WO2012170326A2 - Controllably releasable shifting tool - Google Patents
Controllably releasable shifting tool Download PDFInfo
- Publication number
- WO2012170326A2 WO2012170326A2 PCT/US2012/040671 US2012040671W WO2012170326A2 WO 2012170326 A2 WO2012170326 A2 WO 2012170326A2 US 2012040671 W US2012040671 W US 2012040671W WO 2012170326 A2 WO2012170326 A2 WO 2012170326A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tool
- actuator
- shifting tool
- valve
- shifting
- 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.)
- Ceased
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B34/00—Valve arrangements for boreholes or wells
- E21B34/06—Valve arrangements for boreholes or wells in wells
- E21B34/14—Valve arrangements for boreholes or wells in wells operated by movement of tools, e.g. sleeve valves operated by pistons or wire line tools
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B23/00—Apparatus for displacing, setting, locking, releasing or removing tools, packers or the like in boreholes or wells
Definitions
- a formation isolation valve may be present at the juncture between the noted leg and cased regions thereabove. This valve may help to ensure a separation between completion and production fluids. More specifically, comparatively heavier fluids utilized during completions may be prone to adversely affect the formation if allowed to freely flow to the production region of the leg. By the same token, production of lighter high pressure fluids into the main bore during hardware installations may adversely affect such operations.
- the leg may be outfitted with a formation isolation valve that is opened for gravel packing and other early stage leg applications. However, such a valve may be subsequently closed to isolate the open- hole portion of the leg as other completions tasks are carried out uphole of the leg.
- closing the valve may avoid fluid loss during completions operations and also maintain well control in the sense of avoiding premature production of well fluids.
- This closure may be achieved in conjunction with removal of application tools from the open-hole region of the leg. So, for example, following a gravel packing application in a lateral leg, a shifting device incorporated into the gravel packing wash pipe may be used to close off the valve as the assembly is removed from the area. Thus, completion of the application and retrieval of the tool involved may be sufficient to close the formation isolation valve.
- the valve may become stuck, thus, preventing retrieval of the tool and assembly as described above.
- continued pull on the assembly could potentially result in a breakage that might lead to a host of complications ranging from tool damage to expenses and delays associated with follow-on retrieval operations. Therefore, to avoid such complications, the shifting tool is generally configured with emergency release capacity as noted below.
- the valve shifting tool works to shift open the formation isolation valve by interlocking engagement with a matching profile of the valve. More specifically, the tool engages a mandrel of the valve such that upon removal of the assembly, the mandrel is pulled uphole so as to close the valve.
- the engagement portion of the tool is configured for emergency release as noted above for circumstances where the valve has become stuck. So, for example, once a predetermined amount of uphole force has been exerted, and yet the mandrel remains stuck in place, the engagement portion of the tool may deflect out of engagement with the mandrel. More specifically, where 2,000 lbs. to 5,000 lbs. of force has been exceeded without mandrel shifting, the noted deflection will occur and the assembly will be safely removed from the well. In this manner, the tool may be retrieved from the valve and visually assessed at surface for any damage during the emergency release. However, as detailed further below, no such visual inspection or quick remedy is available for assessment and/or repair of the valve which is disposed far downhole.
- a shifting tool is detailed for releasable engagement with an actuator.
- the tool includes a collet element with engagement and base portions having substantially greater thicknesses than that of a central region disposed therebetween.
- a predictable deformation of the region may ensue upon exposure to a given load.
- FIG. 1 is a side view of an embodiment of a controllably releasable shifting tool.
- FIG. 2 is a side overview of a subsea oilfield with a riser and well assembly accommodating hardware with the shifting tool of Fig. 1 disposed therein.
- Fig. 3A is a side sectional view of the tool engaged with a valve of the hardware of Fig. 2.
- Fig. 3B is a side sectional view of the valve of Fig. 3A upon uphole disengagement and closure by removal of the tool.
- Figs. 4A-4D are sequential cross sectional views of an actuator mandrel of the valve and a deforming collet element of the tool upon alternate uphole emergency disengagement.
