EP3259445A1 - Schéma de modulation pour télémesure par impulsions dans la boue à haute vitesse, à besoins en alimentation électrique réduits - Google Patents

Schéma de modulation pour télémesure par impulsions dans la boue à haute vitesse, à besoins en alimentation électrique réduits

Info

Publication number
EP3259445A1
EP3259445A1 EP16753058.3A EP16753058A EP3259445A1 EP 3259445 A1 EP3259445 A1 EP 3259445A1 EP 16753058 A EP16753058 A EP 16753058A EP 3259445 A1 EP3259445 A1 EP 3259445A1
Authority
EP
European Patent Office
Prior art keywords
data
acoustic signal
downhole
phase
modulator
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Withdrawn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
EP16753058.3A
Other languages
German (de)
English (en)
Inventor
Sameh Amr Hassanein MAHMOUD
Jens Uwe Bruns
Wojciech EMMERICH
Matthias GATZEN
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.)
Baker Hughes Holdings LLC
Original Assignee
Baker Hughes Inc
Baker Hughes a GE Co LLC
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 Baker Hughes Inc, Baker Hughes a GE Co LLC filed Critical Baker Hughes Inc
Publication of EP3259445A1 publication Critical patent/EP3259445A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/12—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling
    • E21B47/14—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling using acoustic waves
    • E21B47/18—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling using acoustic waves through the well fluid, e.g. mud pressure pulse telemetry
    • E21B47/20—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling using acoustic waves through the well fluid, e.g. mud pressure pulse telemetry by modulation of mud waves, e.g. by continuous modulation
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/12—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling
    • E21B47/14—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling using acoustic waves
    • E21B47/18—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling using acoustic waves through the well fluid, e.g. mud pressure pulse telemetry

