运用水平井技术开发浅层油气藏技术

浅层油气藏的开发,一直受到地面条件、工具造斜能力、钻完井问题突出等难点的困扰而无法实现经济开采,近年来随着石油钻完井技术的不断发展,运用水平井技术开发浅层油气藏已成为各大油田普遍认可的技术。本文通过对富拉尔基油田水平井钻完井技术的描述,介绍浅层水平井钻井的主要难点及解决措施。     

哈萨克斯坦盐下油藏钻井技术

哈萨克斯坦盐下油层埋藏深(垂深4 500 m左右),地质条件复杂,下二叠系和石碳系层系压力极高,泥板岩钻时极低,在井下事故预防及提速两方面存在挑战。本文以KJ-HW8井为例,讲述该区域轨迹控制、安全措施制定等钻井方案。     

Using the past to indicate the possible presence of relics in the present-day landscape: the Western Front of the Great War in Belgium

The First World War (WWI) had a notable influence on the landscape at the former Western Front in Belgium. Research on a landscape scale is necessary to understand the destructive and constructive impact of the war and its consequences for the post-war landscape in a holistic manner. This paper focuses on the trajectory and impact analysis of three study areas with contrasting landscape types and aims to indicate possible preserved military relics today. Therefore, landscape changes are studied using historical aerial photographs (WWI and WWII) and contemporary orthophotos. A military landscape characterisation is made based on land use/land cover and linear structures that were mapped throughout time. Specific landscape trajectories could be designated as areas with a possible preservation of WWI heritage, with a related impact degree. The results are useful for sustainable heritage management and for further interdisciplinary research on WWI-heritage, by providing a broad knowledge of the area.     

陶瓷球高效超光滑磁流变柔性抛光新工艺研究

目的为实现陶瓷球表面的高效超光滑抛光,提出一种集群磁流变抛光陶瓷球的新工艺。方法在传统V型槽抛光陶瓷球的基础上增加集群磁极和上盘旋转动力,配制适当的磁流变抛光液,通过在上下抛光盘的集群磁极,形成磁流变抛光垫包覆陶瓷球,进行研磨抛光加工。然后,基于陶瓷球工件几何运动学和动力学分析得到球体各运动参数的影响关系,利用机械系统分析软件ADAMS对成球过程进行动态仿真,可以看出该抛光方法能够主动控制球体的运动,实现球面抛光轨迹的快速均匀全包络。最后,根据仿真结果,通过调整上下抛光盘的转速比、偏心距和加工间隙等参数,控制陶瓷球的自转角,实现球面的快速高效超光滑抛光。结果用自行设计的陶瓷球集群磁流变抛光实验装置,对氮化硅陶瓷球进行抛光2.5 h,表面粗糙度Ra从60 nm左右下降到10 nm左右,球形误差为0.13μm,达到了陶瓷球轴承氮化硅球的国家标准(G5水平)。结论集群磁流变抛光方式可以实现球面抛光轨迹的快速均匀全包络,实现陶瓷球表面的高效超光滑抛光,值得进一步深入探讨研究。     

Seam-tracking based on dynamic trajectory planning for a mobile welding robot

A new seam-tracking method based on dynamic trajectory planning for a mobile welding robot is proposed in order to improve the response lag of the mobile robot and the high frequency oscillation in seam-tracking. By using a front-placed laser-based vision sensor to dynamically extract the location of the weld seam in front of torch, the trend and direction of the weld line is roughly obtained. The robot system autonomously and dynamically performs trajectory planning based on the isometric approximation model. Arc sensor technology is applied to detect the offset during welding process in real time. The dynamic compensation of the weld path is done in combination with the control of the mobile robot and the executive body installed on it. Simulated and experimental results demonstrate that the method effectively increases the stability of welding speed and smoothness of the weld track, and hence the weld formation in curves and corners is improved.     

基于MPC-MFAC的双侧独立电驱动无人履带车辆轨迹跟踪控制

简化模型带来的模型失配以及外部环境不确定性是导致轨迹跟踪误差的主要原因,尤其对于无人履带车辆,其复杂的物理特性和工作环境更放大了两大因素的不利影响。针对该问题,将基于模型和基于数据的控制方法结合起来,提出一种基于模型预测控制结合无模型自适应控制补偿的双侧独立电驱动无人履带车辆轨迹跟踪控制方法。在平衡建模准确度和求解耗时的基础上,利用模型预测控制进行前馈求解。针对模型预测控制中简化模型与车辆实际模型之间必然存在的差异以及环境不确定性,基于动态跟踪效果构建无模型自适应控制算法进行补偿,即利用车辆实际轨迹与模型预测所得轨迹之间的误差,对模型预测控制求解的两侧履带速度控制量进行实时修正。仿真实验结果表明,该方法能够在一定程度上抑制系统内外部不确定因素的影响,提高动态环境下双侧独立电驱动无人履带车辆轨迹跟踪控制的精度。     

