WO2018200429A2 - Method of producing hydroxyalkylcarbamate-functional polyamides and uses thereof - Google Patents
Method of producing hydroxyalkylcarbamate-functional polyamides and uses thereof Download PDFInfo
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- WO2018200429A2 WO2018200429A2 PCT/US2018/028995 US2018028995W WO2018200429A2 WO 2018200429 A2 WO2018200429 A2 WO 2018200429A2 US 2018028995 W US2018028995 W US 2018028995W WO 2018200429 A2 WO2018200429 A2 WO 2018200429A2
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- acid
- drilling fluid
- fatty acid
- oil
- hydrogen
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Classifications
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- C—CHEMISTRY; METALLURGY
- C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
- C09K—MATERIALS FOR MISCELLANEOUS APPLICATIONS, NOT PROVIDED FOR ELSEWHERE
- C09K8/00—Compositions for drilling of boreholes or wells; Compositions for treating boreholes or wells, e.g. for completion or for remedial operations
- C09K8/02—Well-drilling compositions
- C09K8/32—Non-aqueous well-drilling compositions, e.g. oil-based
- C09K8/36—Water-in-oil emulsions
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08G—MACROMOLECULAR COMPOUNDS OBTAINED OTHERWISE THAN BY REACTIONS ONLY INVOLVING UNSATURATED CARBON-TO-CARBON BONDS
- C08G73/00—Macromolecular compounds obtained by reactions forming a linkage containing nitrogen with or without oxygen or carbon in the main chain of the macromolecule, not provided for in groups C08G12/00 - C08G71/00
- C08G73/06—Polycondensates having nitrogen-containing heterocyclic rings in the main chain of the macromolecule
- C08G73/10—Polyimides; Polyester-imides; Polyamide-imides; Polyamide acids or similar polyimide precursors
- C08G73/1042—Copolyimides derived from at least two different tetracarboxylic compounds or two different diamino compounds
-
- C—CHEMISTRY; METALLURGY
- C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
- C09K—MATERIALS FOR MISCELLANEOUS APPLICATIONS, NOT PROVIDED FOR ELSEWHERE
- C09K8/00—Compositions for drilling of boreholes or wells; Compositions for treating boreholes or wells, e.g. for completion or for remedial operations
- C09K8/02—Well-drilling compositions
- C09K8/03—Specific additives for general use in well-drilling compositions
- C09K8/035—Organic additives
Definitions
- the present disclosure generally relates to a modified drilling fluid comprising a drilling fluid and a hydroxyalkylcarbamate-functional polyamide composition. More specifically, the present disclosure relates to a modified drilling fluid comprising a drilling fluid and the reaction product(s) of a polyalkylene polyamine, fatty acid, and alkylene carbonate, and methods of making and using the same.
- Drilling fluids are used to facilitate the drilling of wells. Drilling fluids are pumped from the surface, through the wellbore, and back to the surface, thereby serving a variety of functions, including: removing drill cuttings from the drilling area and transporting the cuttings to the surface, cooling and lubricating the drill bit, exerting hydrostatic pressure to prevent high-pressure oil, gas, and other fluids from prematurely entering the wellbore, and maintaining the stability of the wellbore walls.
- drilling fluids or "drilling muds" exist and are classified according to the base component of the drilling muds.
- water based drilling muds and oil based drilling muds.
- drilling muds comprising emulsions of water and oil.
- water-in-oil emulsion drilling muds (also referred to as a “water-in-oil invert emulsion drilling muds”) comprise an aqueous phase dispersed as droplets throughout a continuous (i.e., external) oil or synthetic oil phase, which may comprise diesel fuel or other liquid hydrocarbon mixtures (e.g., olefinic and/or paraffmic species in the C ⁇ -C ⁇ range).
- the aqueous dispersed (i.e., internal) phase is normally a saline, aqueous solution (e.g., a chloride-containing brine solution, such as a 30% calcium chloride base).
- Water-in-oil emulsion drilling muds typically result from the blending of a hydrocarbon oil with a water or brine under high shear conditions and in the presence of a suitable emulsifier. Emulsification is complete when there is no distinct layer of water in the fluid.
