EP3776398A1 - Verfahren zum erstellen eines digitalen zwillings - Google Patents
Verfahren zum erstellen eines digitalen zwillingsInfo
- Publication number
- EP3776398A1 EP3776398A1 EP19727884.9A EP19727884A EP3776398A1 EP 3776398 A1 EP3776398 A1 EP 3776398A1 EP 19727884 A EP19727884 A EP 19727884A EP 3776398 A1 EP3776398 A1 EP 3776398A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- digital twin
- data
- variant
- variants
- object variant
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/12—Geometric CAD characterised by design entry means specially adapted for CAD, e.g. graphical user interfaces [GUI] specially adapted for CAD
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0637—Strategic management or analysis, e.g. setting a goal or target of an organisation; Planning actions based on goals; Analysis or evaluation of effectiveness of goals
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/10—Office automation; Time management
Definitions
- the invention relates to a method for creating a digital twin of a technical product.
- a digital twin is a software object that represents the respective technical product.
- An object of the invention is to admit a particularly a specialized method for creating a digital twin.
- the digital twin is created on the basis of given product knowledge. This is available in an automatically processable form.
- the product knowledge includes data records with data for different variants of at least one component of the respective technical product or data records with data for different variants of different components of different technical products. Such data records are referred to below as object variants.
- object variants Each object variant is assigned an object variant classification that functions as a unique identifier.
- at least geometry data and position data are assigned to the object variants.
- an article code of the respective technical product is entered or selected, for example.
- the article code is used to automatically select individual object variants. For all object variants covered by product knowledge, this selection includes checking whether their object variant classification and the respective article code match. Whenever this is the case, the respective object variant is processed as belonging to the digital twin or included in the digital twin, for example by directly or indirectly adding the data of the respective object variant or essential data of the object variant to the resulting software object, the digital twin ,
- the or each geometric object described by means of the geometry data of the respective object variant is positioned in accordance with the position data of the respective object variant.
- the advantage of the invention is that the digital twin is created on the basis of product knowledge and in this way data that is already available can be reused.
- the invention is thus an automatic extraction of the data required to create a digital twin of a specific technical product from a database with product knowledge.
- the database includes product knowledge in the form of a complete description of the respective technical product, for example in the form of CAD data.
- This Complete description also includes the aforementioned object variants, for example a description of different components of the respective product or those which vary with regard to their design and / or position, in particular in the form of CAD data. So that such object variants can be used and found automatically within the framework of the approach proposed here, it is only necessary to identify the respective data with a clear object variant classification.
- a weight value and / or a center of gravity is determined taking into account all object variant data belonging to the digital twin.
- the determined weight value or focus corresponds to the weight value or focus of the technical product represented by the digital twin.
- the object variant data are stored in the resulting software object, the digital twin.
- the digital twin has become independent of the product knowledge and / or its availability due to the transfer of the object variant data.
- the digital twin i.e. the software object, can thus also be passed on to third parties who do not have access to product knowledge or who should not have such access.
- expressions in a formal language function as object variant classification.
- the use of expressions in a formal language, especially the use of regular expressions allows the method proposed here to be integrated into more extensive data processing, for example data processing from a manufacturer of electric motors.
- the respective technical products, for example electric motors are regularly referred to in a machine-readable form within such data processing anyway, in particular by means of an article code in the form of a machine-readable factory name (MLFB).
- MLFB machine-readable factory name
- the method described below is preferably implemented for automatic execution in the form of a computer program.
- the invention is thus on the one hand also a computer program with executable program code instructions and on the other hand a storage medium with such a computer program, that is a computer program product with program code means, and finally also a basically known computer or a basically known computer system, in the memory of which can be loaded or loaded with such a computer program as a means for carrying out the method and its configurations.
- FIG. 2 represents the technical product in FIG. 1, the digital twin,
- FIG. 3 shows a schematically simplified illustration of a
- FIG. 4 shows a digital twin resulting from a generation according to FIG.
- FIG. 1 shows a schematically greatly simplified real technical product 10.
- the product 10 is, for example, an electric motor.
- the product 10 can be seating, for example.
- the type of product 10 is not important.
- a so-called digital twin 12 is to be created for a basically any technical product 10, that is to say a software object that describes the essential properties of the respective technical product 10.
- the resulting software object is the digital twin 12 and accordingly the terms digital twin 12 and software object are used synonymously.
- the illustration in FIG. 2 shows a digital twin 12 representing the technical product 10 in FIG. 1.