- Fig. 5A is a front sectional view of an embodiment of the shifting tool and initial diameter prior to the emergency disengagement sequence of Figs. 4A-4D.
- Fig. 5B is a front sectional view of the tool of Fig. 5A with a reduced diameter following the emergency disengagement sequence of Figs. 4A-4D.
- Fig. 6 is a perspective view of an alternate embodiment of a single collet element of the tool.
- Fig. 7 is a flow-chart summarizing an embodiment of utilizing a controllably releasable shifting tool in a downhole environment.
- Embodiments are described with reference to certain downhole assemblies that make use of a valve and valve actuator.
- production assemblies that are configured for disposal across cased and open-hole regions at various well locations are detailed. More specifically, subsea completions employing formation isolation valves are depicted.
- embodiments of a controllably releasable shifting tool as detailed herein may be directed at a variety of different actuator types.
- actuators for triggering different types of valves, sliding sleeves, packer setting tools and other substantially permanent downhole devices may be configured for engagement with a shifting tool as described herein-below.
- the oilfield environment need not be subsea as depicted.
- the shifting tool is particularly configured to allow for controlled or 'emergency' release in a predictable and reliable manner heretofore unseen.
- a side view of an embodiment of a controllably releasable shifting tool 100 is shown.
- the tool 100 includes collet elements 130 which are each outfitted with an engagement portion 175 configured to engage an actuator of a downhole tool, for example to shift a valve 360 closed as shown in Figs 3A and 3B.
- each element 130 is also configured to allow for controlled emergency release or disengagement in a predictable manner. So, for example, in certain circumstances the noted valve 360 may be stuck open such that even several thousand pounds of load pull imparted on the tool 100 is insufficient to initiate actuator function (e.g. 2,000 lbs. - 5,000 lbs.).
- a controlled disengagement may be achieved. That is, disengagement may be achieved in a substantially damage-free manner relative each element 130 as well as features of the actuator and valve 360 as detailed below. Thus, future operation of the valve 360 is unlikely to be compromised even upon failure of actuator shifting.
- each collet element 130 is equipped with a central deformable region 150.
- This region 150 is of a thickness that is substantially below that of the noted engagement portion 175. Similarly its thickness is substantially below that of a base portion 125 which is structurally secured to a delivery tool 110, in this case wash pipe.
- the central deformable region 150 is located between portions 125, 175 of substantially greater resistance to deformation upon imparting of a load on the tool 100. Ultimately, this may lead to a controlled deformation that provides a predictable release where appropriate.
- the difference in thickness may be anywhere between about 25% to about 90%. More specifically, in one embodiment a difference of between about 40-70% is employed with the deformable region 150 being of between about 75 to 125 thousandths of an inch thick compared to adjacent portions 125, 175 of between about 145-185 thousandths of an inch thick.
- the base 125 and engagement 175 portions be of identical thicknesses on a given collet element 130. However, in certain embodiments, each portion 125, 175 of a given collet element 130 is of substantially similar thickness.
- each central deformable region 150 of each collet element 130 is substantially similar in thickness. Indeed, by the same token, each base portion 125 of all collet elements 130 is substantially similar in thickness as is each engagement portion 175 relative one another. Once more, while each engagement portion 175 is of a keyed or changing profile, a transition location 127 of the portion 175 is provided which displays a consistency of thickness. Thus, as a matter of measured comparison for a given collet element 130, this location 127 of the engagement portion 175 is of substantially similar thickness to the base portion 125 in the preferred embodiment noted above.
- the tool 100 is configured for deployment via a wash pipe delivery tool 110. Such may be provided as part of a larger overall gravel packing or other assembly, depending on the nature and stage of downhole operations.
- the overall tool 100 depicted includes a central flow thru channel 185 terminating at a conventional bull nose region 180.
- a variety of different tool configurations may be utilized, generally ranging between about 2-4 inches in diameter.
- the diameter of the channel 185 may be at the larger end of the spectrum and the overall length of the tool 100 reduced as compared to conventional shifting tool.
