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2025 SPE/IADC International Drilling Conference and Exhibition, DC 2025

作者： Soilemezidis, C. Mensah, J.S. Hollstein, W. Al Maasarani, K. Alkhawaja, A. Jamali, F. Dörfler, G. Hölzner, N. Jarbouh, K.A. Ustaoglu, D. Alukkal, A.T. Gudhane, L.A.Y. Jaeger, P. Feldmann, E. Carvajal, C.A.P. Yin, A.O. Sinkuu, L. Quayson, J. Amoah, F.B. Yahaya, H.S. Owusu, K.A. Dongoyo, C.K.N. Owusu, A. Amorin, R. Florence, F. Institute of Subsurface Energy Systems Clausthal University of Technology Lower Saxony Clausthal-Zellerfeld Germany Department of Petroleum and Natural Gas Engineering University of Mines and Technology Tarkwa Ghana Institute of Mechanical Engineering Clausthal University of Technology Lower Saxony Clausthal-Zellerfeld Germany Institute of Economics Clausthal University of Technology Lower Saxony Clausthal-Zellerfeld Germany Institute of Informatics Clausthal University of Technology Lower Saxony Clausthal-Zellerfeld Germany Department of Electrical and Electronics Engineering University of Mines and Technology Tarkwa Ghana Department of Computer Science and Engineering University of Mines and Technology Tarkwa Ghana Department of Petroleum Geoscience University of Mines and Technology Tarkwa Ghana Rig Operations AustinTX United States

ISBN: (纸本)9781959025641

SPE’s Drilling systems Automation Technical Section (DSATS) sponsors the Drillbotics® autonomous drilling contest to promote advanced learning at participating universities. Two groups worked separately to drill a directional well hands-free and to connect to a well model to detect/close in a kick. This paper consolidates the efforts of both teams. Team A, the directional drilling team from the University of Mines and Technology (UMaT) in Ghana, developed a virtual model that replicated full-scale directional drilling operations, facilitating the development and testing of innovative control schemes and automation strategies. Leveraging state-of-the-art drilling software, real-time data analytics, and advanced control systems, the project demonstrated the potential of automated drilling technologies across both the planning and execution phases of drilling projects. Team B, from Technical University Clausthal (TUC) in Germany, designed and built a mini-rig that included a working scaled version of a rotary steerable system (RSS) tool to steer a wellbore through a block of sandstone to reach two non-planer targets. The work incorporates machine learning techniques to evaluate downhole sensor data and improve steering signal input. The modular design of the second-generation surface actuation system offers a more compact and efficient solution than its predecessor. The control architecture and network protocols are analyzed, demonstrating network delays of under 2 msec using a refined second-generation translator setup. The achievements of both teams are important to the future of drilling automation, as their approaches could be used to verify and validate third-party app’s communications prior to field release on full-scale rigs. Copyright 2025, SPE/IADC International Drilling Conference and Exhibition.

关键词： Directional drilling

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Tracking Periodic Voltage Sags via Synchrophasor Data in a Geographically Bounded Service Territory

Tracking Periodic Voltage Sags via Synchrophasor Data in a G...

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Grid Edge Technologies Conference & Exposition (Grid Edge), IEEE PES

作者： Xin Xu Chetan Mishra Chen Wang Kevin D. Jones J. Brian Starling R. Matthew Gardner Luigi Vanfretti ET Operation Engineering Support Dominion Energy Richmond VA Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY

Existing methods for synchrophasor data analysis focus on oscillations that can be interpreted as a sum of sinusoids with or without damping, however, they are more difficult to apply when considering other types of waveforms. This paper investigates how to apply spectral estimation analysis methods when analyzing a periodic voltage sag whose waveform is comparable to a periodic pulse train. A methodology is proposed where the estimated power spectral density and spectrograms are used to detect the area impacted by a periodic sag and to identify its dominant propagation path, which helps with the localization of the disturbance’s spread. The proposed methodology is applied to measurement data obtained from a region in Dominion Energy’s service territory that is geographically bounded by other utilities, which validates the effectiveness of the proposed method in a real-world utility setting.

