EP3298283B1 - Compresseur sous-marin avec dispositif pour le nettoyage du ventilateur de refroidissement du moteur et/ou de paliers auxiliaires - Google Patents

Compresseur sous-marin avec dispositif pour le nettoyage du ventilateur de refroidissement du moteur et/ou de paliers auxiliaires Download PDF

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Publication number
EP3298283B1
EP3298283B1 EP16726036.3A EP16726036A EP3298283B1 EP 3298283 B1 EP3298283 B1 EP 3298283B1 EP 16726036 A EP16726036 A EP 16726036A EP 3298283 B1 EP3298283 B1 EP 3298283B1
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EP
European Patent Office
Prior art keywords
motor
washing
compressor unit
dedicated
compressor
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EP16726036.3A
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German (de)
English (en)
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EP3298283A1 (fr
Inventor
Giacomo RAGNI
Manuele Bigi
Francesco Bongini
Luciano Mei
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Nuovo Pignone Technologie SRL
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Nuovo Pignone Technologie SRL
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D25/00—Pumping installations or systems
    • F04D25/02—Units comprising pumps and their driving means
    • F04D25/06—Units comprising pumps and their driving means the pump being electrically driven
    • F04D25/0686—Units comprising pumps and their driving means the pump being electrically driven specially adapted for submerged use
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D29/00—Details, component parts, or accessories
    • F04D29/05—Shafts or bearings, or assemblies thereof, specially adapted for elastic fluid pumps
    • F04D29/056—Bearings
    • F04D29/058—Bearings magnetic; electromagnetic
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D29/00—Details, component parts, or accessories
    • F04D29/05—Shafts or bearings, or assemblies thereof, specially adapted for elastic fluid pumps
    • F04D29/056—Bearings
    • F04D29/059—Roller bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D29/00—Details, component parts, or accessories
    • F04D29/58—Cooling; Heating; Diminishing heat transfer
    • F04D29/5806—Cooling the drive system
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D29/00—Details, component parts, or accessories
    • F04D29/70—Suction grids; Strainers; Dust separation; Cleaning
    • F04D29/701—Suction grids; Strainers; Dust separation; Cleaning especially adapted for elastic fluid pumps
    • F04D29/705—Adding liquids
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D13/00—Pumping installations or systems
    • F04D13/02—Units comprising pumps and their driving means
    • F04D13/06—Units comprising pumps and their driving means the pump being electrically driven
    • F04D13/08—Units comprising pumps and their driving means the pump being electrically driven for submerged use
    • F04D13/086—Units comprising pumps and their driving means the pump being electrically driven for submerged use the pump and drive motor are both submerged
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D29/00—Details, component parts, or accessories
    • F04D29/70—Suction grids; Strainers; Dust separation; Cleaning
    • F04D29/701—Suction grids; Strainers; Dust separation; Cleaning especially adapted for elastic fluid pumps
    • F04D29/703—Suction grids; Strainers; Dust separation; Cleaning especially adapted for elastic fluid pumps specially for fans, e.g. fan guards