- the channel 185 may be over about 3 inches and the length of the tool 100 below about 90 inches, thereby enhancing flow capacity and reducing overall tool weight and size for sake of transport.
- Fig. 2 a side overview of a subsea oilfield 200 is shown whereat a riser 225 and adjoining well 280 are located.
- hardware 260, 265 of the well 280 is depicted with the shifting tool 100 of Fig. 1 disposed therein.
- the hardware includes a packer 260 for isolating a largely open-hole leg 285 running through a formation 290 along with a valve housing 265 for containing a formation isolation valve 360 as referenced above and detailed further below.
- a packer 260 for isolating a largely open-hole leg 285 running through a formation 290 along with a valve housing 265 for containing a formation isolation valve 360 as referenced above and detailed further below.
- fluid communication as between production tubing 250 within the riser 225 and the interior of the leg 285 may be regulated.
- the valve 360 may be in an open position with the tool 100 disposed through the housing 265 and into the leg 285.
- applications directed at the leg 285 may proceed.
- an application such as gravel packing may be directed through a control unit 277 and other surface equipment 275 disposed at a rig platform 279.
- the shifting tool 100 may be withdrawn back up through the housing 265 and tubing 250. This may be done in a manner that simultaneously closes the valve 360 as described below.
- the closed valve 360 may also prevent heavier uphole application fluids from undesirably leaking into the leg 285.
- the shifting tool 100 is with collet elements 130 that include a central deformable region 150 of comparatively reduced thickness.
- the size of the tool 100 as well as the footprint of associated delivery equipment may be similarly reduced. So, for example, easier transport to the rig floor 279 may result along with added space thereat, both of which may be particularly beneficial in the case of offshore operations as depicted.
- FIGs. 3A and 3B side sectional views of the shifting tool 100 are shown disposed within the valve housing 265. More specifically, Fig. 3A reveals the tool 100 engaged with an actuator mandrel 365 for the open formation isolation valve 360. Fig. 3B, on the other hand shows this ball valve 360 in a closed position in conjunction with the upward pull and disengagement of the tool 100 from the mandrel 365.
- the shifting tool 100 is shown upon initiation of its uphole removal through the valve housing 265 and production tubing 250.
- the engagement portion 175 of the tool 100 engages with the actuator mandrel 365 of the formation isolation valve 360.
- continued upward pull results in an upward shift of the mandrel 365 thereby rotatably closing off the valve passage 375 relative the otherwise open interior 300 of the housing 265 (see Fig. 3B).
- the uphole interior 350 of the hardware is now fluidly isolated from the noted housing interior 300.
- isolation of riser 225, production 250 and other uphole tubular disposed hardware is now achieved relative the leg 285 below the packer 260 and housing 265. Therefore, completions and other uphole applications may proceed in a fluidly isolated manner relative the leg 285 as detailed above.
- the shifting tool 100 is outfitted with collet elements 130 that are configured to avoid pull induced tool breakage. That is, upon exceeding a load pull in excess of a predetermined amount, the tool 100 will ultimately disengage from the mandrel 365 regardless of whether or not a completed valve closure has been achieved. More specifically, in one embodiment, a load in excess of 50,000 lbs. will result in disengagement of the engagement portion 175 relative a recess 367 of the mandrel 365, provided certain sequential movement occurs as detailed further below.
- Having such substantial loads available without undue concern over damage to the tool 100 and/or mandrel 365 also increases the likelihood that a stuck actuator may be dislodged and unstuck prior to disengagement and release. Further, the substantial load may be applied for longer time than previously possible. That is, the more time spent applying the load, the more time the force is transmitted and propagated through the system. Thus, the likelihood is increased of overcoming obstacles such as debris or corrosion that may impede valve functionality.
- this release may be achieved through the controlled deformation of the central region 150 of the collet element 130.
- a reduced diameter (D) of the tool 100 may be achieved so as to allow an emergency release thereof where appropriate (see also Figs. 5A and 5B).
