Structural Analysis of Offshore Surface Units through Full Length Finite Element Models April 2010 Rule Note NR 551 DT R00 E Marine Division 92571 Neuilly sur Seine Cedex – France Tel: + 33 (0)1 55 24 70 00 – Fax: + 33 (0)1 55 24 70 25 Marine website: http://www.veristar.com Email: [email protected] 2010 Bureau Veritas - All rights reserved MARINE DIVISION GENERAL CONDITIONS ARTICLE 1 1.1. - BUREAU VERITAS is a Society the purpose of whose Marine Division (the "Society") is the classification (" Classification ") of any ship or vessel or structure of any type or part of it or system therein collectively hereinafter referred to as a "Unit" whether linked to shore, river bed or sea bed or not, whether operated or located at sea or in inland waters or partly on land, including submarines, hovercrafts, drilling rigs, offshore installations of any type and of any purpose, their related and ancillary equipment, subsea or not, such as well head and pipelines, mooring legs and mooring points or otherwise as decided by the Society. 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ME 545 k - 17 December 2008 RULE NOTE NR 551 NR 551 Structural Analysis of Offshore Surface Units through Full Length Finite Element Models SECTION 1 April 2010 VERISTAR-HULL FLM Section 1 VeriSTAR-Hull FLM 1 General 1.1 1.2 2 General requirements Model construction Model extension Finite element models Boundary conditions of the model 6 General Loading conditions Recommended procedure for the calculation of wave loads Load cases Stress calculation 4.1 2 3 Load model 3.1 3.2 3.3 3.4 4 Application Definitions Structural modelling 2.1 2.2 2.3 2.4 2.5 3 3 8 Stress components Bureau Veritas April 2010 NR 551, Sec 1 SECTION 1 VERISTAR-HULL FLM Symbols g : Gravity acceleration, equal to 9,81 m/s2 • still water loads ∆ : Moulded displacement in seawater, in t • wave loads B : Moulded breadth, in m • dynamic loads L : Rule length, in m • local loads σMASTER : Master allowable stress, in N/mm², as defined in Pt D, Ch 1, Sec 7, [5.6] of the Offshore Rules λ : Wave length, in m T : Wave period, in s ω : Wave circular frequency, in rad/s. 1 1.1 • hull girder loads • loading condition • load case. 1.2.2 General Application 1.1.1 The requirements of the present Rule Note apply for the analysis criteria, structural modelling, load modelling and stress calculation of offshore surface units intended to be granted the additional class notation VeriSTAR-Hull FLM, as defined in the Offshore Rules, Pt A, Ch 1, Sec 2, [6.2.14]. 1.1.2 This Rule Note deals with that part of the structural analysis which aims at calculating the stresses in the structure for yielding and buckling checks. Ship Rules When the “Ship Rules” are mentioned in the present Rule Note, reference is made to NR467 Rules for the Classification of Steel Ships. The applicable requirements are those for ships greater than 65 m in length. The party applying for classification is to contact the Society for information about any amendments of these Rules. 1.2.3 Offshore Rules When the “Offshore Rules” are mentioned in the present Rule Note, reference is made to NR445 Rules for the Classification of Offshore Units. The party applying for classification is to contact the Society for information about any amendments of these Rules. 1.2.4 Design Criteria Statement 1.1.3 The yielding and buckling checks of the structure are to be carried out according to the Offshore Rules, Pt D, Ch 1, Sec 7, taking into account values of stresses calculated in accordance with the present Rule Note. Design Criteria Statement is a document issued by the Society and based on the information provided by the party applying for classification, listing the services performed by the unit and the design conditions and other assumptions on the basis of which the class is assigned to the unit. 1.1.4 The additional class notation VeriSTAR-Hull FLM is to be applied in addition to the additional service feature VeriSTAR-Hull, as defined in the Offshore Rules, Pt A, Ch 1, Sec 2, [7.6], involving a structural finite element calculation based on at least three cargo holds model. Further details about the Design Criteria Statement are given in Pt A, Ch 1, Sec 1, [1.6] of the Offshore Rules. 1.1.5 Fatigue checks are not covered by the additional class notation VeriSTAR-Hull FLM. Fatigue assessment is to be carried out in accordance with the requirements of the Offshore Rules, Pt D, Ch 1, Sec 7, [7]. 