WO2010084420A1 - Method and system for tensioning a function line, in particular a mooring line, of and fpso-vessel of a fpso-vessel - Google Patents
Method and system for tensioning a function line, in particular a mooring line, of and fpso-vessel of a fpso-vessel Download PDFInfo
- Publication number
- WO2010084420A1 WO2010084420A1 PCT/IB2010/000127 IB2010000127W WO2010084420A1 WO 2010084420 A1 WO2010084420 A1 WO 2010084420A1 IB 2010000127 W IB2010000127 W IB 2010000127W WO 2010084420 A1 WO2010084420 A1 WO 2010084420A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- main cable
- operating line
- sheave
- socket
- cable
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000004519 manufacturing process Methods 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000000605 extraction Methods 0.000 description 3
- 229920002994 synthetic fiber Polymers 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 239000004215 Carbon black (E152) Substances 0.000 description 2
- 231100001261 hazardous Toxicity 0.000 description 2
- 229930195733 hydrocarbon Natural products 0.000 description 2
- 150000002430 hydrocarbons Chemical class 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/16—Tying-up; Shifting, towing, or pushing equipment; Anchoring using winches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/04—Fastening or guiding equipment for chains, ropes, hawsers, or the like
Abstract
A traction method for an operating line, in particular a mooring line, includes the steps of : attaching an end chain portion (6) of the operating line (4) to a socket (33) of a main cable (32) running through a sheave (11) at a work station; reeling in the main cable (32), using a winch (31), to bring the socket (33) of the main cable (32) up to the sheave (11); locking the operating line (4) with a chain stopper (13); slackening the main cable (32) and moving the sheave (11) closer to the chain stopper (13) to reduce pull on the main cable (32); reeling in the main cable (32) to run the socket (33) of the main cable (32) through the sheave (11),- once the socket (33) of the main cable (32) has run through the sheave (11), releasing the operating line (4) from the chain stopper (13), and reeling in, by means of the winch (31), the main cable (32) and the operating line (4) connected to it.
Description
METHOD AND SYSTEM FOR TENSIONING A FUNCTION LINE, IN PARTICULAR A
MOORING LINE, OF AND FPSO-VESSEL
TECHNICAL FIELD
The present invention relates to traction method and system for an operating line, in particular a mooring line, of a floating production unit, and to a floating production unit featuring such a system.
The method according to the invention is particularly suitable for "spread mooring" floating production units, to which application the following description refers purely by way of example. BACKGROUND ART
As is known, floating production units (FPUs) and, specifically, floating production, storage and offloading (FPSO) vessels, widely used for off-shore hydrocarbon production, are normally converted ships anchored permanently by mooring lines to the sea bed.
A mooring line normally comprises a first chain portion, which is fixed to a mooring station on the unit by a locking device; a cable portion (e.g. of synthetic material); and a second chain portion terminating with an anchor .
Normally, there are several mooring lines attached to respective stations variously arranged on the unit according to the required mooring configuration (e.g. spread mooring) .
The normal procedure is as follows.
So-called "turn-down sheaves" with respective mooring line stop devices, known as "chain stoppers", are set up on the unit, more specifically, along the sides of the ship; a chain portion, known as a "pilot" chain, is installed on each sheave; once the unit is in the mooring position, the mooring line, brought up to the unit by tenders, is connected to the pilot chain by a service chain portion, which attaches to the end link of the mooring line,- the pilot chain is then connected to a winch to take up the pilot and service chains and tension the mooring line; and, once tensioned, the mooring line is locked by the respective stopper.
In one particularly advantageous solution described in International Patent Application n. WO2008/046874-A1, one main winch is used to tension all the mooring lines (as well as to handle other operating lines, such as production or extraction lines) by connecting the winch cable successively to the various chain portions for handling and/or tensioning.
The mooring method in the above International Patent Application, as well as others similar to it, are not without drawbacks.
