EP3609611A1 - Cuve à réaction - Google Patents

Cuve à réaction

Info

Publication number
EP3609611A1
EP3609611A1 EP18717355.4A EP18717355A EP3609611A1 EP 3609611 A1 EP3609611 A1 EP 3609611A1 EP 18717355 A EP18717355 A EP 18717355A EP 3609611 A1 EP3609611 A1 EP 3609611A1
Authority
EP
European Patent Office
Prior art keywords
container
cooling
reaction vessel
heater
reaction
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Withdrawn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
EP18717355.4A
Other languages
German (de)
English (en)
Inventor
Kurt BÖHME
Pierre Freymond
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.)
Innoil AG
Original Assignee
Innoil AG
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 Innoil AG filed Critical Innoil AG
Publication of EP3609611A1 publication Critical patent/EP3609611A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01JCHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J8/00Chemical or physical processes in general, conducted in the presence of fluids and solid particles; Apparatus for such processes
    • B01J8/08Chemical or physical processes in general, conducted in the presence of fluids and solid particles; Apparatus for such processes with moving particles
    • B01J8/10Chemical or physical processes in general, conducted in the presence of fluids and solid particles; Apparatus for such processes with moving particles moved by stirrers or by rotary drums or rotary receptacles or endless belts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01JCHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J19/00Chemical, physical or physico-chemical processes in general; Their relevant apparatus
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01JCHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J19/00Chemical, physical or physico-chemical processes in general; Their relevant apparatus
    • B01J19/0006Controlling or regulating processes
    • B01J19/0013Controlling the temperature of the process
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01JCHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J19/00Chemical, physical or physico-chemical processes in general; Their relevant apparatus
    • B01J19/0053Details of the reactor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01JCHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J8/00Chemical or physical processes in general, conducted in the presence of fluids and solid particles; Apparatus for such processes
    • B01J8/08Chemical or physical processes in general, conducted in the presence of fluids and solid particles; Apparatus for such processes with moving particles
    • B01J8/082Controlling processes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01JCHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J8/00Chemical or physical processes in general, conducted in the presence of fluids and solid particles; Apparatus for such processes
    • B01J8/08Chemical or physical processes in general, conducted in the presence of fluids and solid particles; Apparatus for such processes with moving particles
    • B01J8/087Heating or cooling the reactor
    • CCHEMISTRY; METALLURGY
    • C10PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
    • C10GCRACKING HYDROCARBON OILS; PRODUCTION OF LIQUID HYDROCARBON MIXTURES, e.g. BY DESTRUCTIVE HYDROGENATION, OLIGOMERISATION, POLYMERISATION; RECOVERY OF HYDROCARBON OILS FROM OIL-SHALE, OIL-SAND, OR GASES; REFINING MIXTURES MAINLY CONSISTING OF HYDROCARBONS; REFORMING OF NAPHTHA; MINERAL WAXES
    • C10G1/00Production of liquid hydrocarbon mixtures from oil-shale, oil-sand, or non-melting solid carbonaceous or similar materials, e.g. wood, coal
    • C10G1/08Production of liquid hydrocarbon mixtures from oil-shale, oil-sand, or non-melting solid carbonaceous or similar materials, e.g. wood, coal with moving catalysts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01JCHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J2208/00Processes carried out in the presence of solid particles; Reactors therefor
    • B01J2208/00008Controlling the process
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01JCHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J2208/00Processes carried out in the presence of solid particles; Reactors therefor
    • B01J2208/00008Controlling the process
    • B01J2208/00017Controlling the temperature
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01JCHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J2208/00Processes carried out in the presence of solid particles; Reactors therefor
    • B01J2208/00008Controlling the process
    • B01J2208/00017Controlling the temperature
    • B01J2208/00106Controlling the temperature by indirect heat exchange
    • B01J2208/00115Controlling the temperature by indirect heat exchange with heat exchange elements inside the bed of solid particles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01JCHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J2208/00Processes carried out in the presence of solid particles; Reactors therefor
    • B01J2208/00008Controlling the process
    • B01J2208/00017Controlling the temperature
    • B01J2208/00106Controlling the temperature by indirect heat exchange
    • B01J2208/00115Controlling the temperature by indirect heat exchange with heat exchange elements inside the bed of solid particles
    • B01J2208/00132Tubes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01JCHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J2208/00Processes carried out in the presence of solid particles; Reactors therefor
    • B01J2208/00008Controlling the process
    • B01J2208/00017Controlling the temperature
    • B01J2208/00106Controlling the temperature by indirect heat exchange
    • B01J2208/00115Controlling the temperature by indirect heat exchange with heat exchange elements inside the bed of solid particles
    • B01J2208/00141Coils
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01JCHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J2208/00Processes carried out in the presence of solid particles; Reactors therefor
    • B01J2208/00008Controlling the process
    • B01J2208/00017Controlling the temperature
    • B01J2208/00106Controlling the temperature by indirect heat exchange
    • B01J2208/00168Controlling the temperature by indirect heat exchange with heat exchange elements outside the bed of solid particles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01JCHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J2208/00Processes carried out in the presence of solid particles; Reactors therefor
    • B01J2208/00008Controlling the process
    • B01J2208/00017Controlling the temperature
    • B01J2208/00106Controlling the temperature by indirect heat exchange
    • B01J2208/00168Controlling the temperature by indirect heat exchange with heat exchange elements outside the bed of solid particles
    • B01J2208/00176Controlling the temperature by indirect heat exchange with heat exchange elements outside the bed of solid particles outside the reactor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01JCHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J2208/00Processes carried out in the presence of solid particles; Reactors therefor
    • B01J2208/00008Controlling the process
    • B01J2208/00017Controlling the temperature
    • B01J2208/00106Controlling the temperature by indirect heat exchange
    • B01J2208/00168Controlling the temperature by indirect heat exchange with heat exchange elements outside the bed of solid particles
    • B01J2208/00212Plates; Jackets; Cylinders
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01JCHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J2208/00Processes carried out in the presence of solid particles; Reactors therefor
    • B01J2208/00008Controlling the process
    • B01J2208/00017Controlling the temperature
    • B01J2208/00327Controlling the temperature by direct heat exchange
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01JCHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J2208/00Processes carried out in the presence of solid particles; Reactors therefor
    • B01J2208/00008Controlling the process
    • B01J2208/00539Pressure
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01JCHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
    • B01J2208/00Processes carried out in the presence of solid particles; Reactors therefor
    • B01J2208/00008Controlling the process
    • B01J2208/0061Controlling the level