事件驱动多关节机械臂轨迹跟踪自适应鲁棒控制

针对具有不确定干扰和建模误差的多关节机械臂轨迹跟踪控制问题,基于自适应鲁棒控制算法提出事件驱动跟踪控制器。通过自适应鲁棒控制保证多关节机械臂轨迹跟踪精度,处理不确定干扰和建模误差带来的不确定性影响。利用事件驱动控制框架,以当前跟踪误差和期望状态等变量作为输入定义事件驱动系统的变量。根据Lyapunov稳定性理论获得了驱动条件,且证明了无Zeno现象发生,使系统在满足驱动条件时更新控制指令,从而减少系统能耗与通信频率,提高系统的可靠性,保证多关节机械臂跟踪控制系统半全局最终一致有界。通过仿真验证了理论结果的有效性。     

Extrapolating wind speed time series vs. Weibull distribution to assess wind resource to the turbine hub height: A case study on coastal location in Southern Italy

Increasing knowledge on wind shear models to strengthen their reliability appears as a crucial issue, markedly for energy investors to accurately predict the average wind speed at different turbine hub heights, and thus the expected wind energy output. This is particularly helpful during the feasibility study to abate the costs of a wind power project, thus avoiding installation of tall towers, or even more expensive devices such as LIDAR or SODAR.The power law (PL) was found to provide the finest representation of wind speed profiles and is hence the focus of the present study. Besides commonly used for vertical extrapolation of wind speed time series, the PL relationship between “instantaneous” wind profiles was demonstrated by Justus and Mikhail to be consistent with the height variation of Weibull distribution. Therefore, in this work a comparison is performed between these two different PL–based extrapolation approaches to assess wind resource to the turbine hub height: (i) extrapolation of wind speed time series, and (ii) extrapolation of Weibull wind speed distribution. The models developed by Smedman–Högström and Högström (SH), and Panofsky and Dutton (PD) were used to approach (i), while those from Justus and Mikhail (JM) and Spera and Richards (SR) to approach (ii). Models skill in estimating wind shear coefficient was also assessed and compared.PL extrapolation models have been tested over a flat and rough location in Apulia region (Southern Italy), where the role played by atmospheric stability and surface roughness, along with their variability with time and wind characteristics, has been also investigated. A 3-year (1998–2000) 1–h dataset, including wind measurements at 10 and 50 m, has been used. Based on 10–m wind speed observations, the computation of 50–m extrapolated wind resource, Weibull distribution and energy yield has been made. This work is aimed at proceeding the research issue addressed within a previous study, where PL extrapolation models were tested and compared in extrapolating wind resource and energy yield from 10 to 100 m over a complex–topography and smooth coastal site in Tuscany region (Central Italy). As a result, wind speed time series extrapolating models proved to be the most skilful, particularly PD, based on the similarity theory and thus addressing all stability conditions. However, comparable results are returned by the empirical JM Weibull distribution extrapolating model, which indeed proved to be preferable as being: (i) far easier to be used, as z₀–, stability–, and wind speed time series independent; (ii) more conservative, as wind energy is underpredicted rather than overpredicted.     

An Improved Method for Load Taxonomy Using Sample Shifting Technique and Signature Analysis

This paper illustrates an improved method of classification of electrical appliances, particularly for domestic loads, to construct load taxonomy on the basis of their signature analysis. Each electrical load is characterized by its own distinct signature and hence load signature analysis is useful in monitoring the health of the equipment, power quality, in determining individual energy usage etc. type of services. On the other hand, load taxonomy classifies these loads in several clusters on the basis of some features extracted from their signatures. In traditional methods of construction of load taxonomy, different signature patterns based on power metrics, V-I trajectories, Eigen vectors, etc. In this proposed method, with the adoption of sample shifting technique the required number of feature extraction is reduced to a lower value to find out various signature patterns than those are required in traditional load taxonomies. Moreover, a better taxonomy, having well separated groups of loads is achieved with lower number of extracted features.     

共享交通的时空轨迹检索与群体发现

为解决共享交通下的共乘用户群体发现效率低、准确率不高问题，依据R-树原理建立GeoOD-Tree索引，并在此基础上提出以最大化共乘率为目标的群体发现策略。首先，对原始时空轨迹数据进行特征提取与标定处理，挖掘有效出行起讫点（OD）轨迹；其次，针对用户起讫点轨迹的特征，建立GeoOD-Tree索引进行有效的存储管理；最后，给出以最大化共乘行程为目标的群体发现模型，并运用K最近邻（KNN）查询对搜索空间剪枝压缩，提高群体发现效率。采用西安市近12000辆出租车营运轨迹数据，选取动态时间规整（DTW）等典型算法与所提算法在查询效率与准确率上进行性能对比分析。与DTW算法相比，所提算法的准确率提高了10.12%，查询效率提高了约15倍。实验结果表明提出的群体发现策略能有效提高共乘用户群体发现的准确率和效率，可有效提升共乘出行方式的出行率。