A first of these lies in using winches. Normally, the end of the cable that attaches to the chain portions is defined by a cast head, known as a socket, which, as it runs through the sheave, tends to irreparably damage the cable.
A second drawback involves the orientation of the
first link (of any chain portion) as it comes into contact with the sheave. Since it is practically impossible to ensure the first link of the incoming chain is in the ideal position to engage the sheave, and given also the amount of pull exerted by the cable when the chain reaches deck level, due to twisting of the cable, extremely hazardous situations may arise.
Systems more or less similar to the one described also pose the same problems . DISCLOSURE OF INVENTION
It is an object of the present invention to provide a traction method and system for an operating line, in particular a mooring line, of a floating production unit, designed to eliminate the drawbacks of the known art.
According to the present invention, there are provided a traction method and system for an operating line, in particular a mooring line, of a floating production unit, as defined in general terms in accompanying Claims 1 and 10 respectively, and in additional terms in the dependent Claims.
The method according to the invention, and the system implementing it, provide for safe, easy, reliable tensioning of operating lines, in particular mooring lines, of a floating production unit.
Despite the main cable for tensioning the operating (e.g. mooring) line being operated by a relatively simple, compact, low-cost winch, the invention prevents
the main cable socket from damaging the cable when tensioning the line, and in particular as the socket engages the sheave at the work station, and also prevents hazardous situations arising as a result of the first chain link coming into contact with the sheave in an improper position and under severe pull.
According to the invention, in fact, the main cable socket engages the sheave with very little pull exerted on the cable, so the socket, even if tilted slightly with respect to the sheave, does not damage the cable. The small amount of pull on the cable also allows the first chain link to come into contact with the sheave in the correct position.
Also, connecting the main cable directly to the operating line eliminates the need for auxiliary chain portions and, therefore, all the work and equipment connected with handling them. BRIEF DESCRIPTION OF THE DRAWINGS
A non- limiting embodiment of the present invention will be described by way of example with reference to the accompanying drawings, in which:
Figure 1 shows a schematic, partial top plan view of a floating production unit equipped with an operating line, in particular a mooring line, traction system in accordance with the present invention;
Figures 2 to 4 show a larger-scale detail of the Figure 1 unit in different operating positions.
BEST MODE FOR CARRYING OUT THE INVENTION
Number 1 in Figure 1 indicates a floating production unit, e.g. of the type commonly known as an FPSO and defined by a converted ship, only shown partly and schematically for the sake of simplicity.
Unit 1 comprises an operating line traction system 2, in turn comprising at least one work station 3, in particular a mooring station, which cooperates with an operating line 4, in particular a mooring line.
In the non-limiting Figure 1 embodiment, unit 1 has a number of work stations 3 spaced along unit 1 and engaged by respective operating lines 4. More specifically, stations 3 comprise a number of mooring stations arranged along unit 1, optionally in groups 5 to form a spread mooring configuration, and engaged by respective mooring lines; and possibly also a number of production stations engaged by respective known hydrocarbon extraction lines, not shown for the sake of simplicity.
It is understood that stations 3 may be arranged differently on unit 1, and also in mooring configurations other than the one referred to by way of example, and may be used for purposes other than mooring unit 1, such as receiving production and other types of operating lines .
Whichever the case, each operating line 4 comprises at least one end chain portion 6, which engages a station 3 and has a free end 7 defined by a first chain
link 8 (the first link in end chain portion 6) . The rest of operating line 4 is formed in substantially known manner not shown. For example, if operating line 4 is a mooring line, end chain portion 6 is followed by a cable portion made of synthetic material, and a second chain portion terminating with an anchor. If operating line 4 is a production line, it comprises an extraction pipe connected to end chain portion 6.
With reference also to Figures 2-4, each station 3 is engaged by an end chain portion 6 of an operating line 4, and comprises a top sheave 11 fitted to a movable support 12; and a chain stopper 13 for arresting operating line 4.