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Trajectory Planning for Non-Prehensile Object Transportation

Trajectory Planning for Non-Prehensile Object Transportation

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Lingyun Chen Haoyu Yu Liding Zhang Abdeldjallil Naceri Abdalla Swikir Sami Haddadin Munich Institute of Robotics and Machine Intelligence and the Chair of Robotics Science and Systems Intelligence Technical University of Munich Germany Centre for Tactile Internet With Human-in-the-Loop (CeTI) Department of Electrical and Electronic Engineering Omar Al-Mukhtar University (OMU) Albaida Libya

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Non-prehensile transportation of unstable objects presents a challenging task in robotics. To ensure the success of the transportation, it is necessary to consider both the object’s stability via contact dynamics and the motion constraints of the robot. We propose two novel trajectory planning methods derived from sampling and dynamic programming algorithms, tested on a 7-DoF Franka Emika robot against common strategies like Model Predictive Control (MPC) and S-curve planning, particularly under the constraint of a non-rotating tray. The results demonstrate the effectiveness of our methodologies in improving transportation speed. This research contributes to advancements in robotic manipulation techniques by tackling non-prehensile manipulation of dynamically unstable objects.

关键词： Trajectory planning Shape Refining Transportation Sampling methods Stability analysis Trajectory Planning Dynamic programming Predictive control

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Continuous-Time Ultra-Wideband-Inertial Fusion

arXiv

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arXiv 2023年

作者： Li, Kailai Cao, Ziyu Hanebeck, Uwe D. The Division of Automatic Control Department of Electrical Engineering Linköping University Sweden The Intelligent Sensor-Actuator-Systems Laboratory Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Germany

We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for online motion estimation. Quaternion-based cubic cumulative B-splines are exploited for parameterizing motion states continuously over time. Systematic derivations of analytic kinematic interpolations and spatial differentiations are further provided. Based thereon, a new sliding-window spline fitting scheme is established for asynchronous multi-sensor fusion and online calibration. We conduct a dedicated validation of the quaternion spline fitting method, and evaluate the proposed system, SFUISE (spline fusion-based ultra-wideband-inertial state estimation), in real-world scenarios using public data set and experiments. The proposed sensor fusion system is real-time capable and delivers superior performance over state-of-the-art discrete-time schemes. We release the source code and own experimental data at https://***/KIT-ISAS/SFUISE . Copyright © 2023, The Authors. All rights reserved.

关键词： Motion estimation

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Learning-Based Detection of Malicious Volt-VAr Control Parameters in Smart Inverters

Learning-Based Detection of Malicious Volt-VAr Control Param...

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Annual Conference of Industrial Electronics Society

作者： Ahmad Mohammad Saber Amr Youssef Davor Svetinovic Hatem Zeineldin Ehab El-Saadany Electrical Engineering and Computer Science Department Khalifa University Abu Dhabi UAE Concordia Institute for Information Systems Engineering Montreal Quebec Canada

Distributed Volt-Var Control (VVC) is a widely used control mode of smart inverters. However, necessary VVC curve parameters are remotely communicated to the smart inverter, which opens doors for cyberattacks. If VVC curves of an inverter are maliciously manipulated, the attacked inverter's reactive power injection will oscillate, causing undesirable voltage oscillations to manifest in the distribution system, which, in turn, threatens the system's stability. In contrast with previous works which proposed methods to mitigate the oscillations after they are already present in the system, this paper presents an intrusion detection method to detect malicious VVC curves once they are communicated to the inverter. The proposed method utilizes a Multi-Layer Perceptron (MLP) that is trained on features extracted from only the local measurements of the inverter. After a smart inverter is equipped with the proposed method, any communicated VVC curve will be verified by the MLP once received. If the curve is found to be malicious, it will be rejected, thus preventing unwanted oscillations beforehand. Otherwise, legitimate curves will be permitted. The performance of the proposed scheme is verified using the 9-bus Canadian urban benchmark distribution system simulated in PSCAD/EMTDC environment. Our results show that the proposed solution can accurately detect malicious VVC curves.

