WO2015053691A1 - Under water device - Google Patents

Under water device Download PDF

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Publication number
WO2015053691A1
WO2015053691A1 PCT/SE2014/051157 SE2014051157W WO2015053691A1 WO 2015053691 A1 WO2015053691 A1 WO 2015053691A1 SE 2014051157 W SE2014051157 W SE 2014051157W WO 2015053691 A1 WO2015053691 A1 WO 2015053691A1
Authority
WO
WIPO (PCT)
Prior art keywords
cable
roll
underwater
movement
housing
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
Application number
PCT/SE2014/051157
Other languages
French (fr)
Inventor
Anders Ljung
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.)
ACC GROUP
Original Assignee
ACC GROUP
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 ACC GROUP filed Critical ACC GROUP
Priority to EP14852228.7A priority Critical patent/EP3055911B1/en
Publication of WO2015053691A1 publication Critical patent/WO2015053691A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic or infrasonic waves
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
    • H02G1/10—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle in or under water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H15/00—Marine propulsion by use of vessel-mounted driving mechanisms co-operating with anchored chains or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/04—Cable-laying vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/08—Propulsion

Definitions

  • the present invention relates to positioning determination of underwater operations according to claim 1.
  • the cable When laying out cables at deep sea, it is important to determine the position of the cable in an exact manner.
  • the cable is generally loaded onto a ship and then laid out on the bottom of the sea.
  • the cable can for example be an electric cable or a communication cable for telecommunication, internet communication or the like.
  • the position of the boat is not corresponding to the position of the cable on the bottom.
  • the important point to have knowledge about is the touchdown point, i.e. the point where the cable during laying out touches the bottom.
  • the underwater device has several advantages over the prior art. First of all it uses the cable to be laid out itself for movement and guidance. I.e. the device travels down the cable to be laid out and then reaches the touchdown point in a very precise and accurate manner.
  • the device is preferably having rolls for movement along the cable. The rolls are energy efficient in particular more efficient than use of only propellers.
  • the device can as complement is provided with a propeller. This propeller is only intended to be used when the device for example needs to move forward due to obstacles in the form of joints of the cable or the like. And therefore the device is very energy efficient. And in a further development the device needs no energy at all almost to reach the touchdown point of the cable. As it can travel along the cable having buoyancy that is adapted such at the device travels downwards. And then the buoyancy can be adjusted to a slightly positive value for performing the normal operation of the device close the touchdown point.
  • Figure 1 discloses a device according to the invention
  • Figure 2 discloses the operation of a device according to the invention.
  • the present invention relates in general to a device 1 as disclosed in figure 1.
  • the device has a housing 16.
  • the device is further arranged with guiding and movement means.
  • the guiding means 2a, 22a, 2b, 22b, 2c, 22c, are shown in pairs.
  • the guiding means is in the form of pairs having a claw like configuration.
  • a first claw 2a can thus pivot towards a second claw 22a, and thereby form a through hole that is essentially larger than a cable 14 that is to be laid out.
  • the inside of the claws of the guiding means is provided with friction lowering means, preferably in the form of rolls.
  • Other means is thinkable as for example surfaces of PTFE plastics or the like. Or combinations of rolls and slide surfaces for that matter.
  • the device 1 comprises also an energy source, preferably in the form of a battery for providing electricity.
  • Figure 1 also discloses the first means 5a, 5b for movement of the device. These means are to the contrary to the prior art not constituted of propellers or any other water displacement device. Instead it comprises a roll 5a that is motorised. The roll is preferably motorised by means of a brushless motor. The roll 5a is preferably arranged in a pair with a facing roll 5b. Both rolls 5a, 5b is suspended such that they can clamp the cable 14, in doing that the device 1 can be moved along the cable.
  • the device further comprises a slip means 4a.
  • the slip means 4a is preferably in the form of a roll that has a sensor that can determine the angular velocity of the roll when it rolls along the cable. In doing that the device 1 is arranged such that it can compare the angular velocity of the first movement means 5a, 5b with the slip means 4a and if a difference occurs it can determine that the first movement device is actually slipping.
  • the slip means 4a is preferably associated with a second slip means 4b, preferably i the form of a roll, that can interact with the slip means 4a for clamping the cable.
  • the slip means 4a, 4b can also comprise a motor, such that the slip means can be used for movement of the device 1 if for example the first means 5a, 5b for movement of the device has a break down or the like.
  • the underwater device 1 is also equipped with a first sensing means 3a.
  • This sensing means 3a can determine that cable that is followed by the device has a section 15 with a larger diameter than the main length of the cable 14.
  • the sensing means is preferably a roll 3a. If said roll is moved in the radial direction by a section with a larger diameter 15, it can sens this by means of a sensor for example a potentiometer arrangement and thereby the device can take action in order to clear this section 15.
  • the first sensing means 3a is preferably arranged together with a facing roll 3b.
  • the device 1 is arranged with a control unit 17.
  • the control unit 17 is arranged to control the device 1.
  • the first sensing means 3a senses that a larger diameter joint 15 of a cable arrives, loosen the first movement device 5a, 5b and the slip means 4a, 4b from the cable and then use a second movement device 7 in the form of a propeller to move over the joint. And thereafter continue its operation without using the propeller 7 for moving the device 1.
  • the device comprises a tank for pressurised gas. And a negative buoyancy tank for being able to alter the buoyancy of the device 1.
  • the device 1 is when submerged along the cable in a heavy mode where it travels downwards by means of gravity through water injected in the negative buoyancy tank. Then when reach the appropriate dept the buoyancy of the device is altered by removing water from the negative buoyancy tank by injecting pressurized gas in form of air or nitrogen for example.
  • the device has a buoyancy that higher than the gravity force, such that it stays in a preferred position on the cable.
  • the housing 16 of the device When raising from the bottom at when finishing operation, also the housing 16 of the device can be filled with gas/fluid that further increases the buoyancy, thus it the travels up to the surface essentially without consuming energy.
  • the device is further provided with sensors for altitude over the bottom 9, 10, and angle of attack 11 and dept 12.
  • the altitude sensors is preferably echo sound sensors.
  • the dept sensor preferably a pressure sensor.
  • the device 1 is further provided with a beacon 13 for sending out signals to a receiver.
  • the receiver is preferably situated on a boat and by means of the signal the position of the device is determined. And in consequence the touchdown point 20 of the cable is also determined.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)
  • Toys (AREA)