Definitions

  • the present invention relates to a reaction vessel comprising a tank top and a container bottom, and a method for temperature stabilization of a liquid mixture and a use of the reaction vessel.
  • thermodynamics it is known that the conductivity, the amount to be processed and the temperature of a substance that mixes with another substance and at a different temperature, or the contact surfaces at which the energy exchange should take place, decide how well or poorly, how fast or slow the heat exchange takes place and the system works to bring the mixture to a desired temperature and / or to keep.
  • WO 2016/116484 A1 describes a device for the catalytic pressureless oiling, which has an integrated active cooling and active heating. This thermal management can be considered very efficient, but still presents several disadvantages.
  • This thermal management can be considered very efficient, but still presents several disadvantages.
  • the combustible hydrocarbons thus obtained can be used as fuel.
  • Object of the present invention is to keep the temperature of a liquid mixture in a reaction vessel, which is constantly subject to high temperature fluctuations, for example, the direct liquefaction process for the production of middle distillate from biogenic residues and other hydrocarbon-containing waste products, constant.
  • the object of the present invention is achieved by a reaction vessel of the type mentioned, in which the container base has an internal, direct cooling and an external, indirect cooling and an internal, direct heating and an external, indirect heating.
  • the liquid mixture located in the reaction vessel is directly cooled or heated.
  • the liquid composition may be a mixture of a variety of substances, such as biogenic residues and other hydrocarbon waste products, such as in the direct liquefaction process for middle distillate production.
  • the reaction vessel is a two-part, insulated container (or a separator) which has a relatively small volume in the container bottom.
  • the internal cooling and the internal heating as well as the external cooling and the Exterior heating are preferably coupled to a thermal management system.
  • the thermal management system ensures that the temperature of the liquid mixture in the reaction vessel maintains a constant temperature.
  • the thermal management system preferably comprises a thermal oil heater. Furthermore, the thermal management system includes various pumps, pipelines, thermostats, regulators and refrigeration units as well as a controller with which the reaction vessel / separator can be cooled or heated.
  • a cooling or a heated thermal oil is pumped through a pipe system arranged in the container lower part, the raw system for heat transfer being in direct contact with the liquid mixture of substances.
  • a cooling or heated thermal oil is pumped through a pipe system arranged on the outside of the container lower part, wherein the pipe system is in contact with the reactor wall for heat transfer and thus indirectly cools or heats the liquid mixture.
  • the reactor wall at least in the area where it is in contact with the outer cooling / heating, consists of a heat-conducting material, such as metal.
  • redundantly equipped measuring points for temperature, pressure and level are arranged on and / or in the reactor vessel.
  • a control unit acquires the measured values, evaluates them and regulates them. This ensures that the level, pressure and temperature in the reactor vessel are kept constant regardless of the input material, as only if these factors are perfectly matched can a continuous production of middle distillate be achieved.
  • the control unit can be in the thermal management system be integrated or designed as a separate unit.
  • the container upper part is preferably designed to be larger than the container lower part.
  • the reaction vessel suitably has a large expansion volume in the upper container part, as well as a much larger evaporation surface in relation to the lower container part. This makes it possible under atmospheric conditions and under low negative pressure to produce large amounts of steam, collect and distill.
  • the evaporation surface of the container upper part is designed to be larger than the base surface of the container lower part.
  • distillation columns are preferably arranged.
  • a pressure relief valve is preferably arranged at the container upper part.
  • a heavy collector is arranged at the container lower part.
  • the heavy particle collector is suitable for separating heavy metals or larger parts that have erroneously entered the reaction vessel.