- the representation of the digital twin 12 in FIG. 2 also includes symbolic identifiers of the objects comprised by the digital twin 12.
- the technical product 10 according to FIG. 1 comprises three individual objects in the example shown. In the present case, these are - but only exemplary - cubes.
- the objects (cubes) are arranged in a concrete geometric relation to each other: next to a first cube there is a second cube and on the first cube there is a third cube.
- the three cubes are symbolically designated with "A" (first cube), "B" (second cube) and "C" (third cube).
- FIG. 2 basically already shows the result of the creation of a digital twin 12 to form a real technical product 10.
- the way to automatically obtain such a digital twin 12 is described below.
- a digital twin 12 is a data-technical correspondence of a technical product 10 to be represented in each case.
- a digital twin 12 is therefore in the broadest sense a data record which comprises, directly or indirectly, all the data which are used to describe the relevant properties of the technical product 10, in particular the geometric properties of the technical product 10 and / or properties associated therewith, are necessary.
- These relevant technical properties are, for example, the dimensions of the technical product 10, a dimension of an envelope contour around the technical product 10, the weight of the technical product 10, a focus of the technical product 10 and so on.
- product knowledge 20 (FIG. 3) - are advantageously used for the automatic creation of a digital twin 12.
- FIG. 3 illustrates in a schematically simple manner the method proposed here for creating a digital twin 12.
- a digital twin 12 is a data record that arises in the course of the method in the memory of a computer.
- digital twin 12 it is not expressly pointed out that this refers to a data record in the memory of a computer Always read accordingly below and also applies to other elements and the data records on which they are based.
- the approach is based on using existing product knowledge 20.
- the product knowledge 20 is available in an automatically processable form, namely in the form of a database (the database represents the product knowledge 20 and comprises the product knowledge 20) with object variants 22 (data records), each of which is a variant of a component of a specific technical product Describe 10.
- object variants 22 data records
- different terminal boxes are conceivable as variants, for example, which differ in terms of their geometry and / or their position relative to a housing (stator housing) of the electric motor.
- the product knowledge then includes 20 corresponding object variants 22.
- object variants 22 for example housings with or without cooling fins, Ge housing with different cooling fins, motor shafts of different lengths, etc.
- Each object variant 22 (data record) comprises an object variant classification 24. This functions as a unique identifier of the respective object variant 22. It is preferably provided that an object variant classification 24 classifies an object variant 22 according to an alphanumeric set of rules and is based, for example, on an article code 40 of a technical product 10 oriented.
- Each object variant 22 comprises object variant data 26 (data set), in particular object variant data 26 and a unique object variant ID 28.
- the object variant data 26 includes at least geometry data 30 and position data 32.
- the geometry data 30 (data record) describe at least one geometric object - that is to say, for example a cube, a cylinder or the like - which belongs to the respective object variant 22.
- the respective object variant 22 includes a large number of geometric objects and the geometry data 30 encompass the entirety of the geometric objects.
- the geometry data 30 relate to a local coordinate system.
- the position data 32 describe the position of the entirety of the objects described by means of the geometry data 30 relative to a respective technical product 10.
- the geometry data 30 describe, for example, at least one geometric object which represents a terminal box of an electric motor.
- the position data 32 describe its position on the electric motor, for example at the top of the stator housing or at the side of the stator housing.
- An article code 40 acts as the basis for the specification of the digital twin 12.
- the article code 40 is used in the course of the method to specify the specific technical product 10 for which a digital twin 12 is to be generated.
- An article code 40 designates exactly one specific technical product 10 in a specific embodiment, for example an electric motor of a certain power level and with further properties, with the further properties including, for example, that the terminal box of the electric motor is attached to the side.
- the article code 40 is entered as part of the method or selected from a set of article codes 40, in particular a set of article codes 40.
- the product knowledge 20 also includes, for example, object variants 22 which relate to different terminal boxes and / or terminal boxes at different positions.
- object variant 22 in which the object variant classification 24 and the article code 40 match each other, is processed as belonging to the digital twin 12, whereby each object can only comprise one valid object variant 22.
- An object variant classification 24 fits, for example, to an article code 40 if the object variant classification 24 or part of the object variant classification 24 is contained in the article code 40. Whether the object variant classification 24 or part of the object variant classification 24 is contained in the article code 40 is checked, for example, by means of character string operations (known as string operations) which are known per se.
