Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
  • B64D47/00—Equipment not otherwise provided for
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
  • B64U10/00—Type of UAV
  • B64U10/10—Rotorcrafts
  • B64U10/13—Flying platforms
  • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
  • B64U60/00—Undercarriages
  • B64U60/40—Undercarriages foldable or retractable
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
  • B64U2101/00—UAVs specially adapted for particular uses or applications
  • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
  • G08G5/0004—Transmission of traffic-related information to or from an aircraft
  • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
  • G08G5/0047—Navigation or guidance aids for a single aircraft
  • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft

Definitions

• the invention relates to the field of onboard unmanned flying devices.
• Unmanned flying devices are increasingly used in many fields. These drones are remotely piloted or programmed to perform a predetermined flight. UAVs are used, for example, for high-altitude shooting in cinemas, for monitoring sensitive sites, for surveying for agriculture or other purposes. Depending on the type of mission, drones integrate one or more sensors (camera, cameras, atmospheric survey device etc.) to collect the desired information during the flight. These UAVs can also carry material of reduced size and weight on target areas that are difficult to access using conventional means of transport.
• UAVs make it possible to supplement the existing aerial surveillance means whose autonomy is limited and thus to ensure the permanent collection of information.
• drones As the use of drones is increasing in many areas, a need to integrate these devices with air traffic control data has been identified. Indeed, the dimensions of a drone are such that a collision with a device such as an airliner or other could cause an air disaster. In addition, drones are increasingly accessible to the public, including people with no knowledge of aviation regulations. The use of drones by people who do not know the codes and obligations in the field of air traffic increases the risk of accidents and the difficulties of air traffic management. On the other hand, the identification of a drone owner requires a long and difficult investigation. There is no quick and easy way to link a drone with its owner.
• the aim of the invention is to enable the simple and reliable integration of drones in air traffic management data.
• the invention aims to provide a drone capable of communicating to the various actors of air traffic reliable positioning data and having a level of security adapted to the management of air traffic.
• the invention also aims to make it possible to know the identity of the drone and its owner by a simple means. Obtaining the identity of the drone quickly and easily is particularly important for law enforcement, for example.
• the invention proposes to correlate certain identification information from the air traffic management data to the identity data of the drone.
• Such an identification system provides a consistent and unique identification for each drone both in flight and out of flight.
• the invention provides an onboard unmanned flying device comprising:
• a wing capable of allowing the flight and displacement of the unmanned flying device on board, the wing being mounted on the supporting structure,
• a propulsion member capable of producing a driving force acting on the unmanned flying device on board
• an electronic flight control module mounted on the support structure and able to control the propulsion member
• a satellite positioning module able to generate position data
• an ADS-B transponder connected to the positioning module and configured to transmit the position data of the onboard unmanned flying device via an antenna connected to the ADS-B transponder
• a support leg connected to the supporting structure to support the bearing structure on the ground, wherein the antenna connected to the ADS-B transponder is mounted on the support leg.
• an onboard unmanned flying device can send data relating to its position to any remote device requiring information on the presence of aircraft in a given airspace.
• a ground station can thus manage the presence of onboard unmanned flying devices according to the invention and integrate these devices flying without a pilot on board its air traffic control.
• an onboard unmanned device incorporating such an ADS-B transponder is compatible with the current air traffic management systems. For example, an aircraft such as an airliner equipped with a data receiver sent by an ADS-B transponder can be informed of the presence of a drone on its flight path and adapt its flight accordingly.
• the positioning of the antenna connected to the ADS-B transponder on the support leg makes it possible to send the ADS-B transponder data without interfering with the electronic flight control module.
• the distance separating the data transmission antenna from the ADS-B transponder and the electronic components of the electronic flight control module avoids the disturbances of the electronic flight control module by the antenna transmissions.
• the positioning of the antenna on the support foot is all the more advantageous as the dimensions of the onboard unmanned flying device are reduced.
