SET POINT TRACKING CONTROL OF A REMOTELY OPERATED VEHICLE USING MODEL PREDICTIVE CONTROL

This paper considers kinematics and dynamics of Remotely Operated Underwater Vehicle (ROV) to control position, orientation and velocity of the vehicle. Cascade control technique has been applied in this paper. The pole placement technique is used in inner loop of kinematics to stabilize the vehicle motions. Model Predictive control is proposed and applied in outer loop of vehicle dynamics to maintain position and velocity trajectories of ROV. Simulation results carried out on ROV shows the good performance and stability are achieved by using MPC algorithm, whereas sliding mode control loses its stability when ocean currents are high. Implementation of proposed MPC algorithm and stabilization of vehicle motions is the main contribution in this paper.

A novel guidewire technique for endobronchial silicone plug occlusion for bronchopleural fistula

Successful bronchoscopic bronchopleural fistula closure requires both accurate localization of the fistula and device implantation; placing a silicone plug requires experience and skill because of the limited endobronchial working space. We report a novel bronchoscopic silicone plug placement technique for a bronchopleural fistula that developed after a left upper lobectomy following induction chemoradiation therapy, which was then successfully treated by omentopexy.

Making Workovers Easy and Cost Effective: Turning Old Ways into New Opportunities

A case study and methodology is presented to shed the light on the different processes followed during the placement of a non-damaging isolation barrier in a group of highly naturally-fractured and vugular gas wells. The temporary isolation aims at isolating the wellbore from the troublesome formation and allow the removal of the original completion string and install a new redesigned one. The process helped putting the wells back on production with-out the need to stimulate any of them. This helped client to reduce the overall workover cost by 40% and proved to be successful and efficient to complete the required operation in a time-efficient. The operator had 4 wells with OH sections ranging from 40-80m which were completed in the late 1990's with no production packer. To preserve wellbore integrity the completion string needed to be pulled and replaced by a string with production packer and DH gauges. Visco-Elastic Surfactant (VES) and calcium CaCO3 (carbonate) used ubiquitously in field operations were tested for optimal design to fill highly fractured OH without damaging formation. Caliper logs were not available, and the presence of natural fractures posed a challenge to calculate the actual OH volume. A system was developed to carry the CaCO3 into the wellbore in stages and slickline was employed to measure fill after each stage. Once the OH was filled with CaCO3 and well would support a fluid column coil tubing was used to place an acid-soluble cement plug in the short interval between casing shoe and end of tubing (6-9m). The paper describes the optimization process followed to tune the CaCO3 pads composition, gel composition, mixing and placement technique. The first well in the campaign required more than 10 times the theoretical volume of CaCO3 to fill the open hole with multiple settling issues at surface. It was concluded the surfactant gel was likely carrying the CaCO3 into the fractures. The procedure was modified to tie in a line of breaker solution to the well head allowing sufficient viscosity of the fluid to carry the CaCO3 from surface but immediately lose viscosity and allow the CaCO3 to settle in the open hole without being carried into the formation. Specific coil tubing procedures were employed to allow the setting of ultra-short acid soluble cement plugs (<6m). All wells were successfully isolated to allow the safe workover of the completion string and returned to production with no loss of gas flow, with-out the need to stimulate after the work over. The campaign exhibited a new method of employing existing technologies to achieve the objective in a highly challenging and relatively new oilfield of Kurdistan. The campaign also demonstrated the benefit, in terms of saving time and cost because of extensive pre-execution planning.

Conventional glass-ionomer cements: a guide for practitioners

Glass-polyalkenoate cements, also known as glass-ionomer cements (GICs), are one of the most commonly used bio-interactive restorative dental materials, having been available since the 1970s. With the promotion of minimally invasive operative dentistry (MID), and the reduction in the use of dental amalgam worldwide, the popularity of these materials has grown significantly in recent years. This article outlines the basics and clinical importance of GIC material science, and provides an overview of their use in restorative dentistry. CPD/Clinical Relevance: GICs are versatile dental biomaterials that require correct case selection, material handling and placement technique to ensure optimal clinical success.