- the emulsifier is required not only to form a stable dispersion of water droplets in the oil phase, but also to maintain any solids such as weighting material additives (e.g., barites) or drill cuttings in an oil-wet state.
- emulsifiers are used in the art including, for example:
- U.S. Patent No. 8, 163,675 describes emulsifiers for oil-based drilling muds based on polyamines and fatty acid/maleic anhydride.
- U.S. Patent No. 8,727,005 describes an emulsifier composition comprising an emulsifier, a diluent, and a thinner, wherein the emulsifier comprises a carboxylic acid- terminated polyamide (“CATP”) that is reacted with an acid anhydride like maleic anhydride.
- CAP carboxylic acid- terminated polyamide
- U.S. Patent No. 8,765,644 describes an emulsifier comprising polyamides derived from fatty acid/carboxylic acid, and optionally alkoxylated polyamides.
- U.S. Patent No. 8,927,468 describes an emulsifier comprising (1) a carboxylic acid terminated fatty amine condensate, (2) a modified tall oil, or (3) a blend of these components, where the component or blend is neutralized and spray dried.
- Example 1 teaches a carboxylic acid terminated fatty amine condensate prepared by reacting tall oil fatty acids (TOFA) with diethylenetriamine (DETA) to yield a fatty acid amine condensate, and then converting the unreacted amine termini to carboxylic acid termini through subsequent reaction with maleic anhydride (MA).
- TOFA tall oil fatty acids
- DETA diethylenetriamine
- compositions and/or methods disclosed herein can be made and executed without undue experimentation in light of the present disclosure. While the compositions and methods of the present disclosure have been described in terms of preferred embodiments, it will be apparent to those having ordinary skill in the art that variations may be applied to the compositions and/or methods and in the steps or sequences of steps of the methods described herein without departing from the concept, spirit, and scope of the present disclosure. All such similar substitutes and modifications apparent to those skilled in the art are deemed to be within the spirit, scope, and concept of the present disclosure.
- the term "about” is used to indicate that a value includes the inherent variation of error for the quantifying device, mechanism, or method, or the inherent variation that exists among the subject(s) to be measured.
- the designated value to which it refers may vary by plus or minus ten percent, or nine percent, or eight percent, or seven percent, or six percent, or five percent, or four percent, or three percent, or two percent, or one percent, or one or more fractions therebetween.
- At least one will be understood to include one as well as any quantity more than one, including but not limited to, 1, 2, 3, 4, 5, 10, 15, 20, 30, 40, 50, 100, etc.
- the term “at least one” may extend up to 100 or 1000 or more depending on the term to which it refers.
- the quantities of 100/1000 are not to be considered as limiting since lower or higher limits may also produce satisfactory results.
- the phrase "at least one of X, Y, and Z" will be understood to include X alone, Y alone, and Z alone, as well as any combination of X, Y, and Z.
- the phrase “at least one of X and Y” will be understood to include X alone, Y alone, as well as any combination of X and Y.
- phrases "or combinations thereof and “and combinations thereof as used herein refers to all permutations and combinations of the listed items preceding the term.
- “A, B, C, or combinations thereof is intended to include at least one of: A, B, C, AB, AC, BC, or ABC and, if order is important in a particular context, also BA, CA, CB, CBA, BCA, ACB, BAC, or CAB.
- expressly included are combinations that contain repeats of one or more items or terms such as BB, AAA, CC, AABB, AACC, ABCCCC, CBBAAA, CABBB, and so forth.
- substantially free shall be used herein to mean present in an amount less than 1 weight percent, or less than 0.1 weight percent, or less than 0.01 weight percent, or alternatively less than 0.001 weight percent, based on the total weight of the referenced composition.
- alkyl is inclusive of both straight chain and branched chain groups and of cyclic groups.
- the alkyl group may have up to 40 carbons (in some embodiments up to 30, 20, 15, 12, 10, 8, 7, 6, 5, 4, 3, 2, or 1 carbons) unless otherwise specified.
- Cyclic groups can be monocyclic and in some embodiments, can have from 3 to 10 carbon atoms.
- the reaction conditions disclosed herein are intended to be at atmospheric pressure, i.e., about 101 kPa.