Sheave 11 and support 12 are installed on one side and/or along the edge of unit 1, and are located above water (above the waterline of unit 1), e.g. at main deck level. Stopper 13 may be located close to sheave 11, i.e. also above water, or lower, even below the surface of the water, is designed to lock onto a chain link of operating line 4 to support operating line 4, and may, for example, be of the type described in Patent Application US2005/241558.
Support 12 is movable selectively into at least two operating positions, in which sheave 11, fitted to support 12, is at respective different distances from stopper 13.
In the non-limiting example in Figures 2-4, support 12 comprises a compass structure 14, but may obviously
be formed in any other equivalent manner .
In the example shown, support 12 comprises a hinge 15 fixed to unit 1,- and an arm 16 (possibly comprising two fork-like members) projecting obliquely from hinge 15 and connected by hinge 15 to unit 1. Sheave 11 is located at a free end 17 of arm 16, preferably to project from the edge of unit 1; and sheave 11 and support 12 (specifically, arm 16) rotate about respective parallel axes of rotation.
Support 12 also comprises at least one collapsible supporting bar 18, e.g. hinged to end 17 of arm 16 to form compass structure 14.
Support 12 is operated by a known actuating device 20 (only shown schematically by a dash line in Figure 2) .
Support 12 has a lock device 21, also known and only shown schematically, for locking support 12 in predetermined positions and preventing it from moving.
The operating positions assumed by support 12 are shown in Figures 2 and 4 respectively. In a first operating position shown in Figure 2, compass structure 14 is parted, arm 16 projects obliquely from hinge 15, and bar 18 rests on a supporting surface 22 of a pedestal 23, fixed to unit 1, to support sheave 11 at a first predetermined distance from stopper 13. In a second operating position shown in Figure 4, compass structure 14 is closed, and bar 18 is collapsed, substantially along or close to arm 16; arm 16 and/or
bar 18 lie, for example, on supporting surface 22 and/ or on pedestal 23; and sheave 11 is located at a second predetermined distance, less than the first distance, from stopper 13.
As shown in Figure 1, system 2 also comprises a winch 31 having a main cable 32, in particular a metal
(e.g. steel) cable, connected to winch 31 and terminating with a socket 33 for engaging chain portions .
In one particularly advantageous solution described in International Patent Application n. WO2008/046874-A1 , which is included herein by way of reference, system 2 also comprises a cable transmission 34 comprising guide members 35 defining a number of paths by which to selectively direct main cable 32 to each work station 3 to engage a respective operating line 4. Stations 3 are thus all catered to by main cable 32 from winch 31 (which may therefore be used for both handling and tensioning mooring lines, and handling and hoisting production lines).
Winch 31 is preferably, though not necessarily, a horizontal-axis winch, and has a smooth or grooved drum 36 about which main cable 32 is coiled.
As described in detail in Patent Application WO2008/046874-A1, to which reference is made for further details, system 2 optionally comprises one or more auxiliary winches 37 located close to respective groups 5 of stations 3, and having respective auxiliary cables
38 (e.g. of synthetic material) connectable to main cable 32 (directly or by further cable portions) to reel main cable 32 off winch 31 and feed it, along paths defined by guide members 35, into a number of positions close to respective stations 3.
Like most floating production units of the type described, each station 3 is associated with a substantially known fairlead 41 - not described or shown in detail for the sake of simplicity - located (possibly, though not necessarily, immersed) below sheave 11 of station 3. In Figures 2-4, fairlead 41 (only shown schematically) is located next to stopper 13, e.g. to form with it a guide and stop assembly of the type described in US2005/0241558.
To implement the method of hauling and tensioning operating lines 4, specifically mooring lines, of unit 1 (in particular for spread mooring unit 1) , system 2 operates as follows .