1.2 General The definition of the following terms are indicated in Pt B, Ch 5, Sec 1, [1] of the Ship Rules: April 2010 2.1 Structural modelling General requirements 2.1.1 The unit is to be modelled through a full length finite element model, including aft and fore parts. The structural model is to represent the primary supporting members with the plating to which they are connected. Definitions 1.2.1 2 Ordinary stiffeners are also to be taken into account in the model in order to reproduce the stiffness and the inertia of the actual hull girder structure. Bureau Veritas 3 NR 551, Sec 1 2.1.2 The structural analysis on fine mesh models is to be carried out by applying one of the following procedures: • an analysis of the full length three dimensional model based on a fine mesh model, as defined in [2.4.3] • an analysis of the full length three dimensional model based on a coarse mesh model, as defined in [2.4.2], from which the nodal displacement and forces are used as boundary conditions for analyses based on fine mesh sub-models. The minimum extent of fine mesh submodels is to comply with the relevant requirements of [2.4.3]. 2.1.3 The following areas are to be investigated based on fine mesh models, as defined in [2.4.3]: • typical full cargo tank in midship area, including independent tanks when relevant • aft and fore ends of the cargo area with extended overlapping structure • typical topsides stools or supports, in midship area • risers supporting structure ends, when relevant 2.2.2 Elements Finite elements used in the structural model are to comply with the requirements given in [2.4], for the relevant type of finite element model. 2.3 2.3.1 General The full length model is to be such as the following effects are properly taken into account in the structural analysis: • effect of the vertical bending moment and shear force • coupling between torsion and horizontal bending • effects of sea pressures and pressures in internal capacities • global and local deformations of structural items • effects of local loads. 2.3.2 Hull structure Finite element model of unit’s hull is to include the following primary supporting members: • outer shell, inner bottom, longitudinal and transverse bulkhead plating • double-bottom longitudinal girders • horizontal stringers • deck longitudinal girders • transverse web frames • stringers of transverse bulkheads. • turret supporting structure for weathervaning units • typical supports and keys of independent tanks, when relevant • typical reinforced frames including stiffening rings of independent tanks, when relevant. Other areas may be required to be analysed through fine mesh models, when deemed necessary by the Society, depending on unit’s structural arrangement and loading conditions, as well as on the results of the coarse mesh analysis. 2.1.4 Areas, for which the equivalent stress σVM (as defined in [4.1] and obtained through fine mesh analysis) is greater than 0,95 σMASTER, are to be investigated through very fine mesh analysis based on the requirements of [2.4.4], and the criteria given in Pt D, Ch 1, Sec 7, [5.6.4] of the Offshore Rules are to be checked. The very fine mesh analysis, may be performed on separate finite element sub-models, having boundary conditions obtained from the fine mesh model. As an alternative, very fine mesh zones incorporated in the fine mesh model may be used. The Society may require additional very fine mesh analyses for areas where the assessment through fine mesh models is not judged as satisfactory. 2.2 2.2.1 Model construction Net scantlings All the elements in [2.1.1] are to be modelled with their net scantlings according to the Offshore Rules, Pt D, Ch 1, Sec 3, [3]. 4 Model extension 2.3.3 External turret For surface units moored with external turret, the cantilever structure is to be included in the finite element model. 2.3.4 Topside supports Topsides supporting structure is to be modelled in order to input mass and/or forces coming from topsides equipment. 2.3.5 Mass of topsides The mass of topside equipment is to be taken into account in the model, at the satisfaction of the Society, in order to reproduce the correct lightweight distribution and inertial loads on topside supports. The model of topside equipment is not to restrain the relative displacement of topside supports. 2.3.6 Deckhouses and superstructures Deckhouses and main superstructures connected to the main deck are to be included in the structural model. Their modelling is to corectly represent their weights and local effects on hull girder stiffness and deck behaviour. 2.3.7 Riser supporting structure When relevant, the riser supporting structure is to be modelled on the side shell, in order to evaluate the interaction with hull girder strength of the unit. Bureau Veritas April 2010 NR 551, Sec 1 2.3.8 Units with independent tanks For units with independent tanks, the structural model is to include the primary supporting members of the hull (see [2.3.2]) and the tank with its supporting members and key system. The cargo tank model is to include the following primary members: • shell plating • bulkhead plating, including wash bulkheads if any • top plating • transverse web frames • girders. Supports and keys of independent tanks are to be modelled using the following types of element: or • non-linear elements: contact elements. Linear elements used for the modelling of supports and keys not allowing tension loads are to be deleted when they are in tension. 