Abstract

Underwater device 1 for position determination of cables that are laid out at sea, comprising, a housing 16, a guide means 2a, 2b, 2c for guiding said underwater device 1 positioned outside said housing 16, a first means 5a, 5b for movement of said device 1 comprising at least one roll 5a, also positioned outside said housing, a second means 7 for movement of said device 1, positioned outside said housing, wherein said guide means 2a, 2b, 2c is arranged such that it can guide the device by means of physical interaction with a cable to be laid out at sea, preferably by at least partly enclosing said cable.

Description

UNDER WATER DEVICE
The present invention relates to positioning determination of underwater operations according to claim 1.
BACKGROUND
When laying out cables at deep sea, it is important to determine the position of the cable in an exact manner. The cable is generally loaded onto a ship and then laid out on the bottom of the sea. The cable can for example be an electric cable or a communication cable for telecommunication, internet communication or the like. As the sea can be deep and in many cases be thousands of meters deep, it can be difficult to determine exactly where the cable is positioned after being laid out. In particular it is important to know where the cable is for maintenance reasons. As the boat is so far away from the bottom of the sea the position of the boat is not corresponding to the position of the cable on the bottom. The important point to have knowledge about is the touchdown point, i.e. the point where the cable during laying out touches the bottom.
Today this position is determined by means of submerged vehicles. These vehicles are of two kinds, one being energised and controlled by a long dedicated cable. And the other type that is independent and driven like a mini submarine energised by batteries. Both these types are movable by means of propellers in general several propellers. Needles to say these vehicles are complex and very expensive. And they are also difficult to operate as they are subject to currents of the sea. And further it is time consuming to submerge them and find the starting point of the touchdown point of the cable that is to be laid out.
SHORT DESCRIPTION OF THE INVENTION
In order to solve at least some of the problems with the above mentioned prior art it is suggested an underwater device according to claim 1.
The underwater device has several advantages over the prior art. First of all it uses the cable to be laid out itself for movement and guidance. I.e. the device travels down the cable to be laid out and then reaches the touchdown point in a very precise and accurate manner. The device is preferably having rolls for movement along the cable. The rolls are energy efficient in particular more efficient than use of only propellers. The device can as complement is provided with a propeller. This propeller is only intended to be used when the device for example needs to move forward due to obstacles in the form of joints of the cable or the like. And therefore the device is very energy efficient. And in a further development the device needs no energy at all almost to reach the touchdown point of the cable. As it can travel along the cable having buoyancy that is adapted such at the device travels downwards. And then the buoyancy can be adjusted to a slightly positive value for performing the normal operation of the device close the touchdown point.
List of Drawings
Figure 1 , discloses a device according to the invention
Figure 2, discloses the operation of a device according to the invention.
DETAILED DESCRIPTION
The present invention relates in general to a device 1 as disclosed in figure 1. The device has a housing 16. The device is further arranged with guiding and movement means. The guiding means 2a, 22a, 2b, 22b, 2c, 22c, are shown in pairs. The guiding means is in the form of pairs having a claw like configuration. A first claw 2a can thus pivot towards a second claw 22a, and thereby form a through hole that is essentially larger than a cable 14 that is to be laid out. The inside of the claws of the guiding means is provided with friction lowering means, preferably in the form of rolls. Other means is thinkable as for example surfaces of PTFE plastics or the like. Or combinations of rolls and slide surfaces for that matter.