Once unit 1 is in the mooring position, end chain portion 6 of a first operating line 4 is brought, e.g. by tenders, up to station 3 of unit 1.
Socket 33 of main cable 32 is then attached to end chain portion 6. This is preferably done using a pilot cable 39 (only shown at some stations 3 in Figure 1) set up beforehand on sheave 11 at station 3, and having one end connectable to socket 33 of main cable 32 to bring socket 33 up to operating line 4.
In which case, the method comprises the steps of :
- fitting sheave 11 with a pilot cable 39;
- attaching socket 33 of main cable 32 to pilot cable 39;
- slackening off pilot cable 39 to bring socket 33 of main cable 32 up to end 7 of end chain portion 6 of operating line 4; detaching pilot cable 39 from main cable 32, and attaching socket 33 of main cable 32 to the first link 8 of operating line 4.
At this point (or at least after otherwise bringing socket 33 of main cable 32 up to end chain portion 6 of operating line 4, and attaching socket 33 to the first link 8 of operating line 4) , the method comprises the steps of :
- reeling in main cable 32, using winch 31, to bring socket 33 of main cable 32 up to sheave 11 (Figure 2); support 12 at this point is in the first operating position;
- optionally feeding socket 33 of main cable 32 through fairlead 41;
- as socket 33 of main cable 32 contacts sheave 11, slackening main cable 32 (by reeling it off winch 31) so stopper 13 engages an intermediate link 40 of operating line 4 (Figure 3 ) ;
- locking operating line 4 with stopper 13, so that operating line 4 is supported by stopper 13 ;
- slackening main cable 32 further, and at the same time moving support 12 of sheave 11 from the first to
the second operating position, to bring sheave 11 closer to stopper 13 and so reduce (Figure 4) the pull on main cable 32, i.e. exerted on main cable 32 by operating line 4 (by reducing the distance between sheave 11 and stopper 13, and supporting operating line 4 by stopper 13);
- running socket 33 of main cable 32 through sheave 11 (with practically no pull exerted, because operating line 4 is supported by stopper 13);
- once socket 33 of main cable 32 has run through sheave 11, locking support 12 mechanically, e.g. using lock device 21, and releasing stopper 13 to free operating line 4;
- reeling in main cable 32, using winch 31, to set operating line 4 to a given tension;
- once the required tension is reached, locking operating line 4 again using stopper 13, and detaching main cable 32 from operating line 4.
As described in Patent Application WO2008 /046874- Al, main cable 32 is advantageously fed up to each station 3 by cable transmission 34.
The above procedure is then repeated for each station 3 engaged by a respective operating line 4.
Clearly, changes may be made to the method and system as described and illustrated herein without, however, departing from the scope of the invention as defined in the accompanying Claims .
Claims
1) A traction method for an operating line, in particular a mooring line, of a floating production unit; the operating line (4) having at least one end chain portion (6) which attaches to a work station (3) on the unit (1) ; and the method comprising the steps of:
- setting up on the unit at least one work station (3), which is engaged by the operating line (4) and comprises a top sheave (11) fitted to a movable support (12), and a chain stopper (13) for locking the operating line UK- attaching the end chain portion (6) of the operating line (4) to a socket (33) of a main cable (32);
- reeling in the main cable (32), using a winch (31), to bring the socket (33) of the main cable up to the sheave (11) ;
- locking the operating line (4) with the chain stopper (13) ;
- slackening the main cable (32) to reduce pull on the main cable, and moving the support (12) of the sheave (11) to bring the sheave (11) closer to the chain stopper (13) ;
- reeling in the main cable (32) to run the socket (33) of the main cable through the sheave (11);
- once the socket (33) of the main cable (32) has run through the sheave (11), releasing the operating
line (4) from the chain stopper (13) , and reeling in, by means of the winch (31) , the main cable and the operating line (4) connected to it, to set the operating line to a given tension.