2.4.3 Fine mesh The structural model is to be built on the basis of the following criteria: • webs of primary members are to be modelled with at least three elements on their height • the plating between two primary supporting members is to be modelled with at least two element stripes Finite element models General Finite element models are generally to be based on linear assumptions. The mesh is to be executed using membrane or shell elements, with or without mid-side nodes. Meshing is to be carried out following uniformity criteria among the different elements. In general, the quadrilateral elements are to be such that the ratio between the longer side length and the shorter side length does not exceed 4 and, in any case, is less than 2 for most elements. Their angles are to be greater than 60° and less than 120°. The triangular element angles are to be greater than 30° and less than 120°. Further modelling criteria depend on the accuracy level of the mesh, as specified in [2.4.2] to [2.4.4]. • the ratio between the longer side and the shorter side of the elements is to be less than 3 in the areas expected to be highly stressed • holes for the passage of ordinary stiffeners may be disregarded. When fine mesh analysis is performed through sub-models, as stated in [2.1.2], the minimum extent of the sub-model is to be such that its boundaries correspond to locations where the deformations of the global model are accurately calculated, at the satisfaction of the Society. In general, it corresponds either to the adjacent or to the second adjacent primary supporting member. In some specific cases, some of the above simplifications may not be deemed acceptable by the Society in relation to the type of structural model and the analysis performed. Coarse mesh The number of nodes and elements is to be such that the stiffness and the inertia of the model represent properly those of the actual hull girder structure, and the distribution of loads among the various load carrying members is correctly taken into account. To this end, the structural model is to be built on the basis of the following criteria: • ordinary stiffeners contributing to the hull girder longitudinal strength and which are not individually represented in the model are to be modelled by rod elements and grouped at regular intervals April 2010 • holes for the passage of ordinary stiffeners or small pipes may be disregarded The unit’s structure may be considered as finely meshed when each longitudinal secondary stiffener is modelled; as a consequence, the standard size of the finite elements used is based on the spacing of ordinary stiffeners. • linear elements: bar, flexible mounts, springs 2.4.2 • the plating between two primary supporting members may be modelled with one element stripe In some specific cases, some of the above simplifications may not be deemed acceptable by the Society in relation to the type of structural model and the analysis performed. • horizontal stringers 2.4.1 • face plates may be modelled with bars having the same cross-section • manholes (and similar discontinuities) in the webs of primary supporting members may be disregarded, but the element thickness is to be reduced in proportion to the hole height and the web height ratio. • bottom plating 2.4 • webs of primary supporting members may be modelled with only one element on their height 2.4.4 Very fine mesh The extent of a very fine mesh zone is not to be less than the relevant spacing of ordinary stiffeners in the considered structural region, in all directions from the area under investigation. When separate sub-models are used, the extent is to be such that the calculated stresses within the investigated area are not significantly affected by the imposed boundary conditions and application of loads. Additional requirements related to very fine mesh models are given in Pt D, Ch 1, Sec 7, [5.4.5] of the Offshore Rules. Bureau Veritas 5 NR 551, Sec 1 2.5 Boundary conditions of the model 3.1.5 2.5.1 In order to prevent rigid body motions of the overall model, the constraints specified in Tab 1 are to be applied. Table 1 : Boundary conditions to prevent rigid body motion of the model Boundary conditions X Y Z free fixed fixed One node on the port side shell at aft end of the unit (2) fixed free fixed One node on the starboard side shell at aft end of the unit (2) free fixed fixed Boundary conditions X Y Z free free free One node on the port side shell at aft end of the unit (2) free free free One node on the starboard side shell at aft end of the unit (2) free free free (1) (2) 3 3.1 • the wave pressure • the wave induced inertial loads. The values of dominant load effects are to be taken as required in [3.3.9]. A recommended procedure to compute