The device 1 comprises also an energy source, preferably in the form of a battery for providing electricity.
Figure 1 also discloses the first means 5a, 5b for movement of the device. These means are to the contrary to the prior art not constituted of propellers or any other water displacement device. Instead it comprises a roll 5a that is motorised. The roll is preferably motorised by means of a brushless motor. The roll 5a is preferably arranged in a pair with a facing roll 5b. Both rolls 5a, 5b is suspended such that they can clamp the cable 14, in doing that the device 1 can be moved along the cable.
The device further comprises a slip means 4a. The slip means 4a is preferably in the form of a roll that has a sensor that can determine the angular velocity of the roll when it rolls along the cable. In doing that the device 1 is arranged such that it can compare the angular velocity of the first movement means 5a, 5b with the slip means 4a and if a difference occurs it can determine that the first movement device is actually slipping. The slip means 4a is preferably associated with a second slip means 4b, preferably i the form of a roll, that can interact with the slip means 4a for clamping the cable. The slip means 4a, 4b can also comprise a motor, such that the slip means can be used for movement of the device 1 if for example the first means 5a, 5b for movement of the device has a break down or the like.
The underwater device 1 is also equipped with a first sensing means 3a. This sensing means 3a, can determine that cable that is followed by the device has a section 15 with a larger diameter than the main length of the cable 14. The sensing means is preferably a roll 3a. If said roll is moved in the radial direction by a section with a larger diameter 15, it can sens this by means of a sensor for example a potentiometer arrangement and thereby the device can take action in order to clear this section 15. The first sensing means 3a, is preferably arranged together with a facing roll 3b. In general the device 1 is arranged with a control unit 17. The control unit 17 is arranged to control the device 1. For example it can when the first sensing means 3a senses that a larger diameter joint 15 of a cable arrives, loosen the first movement device 5a, 5b and the slip means 4a, 4b from the cable and then use a second movement device 7 in the form of a propeller to move over the joint. And thereafter continue its operation without using the propeller 7 for moving the device 1.
The device comprises a tank for pressurised gas. And a negative buoyancy tank for being able to alter the buoyancy of the device 1. The device 1 is when submerged along the cable in a heavy mode where it travels downwards by means of gravity through water injected in the negative buoyancy tank. Then when reach the appropriate dept the buoyancy of the device is altered by removing water from the negative buoyancy tank by injecting pressurized gas in form of air or nitrogen for example. Preferably the device has a buoyancy that higher than the gravity force, such that it stays in a preferred position on the cable.
When raising from the bottom at when finishing operation, also the housing 16 of the device can be filled with gas/fluid that further increases the buoyancy, thus it the travels up to the surface essentially without consuming energy.
The device is further provided with sensors for altitude over the bottom 9, 10, and angle of attack 11 and dept 12. The altitude sensors is preferably echo sound sensors. The dept sensor preferably a pressure sensor. The device 1 is further provided with a beacon 13 for sending out signals to a receiver. The receiver is preferably situated on a boat and by means of the signal the position of the device is determined. And in consequence the touchdown point 20 of the cable is also determined.