2) A method as claimed in Claim 1, wherein the socket (33) of the main cable (32) is brought up to the end chain portion (6) of the operating line (4) , for attachment to said end chain portion, by a pilot cable (39) .
3 ) A method as claimed in Claim 1 or 2 , wherein the step of attaching the end chain portion (6) of the operating line (4) to the socket (33) of the main cable (32) is preceded by the steps of : fitting the sheave (11) with a pilot cable (39); attaching the socket (33) of the main cable (32) to the pilot cable (39); and slackening the pilot cable to bring the socket of the main cable up to the operating line.
4) A method as claimed in one of the foregoing Claims, wherein, once set to the given tension, the operating line (4) is locked by the chain stopper (13) and detached from the main cable (32) .
5) A method as claimed in one of the foregoing Claims, wherein the step of slackening the main cable (32) to reduce pull on the main cable comprises slackening the main cable to allow the chain stopper (13) to engage a chain link (40) of the operating line (4) .
6) A method as claimed in one of the foregoing
Claims, wherein the main cable (32) is slackened to reduce pull on the main cable, while simultaneously moving the support (12) of the sheave (11) to bring the sheave closer to the chain stopper (13) .
7) A method as claimed in one of the foregoing Claims, wherein, once the socket (33) of the main cable (32) is through the sheave (11), the support (12) of the sheave is locked mechanically before the operating line (4) is released from the chain stopper (13) .
8) A method as claimed in one of the foregoing Claims, wherein, after engaging the operating line (4), the socket (33) of the main cable (32) is run through a fairlead (41) .
9) A method as claimed in one of the foregoing Claims, wherein the main cable (32) is run selectively to a number of work stations (3) along respective paths defined by guide members (35) .
10) A traction system (2) for an operating line (4) , in particular a mooring line, of a floating production unit (1), comprising : at least one work station (3), which is engaged by an end chain portion (6) of the operating line (4) and comprises a top sheave (11), and a chain stopper (13) for locking the operating line (4); and a winch (31) having a main cable (32) terminating with a socket (33) for attachment to chain portions,- the system being characterized in that the sheave (11) is fitted to a support (12) movable selectively into at least two operating positions, in
which the sheave (11) is located at respective different distances from the chain stopper (13), to reduce pull on the main cable (32) running through the sheave (11) and connected to the operating line (4) . ■
11) A system as claimed in Claim 10, wherein the sheave (11) is fitted with a pilot cable (39), one end of which is connectable to the socket (33) of the main cable (32) to bring the socket of the main cable up to the operating line (4) .
12) A system as claimed in Claim 10 or 11, wherein the support (12) has a lock device (21) for locking the support in one or more predetermined positions and preventing the support from moving.
13) A system as claimed in one of Claims 10 to 12, wherein the support (12) comprises a compass structure
(14) .
14) A system as claimed in one of Claims 10 to 13, and comprising a number of work stations (3) arranged along the unit (1) and engaged by respective operating lines (4) ; and a cable transmission (34) comprising guide members (35) defining paths along which to run the main cable (32) selectively to respective work stations.
15) A system as claimed in one of Claims 10 to 14, wherein the work station (3) is a mooring station engaged by a mooring line.
