a known location (i.e., a corner) and the user (not shown) would maneuver the handheld printing device in a linear direction over the page. Subsequently the user would pass the handheld printing device over a second portion of the page adjacent to the originally printed section. In order to ensure that handheld printing device

300

accurately determines its position, at least one of the navigation sensors of the handheld printing device should pass over previously printed material. This procedure is replicated until the image is completed or substantially completed. The handheld printing device can also be configured to indicate to the user the position, on the page, which requires additionally printing or, even an indication concerning the remaining material left to be printed on the page. Additionally, an indication can be given to the user if the handheld printing device is being moved too rapidly across the surface of the page.

As described in the referenced patents, handheld scanners may scan portions of a scanned image and, once the entire image is scanned, may stitch together these scanned portions of the image to form the entire image. While this technique worked for virtual images stored in a memory, stitching is not available for printing. Ideally, the present invention of a handheld printer cannot print the image until the handheld printer has an estimate or has accurately determined where on the page the handheld printer is located. Once the handheld printer has accurately estimated or precisely determined its position on the page, the appropriate portion of the image may be printed by the handheld printer.

FIG. 5

is a perspective view of printer

300

depicting one method in which the handheld printer is positioned at a reference portion such as a corner of sheet

201

. The user may begin the printing operation of rectangular handheld printer

300

by positioning rectangular handheld printer

300

above upper lefthand corner

501

of page

201

so that printer

300

can locate this reference position and relate it to image memory. In this position the navigation sensors of rectangular face

303

of printer

300

straddles two edges (

502

and

503

) of page

201

. As printer

300

is maneuvered away from upper lefthand corner

501

of page

201

, it tracks its position with respect to upper lefthand corner

501

of page

201

. Since printer

300

can calculate its position with respect to page

201

, printer

300

may determine the correct image portion to be printed at the present location. Printer

300

may also track its position with respect to page

201

by the microscopic features in page

201

. In order to accurately track the microscopic features of page

201

, a light source is required to illuminate such microscopic features at a grazing angle. This is accomplished by the angled orientation of the light pipes relative to the surface

109

as depicted in FIG.

1

and further explained in the incorporated referenced patents. These light pipes at an angle to the surface

109

may be eliminated, or the resulting positional accuracy may be enhanced, through the incorporation of other position determining procedures in the printer. For example, a roller or “track ball” as used in a mouse may be included and arranged to engage and roll along a surface of the sheet. Alternatively, a frame may be used, edges of the frame engaging sensors on the printer to determine position with the frame, etc.

Printing device

300

may use portions of images it has already printed on page

201

to track and determine its position with respect to page

201

. Alternatively, or in addition, printer

300

may write servo marks on page

201

to keep track of position with respect to page

201

, particularly in non-printing or otherwise blank portions of the sheet. These servo marks may be used by printer

300

to determine its position with respect to upper lefthand corner

501

of page

201

or any other portion thereof that allows for an accurate determination of the position of printer

300

. The printing of these detectable servo marks by printer

300

ensures that the optical positioning sensors

304

(

FIG. 3

) can compute position even in the absence of other printed matter. The size of these servo marks may be sufficiently small as to be virtually undetectable by the naked eye and/or the servo marks may be printed in an ink that appears only under special illumination such as ultraviolet light. In the latter case, an ultraviolet light can be incorporated within printer

300

to allow the servo marks to be read. Ultraviolet visible ink is then used to print the servo marks. The servo marks written by the printer allow it to determine its position with respect to page

201

. This may be accomplished by the servo marks indicating a direction and a distance from a known point on page

201

, or by the inclusion of servo marks which map page

201

so that rectangular handheld printer

300

determines its position with respect to page

201

when any servo mark is read by rectangular handheld scanner

300

.

FIG. 6

is a flow chart of a method

600

used by a handheld printer to determine its position on page

201

. At Step

601

a determination is made as to whether the handheld printer is at a known position. The handheld printer may be at a known position if it is positioned over upper lefthand corner

501

of printable media

201

or if it can accurately calculate its current position from available information. An accurate estimate may be treated as a determined position if the accuracy is acceptable to the user. If the position of the printer is known, Step

602

is executed, execution transferring to print the corresponding image according to flow chart

700

(FIG.

7

). If the position of the printer is not known at Step

601

, the position of the handheld printer is estimated in Step

603

. This estimated position in Step

603

may be determined from tracking its movement since its last known position, from calculations based on velocity and time or any other accurate positioning means. Step

603

may also include determining position through sensors which measure the movement of the handheld printer from a previously known position.

Once the estimated position of Step

603

is calculated, the printer uses the estimated position to access memory indicating previously printed matter at Step

604

to determine if printing should be visible by the printer at the estimated position. In one embodiment of the present invention, three arrays are used by the handheld printer: an image array, a remaining image array, and a placed ink array. These arrays relate positioning information with portions of the image. Initially the entire image is placed in the image array. Prior to initialization of printing, the image stored in image array is copied to the remaining image array. As the handheld printer prints the image, printed portions of the image are removed from the remaining image array and placed in the placed ink array. As more of the image is printed, the portion of the image stored in the remaining image array is reduced as the portion of the image stored in the placed ink array increases. When the remaining image array is empty, the entire image has been printed and the place ink array contains at least the image array. The placed ink array may also contain servo marks for navigation accuracy. While, for purposes of explanation, three distinct arrays are described, alternate data structures may be used such as a single image array with associated flags or sensitized values indicating whether particular pixels have been printed or are awaiting printing.