- ambient temperature refers to the temperature of the surrounding work environment (e.g., the temperature of the area, building or room where the curable composition is used), exclusive of any temperature changes that occur as a result of the direct application of heat to the curable composition to facilitate curing.
- the ambient temperature is typically between about 10 °C and about 30 °C, more specifically about 15 °C and about 25 °C.
- the present disclosure is directed to a modified drilling fluid comprising (a) a drilling fluid and (b) a hydroxyalkylcarbamate-functional polyamide composition produced by (i) reacting a polyalkylene polyamine and a fatty acid to form an amidoamine intermediate product, and (ii) reacting the amidoamine intermediate product and an alkylene carbonate.
- the drilling fluid is a water-in-oil invert emulsion drilling mud comprising a continuous, external oil phase and an internal aqueous phase.
- the drilling fluid is a water-in-oil invert emulsion drilling mud comprising an internal aqueous phase and a continuous, external oil phase having 20:80 to 90: 10 by volume aqueous phase to oil phase.
- the water-in-oil invert emulsion drilling mud comprises an internal aqueous phase and a continuous, external oil phase having 30:70 to 85: 15, or 35:65 to 85: 15, or 40:60 to 85: 15, or 45:55 to 85: 15, or 50:50 to 85: 15, or 55:45 to 85: 15, or 60:40 to 80:20 by volume aqueous phase to oil phase
- the oil phase can comprise one or more oils chosen from, for example but without limitation, linear, branched, and/or cyclic hydrocarbons.
- oils include diesel oil, jet fuel, mineral oil, biodiesel, vegetable oil, animal oil, paraffin oil, white oil, kerosene, internal olefins, hydrogenated oil, alpha olefins, dialkyl carbonates, and/or mixtures thereof.
- the aqueous phase can comprise sea water, freshwater, naturally-occurring and artificially-created brines containing organic and/or inorganic dissolved salts, liquids comprising water-miscible organic compounds, and combinations thereof.
- suitable brines include chloride-based, bromide- based, or formate-based brines containing monovalent and/or polyvalent cations and combinations thereof.
- suitable chloride-based brines include, but are not limited to, sodium chloride, potassium chloride and calcium chloride.
- suitable bromide- based brines include, but are not limited to, sodium bromide, calcium bromide, and zinc bromide.
- suitable formate-based brines include, but are not limited to, sodium formate, potassium formate, and cesium formate.
- the aqueous phase is a brine solution comprising water and calcium chloride.
- the oil-based drilling mud can further comprise at least one of a surfactant, pH modifier, a barite weight agent, organoclays, fluid loss control agents, rheology modifiers, wetting agents, limes, additional brine, dispersants, stabilizers, and/or combinations thereof.
- the polyalkylene polyamine can be a polyethylene polyamine, polypropylene polyamine, and/or polybutylene polyamine.
- the polyalkylene polyamine is a polyethylene polyamine.
- Non-limiting examples of the polyethylene polyamine include diethylenetriamine (“DETA”), triethylenetetramine (“TETA”), tetraethylenepentamine (“TEPA”), pentaethylenehexamine (“PEHA”), and/or higher-order linear ethyleneamines, including their branched and/or cyclic (piperazine-containing) analogs.
- the polyethylene polyamine can also be at least partially alkoxylated (e.g., ethoxylated) or otherwise functionalized with the proviso that at least two primary and/or secondary amines are available to react with the functional groups of the fatty acid and alkylene carbonate.
- the polyalkylene polyamine is selected from the group consisting of diethylenetriamine (“DETA”), triethylenetetramine (“TETA”), tetraethylenepentamine (“TEPA”), pentaethylenehexamine (“PEHA”), and combinations thereof.
- DETA diethylenetriamine
- TETA triethylenetetramine
- TEPA tetraethylenepentamine
- PEHA pentaethylenehexamine
- the fatty acid wherein the fatty acid is represented by formula (III):
- the fatty acid is derived from a fatty acid source selected from the group consisting of soybean oil, coconut oil, rapeseed oil, tall oil, tallow, and combinations thereof.
- Non-limiting examples of the fatty acid include lauric acid, myristic acid, palmilitic acid, stearic acid, arachidic acid, behenic acid, oleic acid, linoleic acid, linolenic acid, and/or a combination thereof.
