Perception‐aware autonomous mast motion planning for planetary exploration rovers

Highly accurate real‐time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision‐based systems to avoid hazards as well as plan safe routes. However, vision‐based systems operate on the assumption that sufficient visual texture is visible in the scene. This poses a challenge for vision‐based navigation on Mars where regions lacking visual texture are prevalent. To overcome this, we make use of the ability of the rover to actively steer the visual sensor to improve fault tolerance and maximize the perception performance. This paper answers the question of where and when to look by presenting a method for predicting the sensor trajectory that maximizes the localization performance of the rover. This is accomplished by an online assessment of possible trajectories using synthetic, future camera views created from previous observations of the scene. The proposed trajectories are quantified and chosen based on the expected localization performance. In this study, we validate the proposed method in field experiments at the Jet Propulsion Laboratory (JPL) Mars Yard. Furthermore, multiple performance metrics are identified and evaluated for reducing the overall runtime of the algorithm. We show how actively steering the perception system increases the localization accuracy compared with traditional fixed‐sensor configurations.     

A two stage heuristic algorithm for the integrated aircraft and crew schedule recovery problems

Airline disruptions incurred huge cost for airlines and serious inconvenience for travelers. In this paper, we study the integrated aircraft and crew schedule recovery problem. A two stage heuristic algorithm for the integrated recovery problem is proposed. In the first stage, the integrated aircraft recovery and flight-rescheduling model with partial crew consideration is built. This model is based on the traditional multi-commodity network model for the aircraft schedule recovery problem. The objective of this model also includes minimization of the original crew connection disruption. In the second stage, the integrated crew schedule recovery and flight re-scheduling model with partial aircraft consideration is built. We proposed a new multi-commodity model for the crew schedule recovery. The main advantage of such model is that it is much more efficient to integrate the flight-scheduling and aircraft consideration. New constraints are incorporated to guarantee that the aircraft connections generated in the stage 1 are still feasible. Two stages are run iteratively until no improvement can be achieved. Experimental results show that our method can provide better recovery solutions compared with the benchmark algorithms.     

Understanding value creation in closed loop supply chains – Past findings and future directions

The topic of value creation through the recovery of returned products in closed loop supply chains is scattered across various bodies of literature. We undertake a systematic literature review of 144 articles in relevant green, reverse and closed loop supply chain literature to synchronize existing knowledge on value creation. Value manifestations of four types of value, namely economic, environmental, information and customer value, are identified. Value adding concepts from the forward- and reverse supply chain may leverage the process of value creation. They are classified into six subclasses, namely partnerships and collaboration, product design characteristics, service concepts, IT solutions, supply chain processes and organizational characteristics. We present a conceptual framework on a strategic level. In this way companies can create competitive advantages by closing the loop. The results of the literature analysis suggest avenues for future research on the operational and strategic level.     

The PAR(p) Interconfigurations model used by the Brazilian Electric Sector

This study discusses the characteristics of the Periodic Autoregressive model, PAR(p), which is used to generate synthetic series of inflow energies that serve as entries for computer platforms that implement the planning and expansion of the operations of the BES – the Brazilian Electric Sector (SEB – Sistema Elétrico Brasileiro). The methodology for the design of a generating plant is presented in addition to the fundamentals of the “PAR(p) Interconfigurations” Model, which is referred to as the Inflow Energy Generation Model (IEGM) in this study. The major contribution of this study is to provide the first scientific discussion of the representation of multiple configurations using the PAR(p) model. For this purpose, several topics related to the time series are discussed, such as the definition of the model order, the matter of stationarity and the need to address possible outliers. Finally, a case study is presented, wherein the results of the estimation and generation of the described model’s scenarios are demonstrated.     

基于Q-learning的不确定环境BDI Agent最优策略规划研究

BDI模型能够很好地解决在特定环境下的Agent的推理和决策问题,但在动态和不确定环境下缺少决策和学习的能力。强化学习解决了Agent在未知环境下的决策问题,却缺少BDI模型中的规则描述和逻辑推理。针对BDI在未知和动态环境下的策略规划问题,提出基于强化学习Q-learning算法来实现BDI Agent学习和规划的方法,并针对BDI的实现模型ASL的决策机制做出了改进,最后在ASL的仿真平台Jason上建立了迷宫的仿真,仿真实验表明,在加入Q-learning学习机制后的新的ASL系统中,Agent在不确定环境下依然可以完成任务。     

海上稠油油田蒸汽吞吐产量确定新方法

针对目前蒸汽吞吐产量预测模型假设条件简单、普适性差等问题,一般采用测试法和类比法综合确定海上稠油油田蒸汽吞吐初期产量。由于目前海上油田通常只开展常规测试,无法直接获得热采开发初期产量。笔者提出海上稠油油田蒸汽吞吐初期产量确定新方法,建立蒸汽吞吐相对于常规开发的初期产量倍数预测模型,通过蒸汽吞吐产量倍数,将常规测试确定的产量转化为蒸汽吞吐产量。研究表明,蒸汽吞吐初期产量倍数主要受储集层渗透率、原油黏度、注入强度、蒸汽干度等因素影响,利用正交试验设计和多元回归等方法,建立海上稠油油田蒸汽吞吐初期产量倍数与油藏地质参数及注入参数之间的非线性预测模型,该模型经实际生产数据验证,预测误差小于5%,可靠性高,能够为海上稠油油田蒸汽吞吐初期产量的确定提供依据。     

高浓度聚合物驱提高采收率方法实验研究

为探索一种新的提高原油采收率的方法,在外形尺寸为4.5 cm×4.5 cm×30 cm、气测渗透率0.9~1.0μm2、变异系数为0.72的二维纵向非均质人造岩心上,模拟大庆油田油藏流体性质及温度条件,研究了高浓度聚合物(HPAM)驱注入时机、聚合物相对分子质量、聚合物段塞体积及段塞组合对驱油效果的影响。通过注入大分子量、高浓度聚合物,结合合理的注入方式,在化学剂成本与三元复合驱相当的情况下,采收率比水驱提高20个百分点以上,接近或超过三元复合驱的水平。实验表明,采用高浓度聚合物驱油是一种较好的提高原油采收率的方法。     

稠油微生物开采技术现状及进展

综述了用微生物方法开采稠油的技术现状与进展，论题如下。①概述。②基本方法：异源微生物采油，包括微生物吞吐和微生物驱；本源微生物采油压大港孔店油田的实例。③主要机理，包括产表面活性剂，降解稠油中重质组分及其他。④技术研究，包括机理性、可行性及经济效益研究，列举了国内外6个实例。⑤现场应用，包括国外1个、国内6个实例。⑥该技术的优势及问题。参22。     

ca油田稠油油藏系统保护油气层研究

针对ca油田多层状砂泥薄互层稠油油藏的特点,开展了热采和非热采条件下储层变化特征研究、钻井和固井过程入井液的研究、采油工艺技术等系统保护油气层研究,了解各种变化的作用过程和原因,有效地预防现场施工中可能发生的储层伤害,从而达到储层保护、提高采收率的目的。