- string operations character string operations
- the object variant classification 24 is in the form of a regular expression.
- the object variant classification 24 thus defines a lot.
- an object variant classification 24 such as "1LE5 *” defines an unlimited number of character strings due to the asterisk acting as a placeholder, in which each character string included therein begins with “1LE5".
- the strings encompassed by the set can be of any length, provided that they contain "1LE5" as the first character and include any characters after "1LE5".
- the article code 40 - for example “1LE5533-4AB73-3AA24” to one another, because the article code 40 is an element of the quantity defined by the object variant classification 24.
- the check — whether the object variant classification 24 matches a respective article code 40 is carried out graphically in a schematically simplified manner when the method proposed here is carried out.
- the check as to whether an object variant classification 24 matches the respective article code 40 is expressed in the illustration with reference to the reference numbers used for the object variant classification 24 and the article code 40 and is in each case within a flowchart symbol for branching (case differentiation). written as "(40e24)?"
- item code 40 belongs to
- the product knowledge 20 is searched for the automatic creation of a digital twin 12. This means that all object variants 22 forming product knowledge 20 or a predetermined or predeterminable subset of object variants 22 forming product knowledge 20 in the manner described above and ways to be checked. Whenever the result of the test is positive, the object variant 22 belonging to the respective object variant classification 24 (designated by the object variant classification 24) is processed as belonging to the digital twin 12, whereby each object can only comprise one valid object variant 22 , 3 in the form of a representation of the object variant data 26 and the object variant ID 28 in the area of the digital twin 12.
- This data that is to say at least the object variant data 26 with the geometry data 30 and the position data 32, in particular the geometry data 30, the position data 32 and the object variant ID 28, now belong directly or indirectly to the digital twin 12.
- the digital twin 12 includes, for example, a referencing of the data, for example in the form of a so-called pointer to the respective object variant 22 or its object variant data 26. Such referencing is simplified schematically shown in the illustration in FIG. 4.
- the digital twin 12 then comprises, for example, a data structure in the form of or in the manner of a single or multiple linked list, the elements of such a list referring to the respective data.
- the or each geometric object described by means of the geometry data 30 of the respective object variant 22 is positioned in accordance with the position data 32 of the respective object variant 22.
- the digital twin 12 is now created.
- the data encompassed by this can, for example, in particular in the form of a graphic representation of the entirety of the geometry data 30, be displayed on a computer monitor.
- a dimension image can be automatically generated and / or a weight value or the center of gravity can be determined.
- FIG. 4 shows a symbolic illustration of a digital twin 12 as it results as a result of the method for generating a digital twin 12 illustrated in FIG. 3.
- the digital twin 12 includes references to those object variants 22 that were determined to belong to the digital twin 12 (or references to the object data 26 of those object variants 22 that were determined to belong to the digital twin 12).
- the digital twin 12 optionally includes an identifier 42 for naming it.
- the designation can be based on the technical product 10 represented in each case, so that, for example, a designation such as “electric motor 7.5 kW, terminal box on the side” can be considered.
- the fact that the digital twin 12 includes all relevant data of the referenced object variants 22 indirectly or indirectly means that the referencing defines that the digital twin 12 comprises three objects, namely one first cube ("A"), a second cube ("B") and a third cube ("C").
- the object variant data 26 is also directly available for the digital twin 12 via the data included in the object variants 22
- Geometry data 30 encompassing the object variant data 26 describe the dimension and orientation of the individual cubes.
- the positions of the individual cubes are also immediately available in the form of the position data 32 for each object variant 22.
- the position data 32 are shown symbolically in the representations in FIG. 3 and FIG. 4 in the form of a coordinate system.
- each object variant 22 determined as belonging to the digital twin 12 is positioned in a coordinate system applicable to the digital twin 12.
- the or each object of an object variant 22 described by the geometry data 30 can be correctly positioned relative to all objects of any other object variant 22 belonging to the digital twin 12. Based on the simple example chosen here, this gives the possibility of positioning the second cube ("B") next to the first cube ("A") and adjacent to the first cube, as well as the third cube ("C") to position on the first cube ("A”). This applies accordingly to more complex digital twins 12 (and the underlying technical products 10).
- the object variants 22 of the individual components of the electric motor identified as belonging to the digital twin 12 are correctly positioned relative to one another by means of the position data 32.
- a weight value can be determined for the digital twin 12 which corresponds to the weight of the represented technical product 10 corresponds.