- the fatty acid is tall oil.
- tall oil is a product commonly produced as a by-product during the manufacture of wood pulp.
- the step of reacting the polyalkylene polyamine and the fatty acid to form the amidoamine intermediate product generally comprises combining the polyalkylene polyamine and fatty acid at a temperature in a range of from about 20 °C to about 120 °C, or from about 60 °C to about 100 °C, and then heating the combination at a temperature of from about 120 °C to about 200 °C, or from about 140 °C to about 180 °C for a time until no water is removed from the reaction.
- the combination of the polyalkylene polyamine and the fatty acid is heated at a temperature of from about 120 °C to about 200 °C, or from about 140 °C to about 180 °C at a time in a range of from about 2 hours to about 8 hours, or from about 2 hours to about 4 hours.
- the step of reacting the polyalkylene polyamine and the fatty acid comprises combining the polyalkylene polyamine and fatty acid at a temperature from about 60 °C to about 100 °C and then heating the combination at a temperature in a range of from about 140 °C to about 180 °C for a time in a range of from about 2 hours to about 4 hours.
- the molar ratio of the polyalkylene polyamine and the fatty acid can be in a range of from about 1 : 1.1 to about 1 :3, or from about 1 : 1.5 to about 1 :2.5, or about 1 : 1.4 to 1 :2, or about 1 :2, or about 1 : 1.5. [0050] In one embodiment, the molar ratio of the polyalkylene polyamine and the fatty acid is 1 :2.
- the alkylene carbonate is represented by at least one of formulas (I) and (II) below:
- R 2 - Rn are independently selected from i) hydrogen, ii) an alkyl group, and iii) a moiety comprising a hydroxyl, halide, aldehyde, ether, ester, carboxylic acid, epoxide, or a combination thereof.
- the alkylene carbonate is represented by formula (I), wherein R 2; R 3 , and R 5 are each hydrogen, and R 4 is selected from the group consisting of hydrogen, CH 3 , C 2 H 5 , and CH 3 OH.
- the step of reacting the amidoamine intermediate product and alkylene carbonate generally comprises heating the amidoamine intermediate product and alkylene carbonate at a temperature in a range of from about 20 °C to about 120 °C, or from about 60 °C to about 100 °C, or from about 60 °C to about 90 °C for a time in a range of from about 1 hour to about 8 hours, or from about 1 hour to about 4 hours, or from about 1.5 hours to about 2.5 hours, or about 2 hours.
- the step of reacting the amidoamine intermediate product and alkylene carbonate comprises heating the amidoamine intermediate product and alkylene carbonate at a temperature of 60 °C to 90 °C for about 2 hours.
- the molar ratio of the alkylene carbonate and the amidoamine intermediate product can be in a range of from about 3 : 1 to about 0.8: 1, or from about 2: 1 to about 0.9: 1, or about 1 : 1 of the alkylene carbonate to the amidoamine intermediate product. In one embodiment, the molar ratio of alkylene carbonate is in excess of the amidoamine intermediate product resulting in unreacted alkylene carbonate.
- the step of reacting the amidoamine intermediate product and the alkylene carbonate can be in the presence of a solvent at an amount of less than 80 wt%, or less than 70 wt%, or less than 60 wt%, or less than 50 wt%, or less than 40 wt%, or less than 30 wt%, or less than 20 wt%, or less than 10 wt%, or less than 5 wt%, or less than 4 wt% or less than 3 wt%, or less than 2 wt%, or less than 1 wt% of the total weight of reactants.
- the step of reacting the amidoamine intermediate product and the alkylene carbonate can be free of solvent.
- Non-limiting examples of the solvent include C1-C8 alcohols and/or linear or branched alkoxylates of said alcohols. Additional examples of compatible solvents may include those containing alcohol, aromatic, amide or ether functional groups. Other alkylene carbonates or excess alkylene carbonate may also serve as solvent. Aromatic or paraffinic solvents such as heavy aromatic naphtha, xylene and toluene may also be used in combination with the above solvents. CI 6- 18 internal olefins can also act as both solvents and as co-emulsifiers. Additional examples of solvents include solvents that will not react with the alkylene carbonate or primary or secondary amines, such solvents exclude esters, organic or inorganic acids, or primary, secondary, and tertiary amines.
