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Records with Keyword: Process Design
Showing records 26 to 50 of 142. [First] Page: 1 2 3 4 5 6 Last
Modelling and Analysis of CO2 Electrolyzers Integrated with Downstream Separation Processes via Heat Pumps
Riccardo Dal Mas, Andrea Carta, Ana Somoza-Tornos, Anton A. Kiss
June 27, 2025 (v1)
Keywords: Carbon Dioxide, Electrification, Heat Pump, Process Design, Process Integration
The electrification of chemical processes and carbon capture and utilisation represent two promising approaches to improve efficiency and decrease carbon emissions of the process industry. The development of electrolyzers has gathered momentum in the last decades, allowing for the possible introduction of renewable electrons into carbon dioxide-based chemicals manufacture. While the performance of the electrolyzers is subject to improvements driven by the experimental community, the generation of waste heat is unavoidable due to the electrical resistances and process inefficiencies within the electrochemical cells. The possibility of re-using this waste heat has not been investigated within the realm of carbon dioxide electrolyzers. Here we show the potential of upgrading this waste heat by means of a heat pump, for its utilisation in the downstream processing of formic acid obtained from carbon dioxide electroreduction. We found that the waste heat represents roughly 62% of the power... [more]
CompArt: Next-Generation Compartmental Models for Complex Systems Powered by Artificial Intelligence
Antonello Raponi, Zoltan Nagy
June 27, 2025 (v1)
Compartmental models are widely used to simplify the analysis of complex fluid dynamics systems, yet subjective compartment definitions and computational constraints often limit their applicability. The CompArt algorithm introduces an AI-driven framework that automates compartmentalization in Computational Fluid Dynamics (CFD) simulations, optimizing both accuracy and efficiency. By leveraging unsupervised clustering techniques such as Agglomerative Clustering, CompArt identifies coherent flow regions based on velocity and turbulent kinetic energy dissipation rate, ensuring a data-driven, physically consistent segmentation. The methodology integrates a connectivity-based clustering strategy, where compartments are dynamically optimized using the Silhouette score and adjacency matrix. This approach enables the reduction of high-resolution 3D CFD simulations into a network of interconnected sub-systems, significantly lowering computational costs while preserving system heterogeneity. The... [more]
Application of Artificial Intelligence in process simulation tool
Nikhil Rajeev, Suresh Jayaraman, Prajnan Das, Srividya Varada
June 27, 2025 (v1)
Process engineers in the Chemical and Oil & Gas industries extensively use process simulation for the design, development, analysis, and optimization of complex systems. This study investigates the integration of Artificial Intelligence (AI) with AVEVATM Process Simulation (APS), a next-generation commercial simulation tool. We propose a framework for a custom chatbot application designed to assist engineers in developing and troubleshooting simulations. This chatbot application utilizes a custom-trained model to transform engineer prompts into standardized queries, facilitating access to essential information from APS. The chatbot extracts critical data regarding solvers and thermodynamic models directly from APS to help engineers develop and troubleshoot process simulations. Furthermore, we compare the performance of our custom model against OpenAI technology. Our findings indicate that this integration significantly enhances the usability of process simulation tools, promoting more... [more]
Prospective Life Cycle Design Enhanced by Computer Aided Process Modeling: A Case Study of Air Conditioners
Shoma Fujii, Yuko Oshita, Ayumi Yamaki, Yasunori Kikuchi
June 27, 2025 (v1)
Keywords: Interdisciplinary, Life Cycle Assessment, Modelling and Simulations, Process Design
Prospective life-cycle design of emerging technologies is important in discussions of decarbonization and resource circulation strategies. This study demonstrates the role of computer-aided process engineering in reflecting technology information with appropriate granularity and accuracy using air conditioning as a case study. Process simulations involving heat exchangers (indoor/outdoor units), compressors, and expansion valves were developed to model air conditioners to quantify changes in performance and heat exchanger size as existing and alternative refrigerants are introduced. The process simulation results were incorporated into a material flow analysis and life cycle assessment to quantify the change in life cycle greenhouse gas (GHG) emissions through 2050 for each refrigerant installed. The results show that operational emissions dominate the life cycle GHG emissions of air conditioners, that decarbonization of electricity can significantly reduce life cycle GHG emissions, wi... [more]
Life-Cycle Assessment of Chemical Sugar Synthesis Based on Process Design for Biomanufacturing
Hiro Tabata, Satoshi Ohara, Yuichiro Kanematsu, Heng Yi Teah, Yasunori Kikuchi
June 27, 2025 (v1)
Keywords: Batch Process, Catalysis, CO2 Utilization, Environment, Fermentation, Life Cycle Assessment, Matlab, Modelling and Simulations, Process Design, Renewable and Sustainable Energy, Sugar Synthesis