the characteristics of the design wave and wave induced loads is provided in [3.3]. Other methods may be accepted by the Society, provided that relevant documentation is submitted to the Society for review. ROTATION around axes (1) One node on the fore end of the unit Wave loads include: Wave loads are to be determined through direct hydrodynamic calculations. The various load components which occur simultaneously may be combined by setting the characteristics of regular waves that maximise the dominant load effects listed in [3.3.2]. DISPLACEMENTS in directions (1) One node on the fore end of the unit Wave loads 3.1.6 Local loads induced by the topsides Topside inertial loads are to be obtained by applying the wave induced accelerations corresponding to each loading case to topside structural model, having a mass as required in [2.3.5]. X, Y and Z directions and axes are defined with respect to the reference co-ordinate system in Pt D, Ch 1, Sec1, [4.3] of the Offshore Rules. The nodes on the port side shell and on the starboard side shell are to be symmetrical with respect to the unit’s longitudinal plane of symmetry. Load model 3.1.7 Summary of the loading procedure Applicable loading conditions given in [3.2] are to be analysed through: • the computation of the characteristics of the finite element model under still water loads (as required in [3.2.3]) • the selection of the load cases critical for the strength of the structural members (see [3.4]). General 3.1.1 Loading manual A loading manual of the unit is to be submitted for approval. The loading manual is to be in compliance with the requirements of Pt D, Ch 1, Sec 5, [2] of the Offshore Rules. 3.2 Loading conditions 3.2.1 As a minimum, the loading conditions defined in Tab 2 are to be considered. These loading conditions are to be selected from the loading manual. 3.1.2 Loading conditions The loading conditions for which the structural analysis is carried out are to comply with the requirements of [3.2]. Table 2 : Loading conditions Symbol Loading condition 3.1.3 Lightweight The lightweight of the unit is to be distributed over the model length, in order to obtain the actual longitudinal distribution of the still water bending moment, as indicated by the loading manual of the unit. LC1 Loading condition giving maximum still water hogging bending moment on-site LC2 Loading condition giving maximum still water sagging bending moment on-site LC3 Minimum draught condition on-site (1) 3.1.4 Still water loads Still water loads include: LC4 Full load condition on-site (2) LC5 Loading condition maximizing hull girder still water shear force on-site LC6 Typical towing/transit condition • the still water sea pressure, based on the procedure defined in Pt B, Ch 5, Sec 5 of the Ship Rules. • the still water internal loads for cargo tanks and ballast tanks, defined in Pt D, Ch 1, Sec 5 of the Offshore Rules or in NR542 Rules for the Classification of Offshore Floating Gas Units, Section 4, as relevant. 6 (1) (2) Bureau Veritas This loading condition is to be considered only when it is different from LC1 This loading condition is to be considered only when it is different from LC2 April 2010 NR 551, Sec 1 3.2.2 In addition to the loading conditions specified in [3.2.1], loading conditions which are assumed to represent typical loading/offloading sequences are to be considered. 3.2.3 For each loading condition mentioned in [3.2.1] and [3.2.2], the longitudinal distribution of the still water shear force and bending moment is to be computed and checked by reference to the loading manual. The convergence of the displacement, trim and vertical bending moment is deemed satisfactory within the following tolerances: • 2% of the displacement • 0,1 degree of the trim angle • 10% of the still water bending moment. 3.2.4 Following the specificities of the design and/or operation of the considered unit, the Society may require the investigation of additional loading conditions considered relevant for structural check. In such a case, the additional loading conditions are to be stated in the Design Criteria Statement, as defined in [1.2.4]. 3.3.4 Definition of design wave parameters For each load case, the unit is considered to encounter a regular wave, defined by its parameters: • wave length λ (in m), wave period T (in seconds) or wave circular frequency ω (in rad/s) • heading angle α (see Fig 1), in degrees • wave height H (double amplitude), in m • wave phase (see Fig 1). The wave length λ and the wave period T are linked by the following relation: λ = g T2 / 2 π The wave period and the wave circular frequency ω are linked by the following relation: T=2π/ω Figure 1 : Wave heading Wave propagation direction α = 90˚ 3.3 Recommended procedure for the calculation of wave loads ES λ 3.3.1 Design wave approach The determination of the design wave characteristics for each load case includes the following steps: • computation of the response operators (amplitude and phase) of the dominant load effect • selection of the wave length and heading according to the guidelines in [3.3.5] and [3.3.6]. • determination of the wave phase such that the dominant load effect reaches its maximum • computation of the wave amplitude corresponding to the design value of the dominant load effect. 