  • the Schwerillersammler comprises an outlet or an emergency outlet through which unwanted parts can flow out of the reactor vessel or are pumped out.
  • a submersible pump and / or an agitator is preferably arranged through which the liquid mixture is moved, crushed and mixed.
  • the reaction vessel may include various heat sources (eg, infra-red, microwave, etc.) disposed in or outside the reaction vessel to heat the liquid mixture.
  • various heat sources eg, infra-red, microwave, etc.
  • the object of the present invention is achieved by using the reaction vessel according to the invention in a device for the catalytic pressureless oiling of carbonaceous input material, as described, for example, in WO 2016/116484 A1.
  • the reaction vessel can be used as a separator.
  • the object of the present invention is achieved by a method for temperature stabilization of a liquid mixture in a reaction vessel in which a liquid mixture is introduced into the reaction vessel and by an internal cooling or an internal heater and an external cooling or an external heater and a thereto connected thermal management system is kept at a constant temperature.
  • the internal cooling and the internal heating as well as the external cooling and the external heating are preferably controlled and controlled automatically by means of a thermal management system comprising a thermal oil heater, one or more coolers, various pumps, one or more valves.
  • Figure 1 a schematic representation of an inventive
  • 1 shows a two-part, closed reaction vessel / separator 1 of the container upper part 2, a distillation column 6 and in the container base 15, an inner cooling 9 and an outer cooling 10, a submersible pump 13 or a dry-mounted outer pump 11 outside of the reaction vessel. 1 and various filling and withdrawal points for a liquid mixture 12, which is comminuted, mixed, triturated and thereby heated by the pumps 11 or 13 or both.
  • the pump drive 5, for the submersible pump 13 and the level, pressure and temperature control 4 are arranged gas-tight on a screw-cap 3.
  • the closed, two-part reaction vessel 1 a much smaller container base 15, compared to the container shell 2, and a large evaporation surface 8 and a large evaporation room 17.
  • the container lower part 15 is provided with an outer cooling 10 and an inner cooling 9, a heavy parts collector 14 and an emergency discharge A2.
  • the advantage of this invention is that the container base 15 only has to be slightly overfilled in order to increase the evaporation surface 8 in the container top 2 and at the same time a much smaller volume of liquid mixture 12 through the submersible pump 13 and / or an agitator or by the outer pump 11, or through both pumps 11 and 13, or the outer pump 11 and a stirrer must be moved to keep the temperature constant over the thermal management system 16 and the inner cooling 9 and outer cooling 10.
  • the reaction vessel 1, which can also be used as a separator at the same time, has a large evaporation surface 8 and a large volume in the container upper part 2 and a significantly smaller volume in the container lower part 15, in which a liquid substance mixture 12 is circulated by an inserted submersible pump 13 ,
  • the container base 15 has an inner (direct) and an outer (indirect) cooling / heating and a Schwermaschinesammler 14 (or a Heavy particles collecting).
  • the reaction vessel 1 makes it possible to keep the temperature and pressure of a very small amount of a liquid mixture 12 constant in the direct liquefaction of hydrocarbonaceous residues for the production of middle distillate.
  • the very small amount of liquid mixture 12 can always be kept constant at temperature.
  • the liquid substance mixture 12 is pumped with an (external) pump 11 through a substance mixture inlet E1 into the reaction container 1 and can be pumped out of the reaction container 1 again through a substance geniculate outlet A1.
  • the forming during operation of the reaction vessel 1 in the container upper part 2 steam 7 can be discharged through a pressure relief valve Ü1, which is arranged on the container upper part 2.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Organic Chemistry (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Engineering & Computer Science (AREA)
  • Oil, Petroleum & Natural Gas (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Wood Science & Technology (AREA)
  • General Chemical & Material Sciences (AREA)
  • Physical Or Chemical Processes And Apparatus (AREA)
  • Production Of Liquid Hydrocarbon Mixture For Refining Petroleum (AREA)