The growing demand for sustainable alternatives to petroleum-based products drives the development of biomanufacturing using agriculture-based sugars. However, agricultural sugar production faces significant challenges due to limited production capacity and potential negative environmental impacts. This research examines chemical sugar synthesis as an alternative, assessing its environmental impact with conventional agricultural production methods through life cycle assessment. As formaldehyde serves as a primary substrate in chemical synthesis, four production cases were evaluated—comprising two pathways (conventional methods and CO2 capture and utilization (CCU) technologies), each implemented with either fossil fuels or renewable energy sources. The analysis revealed that semi-batch reactors in chemical synthesis substantially reduce environmental impacts compared to batch reactors. Chemical sugar synthesis demonstrated marked advantages in reducing eutrophication, land use change,... [more]
A Superstructure Approach for Optimization of Simulated Moving Bed (SMB) Chromatography
Eva Sorensen, Dian Ning Chia, Fanyi Duanmu
June 27, 2025 (v1)
Keywords: Chromatography, gProms, Modelling and Simulations, Optimization, Particle Swarm Optimization, Process Design, Simulated Moving Bed, Superstructure
One of the most successful continuous high-performance liquid chromatography (HPLC) processes for drug manufacturing is the Simulated Moving Bed (SMB). SMB is a multi-column, continuous, chromatographic process that can handle much higher throughputs than regular batch chromatographic processes. The process is initially transient, but eventually arrives at a cyclic steady state, which makes optimization very challenging, even more so when superstructure optimization is involved. To simplify the optimization problem, many researchers fixed the SMB structure, optimizing only the continuous variables, so they cannot be considered superstructure optimization. In this work, an SMB superstructure that can simultaneously optimize column structure and operation is proposed. The results showed that the superstructure proposed is reliable, and it is more efficient compared to current optimization approaches if the optimal column structure has to be identified.
Flexibility Assessment via Affine Bounds Evaluation
Diogo A. C. Narciso, Steven Sachio, Maria M. Papathanasiou
June 27, 2025 (v1)
Keywords: Flexibility, Multiparametric Programming, Process Design
Process design deals with the problem of finding the best process set-up, subject to a set of constraints defining the design space (DSp). This selection is guided primarily by economic considerations. Flexibility may also play an important factor in process design, since it embodies “how far” from the design space’s bounds are the candidate optimal designs, which in some cases may lead to off-spec products. This work proposes a novel approach for flexibility assessment. In design problems where the design space is constrained by a set of affine bounds, flexibility may be expressed either as the minimum or the maximum distance with respect to the feasible (design) space bounds. For any point in the DSp, the minimum distance provides a good indicator on the minimum flexibility, as the direction that represents the highest risk of violating the constraints. An analogous conclusion can be drawn between the maximum distance and maximum flexibility. These distances can be computed exactly v... [more]
Enhanced Reinforcement Learning-driven Process Design via Quantum Machine Learning
Austin Braniff, Fengqi You, Yuhe Tian
June 27, 2025 (v1)
Keywords: Process Design, Process Synthesis, Quantum Computing, Reinforcement Learning
In this work, we introduce a quantum-enhanced reinforcement learning (RL) framework for process design synthesis. RL-driven methods for generating process designs have gained momentum due to their ability to intelligently identify optimal configurations without requiring pre-defined superstructures or flowsheet configurations. This eliminates reliance on prior expert knowledge, offering a comprehensive and robust design strategy. However, navigating the vast combinatorial design space poses computational challenges. To address this, a novel approach integrating RL with quantum machine learning (QML) is proposed. QML leverages theoretical advantages over classical methods to accelerate searches in large spaces. Built upon our prior work, the approach begins with a maximum set of available unit operations, represented in a flowsheet structure using an input-output stream matrix as RL observations. A Deep Q-Network (DQN) algorithm trains a parameterized quantum circuit (PQC) in place of a... [more]
Comparison of Multi-Fidelity Modelling Methods for Bayesian Optimization
Stefan Tönnis, Luise F. Kaven, Eike Cramer
June 27, 2025 (v1)
In process systems engineering (PSE), obtaining accurate process models for optimization can be expensive and time-consuming. Black-box Bayesian Optimization (BO) with Gaussian process (GP) surrogates offers a promising approach. However, full black-box optimization neglects valuable prior knowledge, which could otherwise improve the optimization process. This work explores methods of integrating prior knowledge in the form of low-fidelity data into BO by evaluating these methods on synthetic multi-fidelity test functions. Our results highlight possibilities for improved convergence of the BO optimization. However, our work further highlights potential pitfalls of these multi-fidelity models, such as bias, convergence to local optima, and overfitting on low-fidelity data. Hence, leveraging low-fidelity data in multi-fidelity models can improve BO convergence, but there are instances where the algorithms are more susceptible to failure.
