Experimental Validation of the Tactile Exploration by a Manipulator With Joint Backlash

2012 ◽  
Vol 4 (1) ◽  
Author(s):  
Francesco Mazzini ◽  
Steven Dubowsky
Keyword(s):  
Case Studies ◽  
Laboratory Experiments ◽  
Experimental Validation ◽  
Measurement Precision ◽  
Oil Wells ◽  
Typical Application ◽  
Surface Measurements ◽  
Geometric Primitives ◽  
Harsh Conditions ◽  
Backlash Error

This research investigates using a manipulator to tactilely explore objects and environments when significant backlash affects its joint’s positions. A typical application is the exploration of rough environments, such as oil wells, where the harsh conditions dictate the use of tactile exploration. These conditions can result in large, unknown, and variable backlash in the manipulator’s transmissions, which strongly affects the measurement precision. Here, a method is developed to simultaneously map the unknown surface and identify the joint backlash. The robot probes the surface and uses its encoder readings to construct a partial map of the environment as a combination of geometric primitives. While the surface is built, the same data are also used to estimate backlash in the joints and to correct the surface measurements for backlash error. The effectiveness of the approach is demonstrated in simulation case studies and laboratory experiments.

The Tactile Exploration of a Harsh Environment by a Manipulator With Joint Backlash

2010 ◽  
Author(s):  
Francesco Mazzini ◽  
Steven Dubowsky
Keyword(s):  
Case Studies ◽  
Laboratory Experiments ◽  
Contact Point ◽  
Oil Wells ◽  
Harsh Environment ◽  
Tactile Sensors ◽  
Contact Points ◽  
Geometric Primitives ◽  
Harsh Conditions ◽  
Direct Kinematics

Here the tactile exploration by an autonomous robot when its joints are corrupted by significant backlash is studied. The motivation is the exploration of junctions in oil wells where the harsh conditions dictate the use of tactile exploration. These conditions also result in large, unknown, and variable backlash in the manipulator’s transmissions. Here, a method is developed to simultaneously identify the backlash and map the unknown surface. The method only needs joint encoders, and avoids the use of delicate force or tactile sensors. The mapped surface is described as a combination of geometric primitives. The robot probes the surface in several locations with its tip and computes the contact point through direct kinematics. These contact points are used simultaneously to construct a map of the environment and to identify its joint backlash, improving the precision of the map. The effectiveness of the approach is demonstrated in both simulation case studies and laboratory experiments.

Analysis of the World's First Polymer Injectivity Test in a Carbonate Reservoir Under Extreme Harsh Conditions in ADNOC's Reservoirs

2021 ◽  
Author(s):  
Juan Manuel Leon ◽  
Shehadeh K. Masalmeh ◽  
Siqing Xu ◽  
Ali M. AlSumaiti ◽  
Ahmed A. BinAmro ◽  
...  
Keyword(s):  
High Temperature ◽  
Laboratory Experiments ◽  
High Salinity ◽  
Laboratory Data ◽  
Injection Pressure ◽  
Carbonate Reservoir ◽  
Experimental Program ◽  
Full Field ◽  
Harsh Conditions