Definitions

  • Boreholes are drilled into the earth for many applications such as hydrocarbon production, geothermal production, and carbon dioxide sequestration. In order to efficiently use expensive resources drilling the boreholes, it is important for analysts to acquire detailed information related to the geologic formations being drilled.
  • downhole tools may be conveyed through the boreholes to perform various types of measurements to provide the analysts with the needed information.
  • some downhole tools may be disposed on a drill string drilling a borehole so that measurements can be performed while the borehole is being drilled. These types of measurements may be referred to a logging-while-drilling or measurement-while-drilling.
  • mud-pulse telemetry For while- drilling applications, mud-pulse telemetry, downhole data is encoded into a digital format and transmitted by acoustic pulses in drilling mud filling the borehole or interior of the drill string. In that energy is expended to transmit the acoustic pulses, it would be appreciated in the drilling industry if method and apparatus were developed to reduce the energy requirements for transmitting data using mud-pulse telemetry.
  • the method includes: receiving data using a modulator disposed at the downhole location on a drill tubular in a borehole penetrating the earth;
  • OQPSK OQPSK
  • smooth transitions between phase shifts to produce a series of two-bit symbols having smooth transitions in transition intervals between phase shifts of both in-phase and quadrature-phase components of the OQPSK modulated data
  • transmitting the series of two- bit symbols as an acoustic signal in drilling fluid disposed in the borehole using a mud- pulser
  • receiving the acoustic signal using a receiver disposed uphole from the downhole location
  • demodulating the acoustic signal using a demodulator coupled to the receiver to provide demodulated data.
  • an apparatus for transmitting data from a downhole location on a drill tubular to a location at the surface of the earth includes: a drill tubular disposed in a borehole penetrating the earth and configured to convey drilling fluid; a modulator configured to receive data from the downhole location and to modulate the data using offset quadrature phase shift keying (OQPSK) and smooth transitions between phase shifts to produce a series of two-bit symbols having a smooth transitions in a transition intervals between phase shifts of both in-phase and quadrature-phase components of the OQPSK modulated data; a mud-pulser configured to transmit the series of two-bit symbols as an acoustic signal in drilling fluid disposed in the borehole; a receiver disposed uphole from the downhole location and configured to receive the acoustic signal; and a demodulator coupled to the receiver and configured to demodulate the acoustic signal received by the receiver to provide demodulated data.
  • OFPSK offset quadrature phase shift keying
  • FIG. 1 illustrates a cross-sectional view of an embodiment of a downhole while-drilling tool disposed in a borehole penetrating the earth;
  • FIG. 2 depicts aspects of a mud-pulser having a plunger
  • FIGS. 3A-3C depict aspects of a mud-pulser having a rotating or oscillating disc
  • FIG. 4 depicts aspects of offset quadrature phase shift keying (OQPSK);
  • FIGS. 5A-5B collectively referred to as FIG. 5, depicts aspects of smooth transitions in transition intervals between symbols in OQPSK;
  • FIG. 6 depicts further aspects of smooth transitions in transition intervals between symbols in OQPSK
  • the method and apparatus use less energy to transmit the same amount of data as prior art techniques.
  • FIG. 1 illustrates a cross-sectional view of an embodiment of a downhole tool 10 disposed in a borehole 2 penetrating the earth 3, which includes an earth formation 4.
  • the downhole tool 10 is conveyed through the borehole 2 by a drill tubular 5 such as jointed drill pipe or coiled tubing for example.
  • a drill bit 6 is disposed at the distal end of the drill tubular 5.
  • a drill rig 7 is configured to conduct drilling operations such as rotating the drill tubular 5 and thus the drill bit 6 in order to drill the borehole 2.
  • the drill rig 8 is configured to pump drilling fluid 13, also referred to as drilling mud, through the drill tubular 5 in order to lubricate the drill bit 6 and flush cuttings from the borehole 2.
  • the downhole tool 10 may include one or more various tools for performing various downhole functions.
  • the tools may include a sensor 8 or formation tester 9 as non-limiting examples.
  • the sensor 8 may be configured to sense various downhole properties such a borehole property, a formation property or a tool property.
  • the formation tester 9 includes an extendable probe 11 configured to seal to a wall of the borehole 2 and extract a sample of formation fluid for analysis downhole or in a surface laboratory.
  • Various sensors in the formation tester may be configured to perform different types of measurements on the sample.
  • Non-limiting examples of the measurements performed by the formation tester 9 or by the sensor 8 include pressure, temperature, density, viscosity, compressibility, radiation, and spectroscopy using optical transmissivity or reflectivity for example.
  • Data sensed or collected downhole is transmitted to the surface of the earth 3 by a mud-pulser 12 that is configured to transmit an acoustic signal in the drilling fluid 13.
  • the mud-pulser 12 includes a modulator 14 and downhole electronics 15.
  • the modulator 14 is configured to receive a bit stream that is composed of data received from the various tools in the downhole tool 10 and to modulate the bit stream into a digital signal.