- this controlled deformation of the central region 150 may be a result of substantially thicker base 125, transition 127 and/or engagement 175 portions of each element 130 immediately adjacent the noted region 150.
- the central region 150 may also be of sufficient thickness to achieve shifting of the mandrel 365 without any notable deformation in circumstances where no sticking thereof is involved (as depicted in Fig. 3B).
- FIGs. 4A-4D cross sectional views of the actuator mandrel 365 being pulled upward (arrow 480) by the engaged collet element 130. More specifically, increasing sequential deforming of the central region 150 of the element 130 is apparent as the load pull progresses. That is, with the actuator mandrel 365 stuck in place and incapable of shifting upward (arrow 480), the pull imparted through the underlying support mandrel 140 is translated into a predictable deformation. Indeed, with added reference to Fig. 1, this deformation may be substantially uniformly displayed throughout each collet element 130 of the tool 100 such that a controlled or 'emergency' disengagement from the stuck mandrel 365 is achieved.
- a load of between about 10,000 lbs. and about 25,000 lbs. is sufficient to initiate the deformation of the central region 150 as noted at 401. This deformation is responsive to the immobility of the actuator mandrel 365 as noted above. Further, the central region 150 is comparatively thinner than the adjacent portions 125, 175.
- the engagement portion 175 in particular includes a thicker transition 127 as well as a profile for engagement with the recess 367 of the actuator mandrel 365.
- the initial deformation at 401 is achieved by application of loads upwards of 25,000 lbs. as noted above.
- the continued increase in load may result in additional discrete deformations 402, 403 of Figs. 4B and 4C at loads of between about 40,000 lbs. and about 45,000 lbs.
- continued increase in load pull to in excess of about 100,000 lbs. may result in the deformation 404 depicted in Fig. 4D.
- such values are only exemplary and alternate collet element 130 embodiments may be tailored for different types and increments of deformation based on material choices, overall dimensions and other factors. Additionally, the imparting of such loads need not be on a sustained continuous basis. Rather, as described further below, cycles of load, perhaps of lower values, may be utilized in attaining the depicted deformation.
- the compressive accordion-like responsiveness of the noted deforming region 150 is repeated for each element 130 of the shifting tool 100.
- the tool 100 may be set to take on a slightly reduced overall diameter (D ' ) relative its profiled engagement portions 175 (see Fig. 5B).
- the engagement portions 175 may remain locked into engagement with the recess 367 and associated tooth-like features. Therefore, an initial larger overall diameter (D) may persist.
- a reduction a diameter reduction for the tool 100 may be achieved following the controlled deformation as noted above.
- the work string, including the tool 100 and each support mandrel 140 and element 130 thereof may be shifted in a downhole direction (see arrow 490). This may be directed through conventional surface equipment 275 as depicted in Fig. 2.
- a release of the engagement portion 175 from the recess 367 may be achieved, at which time, the overall diameter of the tool 100 may naturally reduce (from D to D').
- this alternating of upward (arrow 480) and downward (arrow 490) motion may be employed without allowing for release but rather as an alternate technique for enhanced control over the deformation.
- Fig. 6 a perspective view of another embodiment of collet element 630 is depicted. Similar to the element 130 of Fig. 1, the element 630 of Fig. 6 is equipped with an engagement portion 675 for interfacing downhole features as described hereinabove. Further, the central region 650 may again be of a lesser thickness (T " ) as compared to the thicknesses ( ⁇ " ' , ⁇ ' ) of the adjacent portion 625 and location 627. However, in addition to such thickness variations, the element 630 may be configured with a host of other dimensional characteristics tailored for control over deformation as detailed above.
- the element 630 may be of lesser width (w " ) at the central region 650 as compared to widths (w ' " , w ' ) at the adjacent portion 625 and location 627.
- the length (L " ) may differ substantially from that of the adjacent portion 625 (see L ' " ) and location 627 (see L ' ).
- the radius (r ' " , r " , r ' ) may vary relative different positions (625, 650, 627).