Abstract Assessing polymer injectivity for EOR field applications is highly important and challenging. An excessive injectivity reduction during and after polymer injection may potentially affect the well integrity and recovery efficiency and consequently, injection strategy and the economics of the polymer projects. Moreover, well conditions such as skin, completion configuration, and injection water quality can significantly impact polymer injectivity. Additionally, the presence of fractures or micro-fractures may govern injection pressure. In contrast, historic field applications have shown that polymer injectivity is in general better than expected from simulations or laboratory data. In the laboratory experiments, the polymer injectivity has been evaluated by injection of significant amounts of pore volumes of polymer at relevant well-injection rates. In addition, several experiments were performed to measure the complex in-situ rheology expected to dominate the flow near the wellbore This paper presents the analysis of the the world's first polymer injectivity test (PIT) conducted in a high temperature and high salinity (HTHS) carbonate reservoir in Abu Dhabi as part of a comprehensive de-risking program for a new polymer-based EOR scheme proposed by ADNOC for these challenging carbonate reservoirs (see Masalmeh et. al., 2014). The de-risking program includes an extensive laboratory experimental program and field injectivity test to ensure that the identified polymer can be injected and propagated in the target formation before multi-well pilot and full-field implementation stages. Experimental laboratory data and the field injectivity test results are presented in earlier publications (Masalmeh et. al., 2019; Rachapudi et. al., 2020) and references therein. This PIT is the world's first polymer injectivity test in a carbonate reservoir under such harsh conditions of high salinity, high content of divalent ions and high temperature. In addition, the polymer used during the test has never been field-tested before. Therefore, the results of the PIT interpretation will help to de-risk the suitable polymer for the future inter-well pilot for the new proposed EOR Polymer-based scheme and it is a game-changer to unlock several opportunities for different Chemical EOR applications on full-field scale in other reservoirs with similar characteristics. A single well radial simulation model was built to integrate the surveillance data during PIT and the extensive laboratory experiments. Morever, multiple Pressure Fall Off Tests (PFOs) during the same periods were analyzed and intergaretd in the model.The study assessed the effect of polymer viscosity on mobility reduction, evaluated the polymer bank propagation, investigated the effect of the skin build-up, residual resistance factor (RRF) and shear effects on the well injectivity. Additionally, a comprehensive assisted history match method and robust simulation sensitivity analysis was implemented, thousands of sensitivity simulation runs were performed to capture several possible injection scenarios and validate laboratory parameters. The simulation study confirmed that the PIT could be interpreted using the laboratory-measured polymer parameters such as polymer bulk viscosity, in-situ rheology, RRF and adsorption.

Use of Inline Spinner for Determination of Zonal Flow Rates in Vertical and Moderately Deviated Wells

2021 ◽  
pp. 1-10
Author(s):  
Mahmoud El-Sheikh ◽  
Ahmed H. El-Banbi
Keyword(s):  
Flow Rate ◽  
Performance Monitoring ◽  
Zonal Flow ◽  
Oil Wells ◽  
New Method ◽  
Specific Method ◽  
Flow Rates ◽  
Behavior Understanding ◽  
Reservoir Performance ◽  
Surface Measurements

Summary Accurate zonal flow rate determination is necessary for better reservoir behavior understanding and for making important decisions that can improve well productivity. Knowledge of the capabilities of different reservoir zones in the same well also has significant importance in reservoir performance monitoring and selection of perforation intervals in development wells. Conventional production log analysis techniques can usually yield good results only if the fullbore spinner readings are reliable. However, the fullbore spinner measurement may not be available in some wells. Examples include cases in which the fullbore spinner cannot access the well due to mechanical obstruction, or when the casing is not clean enough, causing potential plugging of fullbore spinner blades. In these situations, the fullboreflow-rate readings may not be available or at least unclear or confusing, which may lead to incorrect decisions. In many of these situations, inline spinner (ILS) data may be readily available. The ILS is often used for qualitative interpretation (i.e., determining which zones are producing), but there is not a specific method to use the ILS for a quantitative solution in the absence of surface measurements of rates. In this paper, we introduce a new method to calculate the volumetric zonal flow rate using ILS data with high accuracy. Approximately 40 oil wells are used to develop an empirical correlation to compute zonal flow rates from ILS data in casing strings. The new method was used to quantitatively interpret eight oil wells for validation. In these wells, fullbore and ILS data were significantly different. The new method for interpretation of ILS data provided results consistent with surface production tests and led to decisions that contributed to increasing production rates.