Definitions

  • the present invention relates to a subsea motor-compressor unit for processing a working fluid.
  • the subsea motor-compressor unit according to the present invention comprises, integrated in a housing, a motor and a compressor.
  • WO 92/14062 A1 discloses a subsea station for transporting a well stream comprising a compressor with a motor within a pressure shell.
  • a lubrication oil circuit is provided including a lube oil sump open to the drive atmosphere in the pressure shell, a lube oil pump, bearings and a lube oil flow line to the bearings.
  • submersible integrated motor-compressor units are usually placed directly on the seabed.
  • a subsea motor-compression unit comprises a centrifugal compressor pushing the extracted natural gas to the mainland, the compressor being arranged in a housing together with a motor, usually consisting of an electric motor.
  • the compressor of the motor-compressor unit could be fluidly connected with an external separator machine placed between the well and the inlet of the unit.
  • the subsea motor-compressor unit of the kind of the present invention usually has a vertical configuration having a vertical shaft on which are arranged both the rotor of the electric motor and the centrifugal impellers of the compressor, the shaft is supported by a plurality of magnetic bearings, comprising radial bearings and axial thrust bearings. To each bearing is further associated an auxiliary bearing.
  • a main drawback of the motor-compressor units of the known type usually used in subsea installations is represented by the fact that due to the wet droplets contained in the gas processed by the unit it is possible to have fouling formation both at start and during operation of the motor compressor.
  • a week point of the motor-compressor unit is represented by the bearings, both the radial and thrust bearings and the auxiliary bearings, particularly interested by fouling formation as it will be explained more in details in the following.
  • motor-compressor units used in subsea environments in the production or transport of hydrocarbons are provided with a shared rotating shaft supported by a rotor-bearing system.
  • the motor drives the compressor in order to generate a flow of compressed process gas.
  • heat is generated.
  • a cooling circuit which may be an open loop cooling circuit or a quasi-closed-loop cooling circuit where gas is drawn from the process stream at some point in the compression process.
  • the quasi-closed-loop cooling circuit often uses a small blower to circulate the cooling gas through the cooling circuit.
  • the cooling gas is typically cooled in a sea water-cooled heat exchanger.
  • This process gas is then passed through the motor and bearing areas to absorb heat.
  • each auxiliary bearing usually comprises a rolling bearing or a plain bearing which works in case that the magnetic bearing stops working.
  • EP1907705B1 One example of known cleaning apparatus for subsea compressor units is disclosed in EP1907705B1 , wherein a system for cleaning compressors that are situated at a difficultly accessible location, e.g., on or near the seabed or downhole in a well bore, comprises a cleaning liquid line extending between a readily accessible liquid source and the compressor.
  • the liquid source may be a line for supplying hydrate inhibitor, anti-foam chemicals, barrier liquid, demulsifier or other types of chemicals to a subsea production or processing activity.
  • the liquid source can be an accumulator tank situated in the vicinity of the compressor.
  • the accumulator tank is in communication with a high pressure line diverting high pressurized gas from the compressor to boost the pressure of the cleaning liquid in the accumulator tank and evacuate the cleaning liquid.
  • the compressor often comprises more than one compressor stage.
  • the liquid is preferably injected in the intake flange of the compressor. The washing liquid will flow through the compressor and knock loose particles that have adhered internally in the flow path.
  • the washing liquid leaves the compressor via the compressed gas line and can be carried with the gas to a subsequent station for separating the washing liquid from the gas.
  • the injected inhibitor liquid must be injected in the intake flange of the compressor as well as the washing liquid.
  • the present invention relates to a subsea motor-compressor unit for processing a working fluid comprising a washing apparatus.
  • a motor-compressor unit for processing working fluid comprises, integrated in a single unit housed in a case, a motor and a compressor, and a washing apparatus.
  • the integrated motor-compressor unit comprises a washing apparatus for selectively washing during operation both the motor and the compressor.
  • the integrated motor-compressor unit is provided with a washing apparatus for selectively washing thrust bearings and auxiliary bearings of both the motor and the compressor.
  • the washing of the motor-compressor unit is performed by means of a washing liquid, preferably MEG (monoethylene-glycol).
  • a washing liquid preferably MEG (monoethylene-glycol).
  • an integrated motor-compressor unit 10 comprising a compressor 20 and a motor 30, preferably an electric motor, directly connected to said compressor 20, which are integrated in a single unit.
  • the motor-compressor unit 10 comprises a box or casing 50 in which said compressor 20 and said electric motor 30 are housed.
  • the casing 50 may be realized in a single piece or, alternatively, it may comprise multiple parts.
  • Said compressor 20 and said electric motor 30 are preferably separated by an intermediate diaphragm 40 thus avoiding that process gas comprising solid and/or liquid particles could pass from the compressor into the motor area.
  • Said motor 30 and said compressor 20 are both coupled to the same axial shaft 60.
  • said compressor 20 could be coupled to a first shaft portion and said motor 30, particularly the rotor of said motor, could be coupled to a second shaft portion, the two shaft portions being connected by means of a joint.
  • the process gas is also used for cooling the motor in the cooling system: for cooling the motor and bearings in the subsea motor-compressor unit, is provided a closed-loop cooling circuit where gas is drawn from the process stream.
  • both the compressor 20 and the motor 30 are subject to fouling formations, both at start up and during operation of the motor-compressor unit.