  • the downhole electronics 15 are configured to operate the mud-pulser 12 to transmit the digital signal as an acoustic pressure signal in the drilling fluid 13.
  • the downhole electronics 15 may also be configured to process data downhole in order to minimize the amount of data needed to be transmitted via the modulator 14. Alternatively or in addition, data processing functions may be performed by a surface computer processing system 16.
  • the downhole tool 10 may also include memory (not shown) for storing measurements that cannot be immediately transmitted to the computer processing system 16 because of limited telemetry bandwidth.
  • a power supply 18 such as a battery or mud turbine powered generator for example supplies power for operation of the mud-pulser 12.
  • the receiver 17 is configured to receive the acoustic pressure signal using a transducer 19.
  • the transducer 19 is configured to convert the received acoustic signal into an electrical signal that can be processed.
  • the receiver 17 further includes a demodulator 29 configured to demodulate the acoustic pressure signal into a bit stream that includes the downhole data.
  • the bit stream after further processing is in a format for displaying, storing, or further processing such as by the computer processing system 16.
  • the computer processing system 16 may be configured to perform the demodulating function.
  • FIG. 2 depicts further aspects of the mud-pulser 12 in a simplified
  • the mud-pulser 12 is a plunger-type mud-pulser that includes a plunger 21 that is configured to move back and forth in a reciprocating motion with respect to a seat 22.
  • the reciprocating motion with respect to the seat 22 reduces the flow cross-sectional area so as to increase the pressure drop across the mud-pulser 12 and thereby cause acoustic pulses to be emitted into the drilling fluid 13.
  • An actuator 20 is coupled to the plunger 21 and is configured to cause the reciprocating motion of the piston in accordance with a control signal received from the downhole electronics 15.
  • the desired acoustic pressure signal may be a phase modulated sinusoidal signal. Instantaneous frequency can be changed in order to provide phase.
  • the actuator 20 receives power from the power supply 18. It can be appreciated that the actuator 20 can be implemented in various configurations, such as using a shear valve, in order to emit acoustic pulses into the drilling fluid 13 that travel to the surface of the earth.
  • FIG. 3 is a schematic view of an oscillating or rotating shear valve-type pulser
  • the pulser assembly 30 is located in the inner bore of a tool housing 101.
  • the housing 101 may be a bored drill collar in the downhole tool (or bottom hole assembly) 10, or, alternatively, a separate housing adapted to fit into a drill collar bore.
  • the drilling fluid 13 flows through a stator 102 and a rotor 103 and passes through the annulus between pulser housing 108 and the inner diameter of the tool housing 101.
  • the stator 102 (see FIGS. 3 A and 3B) is fixed with respect to the tool housing 101 and to the pulser housing 108 and has multiple lengthwise flow passages 120.
  • the rotor 103 (see FIGS.
  • 3A and 3C is disk shaped with notched blades 130 creating flow passages 125 similar in size and shape to the flow passages 120 in the stator 102.
  • the flow passages 120 and 125 may be holes through the stator 102 and the rotor 103, respectively.
  • the rotor passages 125 are configured such that they can be aligned, at one angular position with the stator passages 120 to create a straight through flow path.
  • the rotor 103 is positioned in close proximity to the stator 102 and is adapted to rotationally oscillate or rotate. An angular displacement of the rotor 103 with respect to the stator 102 changes the effective flow area creating pressure fluctuations in the circulated mud column.
  • the modulator 14 implements a digital modulation method referred to as Offset Quadrature Phase Shift Keying (OQPSK).
  • FIG. 4 depicts aspects of OQPSK as known in the art of digital radio communications. Due to fast acting electronics and radio waves not having mass, phase shifts such as at T are near-instantaneous and the radio waves have jumps where the first derivative of electromagnetic wave amplitude is not continuous over the phase change.
  • quadrature phase shift keying (QPSK) from which OQPSK is derived are also depicted and discussed further below. Both OQPSK and QPSK transmit a series of two-bit symbols corresponding to four different signal phases (00, 01, 10, 11).
  • QPSK requires changing the phase of the signal via in-phase (I) and the quadrature-phase (Q) for which the possible phase shifts are 0°, ⁇ 90°, and 180°. Increasing the number of phase shifts to what is required for QPSK raises the number of needed transitions. As QPSK has four different symbols, then 16 different phase shifts are required, which correspondingly require different transition frequencies; the transition either from '01 ' to ' 10' or vice versa requires a high transition frequency. Increasing the carrier frequency is needed because changing from '01 ' to ' 10' or vice versa requires changing the T, and 'Q' phases at the same time.
  • OQPSK decreases the power requirements over QPSK by not requiring the high transition frequency while increasing the data transmission rate over other prior art digital modulation techniques such as Binary Phase Shift Keying (BPSK).
  • BPSK Binary Phase Shift Keying