• such an embedded unmanned flying device may have one or more of the following characteristics:
• the onboard unmanned flying device further comprises a radio-tag configured to store in a memory and to provide identification data of the onboard unmanned flying device.
• the radio-tag and the transponder ADS-B are arranged in a common box, the transponder ADS-B being connected to the radio-tag, the position data of the on-board unmanned flying device also comprising the identification data of the unmanned flying device on board.
• the antenna connected to the transponder ADS-B is mounted on one end of the support leg opposite the carrier structure.
• the support foot is mounted on the supporting structure rotatable between an unfolded position in which the support foot is developed under the supporting structure to support the supporting structure on the ground and a folded position in which the support foot is developed on a side of the carrier structure, the ADS-B transponder antenna comprising a receiving rod whose axis is arranged to be oriented vertically towards the ground when the foot is in the folded position and the unmanned flying device on board is in flight with a zero plate.
• the mobility of the support leg between an unfolded position and a folded position allows the onboard unmanned flying device to carry an image capture apparatus such as a camera or a video camera under the supporting structure of the onboard unmanned flying device. and to capture images without the support foot remaining in the field of view of said image capture apparatus.
• such a support foot optimally directs the antenna connected to the ADS-B transponder when the onboard unmanned flying device is in flight, thus ensuring better dissemination of ADS-B transponder data.
• the satellite positioning module comprises a satellite receiving member mounted on the support leg, the satellite receiving member having a receiving axis configured to be oriented vertically towards the sky when the support leg is in the folded position and the unmanned flying device onboard is in flight with a zero attitude.
• the supporting structure comprises: a central body, the electronic control module being mounted on the central body of the supporting structure,
• the wing comprises a plurality of propellers, the end opposite the central body of each arm carrying a propeller of the respective wing; an actuator of the propulsion member being configured to rotate said helix about an axis of rotation perpendicular to a longitudinal direction of the arm,
• the reception axis of the satellite reception unit of the satellite positioning module is located, in projection in a horizontal plane, out of a coverage area of the wing in projection in said horizontal plane when the support leg is in the folded position and that the unmanned flying device on board is in flight with a zero attitude.
• the positioning of the satellite receiving member outside the coverage area of the wing allows better reception of the satellite positioning module. Indeed, such a configuration of the satellite receiving member prevents the propellers from disturbing the communication of the satellite positioning module with the satellites when the onboard unmanned flying device is in flight.
• the ADS-B transponder is mounted on the support foot. By positioning the ADS-B transponder on the support leg, it is far enough away from the electronic flight control module not to disturb the various measuring devices of the onboard unmanned flying device.
• the ADS-B transponders generally comprising a metal casing, the metal mass of the casing does not disturb elements such as the inertial unit or the compass of the onboard unmanned flying device.
• the positioning of the ADS-B transponder on the support foot avoids the disturbances between the transponder ADS-B and the rotating wing, for example by avoiding disturbing the air flow around the transponder ADS-B and thus disturbing a possible static pressure intake associated with the transponder ADS-B.
• the satellite positioning module and the ADS-B transponder are arranged in a common housing.
• Such a positioning module may have positioning accuracy characteristics superior to the positioning characteristics of a satellite positioning module such as those generally incorporated into the onboard unmanned flying devices.
• the supporting structure also bears:
• a sensor configured to detect flight conditions of the onboard unmanned flying device and to generate flight data corresponding to the detected flight conditions
• a radio communication module configured to transmit the flight data to a remote reception device
• connection bus connecting the sensor to the radio communication module and the electronic flight control module.
• the carrier structure comprises a plurality of sensors, said plurality of sensors including at least one of a gyroscope, a compass and an inertial unit.
• the onboard unmanned flying device further comprises a first power supply system for powering the electronic flight module and a second power supply system for supplying the ADS-B transponder.
• a separate power supply between the electronic flight control module and the ADS-B transponder provides an additional degree of security in case of failure of the onboard unmanned flying device.
