RESERVOIR PROPERTIES OF BARREMIAN – APTIAN URGONIAN LIMESTONES,SE FRANCE,PART 1: INFLUENCE OF STRUCTURAL HISTORY ON POROSITY-PERMEABILITY VARIATIONS

Upper Barremian – Lower Aptian inner platform “Urgonian” limestones in the Mont de Vaucluse region, SE France, consist of alternating metre-scale microporous and tight intervals. This paper focuses on the influence of structural deformation on the reservoir properties of the Urgonian limestone succession in a study area near the town of Rustrel. Petrographic, petrophysical and structural data were recovered from five fully-cored boreholes, from the walls of a 100 m long underground tunnel, and from a 50 m long transect at a nearby outcrop. The data allowed reservoir property variations in the Urgonian limestones to be studied from core to reservoir scale. Eleven Reservoir Rock Types (RRTs) were identified based on petrographic features (texture, grain size), reservoir properties (porosity, permeability), and the frequency of structural discontinuities such as fractures, faults and stylolites. Tight and microporous reservoir rock types were distinguished. Tight reservoir rock types were characterised by early cementation of intergranular pore spaces and by the presence of frequent structural discontinuities. By contrast microporous reservoir rock types contained preserved intragranular microporosity and matrix permeability, but had very few structural discontinuities. Observed vertical alternations of microporous and tight rock types are interpreted to have been controlled by the early diagenesis of the Urgonian carbonates. Deformation associated with regional-scale tectonic phases, including Albian – Cenomanian “Durancian” uplift (∼105 to 96 Ma) and Pyrenean compression (∼55 to 25 Ma), resulted in the modification of the initial petrophysical properties of the Urgonian limestones. An early diagenetic imprint conditioned both the intensity of structural deformations and the associated circulations of diagenetic and meteoric fluids. Evolution of the Reservoir Rock Types is therefore linked both to the depositional conditions and to subsequent phases of structural deformation.     

A literature survey of the robotic technologies during the COVID-19 pandemic

Since the late 2019, the COVID-19 pandemic has been spread all around the world. The pandemic is a critical challenge to the health and safety of the general public, the medical staff and the medical systems worldwide. It has been globally proposed to utilise robots during the pandemic, to improve the treatment of patients and leverage the load of the medical system. However, there is still a lack of detailed and systematic review of the robotic research for the pandemic, from the technologies’ perspective. Thus a thorough literature survey is conducted in this research and more than 280 publications have been reviewed, with the focus on robotics during the pandemic. The main contribution of this literature survey is to answer two research questions, i.e. 1) what the main research contributions are to combat the pandemic from the robotic technologies’ perspective, and 2) what the promising supporting technologies are needed during and after the pandemic to help and guide future robotics research. The current achievements of robotic technologies are reviewed and discussed in different categories, followed by the identification of the representative work’s technology readiness level. The future research trends and essential technologies are then highlighted, including artificial intelligence, 5 G, big data, wireless sensor network, and human-robot collaboration.     

苏6井区下石盒子组高分辨率层序地层学特征

以高分辨率层序地层学理论和技术方法为指导，在苏里格气田苏6井区地表露头、钻井岩心、测井、地震资料综合研究的基础上，通过基准面旋回结构、叠加样式的沉积动力学分析，将该井区下石盒子组划分为2个长期、5个中期和14个短期旋回层序；并较为详细地讨论了各期旋回层序特征；建立了以长期旋回层序界面和最大洪泛面为等时年代地层框架，以中期旋回层序为等时地层单元的高分辨率层序地层格架；通过分析，认为下石盒子组盒₈下段天然气储、盖条件最为有利；有利于储层发育的河道砂体主要出现在长、中期上升半旋回的中、下部，层序界面上相当短期旋回级别的单河道砂体是下石盒子组天然气勘探开发的主要目标。     