Simulation and Optimisation of Cryogenic Distillation and Isotopic Equilibrator Cascades for Hydrogen Isotope Separation Processes in the Fusion Fuel Cycle
Emma A. Barrow, Iryna Bennett, Franjo Cecelja, Eduardo Garciadiego-Ortega, Megan Thompson, Dimitrios Tsaoulidis
June 27, 2025 (v1)
Keywords: Aspen Plus, Fusion Fuel Cycle, Modelling and Simulations, Nuclear, Optimization, Process Design, Tritium Inventory Minimisation
Hydrogen isotope separation is a critical component of the fusion fuel cycle, particularly for achieving the desired purity levels of deuterium and tritium while minimising tritium inventory. This study investigates the cryogenic distillation of hydrogen isotopes, with a focus on the effects of isotopic equilibrium reactions at reduced temperatures and different system configurations. A one-column architecture was analysed to evaluate the impact of feed and side stream equilibrator temperatures and flowrates on separation performance and tritium inventory. Additionally, a two-column architecture was studied, incorporating multiple isotopic equilibrators in interconnecting streams, to further reduce unwanted heteronuclear isotopologues and improve system efficiency. Comparative analysis of the proposed configurations highlights significant operational advantages of optimising equilibrator temperatures, including reduced tritium contamination and inventory. Results indicate that reducing... [more]
Utilizing ML Surrogates in CAPD: Case Study of an Amine-based Carbon-Capture Process
Florian Baakes, Gustavo Chaparro, Thomas Bernet, George Jackson, Amparo Galindo, Claire S. Adjiman
June 27, 2025 (v1)
Anthropogenic carbon-dioxide emissions, exceeding 51 billion tons annually, are a major driver of global climate impacts. Aqueous amine scrubbing offers an effective carbon-capture solution, but the energy-intensive thermal regeneration step of the process significantly increases costs, limiting large-scale adoption. To address these challenges, computational optimization of process and molecular design is promising but often too resource-intensive, emphasizing the need for efficient surrogate models. Specifically, we develop a surrogate model based on an artificial neural network (ANN) that is employed to replace rigorous phase-equilibrium computations performed with the SAFT-? Mie group contribution method within a steady-state aqueous amine carbon-capture process model. Our ANN is trained on 32,768 vapour–liquid equilibrium data points of a quaternary mixture of water, monoethanolamine, carbon dioxide, and nitrogen over industrially relevant temperature, pressure, and composition ra... [more]
A Bayesian optimization approach for data-driven Petlyuk distillation column
Alexander Panales-Pérez, Antonio Flores-Tlacuahuac, Luis Fabián Fuentes-Cortés, Miguel Angel Gutierrez-Limon, Mauricio Sales-Cruz
June 27, 2025 (v1)
Recently, the focus on increasing process efficiency to reduce energy consumption has driven the adoption of alternative systems, such as Petlyuk distillation columns. It has been proven that, when compared to conventional distillation columns, these systems offer significant energy and cost savings. From an economic standpoint, achieving high-purity products alone does not ensure the feasibility of a process. Instead, balancing the trade-off between product purity and cost necessitates multi-objective optimization. While conventional optimization methods are effective, novel strategies like Bayesian optimization offer distinct advantages for handling complex systems. Bayesian optimization requires no explicit mathematical model and can efficiently optimize even when starting from a single initial point. However, as a black-box method, it demands a detailed analysis of hyperparameters, such as the acquisition function and the number of initial points, to ensure optimal performance. Thi... [more]
Optimal Design of Extraction-Distillation Hybrid Processes by Combining Equilibrium and Rate-Based Modeling