- the central region 650 is located at a position reflecting a radius (r " ) that is between the radiuses (r ' “ , r ' ) of the portion 625 and the location 627.
- the particular radiuses (r ' , r “ , r ' “ ), widths (w ⁇ w “ , w ' “ ), lengths (L ' , L “ , L ' “ ) and thicknesses ( ⁇ ' , T “ , T ”) may all be a matter of tailored design choice, with specific values selected based on loads, material choices and other variables affecting the controlled deformation.
- the shifting tool may be provided along with a delivery tool that is utilized in any of a variety of downhole applications (see 705).
- the shifting tool may be utilized following gravel packing in a generally open- hole section of a well.
- the shifting tool may be brought into engagement with an actuator as indicated at 720.
- the actuator is utilized in conjunction with a formation isolation valve.
- the shifting tool may be utilized for activating the actuator as indicated at 735. So, in the example of the valve noted above, the valve may be closed by such activation. However, in circumstances where the activation fails due to a stuck actuator arm or mandrel, collet element regions of the shifting tool may be controllably deformed as noted at 765. This is achieved through the use of comparatively thin central regions of each collet element. Thus, unpredictable collet breakage and/or unduly low load pull tolerances (e.g. below about 10,000 lbs.) may be avoided. In fact, even in circumstances where load pull is sought to remain below a given amount, say about 50,000 lbs., multiple cycles of load pull may be utilized as indicated at 780. As such, the controlled deformation may be achieved without application of a continuous pull of substantially greater amounts.
- the shifting tool may be released from engagement as indicated at 750.
- the delivery and shifting tools may be safely removed from the well.
- Embodiments described hereinabove include tools and techniques for allowing emergency release of a shifting tool in a controlled and reliable manner. Once more, the controlled release is reliable enough that release need not be set at a load of less than 10,000 lbs. In fact, application of load pull in excess of 50,000 to 100,000 lbs. or more may be safely utilized without undue concern over shifting tool breakage in a downhole location. As a result, stuck actuator arms may be more frequently dislodged or unstuck with the shifting tool already in place. Thus, downhole operations may proceed in a more streamlined fashion with less frequent need for separate interventions to address stuck actuator arms.
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- Engineering & Computer Science (AREA)
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- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
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Abstract
Description
Claims
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| BR112013030123-6A BR112013030123B1 (en) | 2011-06-10 | 2012-06-04 | CHANGE TOOL, WELL BACKGROUND SET FOR DISPOSAL IN A OIL FIELD WELL AND METHOD TO USE CONTROLLABLE RELEVABLE DISPLACEMENT TOOL IN WELL BACKGROUND LOCATION |
| GB1320440.9A GB2506032B (en) | 2011-06-10 | 2012-06-04 | Controllably releasable shifting tool |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201161495711P | 2011-06-10 | 2011-06-10 | |
| US61/495,711 | 2011-06-10 | ||
| US13/431,709 | 2012-03-27 | ||
| US13/431,709 US9222335B2 (en) | 2011-06-10 | 2012-03-27 | Controllably releasable shifting tool |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| WO2012170326A2 true WO2012170326A2 (en) | 2012-12-13 |
| WO2012170326A3 WO2012170326A3 (en) | 2013-03-28 |
Family
ID=47292165
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/US2012/040671 Ceased WO2012170326A2 (en) | 2011-06-10 | 2012-06-04 | Controllably releasable shifting tool |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US9222335B2 (en) |