3.3.2 Dominant load effects Each critical load case maximises the value of one of the following load effects having a dominant influence on the strength of some parts of the structure: • wave induced vertical bending moment • wave induced vertical shear force • accelerations in three directions • relative wave elevation • wave induced horizontal bending moment • wave torque (for units with large deck openings). The values of these effects are to be specified over the length of the unit. 3.3.3 Response Amplitude Operators The Response Amplitude Operators (RAO’s) and associated phase characteristics are to be computed for the load effects listed in [3.3.2]. The calculation of RAO’s is to be in compliance with the requirements of Pt D, Ch 1, Sec 4 of the Offshore Rules. The amplitude and phase of other dominant load effects may be computed at relevant wave period, using the RAO’s listed above. April 2010 CR Y T ξc α α = 0˚ α = 180˚ CR F X ES T Phase angle (degrees) = ξ c . 360 F : center of rotation 3.3.5 λ Design wave length Design wave length, period and frequency are generally to correspond to the peak value of the investigated dominant load effect’s RAO. 3.3.6 Design wave heading RAO’s of the investigated dominant load effect are to be calculated for several wave headings, as required in Pt D, Ch 1, Sec 4 of the Offshore Rules. Design wave heading is to be in accordance with the operational conditions for the sea states contributing the most to the long term value of the dominant load effect. 3.3.7 Design wave phase The design wave phase angle is to be taken such that the investigated dominant load effect reaches its maximum. This value corresponds to the phase of dominant load effect, given by the hydrodynamic analysis. 3.3.8 Admissible design waves Design waves used for the finite element calculations are to comply with the following requirements: a) the wave height H is limited by the maximum wave steepness according to the relation: Bureau Veritas H < 0,02 g T2 7 NR 551, Sec 1 b) the wave length λ is to comply with the relation: λ>2B 3.4 c) the wave period T is to be less than 30 s. 3.3.9 Design value of dominant load effect The values of dominant load effects are to be taken as follows: a) for on-site loading conditions (as defined in [3.2]): site long-term response corresponding to a probability of 10−8,7 b) for towing/transit loading conditions (as defined in [3.2]): long-term response corresponding to a probability of 10−5, computed through direct hydrodynamic analysis complying with the requirements of Pt D, Ch 1, Sec 4 of the Offshore Rules. 3.3.10 Design wave definition The amplitude of the design wave is obtained by dividing the design value of the dominant load effect (as defined in [3.3.9]) by the value of the RAO of this effect computed for the relevant heading and wave length. 3.4.1 General The load cases to be considered, as a minimum, through the structural analysis are given in Tab 3. The definition of the loading conditions corresponding to the load cases from Tab 3 is given in [3.2]. 3.4.2 Additional load cases for wave torque For units with large deck openings, additional load cases maximizing wave torque are to be added for each loading condition. These cases are to be considered as follows: • design value of dominant load effect: maximum wave torque as calculated by the hydrodynamic analysis • location: midship section, section at 0,25 L and section at 0,75 L. 3.4.3 Other additional load cases The Society may require the analysis of additional load cases, taking into the specificities of design, operation or towing/transit of the unit and including the eventuality of downgraded situations. The relevant wave length, heading and phase are to be taken as required in [3.3.5] to [3.3.7]. 4 The design wave is to be applied in a nonlinear sense with at least Froude-Krylov nonlinearities included. 