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Brain Tumor Classification on MRI in Light of Molecular Markers

arXiv

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arXiv 2024年

作者： Liu, Jun Yuan, Geng Zeng, Weihao Tang, Hao Zhang, Wenbin Lin, Xue Xu, XiaoLin Huang, Dong Wang, Yanzhi Robotics Institute School of Computer Science Carnegie Mellon University PittsburghPA United States Department of Electrical & Computer Engineering College of Engineering Northeastern University BostonMA United States University of Maryland Baltimore CountyMD United States

In research findings, co-deletion of the 1p/19q gene is associated with clinical outcomes in low-grade gliomas. The ability to predict 1p19q status is critical for treatment planning and patient follow-up. This study aims to utilize a specially MRI-based convolutional neural network for brain cancer detection. Although public networks such as RestNet and AlexNet can effectively diagnose brain cancers using transfer learning, the model includes quite a few weights that have nothing to do with medical images. As a result, the diagnostic results are unreliable by the transfer learning model. To deal with the problem of trustworthiness, we create the model from the ground up, rather than depending on a pre-trained model. To enable flexibility, we combined convolution stacking with a dropout and full connect operation, it improved performance by reducing overfitting. During model training, we also supplement the given dataset and inject Gaussian noise. We use three–fold cross-validation to train the best selection model. Comparing InceptionV3, VGG16, and MobileNetV2 fine-tuned with pre-trained models, our model produces better results. On a validation set of 125 codeletion vs. 31 not codeletion images, the proposed network achieves 96.37% percent F1-score, 97.46% percent precision, and 96.34% percent recall when classifying 1p/19q codeletion and not codeletion images. © 2024, CC BY.

关键词： Diseases

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Probabilistic Health Monitoring and Maintenance Scheduling for Nuclear Power systems

Probabilistic Health Monitoring and Maintenance Scheduling f...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Amer, Ahmad Tsilifis, Panagiotis Saxena, Abhinav Baglietto, Emilio Khan, Genghis Probabilistic Design & Material Informatics GE Aerospace Research Niskayuna NY12309 United States Robotics AI & Computer Vision GE Vernova Advanced Research Niskayuna NY12309 United States AI & Computer Vision GE Aerospace Research San RamonCA94583 United States Department of Nuclear Science & Engineering Massachusetts Institute of Technology CambridgeMA02139 United States Sustainable Systems GE Aerospace Research Niskayuna NY12309 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

Operations and Maintenance (O&M) cost optimization in the nuclear energy industry is an imperative task for developing sustainable systems and efficient renewable technologies. We present a modular probabilistic framework for addressing maintenance scheduling challenges for small modular nuclear reactors using a Dynamic Bayesian Network (DBN) approach that monitors fatigue and performance in multiple subsystems of the reactors and provides a probabilistic assessment for potential failure events. The DBN framework fuses information from potential digital twins that assimilate real time data from several sensors with different time granularities in order to monitor and update thecurrentstate of knowledge aboutthestatus of several fatigue or performance criteria. Comprised of multi-modal digital twins (empirical, data- and physics-based twins), this DBN serves as a predictive framework forecasting the future state of specific reactor subsystems and enhancing decision-making capabilities associated with preventing system failure and minimizing the time and cost of maintenance events. The work presented in this paper is a holistic approach for monitoring and safeguarding complex, multi-component engineering systems where maintenance scheduling is critical and does not restrict itself to nuclear environments. However, our goal is to illustrate how such a framework can be adjusted to small modular water reactors. © 2025, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Nuclear energy

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When Prioritization Meets Input-output Linearization: A Prioritized Multi-objective Control and Case Study with Two-link Manipulator

When Prioritization Meets Input-output Linearization: A Prio...

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IEEE Conference on Decision and Control

作者： Sang-ik An Gyunghoon Park Dongheui Lee School of Electrical and Computer Engineering University of Seoul Autonomous Systems at Institute of Computer Technology Faculty of Electrical Engineering and Information Technology TU Wien Austria German Aerospace Center (DLR) Institute of Robotics and Mechatronics

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

We discuss a control strategy to handle singularity of input gain matrix in the input-output linearization of a dynamical system with multiple outputs. The key idea is to prioritize the outputs and designate available control inputs to the outputs in the order of priority, by which tracking control for higher priority outputs is possibly maintained even in the presence of the singularity. This strategy of prioritization (called the prioritized control) allows to successfully deal with critical control objectives (such as stability and/or collision avoidance) by assigning higher priority to the relevant outputs. In this paper, we first explain how the prioritization can be applied to the process of input-output linearization and provide a definition of the prioritized control law on the framework of the multi-objective optimization with the lexicographical ordering. Then, a simple case study is performed for a two-link manipulator along with simulation results, where we further discuss an intrinsic degenerate property of prioritization that the prioritized control law can be discontinuous.