- the object variant data 26 and the position data 32 on the one hand the center of gravity and on the other hand the dimension (length, width, height) of the digital twin 12 can be determined. These values also correspond to the corresponding values of the technical product 10 represented.
- the digital twin 12 can easily be changed and / or a large number of digital twins 12 can be easily generated.
- a digital twin 12 of an electric motor is generated, the terminal box of which is located on top of the stator housing of the electric motor.
- the object variant ID 28 enables the data comprised by a digital twin 12 to be linked to other databases.
- object variant IDs 28 comprised of digital twin 12 can be used to access a database with cost information successively by means of object variant ID 28 in each case in order to to determine total cost information for the technical product 10 represented by the digital twin 12.
- a method for classifying product knowledge 20 and for creating a software object acting as a digital twin 12 of a technical product 10 on the basis of given product knowledge 20 is given, the product knowledge 20 is available in an automatically processable form and comprises 22 data records with data for variants for at least one component of the technical product 10 as object variants, the object variants 22 each being assigned an object variant classification 24 which acts as a unique identifier, as well as geometry data 30 and position data 32, each object variant 22, the object variant classification 24 of which corresponds to a predetermined or predefinable article code 40, is processed as belonging to the digital twin 12 and wherein for each object variant 22 belonging to the digital twin 12, a positioning is processed the or each geometric object described by means of the geometry data 30 of the respective object variant 22 takes place in accordance with the position data 32 of the respective object variant 22.
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Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP18178790.4A EP3584751A1 (de) | 2018-06-20 | 2018-06-20 | Verfahren zum erstellen eines digitalen zwillings |
PCT/EP2019/062777 WO2019242956A1 (de) | 2018-06-20 | 2019-05-17 | Verfahren zum erstellen eines digitalen zwillings |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3776398A1 true EP3776398A1 (de) | 2021-02-17 |
Family
ID=62845933
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18178790.4A Withdrawn EP3584751A1 (de) | 2018-06-20 | 2018-06-20 | Verfahren zum erstellen eines digitalen zwillings |
EP19727884.9A Pending EP3776398A1 (de) | 2018-06-20 | 2019-05-17 | Verfahren zum erstellen eines digitalen zwillings |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18178790.4A Withdrawn EP3584751A1 (de) | 2018-06-20 | 2018-06-20 | Verfahren zum erstellen eines digitalen zwillings |
Country Status (7)
Country | Link |
---|---|
US (1) | US20210117594A1 (de) |
EP (2) | EP3584751A1 (de) |
KR (2) | KR20210024026A (de) |
CN (1) | CN112292702A (de) |
BR (1) | BR112020025969A2 (de) |
MX (1) | MX2020013771A (de) |
WO (1) | WO2019242956A1 (de) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
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US11449028B2 (en) | 2020-09-03 | 2022-09-20 | Rockwell Automation Technologies, Inc. | Industrial automation asset and control project analysis |
US11294360B2 (en) | 2020-09-09 | 2022-04-05 | Rockwell Automation Technologies, Inc. | Industrial automation project code development guidance and analysis |
US11561517B2 (en) | 2020-09-09 | 2023-01-24 | Rockwell Automation Technologies, Inc. | Industrial development hub vault and design tools |
US20220083926A1 (en) * | 2020-09-11 | 2022-03-17 | Rockwell Automation Technologies, Inc. | Digital engineering on an industrial development hub |
US11415969B2 (en) | 2020-09-21 | 2022-08-16 | Rockwell Automation Technologies, Inc. | Connectivity to an industrial information hub |
US11796983B2 (en) | 2020-09-25 | 2023-10-24 | Rockwell Automation Technologies, Inc. | Data modeling and asset management using an industrial information hub |