• the ADS-B transponder continues to communicate his position to any remote device interested. Such independence of the power supply means is even more interesting if the ADS-B transponder is connected to a dedicated satellite positioning module.
• the radio communication module is configured to receive piloting instructions for controlling the propulsion member and the wing.
• Some aspects of the invention are based on the idea of integrating position data of onboard unmanned flying devices with air traffic management data. Some aspects of the invention are based on the idea of allowing the sending of unmanned device position data compatible with the air traffic data of other types of aircraft. Certain aspects of the invention start from the idea of transmitting position data of an onboard pilotless flying device without loss of control quality of the onboard unmanned flying device. Some aspects of the invention are based on the idea of providing an on-board unmanned flying device incorporating a position data communication means having good position detection capabilities. Some aspects of the invention are based on the idea of providing an on-board unmanned flying device that does not disturb information gathering while having good communication with remote devices. Some aspects of the invention start from the idea of providing an onboard unmanned flying device identifiable in a secure manner. Some aspects of the invention depart from the idea of providing an identifiable unmanned flying device that is identifiable off-flight and in flight.
• FIG. 1 is a top view of an unmanned flying device embedded in the unfolded position of the support legs.
• FIG. 2 is a side view of the onboard unmanned flying device of FIG. 1.
• FIG. 3 is a schematic representation of the various elements of the onboard unmanned flying device according to the invention.
• FIG. 4 is a side view of an onboard unmanned flying device of FIG. 1 in unfolded position of the support stands illustrating the positioning of the ADS-B transponder and of the antenna connected to the ADS-B transponder.
• FIG. 5 is a side view of the onboard pilotless flying device of Figure 4 in the folded position of the support legs.
• FIG. 6 is a top view of the onboard unmanned flying device of FIG. 5.
• “Lower”, “upper”, “above” and “below” to designate the relative position of one element relative to another, in the context of an on-board unmanned flying device with a zero trim or resting on a flat horizontal support such as flat ground or flat landing platform horizontal relative to the Earth's gravity.
• a first element is described as inferior or below a second element if this first element is located between the ground and the second element when the onboard pilotless flying device is in flight with a zero attitude or that it rests on a horizontal support.
• the second element is then qualified as superior or above the first element.
• the terms “vertical” and “horizontal” refer to the Earth's gravity in the case of an unmanned flying device embarked on a horizontal ground or having in flight a zero attitude.
• the invention is described below in the context of an unmanned flying device embarked rotary wing but could also be applied to an unmanned flying device onboard fixed wing.
• FIGS. 1 and 2 illustrate an on-board unmanned flying device, hereinafter referred to as a drone 1.
• a drone 1 comprises a carrying structure 2 comprising a main body 3 and a plurality of arms 4.
• the main body 3 illustrated in the figures presents a circular cylindrical shape.
• Each arm 4 develops radially from the main body 3, for example in the form of a straight bar connected to the main body 3.
• the arms 4 are distributed circumferentially around the main body 3.
• four arms 4 are illustrated in the figures and each arm 4 has with the arm 4 adjacent an angle of 90 °.
• the UAV 1 comprises a rotary wing having a plurality of helices 5. More particularly, an end 6 of each arm 4 opposite the main body 3 carries an upper helix 5A and a lower helix 5B.
• the upper propeller 5A and the lower propeller 5B are rotatably mounted about a vertical axis on either side of the end 6 of the corresponding arm 4.
• Each propeller 5 is powered by a motor 7 for rotating said helix 5 about its axis of rotation.
• the driving force provided by the motors 7 drives the propellers 5 in rotation about their respective axis of rotation allowing the flight and the displacement of the drone 1 in the air.
• the drone 1 comprises support legs 8, of which there are two in FIG. 1.
• Each support leg 8 has a rectilinear spreading leg 9 that extends from the main body 3
• One end of the spacer leg 9 opposite the main body 3 has a straight support bar 10 extending perpendicularly to the spacer leg 9.