Claims

1. Underwater device (1) for position determination of cables that are laid out at sea, comprising
- a housing (16)
- a guide means (2a, 2b, 2c) for guiding said underwater device (1) positioned outside said housing (16),
- a first means (5a, 5b)) for movement of said device (1) comprising at least one roll (5a), also positioned outside said housing,
- a second means (7) for movement of said device (1), positioned outside said housing wherein said guide means (2a, 2b, 2c) is arranged such that it can guide the device by means of physical interaction with a cable to be laid out at sea, preferably by at least partly enclosing said cable wherein the device is arranged such that it can send out a signal such that the position of the device can be determined.
2. Underwater device (1) according to claim 1 , wherein the guide means (2a, 2b, 2c) comprises two elements (22a, 22aa;22b, 22bb; 22c, 22cc) that are pivotally attached indirectly or directly to said housing (16), such that the two elements ((22a, 22aa;22b, 22bb; 22c, 22cc) can essentially form a through hole, through which a cable can extend.
3. Underwater device (1) according to claim 1 or 2 wherein said guide means (2a, 2b,
2c) is arranged such that they can guide said underwater device at a state when the buoyancy of the underwater device is larger than its weight of the underwater device, preferably by means of rolls arranged in positions closest to where a cable would touch the guiding device when in use.
4. Underwater device (1) according to any of the claims 1 - 3, wherein the at least one roll (5a) the first means (5a, 5b) for movement of the device (1) comprises at least one motor for interacting with a cable for movement of the device.
5. Underwater device (1) according to claim 4, wherein the roll (5a) comprises a brushless motor.
6. Underwater device (1) according to claim 5, wherein the device comprises a second roll (5b) that is motorised or not motorised, in pair with the first roll, wherein the rolls (5a, 5b) can by means of their suspension to the device (1) can be moved towards and from each other for clamping and releasing a cable.
7. Underwater device (1) according to any of the claims above wherein the device (1) comprises a slip means (4) for determination of the function of the first means for movement (5a, 5b).
8. Underwater device (1) according to claim 7 wherein said slip means (4a, 4b) comprises at least one roll, wherein said roll (4a) comprises a sensor for determining the angular velocity of the roll (4a).
9. Underwater device (1) according to claim 8 wherein the device (1) is arranged to be able to compare the angular velocity of roll of the slip means (4a, 4b) with an output from the first means of movement and thereby determine whether the roll or rolls of first means of movement (5a, 5b) is rotating at a different speed that the slip means (4a, 4b).
10. Underwater device (1) according to claim 9 wherein the slip means (4) comprises a motor such that in the event that a failure of the first movement device (5a, 5b) occur the slip means can be used as a movement means.
1 1. Under water device (1) according to any of the claims above wherein the device further is equipped with a first sensing means (3a, 3b) for determining that a cable (14) that is followed by the device (1) has section (15) with a larger diameter than the main length of the cable (14), preferably said means (3a, 3b) comprises a roll (3a) that follows said cable (14) and a signal generating means associated with said roll indicates when said roll (3a, 3b) is being deflected in a radial direction from a cable (14).
12. Under water device (1) according to any of the claims above, wherein the second means for movement of said device (1) comprises a propeller (7).
13. Under water device (1) according to any of the claims above wherein the device (1) is arranged such that it can open all means that attaches the device to a cable, thereby completely releasing the device from the cable.
14. Under water device (1) according to any of the claims above, wherein the device is arranged such that it can regulate the buoyancy of the device, preferably by injecting water into a tank within the housing, and remove water from said tank by injecting compressed fluid to it such as air or nitrogen.
15. Under water device (1) according to any of the claims above, wherein the device is arranged such that it can for when returning to the surface after under water operation, can increase the buoyancy by introducing compressed fluid into the housing itself of the device.
16. Under water device (1) according to any of the claims above, wherein the device comprises an onboard control unit (17).
PCT/SE2014/051157 2013-10-08 2014-10-06 Under water device Ceased WO2015053691A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP14852228.7A EP3055911B1 (en) 2013-10-08 2014-10-06 Under water device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1300634-1 2013-10-08
SE1300634A SE537622C2 (en) 2013-10-08 2013-10-08 Underwater Device