| BR (1) | BR112013030123B1 (en) |
| GB (1) | GB2506032B (en) |
| WO (1) | WO2012170326A2 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014204474A1 (en) * | 2013-06-20 | 2014-12-24 | Halliburton Energy Services, Inc. | Remote and manual actuated a well tool |
| US20180163486A1 (en) * | 2015-07-07 | 2018-06-14 | Halliburton Energy Services, Inc. | High-load collet shifting tool |
| US10294754B2 (en) | 2017-03-16 | 2019-05-21 | Baker Hughes, A Ge Company, Llc | Re-closable coil activated frack sleeve |
| US10662734B1 (en) * | 2019-09-14 | 2020-05-26 | Vertice Oil Tools | Methods and systems for preventing hydrostatic head within a well |
| US12025238B2 (en) | 2020-02-18 | 2024-07-02 | Schlumberger Technology Corporation | Hydraulic trigger for isolation valves |
| WO2021168032A1 (en) | 2020-02-18 | 2021-08-26 | Schlumberger Technology Corporation | Electronic rupture disc with atmospheric chamber |
| CN115516238A (en) | 2020-04-17 | 2022-12-23 | 斯伦贝谢技术有限公司 | Hydraulic trigger with locked spring force |
| GB2626501A (en) * | 2021-11-02 | 2024-07-24 | Schlumberger Technology Bv | Positional-release mechanism for a downhole tool |
Family Cites Families (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5183114A (en) | 1991-04-01 | 1993-02-02 | Otis Engineering Corporation | Sleeve valve device and shifting tool therefor |
| US5156210A (en) | 1991-07-01 | 1992-10-20 | Camco International Inc. | Hydraulically actuated well shifting tool |
| US5305833A (en) | 1993-02-16 | 1994-04-26 | Halliburton Company | Shifting tool for sliding sleeve valves |
| WO1998014685A2 (en) | 1996-10-04 | 1998-04-09 | Camco International, Inc. | Improved emergency release tool |
| US6349767B2 (en) * | 1998-05-13 | 2002-02-26 | Halliburton Energy Services, Inc. | Disconnect tool |
| US6216804B1 (en) * | 1998-07-29 | 2001-04-17 | James T. Aumann | Apparatus for recovering core samples under pressure |
| GB0220445D0 (en) * | 2002-09-03 | 2002-10-09 | Lee Paul B | Dart-operated big bore by-pass tool |
| GB2392937B (en) | 2002-09-13 | 2004-11-17 | Schlumberger Holdings | Volume compensated shifting tool |
| US6808023B2 (en) * | 2002-10-28 | 2004-10-26 | Schlumberger Technology Corporation | Disconnect check valve mechanism for coiled tubing |
| US8336625B2 (en) * | 2004-11-03 | 2012-12-25 | Halliburton Energy Services, Inc. | Fracturing/gravel packing tool with variable direction and exposure exit ports |
| US7503395B2 (en) * | 2005-05-21 | 2009-03-17 | Schlumberger Technology Corporation | Downhole connection system |
| US7520336B2 (en) * | 2007-01-16 | 2009-04-21 | Bj Services Company | Multiple dart drop circulating tool |
| GB2451288B (en) * | 2007-07-27 | 2011-12-21 | Red Spider Technology Ltd | Downhole valve assembley, actuation device for a downhole vavle assembley and method for controlling fluid flow downhole |
| US7905279B2 (en) * | 2008-04-15 | 2011-03-15 | Baker Hughes Incorporated | Combination whipstock and seal bore diverter system |
| US20100108323A1 (en) | 2008-10-31 | 2010-05-06 | Weatherford/Lamb, Inc. | Reliable Sleeve Activation for Multi-Zone Frac Operations Using Continuous Rod and Shifting Tools |
-
2012
- 2012-03-27 US US13/431,709 patent/US9222335B2/en active Active
- 2012-06-04 GB GB1320440.9A patent/GB2506032B/en active Active
- 2012-06-04 WO PCT/US2012/040671 patent/WO2012170326A2/en not_active Ceased
- 2012-06-04 BR BR112013030123-6A patent/BR112013030123B1/en active IP Right Grant
Also Published As
| Publication number | Publication date |
|---|---|
| BR112013030123A2 (en) | 2016-09-20 |
| GB2506032A (en) | 2014-03-19 |
| BR112013030123B1 (en) | 2021-03-30 |
| US20120312555A1 (en) | 2012-12-13 |
| GB201320440D0 (en) | 2014-01-01 |
| WO2012170326A3 (en) | 2013-03-28 |
| GB2506032B (en) | 2019-01-09 |
| US9222335B2 (en) | 2015-12-29 |
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