营尔凹陷下白垩统油气勘探应避开高压水层

营尔凹陷下白垩统(K₁₎存在下沟组和赤金堡组2套源岩，目前它们已到成熟阶段。凹陷东侧长沙岭构造在下白垩统下沟组和赤金堡组储层中也发现油藏，但主要分布在高压水层的顶部及下部，而高压水层段存在良好的储层，并未发现油气。文章根据高压水层段的储层荧光特征，通过储层烃与源岩的对比，分析了下白垩统高压水层对油气运移的影响。研究结果表明：高压水层段，储层荧光弱，储层抽提物特征既不同于赤赤金堡组源岩，也不同于下构组源岩，为就近捕获的产物；高压水层未发生大规模的油气运移，其形成时间早于油气运移的时间。建议该区油气勘探目标的选择应避开高压水层，选择凹陷附近的圈闭、高压水层以下的层位。     

Expanding the analytical potential of channel locational probability maps using cellular statistics

The planimetric shifts in channel location of large alluvial rivers are a critical component in the creation of diverse structures and functions in riverine habitats. Engineered management schemes must also compensate for this type of channel change to protect resources and maintain navigation channels. The stability of the Lower Mississippi River channel was assessed through an analysis of historical records of channel position produced and archived by the United States Army Corps of Engineers. Channel location was recorded for the years 1765, 1820, 1881, 1915, 1930, 1937, 1960 and 1970. Channel stability was measured by two introduced metrics on a cell‐by‐cell basis: (1) the standard deviation of Euclidean distance to a channel cell for the entire period of record, and (2) the rate of Euclidean distance change between years in the period of record. At a coarse spatial scale, channel instability increased in the downstream direction. The variability of channel stability also increased in the downstream direction. Analysis of this variability identified alternating areas of high and low stability occurring with greater frequency as distance downstream increased. These findings are validated by past studies of channel stability along the Lower Mississippi River. As a result, the proposed metrics provide a consistent, quantitative, efficient and cost‐effective means of identifying areas of channel instability at several spatial scales. Copyright © 2006 John Wiley & Sons, Ltd.     

Artificial neural networks for coordination and control: The portability of experiential representations

It is time to locate connectionist representation theory in the new wave of robotics research. The utility of representations developed in artificial neural networks (ANNs) during learning has been demonstrated in cognitive science research since the 1980s. The research reported here puts learned representations to work in a decentered control task, the disembodied arm problem, in which a mobile robot operates an arm fixed to a table to pick up objects. There is no physical linkage between the arm and the robot and so the robot's point of view must be decentered. This is done by developing a modular Artificial Neural Net system in three stages: (i) a classifier net is trained with laser scan data to output transformationally invariant position classes; (ii) an arm net is trained for picking up objects; (iii) an inter net is trained to communicate and coordinate the sensing and acting. The completed system is shown to create new nonsymbolic transformationally invariant representations in order to perform the effective generalization of decentered viewpoints.     

一种基于阵列式触觉传感器的主动触觉搜索方法及仿真

本文在一种二指节手指模型的基础上，提出了一种新的主动触觉搜索策略和方法，综合利用阵列式触觉传感铭的输出图象来不断改变机械手的姿态，从而依次有序地搜索到三维物体的特征点，并据此生成物体的三维图形。此外还讨论了上述方法的计算机仿真实现。     

哈得逊隆起下石炭统基准面旋回与储集层预测

依据基准面旋回原理和方法,综合利用哈得逊地区的钻井、测井、地震以及地球化学资料,在研究区下石炭统识别出1个Ⅰ型和3个Ⅱ型层序界面,将哈得逊地区下石炭统划分为3个中期基准面旋回：SC1、SC2、SC3,对应于早石炭世海侵的3个海进-海退旋回.SC1旋回以滨岸砂坝沉积为主,而SC2、SC3旋回发育潮坪沉积体系.研究认为,SC1旋回滨岸砂岩及SC2下降半旋回的潮间带薄层砂岩为有利储集砂体,是地层-岩性型油气藏的重点勘探目标.     

Theoretical Investigation of Time Suboptimal Control of Industrial Manipulators Along Specified Paths

A method for the time suboptimal control of an industrial manipulator from an initial position and orientation to a final position and orientation as it moves along a specified path is proposed. Nonlinear system equations that describe the manipulator motion are linearized at each time step along the path. A method which gives the control inputs (joint angular velocities) for time suboptimal control of the manipulator is developed. In the formulation, joint angular velocity and acceleration limitations are also taken into consideration. A six degree of freedom elbow type manipulator is used in numerical examples to verify the method developed.