• the support bars 10 of the two support legs 8 develop parallel to one another. the other.
• the two support legs 8 are rotatably mounted on the main body 3.
• each support leg 8 develops under the main body 3.
• the support legs 8 In this unfolded position, the support legs 8 each have an inner face vis-à-vis the inner face of the other foot 8.
• the unfolded position of the support legs 8 allows the drone 1 to rest on a stable support such as the ground or a landing platform.
• the support legs 8 develop on the sides of the main body 3 in a plane parallel to the arms 4.
• the support legs 8 are interposed in projection in a horizontal plane between two adjacent arms 4.
• This folded position also called flight position, is particularly advantageous in the context of a drone 1 intended to carry a nacelle equipped with a shooting device such as a camera or a camera (not shown). Indeed, such a nacelle is generally installed under the main body 3 of the drone 1.
• a nacelle is generally installed under the main body 3 of the drone 1.
• the field of view of the camera is not obstructed by the presence of the support legs 8.
• the drone 1 comprises a flight control module comprising a set of sensors for determining flight conditions of the drone 1.
• sensors are integrated with the carrier structure 2 and include for example an inertial unit 11, a gyroscope 12, a compass 13, a satellite guide system 14, etc.
• the inertial unit 11 and the gyroscope 12 are integrated in the main body 3 and the compass 13 and the satellite guide system 14 are integrated in an arm 4.
• the satellite guidance system 14 comprises an antenna 15 mounted on an upper face of the main body 3.
• the flight control module further comprises a control member 16 connected to all the elements of the flight control module via communication buses 17.
• the control member 16 comprises, inter alia, an internal memory, a microcontroller, a telemetry module and a reception module (not shown).
• the control member 16 is able to determine flight conditions according to the data measured by the sensors and then to communicate the flight conditions of the drone 1 to a remote operator, for example a pilot of the remote drone 1.
• the control member is further adapted to actuate the motors 7 and direct the rotary wing 5 in response to flight instructions.
• the control member 16 is also able to control the movement of the support legs 8 between the folded position and the unfolded position.
• the flight instructions are stored in the internal memory of the control member 16, for example in the case of a drone 1 programmed to perform a predetermined flight.
• the drone 1 is driven by a remote operator using, for example, a remote control 27.
• the control member 16 receives via its receiving module flight instructions. sent from the remote control 27 and the microcontroller of the control member 16 processes these flight instructions to actuate the motors 7 and direct the wing 5.
• this remote control is integrated with the remote member to which the control member communicates flight conditions.
• Figures 3 to 6 illustrate the integration of an ADS-B transponder 18 in the onboard unmanned flying device.
• Figure 3 schematically illustrates the components of the drone 1.
• the drone 1 comprises an ADS-B transponder 18.
• This ADS-B transponder 18 is connected to a communication antenna 19 intended to to transmit positioning information of the drone 1.
• This information is for example intended for an air traffic management ground station or by a flying device having a suitable receiver such as an airliner (not shown).
• the antenna 19 connected to the transponder ADS-B 18 is for example an omnidirectional antenna emitting at a power of 70W and at a frequency of 1090 MHz.
• the ADS-B transponder 18 and the antenna 19 connected to the ADS-B transponder 18 are for example compatible with the EUROCADE ED 102A standard or the RTCA DO 260B standard.
• the ADS-B transponder 18 is connected to the satellite guidance system 14 of the drone 1.
• the ADS-B transponder 18 is powered by a supply 20 independent of the power supply of the other elements of the drone 1 (engine, wing actuators, flight control module, etc.). Thus, even in the event of a malfunction of the flight control module of the drone 1, the ADS-B transponder 18 can continue to emit a signal indicating the position of the drone 1 in the airspace. For example, in case of drift of the drone 1 following a loss of control due to an electrical problem, an electronic problem, a software failure, or any other malfunction, the ADS-B 18 transponder can continue to operate independently and broadcast. the positioning data of the drone 1. The various actors of air traffic such as air navigation services will have a position report of the drone 1 including if the drone is in distress. In addition, in the event of a drone 1 crash, the transponder ADS- B 18 remains able to emit and give position information to the persons responsible for his research.