Kai F. Kruber, Anjali Kabra, Lukas Polte, Andreas Jupke, Mirko Skiborowski
June 27, 2025 (v1)
Keywords: Hybrid Processes, Process Design, Superstructure Optimization
Liquid-liquid extraction (LLX) is an essential technique for separating heat-sensitive, highly diluted, or azeotropic mixtures. However, the design and optimization of LLX processes can be challenging due to mass transfer limitations and complex fluid dynamics. While distillation can often be modeled using equilibrium-based (EQ-based) approaches with (constant) height equivalent to theoretical stage (HETS) values, these kinetic effects can limit the applicability of EQ-based LLX models for conceptual design. Non-equilibrium (NEQ) or rate-based modeling can account for detailed mass transfer and fluid dynamics but further increases the nonlinearity and complexity of the respective optimization problems, which should account for closed-loop solvent recovery. To successfully address these complexities, we propose an integrated methodology combining NEQ-based simulation with EQ-based superstructure optimization to design a hybrid extraction-distillation process. An NEQ model is first used... [more]
Process integration and waste valorization for sustainable biodiesel production toward a transportation sector energy transition
Vibhu Baibhav, Daniel Florez Orrego, Pullah Bhatnagar, François Maréchal
June 27, 2025 (v1)
Keywords: Alternative Fuels, Energy Efficiency, Mixed Integer Linear Programming MILP, Process Design, Techno-economic optimization
Fossil fuel reliance in the transportation sector remains a leading contributor to global greenhouse gas emissions, underscoring the urgent need for renewable alternatives like biodiesel. Derived from renewable feedstocks, biodiesel can reduce emissions, enhance energy independence, and support rural economies. However, its production faces challenges such as low energy efficiency, process optimization barriers, and the limited utilization of byproducts like glycerol, which elevate costs and hinder large-scale adoption. This study addresses these challenges by developing an integrated framework for biodiesel production and byproduct valorization, supporting the long-term decarbonization of biofuel production. Three key feedstocks—refined palm oil, rapeseed oil, and soybean oil—are evaluated for biodiesel yield. The single-step transesterification process is enhanced through a two-stage approach, optimizing fatty acid methyl ester conversion under varying methanol and NaOH catalyst spli... [more]
Pareto optimal solutions for decarbonization of oil refineries under different electricity grid decarbonization scenarios
Keerthana Karthikeyan, Sampriti Chattopadhyay, Rahul Gandhi, Ignacio E Grossmann, Ana I Torres
June 27, 2025 (v1)
Keywords: Carbon Capture, Decarbonization, Electrification, Energy Policy, Optimization, Process Design, Renewable and Sustainable Energy
In response to global efforts to reduce carbon emissions, the oil refining sector, a major source of industrial emissions, has set ambitious decarbonization targets. This study analyzes trade-offs between minimizing CO2 emissions and costs through the use of Pareto optimal solutions. A superstructure optimization framework evaluates various technological pathways and timelines, employing a bi-criterion optimization approach using the ?-constraint method. Results show that cost-effective, higher-emission solutions often involve natural gas-based technologies with carbon capture, while expensive, low-emission solutions favor electric power-based technologies. The analysis incorporates detailed assumptions about grid carbon intensity of varying degrees and accounts for varying national policies. Comparative case studies across locations highlight how grid carbon profiles influence optimal strategies, providing insights to inform local policies and incentivize technologies.