In Step

605

, the printer determines whether previous printing should be visible in its current estimated position. Visibility of servo marks previously left by the handheld printer is also checked in Step

605

. If previous printing (including servo marks) should be visible at the current location, a determination is made at Step

606

whether the expected ink is actually visible. Step

606

looks for the presence of the expected ink and not just the presence of ink. For instance, if the word “the” should be visible to the handheld printer in its current location, any other printed image will not trigger a yes response in Step

606

. If the expected ink is visible to the handheld printer in Step

606

, the position may still need to be updated to compensate for small registration errors which normally appear.

If, at Step

605

, ink should not be visible to the handheld printer and the position is not known, a series of steps are executed to help accurately ascertain the handheld printer's position. At Step

607

a determination is made as to whether a corner of the printed media

201

is visible to the handheld printer. If a corner of the printable media

201

is visible to the handheld printer the position is updated in Step

608

to reflect the current position of the handheld printer so that the present position of the printer is known. If a determination is made that a corner is not visible to the printer, the printer determines if an edge of printable media

201

is visible in its current location in Step

609

. If an edge is also not visible to the handheld printer in Step

609

in its current location, a check is made at Step

610

to determine whether the estimated position of the handheld printer is sufficiently accurate for a servo mark to be placed at the current location. The required accuracy may be determined or predefined and may be sufficient if within several pixels. If an affirmative answer is obtained in Step

610

, then a servo mark is placed at the current location in Step

611

. If, however, in Step

610

the estimated position is not accurate enough for a servo mark to be placed, flow

600

is restarted in Step

601

to determine if the handheld printer has been moved enough that its position can now be determined. If the handheld printer has not been moved, a signal can be given to the user indicating such.

FIG. 7

is a flow diagram of a process

700

used to determine whether the printer should print at its current location. In Step

701

, the handheld printer's current location is compared to the information contained in the remaining image array to determine if ink is required at the printer's current location. If ink is to be applied at the current location at Step

702

, that portion of the image retrieved from the remaining image array is placed at the current location, the placed ink array is updated to reflect the information printed and the updated remaining image array is also updated to delete (or otherwise indicate as having been printed) the portion of the image that has just been printed by the handheld printer. These three actions all occur at Step

702

. Once the remaining image array is updated at Step

702

a determination is made as to whether the entire image has been printed. This determination is made by examining the remaining image array. If the remaining image array is empty (or is substantially empty), the entire image has been printed and Step

704

is encountered and printing is completed.

Note that the handheld printing device can contain memory and/or a processor (one or both of these functions can be associated in a separate computing device, not shown). Process

700

can be designed so that a check is made to determine 1) if an image (pixel) is to be printed at a specific location, and 2) if that pixel has already been printed. If the answer to 1) is yes and the answer to 2) is no, then ink (or other printing process) is applied at that pixel. If the answer to 1) is yes and the answer to 2) is yes, no ink is applied (unless an over-ride signal is applied by the user). Of course, if the answer to 1) is no, then no ink is applied at that pixel.

If the remaining image array is not empty, additional printing should occur and the handheld printer can determine the direction the handheld device should be moved to continue printing. In Step

705

this direction is calculated and displayed to the user. Additionally, Step

706

can be used to determine and display the print status to the user. Once the handheld printing device has been moved, processing continues at Step

601

and position determination is repeated.

Although the present invention and its advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims. Moreover, the scope of the present application is not intended to be limited to the particular embodiments of the process, machine, manufacture, composition of matter, means, methods and steps described in the specification. As one of ordinary skill in the art will readily appreciate from the disclosure of the present invention, processes, machines, manufacture, compositions of matter, means, methods, or steps, presently existing or later to be developed that perform substantially the same function or achieve substantially the same result as the corresponding embodiments described herein may be utilized according to the present invention. Accordingly, the appended claims are intended to include within their scope such processes, machines, manufacture, compositions of matter, means, methods, or steps.

Number	Name	Date	Kind
5306908	McConica et al.	Apr 1994	A
5381020	Kochis et al.	Jan 1995	A
5552597	McConica	Sep 1996	A
5586212	McConica et al.	Dec 1996	A
5644139	Allen et al.	Jul 1997	A
5727890	Stodder et al.	Mar 1998	A
5825995	Wiklof et al.	Oct 1998	A
5927872	Yamada	Jul 1999	A
6002124	Bohn et al.	Dec 1999	A
6005681	Pollard	Dec 1999	A
6043503	Dow et al.	Mar 2000	A
6160642	Mui et al.	Dec 2000	A

Method of and apparatus for handheld printing of images on a media

Information

Patent Number

Date Filed

Date Issued

Inventors

Original Assignees

Examiners

CPC

US Classifications

Field of Search

US

International Classifications

Abstract

Description

Claims

US Referenced Citations (12)