• the ADS-B transponder 18 is connected to a dedicated satellite positioning system 21 independent of the system. Satellite guide 14 of the drone 1.
• the ADS-B transponder 18 comprises an altitude acquisition system 22.
• Such an altitude acquisition system 22 comprises, for example, an integrated pressure tap at a housing in which is housed the transponder ADS-B 18.
• the signals emitted by the antenna 19 connected to the ADS-B transponder 18 include information on the positioning integrity and the velocity of the drone 1.
• the integrity for the positioning and the velocity of an aircraft is an important information for the aircraft. aeronautical surveillance systems. This information particularly informs radar monitoring applications on the precision that can be delivered by the ADS-B transponder 18.
• the positioning integrity of the drone 1 is determined by a disk.
• the drone 1 is pondered to be contained in this disc.
• the radius of the disc is preferably a few meters.
• the ADS-B transponder 18 obtains integrity information by measurement of atmospheric pressure (Baro Altitude) using the static pressure tap 22 or, preferably by the satellite positioning system 21.
• the velocity of drone 1 is qualified in the horizontal plane and expressed with a horizontal speed error.
• Ground-based monitoring systems use this integrity information to make the information presented to air traffic controllers more reliable. It is therefore important that the integrity of position and speed be as precise as possible in order to allow their exploitation by the actors of air traffic management.
• the housing housing the transponder ADS-B 18 comprises a radio identification means such as a radio-tag 23, for example a chip RFID type electronics.
• This radio identification means 23 comprises a unique identification associated with the drone 101.
• the housing 24 housing the transponder ADS-B 18 comprises a non-volatile memory 29.
• This non-volatile memory 29 is preferably removable.
• this non-volatile memory 29 is a removable memory card, for example an SD type memory card.
• This non-volatile memory 29 makes it possible to store data characterizing the flight of the drone 1, for example during the last 30 minutes or during the last hours. These data characterizing the flight of the drone 1 comprise for example the identification of the drone, its altitude, its position, and its speed, etc.
• the identification of the drone 1 can be achieved in many ways.
• the unique identification of the drone 1 includes an identification number issued by the International Civil Aviation Organization (ICAO). In one embodiment, this identification number is coded on 24 bits.
• each identification number issued by ICAO is associated with a single drone 1.
• each ICAO-issued identification number is associated with the manufacturer of the drone 1 for the first time. all the drones of said manufacturer and a unique number is associated with the corresponding ADS-B transponder 18.
• the radio-tag is configured during the construction of the ADS-B transponder 18 so as to reliably and statically integrate the identification of the drone 1.
• a flight plan identifier is stored in the radio identification means 23 before each flight.
• This flight plan identifier is unique for each flight plan and is, for example, dynamically provided for the air traffic management actors in addition to the positioning information of the drone 1 via the antenna 19 connected to the ADS-B transponder. 18.
• Such radio identification means 23 makes it possible to know the identity of the drone 1 by simply reading the radio-tag 23. This is particularly useful in the event of the loss or crash of the drone 1, the constructor identifier and the login recorded during the construction of the ADS-B transponder 18 and / or the flight plan identifier constituting a unique electronic registration of the drone 1.
• FIGS 4 to 6 illustrate in more detail the integration of the transponder ADS-B and the antenna 19 connected to the transponder ADS-B.
• the ADS-B transponder 18 is integrated in a housing 24 integrating the electronics of the ADS-B transponder as well as the satellite positioning system 21 (including its antenna for communication with the satellites), the radio-tag 23 or the static pressure plug 22.
• the housing 24 is mounted on one of the support legs 8 of the drone 1 and, more particularly, on the leg 9 of one of the support legs 8.