  • OQPSK depends on introducing a delay (i.e., offset) for one of the two signal phases either the I-phase or the Q-phase. Adding the delay or offset to one phase guarantees that T and 'Q' phases will never change together at the same time, accordingly phase transitions will be limited to 0° and ⁇ 90° only and does not have a phase shift of 180° as in QPSK. This delay is observed as a delay in the Q-phase as illustrated in FIG. 3.
  • OQPSK has more frequent phase shifts than QPSK, but with less degree values.
  • OQPSK has the same data rate and bit-error-rate (BER) capabilities as QPSK, assuming the same signal power and bandwidth.
  • the plunger 21 cannot change position or velocity instantaneously or near- instantaneously as electronics for modulating an electromagnetic radio wave. Accordingly, no sudden changes are possible to the acoustic signal or to its first derivative (velocity).
  • the moving element changes its velocity by accelerating for a longer time period, so it can only create a continuous phase moving in the transient between adjacent symbols. Hence, the design of the trajectory of the transient to be followed by the actuator has to be specified.
  • OQPSK is implemented for acoustic communication by inserting a transition phase in a transition interval between adjacent symbols as illustrated in FIG. 5.
  • FIG. 5A illustrates an ideal OPSK modulated signal while FIG. 5B illustrates an ideal OQPSK modulated signal and an OQPSK modulated signal with smooth transitions.
  • the instantaneous frequency i.e., frequency representing a two-bit symbol
  • the solid line in the transition intervals represents an ideal phase shift
  • the dotted line in the transition interval represents the phase shift via an increase in instantaneous frequency.
  • the first time interval has one distinct frequency while the second time interval has another distinct frequency that is lower than the frequency in first time interval in this example performing the phase shift, then in the third time interval the frequency changes back to the frequency from the first time interval with different phase.
  • FIG. 6 depicts aspects of an OQPSK modulated signal having three phase shifts with smooth transitions.
  • the frequency of the signal in the second and fourth time intervals is half the frequency of the signal in the first and third time intervals.
  • QPSK has a drawback. As noted above, QPSK requires changing the phase of the signal via in-phase (I) and the quadrature phase (Q) for which the possible phase shifts are 0°, ⁇ 90°, and 180°. Increasing the number of phase shifts to what is required for QPSK raises the number of needed transitions. As QPSK has four different symbols (00, 01, 10, 11), then 16 different phase shifts exist, which require correspondingly different transition frequencies; the transition either from ⁇ ⁇ to ⁇ 0' or vice versa requires a high transition frequency. Increasing the transition frequency is needed, because changing from '01 ' to ' 10' or vice versa requires changing the T, and 'Q' phases at the same time.
  • OQPSK overcomes this drawback (by not transitioning from'Ol ' to ' 10' or ' 10' to '01 ') in addition to having the same benefits of QPSK such as - a higher possible data transmission rate and similar BER as for BPSK assuming doubling the energy per symbol.
  • OQPSK decreases the values of the transition frequencies needed for QPSK and consequently decreases the power requirements for OQPSK.
  • the power saved by using OQPSK may also be used for increasing the energy used per transmitted bit and thus the signal-to-noise ratio.
  • Higher energy per bit can be achieved by reducing the data transmission rate to be the same as for BPSK, and using the saved power from the reduced transmission rate for increasing the signal power.
  • a Forward Error Correction method can be combined with the proposed OQPSK method for reducing bit error rate.
  • Error coding methods add error detection and correction capabilities to the disclosed telemetry system in order to increase the reliability of the system.
  • Different error coding methods i.e. block codes, cyclic codes, convolutional codes, and Reed-Solomon
  • Turbo codes which are based on convolutional coding, are considered for use with OQPSK.
  • Convolutional coding can be used to protect the data on the bit level, which performs encoding bit by bit. Accordingly the decoder should not buffer an entire block before generating the associated code-word.
  • Convolutional coding is relevant to the present telemetry system which has bits transmitted and received serially rather than in large block.
  • Convolutional code is specified by three parameters (n, k, K), where k/n is the code rate and determines the number of data bits per coded bit. K is called the constraint length of the encoder where the encoder has K-l memory elements.
  • the convolutional encoder can be represented in the form of a state diagram that provides outputs Si and S 2 where the encoder manipulates the incoming data to provide the Si and S 2 outputs.
  • Convolutional codes also can be done in a recursive systematic manner (RSC) in which SI is not affected by the encoder, but is the input data stream.
  • RSC recursive systematic manner
  • Recursive encoders provide better weight distribution for the code. The difference between them is in the mapping of information bits to code-words.
  • the idea of recursive systematic encoders is used for the turbo coders, where two component RSC encoders in parallel are used separated by an interleaver. The two RSC component encoders are usually identical. The interleaver is used to de-correlate the encoding process of the two encoders. As the number of iteration grows, the decoding performance improves. Alternatively, the two RSC encoders can be replaced also in a series.