MEMS Design Education by Case Studies

2001 ◽  
Author(s):  
Ryszard J. Pryputniewicz
Keyword(s):  
Computer Science ◽  
Case Studies ◽  
Design Education ◽  
Laboratory Experiments ◽  
Microelectromechanical Systems ◽  
Academic Development ◽  
Academic Education ◽  
Graduate Courses ◽  
Mems Technology ◽  
Student Projects

Abstract Advances in microelectromechanical systems (MEMS) technology are based on understanding of the issues involved in design, analysis, fabrication, characterization, and use of the finished products. Although this understanding is being developed “on the job” to satisfy immediate needs of rapid advances in the emerging MEMS technology, there is also growing demand for “academic” education in MEMS. Whether on-the-job or academic, development of the required understanding is no easy task because the MEMS field is very multidisciplinary. Those involved should be able to work simultaneously with topics relating to physics, chemistry, materials, computer science, engineering, as well as other relevant disciplines. To facilitate preparation of future engineers for work with MEMS, we have developed undergraduate and graduate courses addressing some of the crucial issues relating to MEMS. These courses are based on case studies that we have developed in our laboratories. The courses include lectures, laboratory experiments, student projects, and presentations. This paper describes selected case studies used in our courses as they relate to design education with MEMS.

Modeling coastal tsunami hazard from submarine mass failures: effect of slide rheology, experimental validation, and case studies off the US East Coast

2016 ◽  
Vol 86 (1) ◽  
pp. 353-391 ◽  
Author(s):  
Stéphan T. Grilli ◽  
Mike Shelby ◽  
Olivier Kimmoun ◽  
Guillaume Dupont ◽  
Dmitry Nicolsky ◽  
...  
Keyword(s):  
Case Studies ◽  
Experimental Validation ◽  
East Coast ◽  
Tsunami Hazard ◽  
The Us ◽  
Us East Coast

LIMIT CYCLING IN AN OBSERVER-BASED CONTROLLED SYSTEM WITH FRICTION: NUMERICAL ANALYSIS AND EXPERIMENTAL VALIDATION

2004 ◽  
Vol 14 (09) ◽  
pp. 3083-3093 ◽  
Author(s):  
DEVI PUTRA ◽  
HENK NIJMEIJER
Keyword(s):  
Steady State ◽  
Numerical Analysis ◽  
Bifurcation Analysis ◽  
Laboratory Experiments ◽  
Experimental Validation ◽  
Friction Compensation ◽  
Controlled System ◽  
The Cost ◽  
Controlled Mechanical Systems ◽  
Cycling Behavior

This paper investigates limit cycling behavior of observer-based controlled mechanical systems with friction compensation. The limit cycling is induced by the interaction between friction and friction compensation, which is based on the estimated velocity. The limit cycling phenomenon, which is experimentally observed in a rotating arm manipulator, is analyzed through computational bifurcation analysis. The computed bifurcation diagram confirms that the limit cycles can be eliminated by enlarging observer gains and controller gains at the cost of a steady state error. The numerical results match well with laboratory experiments.

New Well-Testing Methods for Rod-Pumping Oil Wells - Case Studies

2002 ◽  
Vol 17 (04) ◽  
pp. 204-211 ◽  
Author(s):  
John Guoynes ◽  
Mehdi Azari ◽  
Robert Gillstrom ◽  
Bret Friend ◽  
Mike Fairbanks
Keyword(s):  
Case Studies ◽  
Oil Wells ◽  
Well Testing ◽  
Testing Methods

A Multi-Factor Coverage based Test Case Prioritization Technique for Object Oriented Software

2015 ◽  
Vol 3 (1) ◽  
Author(s):  
Vedpal ◽  
Naresh Chauhan
Keyword(s):  
Fault Detection ◽  
Case Studies ◽  
Experimental Validation ◽  
Object Oriented ◽  
Object Oriented Programming ◽  
Test Case ◽  
Test Cases ◽  
Test Case Prioritization ◽  
C Language ◽  
The Cost

Test case prioritization technique creates the sequence of test cases for execution in such a way that the test cases with higher rate of fault detection are executed earlier than those test cases which have lower rate of fault detection. In this paper a new algorithm is proposed to prioritize the test cases based on coverage of object oriented programming factors. The factors are considered on the basis of complexity and probability of errors introduced by them. For the experimental validation and analysis the proposed test case prioritization algorithm is applied on two case studies. The analyzed case studies are implemented in C++ language. By using the presented algorithm it helps to reduce the cost and time for testing the software.

Sign in / Sign up

Export Citation Format

Share Document