scholarly journals Automated lane change featuring re-planning in dynamic environments and sensitivity analysis of main operational parameters

IEEE Access ◽  
2022 ◽  
pp. 1-1
Author(s):  
Cornelia Lex ◽  
Demin Nalic ◽  
Sajjad Samiee ◽  
Arno Eichberger
2021 ◽  
Author(s):  
Israel Mayo-Molina ◽  
Juliana Y. Leung

Abstract The Steam Alternating Solvent (SAS) process has been proposed and studied in recent years as a new auspicious alternative to the conventional thermal (steam-based) bitumen recovery process. The SAS process incorporates steam and solvent (e.g. propane) cycles injected alternatively using the same configuration as the Steam-Assisted Gravity-Drainage (SAGD) process. The SAS process offers many advantages, including lower capital and operational cost, as well as a reduction in water usage and lower Greenhouse Gas (GHG) Emissions. On the other hand, one of the main challenges of this relatively new process is the influence of uncertain reservoir heterogeneity distribution, such as shale barriers, on production behaviour. Many complex physical mechanisms, including heat transfer, fluid flows, and mass transfer, must be coupled. A proper design and selection of the operational parameters must consider several conflicting objectives. This work aims to develop a hybrid multi-objective optimization (MOO) framework for determining a set of Pareto-optimal SAS operational parameters under a variety of heterogeneity scenarios. First, a 2-D homogeneous reservoir model is constructed based on typical Cold lake reservoir properties in Alberta, Canada. The homogeneous model is used to establish a base scenario. Second, different shale barrier configurations with varying proportions, lengths, and locations are incorporated. Third, a detailed sensitivity analysis is performed to determine the most impactful parameters or decision variables. Based on the results of the sensitivity analysis, several objective functions are formulated (e.g., minimizing energy and solvent usage). Fourth, Response Surface Methodology (RSM) is applied to generate a set of proxy models to approximate the non-linear relationship between the decision variables and the objective functions and to reduce the overall computational time. Finally, three Multi-Objective Evolutionary Algorithms (MOEAs) are applied to search and compare the optimal sets of decision parameters. The study showed that the SAS process is sensitive to the shale barrier distribution, and that impact is strongly dependent on the location and length of a specific shale barrier. When a shale barrier is located near the injector well, pressure and temperature may build up in the near-well area, preventing additional steam and solvent be injected and, consequently, reducing the oil production. Operational constraints, such as bottom-hole pressure, steam trap criterion, and bottom-hole gas rate in the producer, are among various critical decision variables examined in this study. A key conclusion is that the optimal operating strategy should depend on the underlying heterogeneity. Although this notion has been alluded to in other previous steam- or solvent-based studies, this paper is the first to utilize a MOO framework for systematically determining a specific optimal strategy for each heterogeneity scenario. With the advancement of continuous downhole fibre-optic monitoring, the outcomes can potentially be integrated into other real-time reservoir characterization and optimization work-flows.


Author(s):  
Shubhashisa Sahoo ◽  
Shankar C. Subramanian ◽  
Suresh Srivastava

Even if there are many software and mathematical models available in the literature to analyze the dynamic performance of Unmanned Ground Vehicles (UGVs), it is always difficult to identify or collect the required vehicle parameters from the vehicle manufacturer for simulation. In analyzing the vehicle handling performance, a difficult and complex task is to use an appropriate tire model that can accurately characterize the ground-wheel interaction. Though, the well-known ‘Magic Formula’ is widely used for this purpose, it requires expensive test equipment to estimate the Magic Formula coefficients. The design of longitudinal and lateral controllers plays a significant role in path tracking of an UGV. Though the speed of the vehicle may remain almost constant in most of the maneuvers such as lane change, Double Lane Change (DLC), step steer, cornering, etc., design of the lateral controller is always a challenging task as it depends on the vehicle parameters, road information and also on the steering actuator dynamics. Although a mathematical model is an abstraction of the actual system, the controller is designed based on this model and then deployed on the real system. In this paper, a realistic mathematical model of the vehicle considering the steering actuator dynamics has been developed by calculating the cornering stiffnesses from the basic tire information and the vertical load on each tire. A heading angle controller of the UGV has been considered using the Point-to-Point navigation algorithm. Then, these controllers have been implemented on a test platform equipped with an Inertial Measurement Unit (IMU) and a Global Positioning System (GPS). A wide range of experiments such as J-Turn, lane change and DLC have also been conducted for comparison with the simulation results. Sensitivity analysis has been carried out to check the robustness and stability of the controller by varying the cornering stiffness of tires, the most uncertain parameter. The longitudinal speed of the vehicle is assumed to vary between a minimum value of 1.4 m/s and a maximum value of 20 m/s. It has been found that when the vehicle is moving at a constant velocity of 3.2 m/s, a heading angle change of 20 degrees can be achieved within 3 seconds with 2% steady state error using a proportional controller. It was observed that at lower speeds, the controller is more sensitive to the steering actuator dynamics and at higher speeds, the controller is more sensitive to the cornering stiffness of tires.


Sign in / Sign up

Export Citation Format

Share Document