  • FIG. 7 is a functional block diagram of one embodiment of a mud pulse telemetry system 100.
  • data from downhole sensors (DATA IN) are input to the mud pulse telemetry system 100.
  • the mud pulse telemetry system 100 contains circuits and a processor for processing and transmitting the data to the surface.
  • the data is compressed.
  • the compression scheme 40 may encompass data scaling and/or any data compression technique known in the art of digital information transmission.
  • the compressed data may be error protection encoded (41) by an encoder 41 before it is modulated (42) and converted to an acoustic signal by the transmitter
  • the acoustic signal then propagates to surface through the mud channel 50 where it is received and digitized by the receiver 44 such as a transducer.
  • the digitized signal i.e., electrical digital signal
  • the signal may then be pre-processed to remove noise (block 45) and reduce signal distortions (block 46) caused by the mud channel 50.
  • the signal is de-modulated (47), error protection decoded (48) by a decoder 48 and decompressed (49) to provide output data (DATA OUT).
  • FIG. 8 is a flow chart for a method 80 for transmitting data from a downhole location to a location at the surface of the earth.
  • Block 81 calls for receiving data using a modulator disposed at the downhole location on a drill tubular in a borehole penetrating the earth.
  • Block 82 calls for modulating, using the modulator, the data using offset quadrature phase shift keying (OQPSK) and smooth transitions between phase shifts to produce a series of two-bit symbols having smooth transitions in transition intervals between phase shifts of both in-phase and quadrature-phase components of the OQPSK modulated data.
  • the transition intervals may be of the same time duration or two or more transition intervals may have different time durations.
  • a smooth transition may be characterized by a change of instantaneous frequency of the acoustic signal and one or more of the smooth transitions may be characterized by a continuous first derivative of amplitude with respect to time.
  • Block 83 calls for transmitting the series of two-bit symbols as an acoustic signal in drilling fluid disposed in the borehole using a mud-pulser.
  • Block 84 calls receiving the acoustic signal using a receiver disposed uphole from the downhole location. The term "uphole” relates to the receiver being closer to the surface of the earth via the borehole.
  • Block 85 calls for demodulating the acoustic signal using a demodulator coupled to the receiver to provide demodulated data.
  • the method 80 may also include transmitting the demodulated data to a signal receiving device such as a display or printer for displaying the data to a user or a storage medium or memory for storing the data.
  • the method 80 may also include (1) applying forward error correction encoding before modulating the data using an encoder such as at 41 in FIG. 7 and (2) applying forward error correction decoding to the demodulated data uphole of the downhole location using a decoder such as at 48 in FIG. 7.
  • the forward error correction encoding is turbo coding.
  • the method 80 may also include sensing a downhole property using a downhole sensor and transmitting sensed data to the encoder.
  • the method 80 may further include extracting a sample of formation fluid using an extendable probe, sensing a property of the formation fluid using the downhole sensor to provide sensed formation fluid data, and transmitting the sensed formation fluid data to the modulator.
  • the method 80 may also include generating a two-dimensional image representation of the sensed data before transmitting the sensed data to the modulator.
  • various analysis components may be used, including a digital and/or an analog system.
  • the mud-pulse telemetry system 100, the downhole tool 10, the downhole sensor 8, the formation tester 9, the mud-pulser 12, the modulator 14, the downhole electronics 15, the receiver 17, the transducer 19, the demodulator 29, the encoder 41, the decoder 48, and/or the computer processing system 16 may include digital and/or analog systems.
  • the system may have components such as a processor, storage media, memory, input, output, communications link (wired, wireless, optical or other), user interfaces (e.g., a display or printer), software programs, signal processors (digital or analog) and other such components (such as resistors, capacitors, inductors and others) to provide for operation and analyses of the apparatus and methods disclosed herein in any of several manners well-appreciated in the art.
  • components such as a processor, storage media, memory, input, output, communications link (wired, wireless, optical or other), user interfaces (e.g., a display or printer), software programs, signal processors (digital or analog) and other such components (such as resistors, capacitors, inductors and others) to provide for operation and analyses of the apparatus and methods disclosed herein in any of several manners well-appreciated in the art.
  • a power supply e.g., at least one of a generator, a remote supply and a battery
  • cooling component heating component
  • magnet, electromagnet, sensor, electrode, transmitter, receiver, transceiver, antenna controller
  • optical unit, electrical unit or electromechanical unit may be included in support of the various aspects discussed herein or in support of other functions beyond this disclosure.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Geology (AREA)
  • Remote Sensing (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Geophysics (AREA)
  • Acoustics & Sound (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Earth Drilling (AREA)