Modular and Heterogeneous Electrolysis Systems: a System Flexibility Comparison
Hannes Lange, Michael Große, Isabell Viedt, Leon Urbas
June 27, 2025 (v1)
Keywords: Energy Efficiency, Energy Systems, Flexibility, Hydrogen, Lange-Große-Coefficient, Process Design, Renewable and Sustainable Energy
Green hydrogen will play a key role in the decarbonization of the steel sector via the direct reduction path [1]. To meet the demand side, both a highly efficient numbering-up based scaling strategy for water electrolysis is needed as well as flexible operation strategies that follow the fluctuating electricity load. This paper presents a modularization approach for electrolysis systems that addresses both aspects by combining different electrolysis technologies into one heterogeneous electrolysis system. We present a modular design of such a heterogeneous electrolysis system that can be scaled for large-scale applications. The impact of different degrees of technological and production capacity-related heterogeneity is investigated using system co-simulation to find an optimal solution for the goal-conflict, that the direct reduction of iron for green steel production requires a constant stream of hydrogen while the renewable electricity profile is fluctuating. For this use-case the d... [more]
Optimized integration strategies for the PMR-based H2 production with CO2 capture process
Donghoi Kim, Zhongxuan Liu, Rahul Anantharaman, Thijs A. Peters, Truls Gundersen
June 27, 2025 (v1)
This work develops process options using a novel protonic membrane reformer (PMR) and liquefaction-based CO2 capture process for low-carbon hydrogen production from natural gas. Several hybrid concepts of the PMR and liquefaction process are suggested based on the strategies to handle the residual gas from the reformer. The process intensification and optimization results indicate that the hybrid system with a water-gas-shift reactor and off-gas recycling guarantees high H2 and CO2 recovery rates for the PMR operating at relatively low H2 recovery. The hybrid concept also has 74% energy conversion efficiency, which is higher than a conventional steam-methane reforming (SMR)-based H2 production with chemical absorption CO2 capture.
Valorization of refinery fuel gas and biogenic gases from thermochemical conversion into low-carbon methanol
Eliana Lozano Sanchez, Erik Lopez-Basto, Andrea Ramirez
June 27, 2025 (v1)
By-product fuel gases from refinery operations are a major heat source in fossil refineries and their availability poses a challenge to the deployment of low-carbon heat sources. This study evaluates the valorization of refinery fuel gases (RFG) into low-carbon methanol via co-processing with residual biogenic gas streams from biomass thermochemical conversion. Results from techno-economic analysis indicate that up to 44 wt.% of biogenic blend is possible without the need for external hydrogen supply, while electricity and heat requirements per tonne of methanol change by -4 % and + 80% respectively. Nevertheless, at the 44 wt.% blend, the estimated methanol cost increases only by 2.4 % (0.43 EUR/kg), while the reduction in methanol carbon intensity is approximately 40 %. This highlights promising benefits that can contribute to the integration of bio-oils producing technologies within fossil refineries.
Energy Efficient Process Designs for Acrylonitrile Production by Propylene Ammoxidation
Qing Li, Alexandre C. Dimian, Anton A. Kiss
June 27, 2025 (v1)
Acrylonitrile is a critical commodity chemical used to produce a variety of industrial polymers, such as carbon fibers, plastics, etc. Currently 90% of the global acrylonitrile production is based on propylene ammoxidation. However, there is no literature reporting the whole process holistically in detail, and which also looks into the energy utilization of the whole process including the reaction heat as well as the energy demands of the downstream separation. This original study provides a rigorous process design of the full process from a holistic viewpoint, covering 7 sections of acrylonitrile production (reaction, acid quenching, absorption-desorption, hydrogen cyanide recovery, acrolein recovery, acrylonitrile-acetonitrile-water separation, acetonitrile recovery sections). In order to further improve the energy efficiency, three energy integration strategies are proposed (1) Energy integrated downstream processing; (2) Systematic heat integration utilizing the heat of reaction; (... [more]
Modeling and Simulation of a Novel Process that Converts Low Density Polyethylene to Ethylene
Xiaoyan Wang, Omar Almaraz, Jianli Hu, Srinivas Palanki
June 27, 2025 (v1)
Keywords: Ethylene, Process Design, Process Development
In this research, a novel process is developed that utilizes low density polyethylene from plastic waste to produce ethylene. In this process, waste polyethylene is reacted in a microwave reactor to produce ethylene. A conceptual flowsheet based on this reactor is developed in the ASPEN Plus environment. Heat integration tools are utilized to reduce the hot and cold utilities used in this process. This novel design is compared with the conventional process of making ethylene from ethane via cracking. A technoeconomic analysis is conducted to demonstrate the economic feasibility of this process.