4.1 3.3.11 Finite element model loading The loads are applied to the finite element model according to the following indications: a) Sea pressures applied on the hull are to be obtained through direct calculation; these pressures are to combine hydrostatic pressures and wave pressures. b) Wave pressures up to the incident wave profile (Froude Krylov nonlinearities). c) The fluid pressure in tanks is to be calculated taking into account the relevant acceleration components for the considered load case (see [3.4]). d) For dry cargoes, the inertial forces are computed at the centre of mass, taking into account the mass moment of inertia. e) Inertial loads for structure weight, topside equipments and dry uniform cargo are computed using local accelerations calculated at their location. Load cases Stress calculation Stress components 4.1.1 Stress components are generally identified with respect to the element co-ordinate system, as shown, by way of example, in Fig 2. The orientation of the element coordinate system may or may not coincide with that of the reference co-ordinate system in Pt D, Ch 1, Sec 1, [4.3] of the Offshore Rules. The following stress components are to be calculated at the centroid of each element: • the normal stresses σ1 and σ2 in the directions of element co-ordinate system axes • the shear stress τ12 with respect to the element co-ordinate system axes • the Von Mises equivalent stress, obtained from the following formula: σVM = σ1 + σ 2 – σ 1 σ 2 + 3τ 12 2 2 2 Figure 2 : Reference and element co-ordinate systems Z 3.3.12 Equilibrium check The finite element model is to be in equilibrium condition with all the still water and wave loads applied. The equilibrium condition is to be obtained through the application of an acceleration field coherent with the loads acting on the structural model. 2 X Element An equilibrium condition is accepted by the Society if: • the unbalanced forces in the three axes are not to exceed 2% of the displacement • the unbalanced moments are not to exceed 2% of ∆⋅B around Y and Z axes and 0,2% of ∆⋅B around X axis. 1 Y 8 Bureau Veritas X, Y, Z : reference co-ordinate system April 2010 NR 551, Sec 1 Table 3 : Definition of load cases Load case Loading condition 1 LC1 Maximum vertical wave bending moment in hogging condition MWV,H Midship section (1) 2 LC1 Maximum relative wave elevation in head sea conditions h1,M Midship section (1) 3 LC1 Maximum relative wave elevation in beam sea conditions h2,M Midship section (1) (4) 4 LC1 Maximum vertical acceleration aZ, top Center of gravity of the heaviest topside module in the midship area (1) 5 LC1 Maximum transverse acceleration aY, top Center of gravity of the heaviest topside module in the midship area (1) 6 LC1 Maximum longitudinal acceleration aX, top Center of gravity of the heaviest topside module in the midship area (1) 7 LC2 Maximum vertical wave bending moment in sagging condition MWV,S Midship section (1) 8 LC2 Maximum vertical acceleration aZ Center of gravity of typical cargo tank at midship section (1) 9 LC2 Maximum transverse acceleration aY Center of gravity of typical cargo tank at midship section (1) (5) 10 LC2 Maximum horizontal wave bending moment MHW Midship section (1) (5) 11 LC2 Maximum vertical acceleration aZ, top Center of gravity of the heaviest topside module in the midship area (1) 12 LC2 Maximum transverse acceleration aY, top Center of gravity of the heaviest topside module in the midship area (1) 13 LC2 Maximum longitudinal acceleration aX, top Center of gravity of the heaviest topside module in the midship area (1) 14 LC3 Maximum vertical wave bending moment in hogging condition MWV,H Midship section (1) 15 LC3 Maximum relative wave elevation in head sea conditions h1,M Midship section (1) 16 LC3 Maximum relative wave elevation in beam sea conditions h2,M Midship section (1) 17 LC4 Maximum vertical wave bending moment in sagging condition MWV,S Midship section (1) 18 LC4 Maximum vertical acceleration aZ Center of gravity of typical cargo tank at midship section (1) 19 LC4 Maximum transverse acceleration aY Center of gravity of typical cargo tank at midship section (1) 20 LC4 Maximum horizontal wave bending moment MHW Midship section (1) 21 LC5 Maximum vertical wave shear force QWV Location of maximum still water shear force, according to the loading manual (1) 22 LC6 Maximum vertical wave bending moment in hogging condition MWV,H Midship section (2) (3) 23 LC6 Maximum relative wave elevation in head sea conditions h1,M Midship section (2) (3) 24 LC6 Maximum vertical acceleration aZ, top Center of gravity of the heaviest topside module in the midship area (2) (3) 25 LC6 Maximum transverse acceleration aY, top Center of gravity of the heaviest topside module in the midship area (2) (3) (1) (2) (3) (4) (5) Design value of dominant load effect Symbol Location Remarks The design value of dominant load effect is to be taken as defined in [3.3.9] for on-site conditions. The design value of dominant load effect is to be taken as defined in [3.3.9] for towing/transit conditions. This load case is requested only if the design value of the dominant load effect for towing/transit is above the one for on-site condition. This load case is not requested when LC1 is different from LC3. This load case is not requested when LC2 is different from LC4. April 2010 Bureau Veritas 9 Achevé d’imprimer sur les presses d’Activ’Company 77 bd Exelmans - 75016 Paris (France) April 2010
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