  • the motor-compressor unit 10 preferably comprises three magnetic radial bearings and a magnetic axial thrust bearing, each one of said bearings having an auxiliary bearing. More in details, with reference to figure 1 , an example of motor-compressor unit 10 may comprise three auxiliary bearings 61, 62, 63 for supporting both a rotor of the electric motor 30 and a rotor of the compressor 20.
  • Each magnetic radial bearing can also support axial thrusts, depending on the way they are mounted. Therefore, for example, one or more of said three auxiliary bearing can work also as an axial bearing contrasting axial thrusts.
  • auxiliary bearings 61, 62, 63 are rolling bearing or plain bearing which works in case that the magnetic bearing to which the auxiliary bearing is associated stops working.
  • a first bearing 61 and a second bearing 62 of said three auxiliary bearings are preferably positioned and support said shaft 60 of said electric motor 30 close to its ends.
  • a third bearing 63 of said three auxiliary bearings preferably supports and is positioned on a free end of said rotor of said compressor 20.
  • the number of auxiliary bearings for supporting the electric motor 30 and compressor 20 is reduced to the minimum possible, as three supporting bearings are used.
  • Said motor-compressor unit 10 preferably comprises a further thrust bearing 64, preferably an active magnetic thrust bearing suitable for supporting axial thrusts, preferably situated on said rotor of said electric motor 30.
  • the cooling of the motor-compressor unit is preferably effected by means of a quasi-closed circuit, not shown in the figures, equipped with an external exchanger and a fan 70 situated inside the unit at the end of the rotor of said electric motor 30, to circulate the cooling gas through the stator and rotor parts.
  • auxiliary bearings 61, 62 of the motor side and the thrust bearing 64 are cooled by the same gas which is circulating in the motor, by means of the system and the fan 70.
  • the cooling is guaranteed by means of a gas discharge from the compressor sent to the third auxiliary bearing 63 through a dedicated channel.
  • Each auxiliary bearing 61, 62, 63 usually comprises a bearing preferably rolling bearing or plain bearing which works in case that the magnetic bearing stops working.
  • the auxiliary bearings are stationary during the normal operation of the motor-compressor unit, and therefore are particularly subject to fouling formations.
  • a collection sump 100 is further provided at the end of the compressor rotor of the compressor 30, within the casing 50.
  • the collection sump 100 is suitable to collect completely the liquid possibly entered inside the motor-compressor unit 10 during the subsea installation and the liquid still present in the unit during the operation.
  • a drainage system is provided inside the motor-compressor unit 10 in order to drain liquids from both the motor and the compressor to the collection sump 100.
  • the configuration of said motor-compressor unit 10 can be either horizontal or vertical depending on the particular installation demands.
  • the configuration is vertical, with the compressor at the bottom, the collection sump 100 is preferably provided inside the casing 50 and under the compressor 30.
  • said motor-compressor unit 10 further comprises, provided inside the motor-compressor unit 10, a washing apparatus, generally indicated with the reference number 80 in the attached figures, said washing apparatus comprising one or more washing devices for selectively washing specific areas of said unit 10.
  • each of said washing devices for selectively washing specific areas of said unit 10 in turn comprise at least a dedicated delivery duct 81, 82, 83, 84, 85, 86, 87, 88, 89, 90 for delivering a washing agent to a target area of said unit 10 to be washed.
  • each delivery duct 81, 82, 83, 84, 85, 86, 87, 88, 89, 90 comprises a spray nozzle hydraulically connected to the end of the delivery duct facing the target area to be washed.
  • the spray nozzles are not shown in the drawings.
  • the washing apparatus 80 is connectable to an external source of a washing agent.
  • Said washing agent is preferably a pressurized washing fluid, more preferably the washing fluid is MEG (monoethylene glycol).
  • said washing apparatus 80 comprises at least one of the following dedicated washing devices:
  • the washing apparatus 80 is contained inside the motor-compressor unit 10. More in details, the washing devices comprises a duct and a spray nozzle facing the target area to be washed which are completely contained inside the casing 50.
  • the casing 50 has preferably a substantially cylindrical shape.
  • each of the ducts for delivering a washing agent to the auxiliary bearings 61, 62, 63 preferably further comprises a circumferential channel provided in the casing 50 all around the circumference. Thanks to the circumferential channel the washing agent could be delivered to the corresponding auxiliary bearing 61, 62, 63 along their whole external circumference through a plurality of spray nozzles, spaced along said circumferential channel.
  • the washing agent is preferably a washing liquid.
  • the washing agent comprises MEG (monoethylene glycol), which is usually available in subsea boosting stations for other uses.
  • MEG monoethylene glycol
  • washing agent could be any other washing agent suitable to remove the fouling formations.
  • the washing agent is injected into the washing apparatus 80 through inlet points 91, 92, 93 specially provided on the casing 50.
  • the washing agent is injected into the washing apparatus 80 though inlet points which coincide with flanged apertures already provided on the casing 50.
  • the delivery ducts of said washing apparatus 80 are hydraulically connected to said inlet points 91, 92, 93 provided on the casing 50.
  • the washing agent sprayed by the spray nozzles of said ducts is then drained through the drainage system already provided in the motor-compressor unit.
  • part of said washing liquid may be processed by the compressor and therefore evacuated through the compressor outlet.
  • dedicated spray nozzles are provided for each critical component of the motor-compressor unit.
  • the washing apparatus as described above is provided with controlled valves for controlling the flow of the washing agent through the delivery ducts, so that the washing agent can be delivered to a predetermined area to be washed in a selective manner.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • Electromagnetism (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)
  • Control Of Electric Motors In General (AREA)