• the housing 24 and the Transponder electronics ADS-B 18 are sufficiently distant from the flight control module of the drone 1, including communication buses 17, to not disturb the operation of the flight control module.
• the antenna 19 connected to the ADS-B transponder 18 is mounted on the same support leg 8 as the housing 24.
• the antenna is mounted on the end of the leg 9 of the opposite support leg 8 to the main body 3 so as to be sufficiently far away from the flight control module of the drone 1 so as not to disturb the proper functioning of said flight control module.
• this distance from the antenna 19 with the flight control module of the drone 1 prevents the emissions of the antenna 19 connected to the transponder ADS-B 18 does not disturb communications between the flight control module of the drone 1 and a remote device such as the remote control 27 for driving the drone 1.
• the housing 24 is mounted on an outer face of the support leg 8.
• the housing 24 is located on an upper face of the support leg 8.
• the dedicated satellite positioning system 21 of the ADS-B transponder 18 is oriented towards the sky.
• This orientation of the satellite positioning system 21 integrated in the housing 24 allows good communication with the satellites and therefore a better reliability of the positioning data transmitted by the ADS-B transponder.
• the support leg 8 being interposed between two arms 4 of the drone 1
• the housing 24 mounted on said support leg 8 is also interposed, in projection in a horizontal plane, between two arms 4 of the drone 1.
• the positioning of the housing 24 on the support foot 8 makes it possible to shift the propellers 5 and the housing 24, in particular the mask 25 corresponding to the occupation surface of the propellers 5, shown in dashed line on the FIG. 6 is not located vertically on the housing 24 so that the propellers 5 do not disturb the communication between the satellites and the satellite positioning system 21 connected to the ADS-B transponder 18.
• the distance between the housing 24, and therefore the static pressure tap, and the propellers 5 avoids that the data obtained by means of the static pressure measurement are disturbed by the rotation of the propellers 5.
• the antenna 19 connected to the ADS-B transponder 18 is preferably located on an inner face of the support leg 8.
• This antenna 19 is a rod-type antenna whose axis 26 develops perpendicularly to the leg 109 of the support leg 8 on which it is mounted.
• the axis 26 of the antenna 19 connected to the ADS-B transponder 18 is oriented downwards, that is towards the ground .
• This orientation of the antenna 19 is particularly advantageous for the transmission of data from the ADS-B transponder 18 to a remote device in the ground 28, such as for example an air traffic management station.
• Positioning on the one hand of the housing 24 comprising the ADS-B transponder 18 on an outer face of the support leg 8 and, on the other hand, of the antenna 19 connected to the ADS-B transponder 18 on the inner face of the foot support 8 is particularly advantageous since in addition to allowing the transport of shooting equipment under the drone 1 whose field of vision is not obstructed by the support legs 8, the displacement of the support legs 8 to the position folded allows to orient both the housing 24 of the satellite positioning system 21 that the antenna 19 connected to the transponder ADS-B 18 optimally.
• the drone according to the invention could be a fixed-wing drone in which the housing of the ADS-B transponder is mounted on an upper face of the fuselage or wings and the antenna connected to the ADS-B transponder is mounted on one side. lower fuselage or wings.
• the ADS-B transponder and the antenna connected to the ADS-B transponder are mounted on the support foot of to be oriented respectively towards the sky and the ground.

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• Engineering & Computer Science (AREA)
• Aviation & Aerospace Engineering (AREA)
• Mechanical Engineering (AREA)
• Remote Sensing (AREA)
• Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=55411576

Family Applications (1)

Country Status (3)

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Family Cites Families (5)

• 2015
  • 2015-12-11 FR FR1562200A patent/FR3045005B1/fr active Active
• 2016
  • 2016-12-08 WO PCT/FR2016/053287 patent/WO2017098172A1/fr active Application Filing
  • 2016-12-08 EP EP16819624.4A patent/EP3386857A1/de not_active Withdrawn

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