关键词： Simulation Process control Linear programming Stability analysis Dynamical systems Collision avoidance Optimization

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Democratizing AI: Open-source Scalable LLM Training on GPU-based Supercomputers

arXiv

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arXiv 2025年

作者： Singh, Siddharth Singhania, Prajwal Ranjan, Aditya Kirchenbauer, John Geiping, Jonas Wen, Yuxin Jain, Neel Hans, Abhimanyu Shu, Manli Tomar, Aditya Goldstein, Tom Bhatele, Abhinav Department of Computer Science University of Maryland College Park United States ELLIS Institute Tübingen Max Planck Institute for Intelligent Systems Tübingen Germany Department of Electrical Engineering and Computer Sciences University of California Berkeley United States

Training and fine-tuning large language models (LLMs) with hundreds of billions to trillions of parameters requires tens of thousands of GPUs, and a highly scalable software stack. In this work, we present a novel four-dimensional hybrid parallel algorithm implemented in a highly scalable, portable, open-source framework called AxoNN. We describe several performance optimizations in AxoNN to improve matrix multiply kernel performance, overlap non-blocking collectives with computation, and performance modeling to choose performance optimal configurations. These have resulted in unprecedented scaling and peak flop/s (bf16) for training of GPT-style transformer models on Perlmutter (620.1 Petaflop/s), Frontier (1.381 Exaflop/s) and Alps (1.423 Exaflop/s). While the abilities of LLMs improve with the number of trainable parameters, so do privacy and copyright risks caused by memorization of training data, which can cause disclosure of sensitive or private information at inference time. We highlight this side effect of scale through experiments that explore "catastrophic memorization," where models are sufficiently large to memorize training data in a single pass, and present an approach to prevent it. As part of this study, we demonstrate fine-tuning of a 405-billion parameter LLM using AxoNN on Frontier. Copyright © 2025, The Authors. All rights reserved.

关键词： Supercomputers

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A Comprehensive SLAM Dataset for Indoor Exhibition Environments: Data Collection, Processing, and Comparative Evaluation

A Comprehensive SLAM Dataset for Indoor Exhibition Environme...

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IEEE International Conference on robotics and Biomimetics

作者： Songyu Yuan Jing Zhang Chen Pan Chunlong Zhang Minhong Wan Tao Zheng Jason Gu Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax Canada

The field of Simultaneous Localization and Mapping(SLAM) has witnessed significant advancements in recent years. However, due to the difficulty of data obtains and ground-truth makes, there is a lack of real indoor scenarios datasets, especially the scenarios with less-texture, repeat-texture, extreme light condition, causing the slowly progress in indoor SLAM. In this paper, we present a dataset captured in a real indoor exhibition hall with diverse type of sensor data. Which contributes to diverse school of SLAM that using different sensors. We provide ground-truth 6DoF pose captured by motion capture devices, RGB-D data captured by a RealSense D455 camera. Laser-data captured by Ouster. And a high-resolution color point cloud captured by a laser scanner. This dataset offers three distinct sources of ground truth from real-world scenarios. It combines motion capture, ICP based laser localization, and visual localization methods to provide comprehensive and accurate reference data. This dataset is designed for evaluating positioning methods that employ various types of sensors, moving beyond a singular matrix-based evaluation approach. Besides, We show results of several state-of-the-art SLAM method in our datasets, illustrates the utility of our dataset and served as a reference for other researcher. We converge LiDAR-based SLAM with ground truth, made a good closure. An ensemble approach-based Visual SLAM, achieves results of odometry errors of 4% and loop closure position errors of 40 cm. Additionally, visual localization demonstrated an absolute position error of 21 cm using high-resolution point clouds. We highlight the potentials of our indoor datasets in LiDAR SLAM, RGB-D SLAM, and visual localization and combines method. The datasets are available at https://***/IMBAfarmer09/ExhibitionDataset

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