16) A floating production unit (1) having at least one work station (3), in particular a mooring station, cooperating with an operating line (4) , in particular a
mooring line; the unit being characterized by comprising an operating line traction system (2) as claimed in any one of Claims 10 to 15.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| BRPI1005367A BRPI1005367A2 (en) | 2009-01-26 | 2010-01-25 | method and system for tensioning an operating line, in particular a paddle boat mooring line |
| EP10706356.2A EP2384299B1 (en) | 2009-01-26 | 2010-01-25 | Method and system for tensioning a function line, in particular a mooring line, of a fpso-vessel |
| US13/146,292 US8800462B2 (en) | 2009-01-26 | 2010-01-25 | Traction method and system for an operating line, in particular a mooring line, of a floating production unit |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ITMI2009A000082 | 2009-01-26 | ||
| ITMI2009A000082A IT1393079B1 (en) | 2009-01-26 | 2009-01-26 | METHOD AND SYSTEM FOR THE TRACTION OF A FUNCTIONAL LINE, IN PARTICULAR A MOORING LINE, OF A FLOATING PRODUCTION UNIT |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2010084420A1 true WO2010084420A1 (en) | 2010-07-29 |
Family
ID=41508738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/IB2010/000127 WO2010084420A1 (en) | 2009-01-26 | 2010-01-25 | Method and system for tensioning a function line, in particular a mooring line, of and fpso-vessel of a fpso-vessel |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US8800462B2 (en) |
| EP (1) | EP2384299B1 (en) |
| BR (1) | BRPI1005367A2 (en) |
| IT (1) | IT1393079B1 (en) |
| WO (1) | WO2010084420A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013117597A1 (en) | 2012-02-06 | 2013-08-15 | Sbm Schiedam B.V. | Traction system for operating lines of a vessel |
| CN106379492A (en) * | 2016-11-18 | 2017-02-08 | 大连华锐重工集团股份有限公司 | Ocean engineering equipment marine positioning mooring system and use method thereof |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013154337A1 (en) * | 2012-04-09 | 2013-10-17 | 주식회사 싸이트로닉 | Method and system for static and dynamic positioning or controlling motion of marine structure |
| CN103587652B (en) * | 2013-11-22 | 2016-02-17 | 中国船舶重工集团公司第七一〇研究所 | A kind of mooring system of moving facility for water surface floating |
| GB201419394D0 (en) * | 2014-10-31 | 2014-12-17 | Saipem Spa | Offshore lifting of a load with heave compensation |
| CN105398545B (en) * | 2015-11-25 | 2018-06-01 | 深圳海油工程水下技术有限公司 | A kind of tensioning method of mooring anchor leg |
| US11173987B2 (en) * | 2016-10-18 | 2021-11-16 | Atkins Energy, Inc. | Offshore floating structures |
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-
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- 2010-01-25 EP EP10706356.2A patent/EP2384299B1/en not_active Not-in-force
- 2010-01-25 WO PCT/IB2010/000127 patent/WO2010084420A1/en active Application Filing
- 2010-01-25 US US13/146,292 patent/US8800462B2/en not_active Expired - Fee Related
- 2010-01-25 BR BRPI1005367A patent/BRPI1005367A2/en not_active IP Right Cessation
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| WO2004050470A2 (en) * | 2002-12-05 | 2004-06-17 | Gaia Importação, Exportação E Serviços Ltda | Mooring windlass/winch system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013117597A1 (en) | 2012-02-06 | 2013-08-15 | Sbm Schiedam B.V. | Traction system for operating lines of a vessel |
| KR20140123543A (en) * | 2012-02-06 | 2014-10-22 | 에스비엠 스키담 비.브이. | Traction system for operating lines of a vessel |
| US9573660B2 (en) | 2012-02-06 | 2017-02-21 | Sbm Schiedam B.V. | Traction system for operating lines of a vessel |
| KR102050614B1 (en) * | 2012-02-06 | 2020-01-08 | 싱글 뷰이 무어링스 인크. | Traction system for operating lines of a vessel |
| CN106379492A (en) * | 2016-11-18 | 2017-02-08 | 大连华锐重工集团股份有限公司 | Ocean engineering equipment marine positioning mooring system and use method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| US20120111255A1 (en) | 2012-05-10 |
| ITMI20090082A1 (en) | 2010-07-27 |
| US8800462B2 (en) | 2014-08-12 |
| BRPI1005367A2 (en) | 2019-09-24 |
| IT1393079B1 (en) | 2012-04-11 |
| EP2384299B1 (en) | 2013-08-07 |
| EP2384299A1 (en) | 2011-11-09 |
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