- Scheme lb demonstrates the reaction between a 1 : 1 mole ratio of the amidoamine intermediate product formed from diethylenetriamine ("DETA") and a fatty acid as set forth in Scheme la with an alkylene carbonate represented by formula (I) wherein R 2 - R 5 are independently selected from i) hydrogen, ii) an alkyl group, and iii) a moiety comprising a hydroxyl, halide, aldehyde, ether, ester, carboxylic acid, epoxide, or a combination thereof.
- the hydroxyalkylcarbamate-functional polyamide composition comprises at least one of the compounds represented by formulae (IV), (V), (VI), and (VII) below.
- the present disclosure is directed to a method of producing a modified drilling fluid comprising mixing a drilling fluid (as described above and incorporated herein) and a hydroxyalkylcarbamate-functional polyamide composition (as described above and incorporated herein).
- the present disclosure is directed to a method of producing a modified drilling fluid, wherein the method comprises first producing a hydroxyalkylcarbamate-functional polyamide (as described above and incorporated herein) and then mixing the hydroxyalkylcarbamate-functional polyamide with a drilling fluid (as described above and incorporated herein).
- a 2-liter 4-neck round-bottom reaction flask equipped with a mechanical stirrer, distillate-returning Dean-Stark trap, condenser with nitrogen outlet, pressure equalizing addition funnel with nitrogen inlet and temperature probe was charged with 900.0 g SYLFATTM 2 TOFA (Arizona Chemicals). Then, an ethyleneamine mixture of 158.0 g DETA, 2.2 g TEPA, and 2.2 g TETA was charged to the addition funnel and the system purged with nitrogen via sparging of the SYLFATTM 2 Tall Oil Fatty Acid (TOFA) for 30 minutes during which time it was heated to 95°C.
- TOFA Tall Oil Fatty Acid
- the ethyleneamine mixture was added to the TOFA over a period of about 5 minutes during which time the resulting exothermic reaction increased the temperature of the mixture to about 125°C.
- the mixture was then heated to 165°C and allowed to reflux for 1 hour during which time the water of reaction was removed overhead. 54.8 g of water was removed over the course of 2 hours.
- the resulting pre-product mixture i.e., an amidoamine intermediate product
- was then cooled to 75°C and 520 g NEOFLO® l-68i CI 6- 18 internal olefin (Shell Chemicals) solvent was added and allowed to mix at 65°C for 10 minutes prior to discharge and cooling. A dark red-amber liquid was obtained at ambient temperature. Analysis prior to addition of NEOFLO® solvent: total amine no. (mg KOH/g) 94.1, acid no. (mg KOH/g): 8.1.
- a 24iter 4-neck round-bottom reaction flask equipped with a mechanical stirrer, distillate-returning Dean-Stark trap, condenser with nitrogen outlet, pressure equalizing addition funnel with nitrogen inlet and temperature probe was charged with 600.2 g Tall oil fatty acid from Alrez Inc. (Crossett, AK). Then, an ethyleneamine mixture of 105.0 g DETA, 1.5 g TEPA and 1.5 g TETA was charged to the addition funnel and the system purged with nitrogen via sparging of the TOFA for 30 minutes during which time it was heated to 80°C. The ethyleneamine mixture was added to the TOFA over a period of about 10 minutes during which time the resulting exothermic reaction increased the temperature of the mixture to about 122°C.