Abstract

L'invention concerne une cuve à réaction (1) servant à stabiliser la température d'un mélange de matières liquides (12), comprenant une partie supérieure (2) et une partie inférieure (15), cette dernière présentant un dispositif de refroidissement direct interne (9) et un dispositif de refroidissement indirect externe (10) ainsi qu'un dispositif de chauffage direct interne (9) et un dispositif de chauffage indirect externe (10).
EP18717355.4A 2017-04-11 2018-04-11 Cuve à réaction Withdrawn EP3609611A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017107758 2017-04-11
PCT/EP2018/059336 WO2018189267A1 (fr) 2017-04-11 2018-04-11 Cuve à réaction

Publications (1)

Publication Number Publication Date
EP3609611A1 true EP3609611A1 (fr) 2020-02-19

Family

ID=61966011

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18717355.4A Withdrawn EP3609611A1 (fr) 2017-04-11 2018-04-11 Cuve à réaction

Country Status (4)

Country Link
US (1) US11071960B2 (fr)
EP (1) EP3609611A1 (fr)
RU (1) RU2753619C2 (fr)
WO (1) WO2018189267A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112246188A (zh) * 2020-12-22 2021-01-22 蓬莱禄昊化工机械有限公司 一种防爆高压反应器及其使用方法
DE102022003576A1 (de) 2022-09-27 2024-03-28 CARBOLIQ GmbH Kontinuierliches Verfahren zur Sekundärressourcengewinnung aus organische Verbindungen enthaltenden Abfällen durch Verölung
DE102022003577A1 (de) 2022-09-27 2024-04-11 CARBOLIQ GmbH Kontinuierliches Verfahren zur Sekundärressourcengewinnung aus Abfällen von Mehrschichtfolien durch Verölung

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3089843A (en) * 1960-06-02 1963-05-14 Texaco Inc Hydroconversion of hydrocarbons
JPH08206632A (ja) * 1995-02-01 1996-08-13 Cosmo Enterp Kk 有機廃棄物を液化処理する方法、及びその処理装置
ITMI20031361A1 (it) * 2003-07-03 2005-01-04 Enitecnologie Spa Processo per la preparazione di distillati medi e basi lube a partire da cariche idrocarburiche sintetiche.
DE10356245B4 (de) * 2003-12-02 2007-01-25 Alphakat Gmbh Verfahren zur Erzeugung von Dieselöl aus kohlenwasserstoffhaltigen Reststoffen sowie eine Vorrichtung zur Durchführung dieses Verfahrens
DE102005056735B3 (de) 2005-11-29 2006-08-10 Koch, Christian, Dr. Hochleistungskammermischer für katalytische Ölsuspensionen als Reaktor für die Depolymerisation und Polymerisation von kohlenwasserstoffhaltigen Reststoffen zu Mitteldestillat im Kreislauf
DE102006061217B3 (de) * 2006-12-22 2008-06-05 Buchert, Jürgen Verfahren zur thermischen Aufbereitung von Klärschlamm und Einrichtung zur Durchführung des Verfahrens
ITBO20070770A1 (it) * 2007-11-22 2009-05-23 Vuzeta Brevetti S R L Metodo e apparato per il trattamento di materiali di rifiuto
DE102008003209B3 (de) * 2008-01-05 2009-06-04 Relux Umwelt Gmbh Verfahren und Vorrichtung zur Erzeugung von Mitteldestillat aus kohlenwasserstoffhaltigen Energieträgern
US20090267349A1 (en) * 2008-04-23 2009-10-29 Spitzauer Michael P Production Processes, Systems, Methods, and Apparatuses
CN202149474U (zh) * 2011-06-03 2012-02-22 杭州雪中炭恒温技术有限公司 精密恒温快速蒸汽发生装置
DE102012010763A1 (de) * 2012-03-26 2013-09-26 Axel Trautmann Vorrichtung und Verfahren zur katalytischen Depolymerisation von Kohlenstoff enthaltendem Material
WO2016116484A1 (fr) 2015-01-22 2016-07-28 Leaves Ag Dispositif et procédé de dépolymérisation catalytique sans pression
US10252238B2 (en) * 2015-03-02 2019-04-09 Basf Se Apparatus for producing pulverulent poly(meth)acrylate

Also Published As

Publication number Publication date
RU2019133335A3 (fr) 2021-05-12
RU2753619C2 (ru) 2021-08-18
RU2019133335A (ru) 2021-05-12
US20200078756A1 (en) 2020-03-12
US11071960B2 (en) 2021-07-27
WO2018189267A1 (fr) 2018-10-18

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