Publications (1)

Publication Number Publication Date
WO2015053691A1 true WO2015053691A1 (en) 2015-04-16

Family

ID=52813411

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2014/051157 Ceased WO2015053691A1 (en) 2013-10-08 2014-10-06 Under water device

Country Status (3)

Country Link
EP (1) EP3055911B1 (en)
SE (1) SE537622C2 (en)
WO (1) WO2015053691A1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3098916A1 (en) * 2015-05-27 2016-11-30 Bohlen & Doyen GmbH Device for introducing an object, in particular a cable, in the bottom of a body of water
CN107192983A (en) * 2017-07-04 2017-09-22 深圳潜行创新科技有限公司 A kind of device, method and system for observing underwater vehicle relative position
CN109715490A (en) * 2016-09-20 2019-05-03 沙特阿拉伯石油公司 Reusable buoyancy module for buoyancy control of underwater vehicles
WO2021229509A1 (en) * 2020-05-13 2021-11-18 Russel 10984 (Pty) Ltd Device and method for underwater sampling

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Publication number Priority date Publication date Assignee Title
US4933917A (en) * 1988-03-31 1990-06-12 Societe Anonyme Dite: Les Cables De Lyon Means for monitoring the laying of a deep sea cable or flexible pipeline
US20100049436A1 (en) * 2008-08-20 2010-02-25 Lockheed Martin Corporation Undersea position and velocity measuring system and process
US20110255366A1 (en) * 2010-04-20 2011-10-20 Kenneth Karlsen Electrical power system for towed electromagnetic survey streamers

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GB8802369D0 (en) * 1988-02-03 1988-03-02 Amerada Hess Ltd Subsea vehicle
US5203646A (en) * 1992-02-06 1993-04-20 Cornell Research Foundation, Inc. Cable crawling underwater inspection and cleaning robot
US7409919B2 (en) * 2006-12-04 2008-08-12 Pgs Geophysical As Self propelled cleaning device for marine seismic streamers
US8007595B2 (en) * 2008-02-28 2011-08-30 Welaptega Marine Limited Method for in-situ cleaning and inspecting of a tubular
US8619134B2 (en) * 2009-03-11 2013-12-31 Seatrepid International, Llc Unmanned apparatus traversal and inspection system

Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
US4933917A (en) * 1988-03-31 1990-06-12 Societe Anonyme Dite: Les Cables De Lyon Means for monitoring the laying of a deep sea cable or flexible pipeline
US20100049436A1 (en) * 2008-08-20 2010-02-25 Lockheed Martin Corporation Undersea position and velocity measuring system and process
US20110255366A1 (en) * 2010-04-20 2011-10-20 Kenneth Karlsen Electrical power system for towed electromagnetic survey streamers

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3098916A1 (en) * 2015-05-27 2016-11-30 Bohlen & Doyen GmbH Device for introducing an object, in particular a cable, in the bottom of a body of water
CN109715490A (en) * 2016-09-20 2019-05-03 沙特阿拉伯石油公司 Reusable buoyancy module for buoyancy control of underwater vehicles
CN109715490B (en) * 2016-09-20 2021-07-20 沙特阿拉伯石油公司 Reusable buoyancy module for buoyancy control of underwater vehicles
CN107192983A (en) * 2017-07-04 2017-09-22 深圳潜行创新科技有限公司 A kind of device, method and system for observing underwater vehicle relative position
WO2021229509A1 (en) * 2020-05-13 2021-11-18 Russel 10984 (Pty) Ltd Device and method for underwater sampling

Also Published As

Publication number Publication date
EP3055911A4 (en) 2017-06-28
SE537622C2 (en) 2015-08-11
EP3055911B1 (en) 2019-12-04
EP3055911A1 (en) 2016-08-17
SE1300634A1 (en) 2015-04-09

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