Claims (11)

  1. Groupe motocompresseur (10) comprenant, logés dans un boîtier (50) unique, un compresseur (20) et un moteur (30), comprenant en outre, à l'intérieur dudit boîtier (50), un appareil de lavage (80) pouvant être connecté à une source externe d'un agent de lavage pour le lavage sélectivement de zones spécifiques dudit groupe motocompresseur (10) ;
    l'appareil de lavage (80) comprenant :
    - au moins un dispositif de lavage pour le lavage sélectivement d'une zone spécifique dudit groupe (10) ;
    - au moins un conduit de distribution (81, 82, 83, 84, 85, 86, 87, 88, 89 90) 90) pour la distribution d'un agent de lavage à une zone dudit groupe (10) à laver ; et
    - au moins une buse de pulvérisation hydrauliquement connectée à l'extrémité d'un conduit de distribution (81, 82, 83, 84, 85, 86, 87, 88, 89, 90) respectif faisant face vers la zone à laver ;
    la buse de pulvérisation étant complètement contenue à l'intérieur du boîtier (50) ;
    caractérisé en ce que
    ledit groupe motocompresseur (10) comprend en outre
    un arbre (60) auquel ledit compresseur (20) et ledit moteur (30) sont couplés et un ou plusieurs paliers auxiliaires (61, 62, 63) associés à un ou plusieurs paliers magnétiques pour le soutien dudit arbre, et en ce que
    ledit appareil de lavage (80) comprend un dispositif de lavage dédié pour le lavage de chacun desdits paliers auxiliaires (61, 62, 63).
  2. Groupe motocompresseur (10) selon la revendication 1, dans lequel ledit groupe motocompresseur (10) comprend en outre un ventilateur (70) pour faire circuler le gaz de traitement à travers le moteur, et dans lequel ledit appareil de lavage (80) comprend un premier dispositif de lavage dédié pour le lavage dudit ventilateur (70) comprenant un premier conduit de distribution dédié (81) pour la distribution d'un agent de lavage audit ventilateur (70).
  3. Groupe motocompresseur (10) selon la revendication 1 ou 2, dans lequel ledit groupe motocompresseur (10) comprend un premier palier auxiliaire (61) associé à un palier magnétique et dans lequel ledit appareil de lavage (80) comprend un deuxième dispositif de lavage dédié comprenant un deuxième conduit de distribution dédié (82) pour la distribution d'un agent de lavage audit premier palier auxiliaire (61).
  4. Groupe motocompresseur (10) selon l'une quelconque des revendications 1 à 3, dans lequel ledit groupe motocompresseur (10) comprend un deuxième palier auxiliaire (62) associé à un palier magnétique et dans lequel ledit appareil de lavage (80) comprend un troisième dispositif de lavage dédié comprenant un troisième conduit de distribution dédié (85) pour la distribution d'un agent de lavage audit deuxième palier auxiliaire (62).
  5. Groupe motocompresseur (10) selon l'une quelconque des revendications 1 à 4, dans lequel ledit groupe motocompresseur (10) comprend un troisième palier auxiliaire (63), associé à un palier magnétique et dans lequel ledit appareil de lavage (80) comprend un quatrième dispositif de lavage dédié comprenant un quatrième conduit de distribution dédié (86) pour la distribution d'un agent de lavage audit troisième palier auxiliaire (63).
  6. Groupe motocompresseur (10) selon l'une ou plusieurs des revendications précédentes, dans lequel chacun desdits dispositifs de lavage pour le lavage desdits paliers auxiliaires (61, 62, 63) associés à des paliers magnétiques comprend un canal circonférentiel prévu dans le boîtier (50) pour la distribution de l'agent de lavage auxdits paliers auxiliaires (61, 62, 63) le long de toute leur circonférence externe.
  7. Groupe motocompresseur (10) selon la revendication 6, dans lequel chacun dudit canal circonférentiel comprend en outre une pluralité de buses de pulvérisation espacées le long dudit canal circonférentiel.
  8. Groupe motocompresseur (10) selon l'une ou plusieurs des revendications précédentes, dans lequel ledit groupe motocompresseur (10) comprend en outre au moins un palier de butée (64) pour le soutien de butées axiales agissant sur ledit arbre (60), et dans lequel ledit appareil de lavage (80) comprend un cinquième dispositif de lavage dédié comprenant un cinquième conduit de distribution dédié (83) pour la distribution d'un agent de lavage audit palier de butée (64).
  9. Groupe motocompresseur (10) selon l'une ou plusieurs des revendications précédentes, dans lequel ledit appareil de lavage (80) comprend un sixième dispositif de lavage dédié comprenant un sixième conduit de distribution dédié (84) pour la distribution d'un agent de lavage à une surface (31) du moteur (30).
  10. Groupe motocompresseur (10) selon l'une ou plusieurs des revendications précédentes, dans lequel ledit groupe motocompresseur (10) comprend en outre une membrane intermédiaire (40),
    et dans lequel
    ledit appareil de lavage (80) comprend un septième dispositif de lavage dédié comprenant un septième conduit de distribution dédié (87) pour la distribution d'un agent de lavage à la dite membrane intermédiaire (40).
  11. Groupe motocompresseur (10) selon l'une ou plusieurs des revendications précédentes, dans lequel lesdits conduits de distribution (81, 82, 83, 84, 85, 86, 87, 88, 89, 90) dudit appareil de lavage sont hydrauliquement connectés à des points d'entrée (91, 92, 93) prévus sur le boîtier (50).
EP16726036.3A 2015-05-22 2016-05-18 Compresseur sous-marin avec dispositif pour le nettoyage du ventilateur de refroidissement du moteur et/ou de paliers auxiliaires Active EP3298283B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITUB2015A000643A ITUB20150643A1 (it) 2015-05-22 2015-05-22 Motocompressore per installazioni sottomarine
PCT/EP2016/061122 WO2016188819A1 (fr) 2015-05-22 2016-05-18 Compresseur sous-marin pourvu d'un dispositif de nettoyage du ventilateur de refroidissement du moteur et/ou de paliers auxiliaires