Abstract

L'invention concerne un procédé, pour la transmission de données d'un emplacement de fond de trou vers un emplacement à la surface de la terre, qui comprend : la réception de données à l'aide d'un modulateur disposé au niveau de l'emplacement de fond de trou sur un élément tubulaire de forage dans un trou de forage pénétrant dans la terre et la modulation des données à l'aide d'une modulation par déplacement de phase en quadrature décollée (OQPSK) et de transitions douces entre les déphasages pour produire une série de symboles à deux bits ayant des transitions douces dans les intervalles de transition entre les déphasages de composantes à la fois en phase et en quadrature des données modulées par OQPSK. Le procédé comprend en outre la transmission de la série de symboles à deux bits sous forme d'un signal acoustique dans du fluide de forage disposé dans le trou de forage à l'aide d'un générateur d'impulsions dans la boue, la réception du signal acoustique à l'aide d'un récepteur disposé en haut du trou par rapport à l'emplacement de fond de trou ; la démodulation du signal acoustique à l'aide d'un démodulateur couplé au récepteur pour fournir des données démodulées.
EP16753058.3A 2015-02-19 2016-02-18 Schéma de modulation pour télémesure par impulsions dans la boue à haute vitesse, à besoins en alimentation électrique réduits Withdrawn EP3259445A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US14/625,813 US20160245078A1 (en) 2015-02-19 2015-02-19 Modulation scheme for high speed mud pulse telemetry with reduced power requirements
PCT/US2016/018464 WO2016134143A1 (fr) 2015-02-19 2016-02-18 Schéma de modulation pour télémesure par impulsions dans la boue à haute vitesse, à besoins en alimentation électrique réduits

Publications (1)

Publication Number Publication Date
EP3259445A1 true EP3259445A1 (fr) 2017-12-27

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US (1) US20160245078A1 (fr)
EP (1) EP3259445A1 (fr)
BR (1) BR112017016801A2 (fr)
CA (1) CA2976919A1 (fr)
WO (1) WO2016134143A1 (fr)

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BR112017016801A2 (pt) 2018-04-03
WO2016134143A1 (fr) 2016-08-25
CA2976919A1 (fr) 2016-08-25

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