CN113792422B (zh) * | 2021-09-04 | 2023-12-05 | 苏州特比姆智能科技有限公司 | 一种基于数字孪生的tpm设备管理虚拟验证方法及*** |
DE102022103394A1 (de) | 2022-02-14 | 2023-08-17 | Hiwin Technologies Corp. | Verfahren und System zur Digital-Twin-Modellierung |
DE102022207085A1 (de) | 2022-07-12 | 2024-01-18 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum Erzeugen eines digitalen Zwillings eines autonom fahrenden Kraftfahrzeuges |
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US5717598A (en) * | 1990-02-14 | 1998-02-10 | Hitachi, Ltd. | Automatic manufacturability evaluation method and system |
US7209869B1 (en) * | 1998-09-01 | 2007-04-24 | Daimlerchrysler Ag | Method and system for resource requirement planning and generating a production schedule using a uniform data model |
GB0209543D0 (en) * | 2002-04-26 | 2002-06-05 | Rolls Royce Plc | The automation and optimisation of the design of a component |
JP4675046B2 (ja) * | 2004-01-29 | 2011-04-20 | 株式会社レクサー・リサーチ | 生産設計支援設備 |
JP2009015460A (ja) * | 2007-07-02 | 2009-01-22 | Toyota Motor Corp | モデル伝送装置及びモデル伝送方法 |
KR101575487B1 (ko) * | 2014-06-11 | 2015-12-08 | 현대자동차주식회사 | 로봇의 대상물 무게 및 무게중심 산출시스템 및 그 제어방법 |
US10466681B1 (en) * | 2014-09-02 | 2019-11-05 | Machine Research Corporation | Systems and methods for machining knowledge reuse |
US11295228B2 (en) * | 2016-03-21 | 2022-04-05 | Wipro Limited | Methods for creating automated dynamic workflows of interoperable bots and devices thereof |
US20170286572A1 (en) * | 2016-03-31 | 2017-10-05 | General Electric Company | Digital twin of twinned physical system |
JP6457441B2 (ja) * | 2016-07-12 | 2019-01-23 | ファナック株式会社 | ロボットの重心表示装置、ロボット制御装置およびロボットシミュレーション装置 |
US10404569B2 (en) * | 2016-08-22 | 2019-09-03 | General Electric Company | Internet of things associate |
US20180137218A1 (en) * | 2016-11-11 | 2018-05-17 | General Electric Company | Systems and methods for similarity-based information augmentation |
US20180137219A1 (en) * | 2016-11-14 | 2018-05-17 | General Electric Company | Feature selection and feature synthesis methods for predictive modeling in a twinned physical system |
US20190236489A1 (en) * | 2018-01-30 | 2019-08-01 | General Electric Company | Method and system for industrial parts search, harmonization, and rationalization through digital twin technology |
US10974851B2 (en) * | 2018-11-09 | 2021-04-13 | Textron Innovations Inc. | System and method for maintaining and configuring rotorcraft |
DE102020115571A1 (de) * | 2019-06-14 | 2020-12-17 | General Electric Company | Digitales Doppelecosystem gekoppelt mit Additivherstellung wie konstruiert, wie hergestellt, wie getestet, wie betrieben, wie geprüft und wie gewartet |
EP4010766A1 (de) * | 2019-09-24 | 2022-06-15 | Siemens Aktiengesellschaft | Verfahren zur erstellung eines digitalen zwillings einer anlage oder vorrichtung |
WO2021058083A1 (de) * | 2019-09-24 | 2021-04-01 | Siemens Aktiengesellschaft | Verfahren zur erzeugung von selbstbeschreibungs-datenmodulen |
US20230062028A1 (en) * | 2021-08-26 | 2023-03-02 | Kyndryl, Inc. | Digital twin simulation of equilibrium state |
-
2018
- 2018-06-20 EP EP18178790.4A patent/EP3584751A1/de not_active Withdrawn
-
2019
- 2019-05-17 KR KR1020217001596A patent/KR20210024026A/ko not_active IP Right Cessation
- 2019-05-17 MX MX2020013771A patent/MX2020013771A/es unknown
- 2019-05-17 EP EP19727884.9A patent/EP3776398A1/de active Pending
- 2019-05-17 BR BR112020025969-1A patent/BR112020025969A2/pt unknown
- 2019-05-17 CN CN201980041493.4A patent/CN112292702A/zh active Pending
- 2019-05-17 US US17/252,993 patent/US20210117594A1/en active Pending
- 2019-05-17 KR KR1020237023148A patent/KR20230109780A/ko not_active Application Discontinuation
- 2019-05-17 WO PCT/EP2019/062777 patent/WO2019242956A1/de unknown
Also Published As
Publication number | Publication date |
---|---|
CN112292702A (zh) | 2021-01-29 |
WO2019242956A1 (de) | 2019-12-26 |
KR20210024026A (ko) | 2021-03-04 |
KR20230109780A (ko) | 2023-07-20 |
BR112020025969A2 (pt) | 2021-03-23 |
MX2020013771A (es) | 2021-03-02 |
EP3584751A1 (de) | 2019-12-25 |
US20210117594A1 (en) | 2021-04-22 |
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