New Directions and Software Tools Within the Process Systems Engineering Ecosystem
S. Burroughs, B. Lincoln, A. Adeel, I. Severinsen, A. Lee, O. Amusat, D. Gunter, B. Nicholson, M. Apperley, B. Young, J. Siirola, T. G. Walmsle
June 27, 2025 (v1)
Process Systems Engineering (PSE) provides the advanced conceptual framework and software tools to formulate and optimise well-considered integrated solutions that could accelerate the sustainability transition within the industrial sector. The landscape of advanced PSE is poised to undertake a considerable transformation with the rise in popularity of open-source and script-based software platforms with predictive modelling capabilities based on modern mathematical optimization techniques. This paper highlights three leading equation-based platforms—IDAES, Modelica, and GEKKO-that are increasingly utilised for the modelling, simulation, and optimisation of complex systems within the advanced PSE domain, alongside the strengths and limitations of each approach. Following this, we present a framework through which emerging techniques within the domain of Software Engineering could be leveraged to address these limitations, with a vision of improving the accessibility and flexibility of... [more]
System analysis and optimization of replacing surplus refinery fuel gas by coprocessing with HTL bio-crude off-gas in oil refineries
Erik Lopez-Basto, Eliana Lozano Sanchez, Samantha Eleanor Tanzer, Andrea Ramirez
June 27, 2025 (v1)
Keywords: Biofuels, Modelling and Simulations, Optimization, Process Design, Refining
This study evaluates the introduction of Carbon Capture and Utilization (CCU) process in two Colombian refineries, focusing on their potential to reduce CO2 emissions and their associated impacts under a scenario aligned with the Net Zero Emissions by 2050 Scenario defined in the 2023 IEA report. The work uses a MILP programming tool (Linny-R) to model the operational processes of refinery sites, incorporating a net total cost calculation to optimize process performance over five-year intervals. This optimization was constrained by the maximum allowable CO2 emissions. The methodology includes the calculation of surplus refinery off-gas availability, the selection of products and CCU technologies, and the systematic collection of data from refinery operations, as well as scientific and industrial publications. The results indicate that integrating surplus refinery fuel gas (originally used for combustion processes) and HTL bio-crude off-gas (as a source of biogenic CO2) can significantl... [more]
Techno-economic analysis of a novel small-scale blue H2 and N2 production system
Adrian R. Irhamna, George M. Bollas
June 27, 2025 (v1)
This study presents an economic analysis of a blue H2-N2 production system, using a novel intensified reformer system with a hydrogen production efficiency of 80%. The system’s ability to produce both high-purity H2 and N2 creates opportunities for small-scale blue H2 and distributed ammonia production. The system consists of three identical, optimized fixed-bed reforming reactors, a heat recovery system, and shift reactors. A dynamic model was developed to simulate three small-scale H2 production systems: 2.8 tpd, 7.1 tpd, and 17.1 tpd, enabling an evaluation of their economic viability. The results indicate that the cost of H2 production ranges from 2.7 to 3.1 USD/kgH2. Sensitivity analysis reveals that natural gas and CO2 transportation costs have a significant impact on the variability of H2 price. This research provides valuable insights into the economic feasibility of small-scale blue hydrogen production, offering a pathway to support the broader adoption of hydrogen technologie... [more]
Proceedings of the 35th European Symposium on Computer Aided Process Engineering (ESCAPE 35)
Jan Van Impe, Grégoire Léonard, Satyajeet Sheetal Bhonsale, Monika Polanska, Filip Logist
June 27, 2025 (v1)
Keywords: Artificial Intelligence, Education, Modelling, Numerical Methods, Optimization, Process Control, Process Design, Process Systems Engineering, Simulation
Contains 423 original peer-reviewed research articles presented at the 35th European Symposium on Computer Aided Process Engineering (ESCAPE 35). Subject categories include Modelling and Simulation, Sustainable Product Development and Process Design, Large Scale Design and Planning/Scheduling, Model Based Optimisation and Advanced Control, Concepts, Methods and Tools, Digitalization and AI, CAPEing with Societal Challenges, CAPE Education and Knowledge, PSE4Food and Biochemical, and PSE4BioMedical and (Bio)Pharma.
Application of Artificial Intelligence in process simulation tool
Nikhil Rajeev, Suresh Kumar Jayaraman, Prajnan Das, Srividya Varada
January 30, 2025 (v1)
The document is the digital supplementary material for the article titled "Application of Artificial Intelligence in process simulation tool", submitted to the ESCAPE 35 conference. It contains additional information and figures.
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