- Drilling mud components (wt %) ISOPAR® M fluid 20 20.3 20.5 20.7
- Viscosity (cP), 3 rpm 600 (900) 500 (600) 400 (500) 500 (600)
- Viscosity (cP), 6 rpm 450 (600) 350 (450) 250 (350) 300 (400)
- Viscosity 100 rpm 174 (168) 126 (108) 111 (96) 117 (111)
- Viscosity 200 rpm 150 (130) 108 (86) 96 (78) 102 (87)
- Viscosity (cP), 600 rpm 116 (87) 85 (60) 76 (57) 80 (61)
- V Electrical Stability
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Abstract
Description
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Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA3053485A CA3053485A1 (en) | 2017-04-24 | 2018-04-24 | Method of producing hydroxyalkylcarbamate-functional polyamides and uses thereof |
MYPI2019004698A MY193960A (en) | 2017-04-24 | 2018-04-24 | Method of producing hydroxyalkylcarbamate-functional polyamides and uses thereof |
EP18789931.5A EP3615631B1 (en) | 2017-04-24 | 2018-04-24 | Method of producing hydroxyalkylcarbamate-functional polyamides and uses thereof |
AU2018258208A AU2018258208B2 (en) | 2017-04-24 | 2018-04-24 | Method of producing hydroxyalkylcarbamate-functional polyamides and uses thereof |
MX2019010823A MX2019010823A (en) | 2017-04-24 | 2018-04-24 | Method of producing hydroxyalkylcarbamate-functional polyamides and uses thereof. |
BR112019018669-7A BR112019018669B1 (en) | 2017-04-24 | 2018-04-24 | MODIFIED DRILLING FLUID, AND METHOD FOR PRODUCING A MODIFIED DRILLING FLUID |
CN201880017849.6A CN110418829B (en) | 2017-04-24 | 2018-04-24 | Process for producing hydroxyalkyl carbamate functionalized polyamides and use thereof |
US16/499,624 US11292953B2 (en) | 2017-04-24 | 2018-04-24 | Method of producing hydroxyalkylcarbamate-functional polyamides and uses thereof |
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US201762489003P | 2017-04-24 | 2017-04-24 | |
US62/489,003 | 2017-04-24 |
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WO2018200429A2 true WO2018200429A2 (en) | 2018-11-01 |
WO2018200429A3 WO2018200429A3 (en) | 2018-12-06 |
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US (1) | US11292953B2 (en) |
EP (1) | EP3615631B1 (en) |
CN (1) | CN110418829B (en) |
AU (1) | AU2018258208B2 (en) |
CA (1) | CA3053485A1 (en) |
MX (1) | MX2019010823A (en) |
MY (1) | MY193960A (en) |
WO (1) | WO2018200429A2 (en) |
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US11608467B2 (en) * | 2021-02-16 | 2023-03-21 | Saudi Arabian Oil Company | Hydraulic fracturing fluids with an aqueous base fluid and clay stabilizer and methods for hydraulic fracturing using the same |
US11566157B2 (en) | 2021-02-16 | 2023-01-31 | Saudi Arabian Oil Company | Water-based drilling fluid compositions and methods for drilling subterranean wells |
US11492536B2 (en) | 2021-02-16 | 2022-11-08 | Saudi Arabian Oil Company | Cement slurries and methods for cementing a casing in a wellbore |
US11535787B2 (en) | 2021-05-12 | 2022-12-27 | Saudi Arabian Oil Company | Spacer fluids and methods for cementing a casing in a wellbore |
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2018
- 2018-04-24 AU AU2018258208A patent/AU2018258208B2/en active Active
- 2018-04-24 WO PCT/US2018/028995 patent/WO2018200429A2/en unknown
- 2018-04-24 US US16/499,624 patent/US11292953B2/en active Active
- 2018-04-24 CA CA3053485A patent/CA3053485A1/en active Pending
- 2018-04-24 MY MYPI2019004698A patent/MY193960A/en unknown
- 2018-04-24 EP EP18789931.5A patent/EP3615631B1/en active Active
- 2018-04-24 CN CN201880017849.6A patent/CN110418829B/en active Active
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Non-Patent Citations (1)
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Publication number | Publication date |
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EP3615631B1 (en) | 2023-06-14 |
EP3615631A2 (en) | 2020-03-04 |
CA3053485A1 (en) | 2018-11-01 |
CN110418829B (en) | 2023-07-04 |
AU2018258208B2 (en) | 2023-07-13 |
MX2019010823A (en) | 2019-10-30 |
EP3615631A4 (en) | 2021-01-20 |
AU2018258208A1 (en) | 2019-09-05 |
WO2018200429A3 (en) | 2018-12-06 |
MY193960A (en) | 2022-11-03 |
US20200115615A1 (en) | 2020-04-16 |
CN110418829A (en) | 2019-11-05 |
BR112019018669A2 (en) | 2020-04-07 |
US11292953B2 (en) | 2022-04-05 |
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