Effects of Preheating and Sonic Delivery Techniques on the Internal Adaptation of Bulk-fill Resin Composites

Clinical Relevance The internal adaptation of resin composites that are recommended to be placed with the conventional insertion technique could be improved when the resin composites are preheated prior to their placement. SonicFill 2 and VisCalor bulk show the best internal adaptation when they are inserted as per the manufacurer's recommended techniques. SUMMARY Objective: To compare the effects of conventional (hand-placed), sonic, or preheated insertion techniques on the internal adaptation of bulk-fill resin composites. Methods and Materials: A total of 150 freshly extracted human third molars were used to prepare standardized cylindrical occlusal cavities. Teeth were divided into five main groups according to the resin composites: 1 incremental (Clearfil Majesty Posterior [CMP]) and four paste-like bulk-fill (SonicFill 2 [SF2], VisCalor bulk [VCB], Filtek One bulk-fill restorative [FBR], and Tetric EvoCeram bulk-fill [TEB]). Each main group was divided into three subgroups according to the placement technique: conventional, preheating, and sonic delivery (n=10). In the conventional placement technique, cavities were filled manually. In the sonic insertion technique, a specific handpiece (SonicFill Handpiece; Kerr Corporation) was used. In the preheating technique, a heating device (Caps Warmer, Voco, Cuxhaven, Germany) was used to warm the resin composites before placement. Internal voids (%) of the completed restorations were calculated with microcomputed tomography. Data was analyzed with two-way analysis of variacne followed by Tukey’s multiple comparisons test (α=0.05). Results: All resin composites showed fewer internal gaps with preheating compared with the conventional placement (p<0.05). For all resin composites other than SF2, preheating provided fewer internal gaps than that of the sonic placement (p<0.05). Sonic placement led to fewer internal gaps compared with the conventional placement, but only for SF2 and FBR (p<0.05). For the conventional placement, the lowest gap percentage was observed with the incremental resin composite (CMP, p<0.05). Among all groups, the lowest gap percentages were observed for preheated VCB followed by sonically inserted SF2 (p<0.05). Conclusion: The best internal adaptation was observed in sonically inserted SF2 and preheated VCB, which were the manufacturers’ recommended insertion techniques. Preheating considerably improved the internal adaptation of all resin composites, except for that of SF2.

‘Level-off’ cement plugging method to cure lost circulation verified with case studies

Controlling lost circulation during drilling operations in a reservoir prone to fluid losses is typically remedied by cement squeezing or plug setting as the last resort. The aim being to minimize or stop drilling fluid losses and to regain full returns at surface, and to maintain wellbore integrity. Different placement methods of cement plugs have been discussed in detail in the literature, except for the ‘level-off’ method, which can be effective for curing complete loss circulation cases. Following modeling and calculations of this cement plug placement method, its design and execution procedures are discussed, together with two successful field cases in highly fractured carbonate reservoirs in the Middle East. Using drill pipe and a Retrievable-Test-Treat-Squeeze (RTTS) packer, set with some spacing from the loss zone, the method entails that the cement slurry is allowed to drop by gravity in order to cure lost circulation. As the column of fluid, mud and slurry in the well exceeds formation pore pressure, i.e., overbalanced conditions, a volume of acid-soluble cement slurry is allowed to slowly drop and freely penetrate the formation, i.e., through its fractures or caverns. During the penetration of this viscous slurry into the loss zone, the cement slurry can set and the fracture or fissure openings are plugged. Presented are detailed design calculations for the level-off placement technique, determination of required cement slurry and displacement volumes, and recommended displacement and RTTS packer setting depths. The expected depth of the top of cement plug is estimated. The design parameters are compared with field cases and explanations are given for possible discrepancies. Success of the operation is discussed in terms of final mud loss after cement plugging and Non-Productive Time mitigation. Detailed field procedures and execution are also presented. The level-off job is already practiced by the industry, but it is not published in the literature, in some cases they have different methods with causing some errors. To the best of authors’ knowledge, this is the first detailed description and stepwise calculation of the level-off cement placement technique in the literature.

A Novel Placement Technique of S2 Screw (from S2 to Promontorium) and Double Screwing from S2

Since pseudoarthrosis or screw loosening is frequently seen in lumbosacral stabilizations ending in S1, S2 screws are used more frequently to support S1 screws. This study aims to describe a new screw placement technique and location from S2. Revision surgery was applied to the patient who had previously undergone surgery with the rigid instrumentation system and encountered pseudoarthrosis during the follow-up period. Instrumentation was performed from S2 to the promontorium. The patient’s chronic low back pain arising due to pseudoarthrosis was reduced and a strong lumbosacral dynamic instrumentation was performed to the patient. Dual screw placement from S2 and/or screw placement in the S2-promontorium direction is a new alternative to provide a powerful instrumentation.

Prosthodontics Using Removable Platform Switching Technologies (Multiunit, On1) as Exemplified by Conical Connection Implant Systems for Early and Immediate Loading

The removable platform switching technology (multiunit, Оn1) was tested intraoperatively using the passive placement technique as exemplified by a conical connection implant system, which makes it possible to visually control the placement of these platforms with respect to the alveolar bone in the correct orthopedic position. The technology is characterized by a rapid epithelialization of tissues around the base platform until the final integration of the implant, minimal trauma in the emergence profile zone, and an improved minimally invasive orthopedic protocol for working on a removable platform switching base.