Publications (2)

Publication Number Publication Date
EP3298283A1 EP3298283A1 (fr) 2018-03-28
EP3298283B1 true EP3298283B1 (fr) 2022-06-29

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EP16726036.3A Active EP3298283B1 (fr) 2015-05-22 2016-05-18 Compresseur sous-marin avec dispositif pour le nettoyage du ventilateur de refroidissement du moteur et/ou de paliers auxiliaires

Country Status (6)

Country Link
US (1) US20180149159A1 (fr)
EP (1) EP3298283B1 (fr)
AU (1) AU2016269006B2 (fr)
DK (1) DK3298283T3 (fr)
IT (1) ITUB20150643A1 (fr)
WO (1) WO2016188819A1 (fr)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8262365B2 (en) * 2006-03-24 2012-09-11 Siemens Aktiengesellschaft Method for operation of a compressor unit, and associated compressor unit

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3304877A (en) * 1965-06-08 1967-02-21 J C Carter Company Submerged motor driven pumping system
NO172076C (no) * 1991-02-08 1993-06-02 Kvaerner Rosenberg As Kvaerner Kompressoranlegg i en undervannstasjon for transport av en broennstroem
NO324110B1 (no) 2005-07-05 2007-08-27 Aker Subsea As System og fremgangsmate for rengjoring av kompressor, for a hindre hydratdannelse og/eller for a oke kompressorytelsen.
US7428818B2 (en) * 2005-09-13 2008-09-30 Gas Turbine Efficiency Ab System and method for augmenting power output from a gas turbine engine
JP5577762B2 (ja) * 2010-03-09 2014-08-27 株式会社Ｉｈｉ ターボ圧縮機及びターボ冷凍機
WO2012166438A2 (fr) * 2011-06-01 2012-12-06 Dresser-Rand Company Système de refroidissement de moteur-compresseur sous-marin

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8262365B2 (en) * 2006-03-24 2012-09-11 Siemens Aktiengesellschaft Method for operation of a compressor unit, and associated compressor unit

Also Published As

Publication number Publication date
EP3298283A1 (fr) 2018-03-28
WO2016188819A1 (fr) 2016-12-01
AU2016269006B2 (en) 2020-06-25
DK3298283T3 (da) 2022-07-25
US20180149159A1 (en) 2018-05-31
ITUB20150643A1 (it) 2016-11-22
AU2016269006A1 (en) 2017-11-30

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