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2024 SPE Water Lifecycle Management Conference and Exhibition, WLMC 2024

作者： McElhinney, J.M.W.R. Gomes, J.S. Hasan, A. Dias, J. BME Department Khalifa University Abu Dhabi United Arab Emirates Centre for Membranes and Advanced Water Technology Arzanah Building Khalifa University SAN Campus Abu Dhabi United Arab Emirates Computer and Electrical Engineering Dept. Khalifa University Abu Dhabi United Arab Emirates KU Center for Autonomous Robotic Systems

ISBN: (纸本)9781959025320

Objectives/Scope: This study outlines the development and use of a modified dummy gas lift valve designed to obtain subsurface microbiological samples from a defined depth series across a production well. An overview of the initial field pilot is presented wherein microbiological data from the modified valve will be contrasted with topside samples to evaluate the information yielded from sampling downhole biofilm communities in place of planktonic populations from the well head. Methods, Procedures, Process: In this approach, the modified dummy gas lift valve, preloaded topside with carbonate plugs and coupons, is deployed at various depths in the well's completion for downhole incubation. This modification allows production fluids to wet the payloads, enabling in situ biofilm colonization by reservoir communities across depth and temperature gradients. Post retrieval using a slickline tool, sample DNA is extracted for metagenomic sequencing, assessing microbial composition and metabolic capabilities (including souring and MIC-related activities). Concurrent production fluid samples from the wellhead will be analyzed for comparison to evaluate any information gained from biofilm over planktonic population sampling. Results, Observations, Conclusions: Samples from the modified valve are expected to provide sufficient yields of DNA, uncontaminated by non-resident microbes from outside of the producer. Microbial data from downhole biofilms is anticipated to provide a more diverse community makeup than production fluid communities sampled at the wellhead, with a corresponding increase in problematic species associated with MIC and souring. Corrosion coupon analyses will enable conclusions regarding proactive decision-making enablement and extrapolations of 3D projections of microbiological communities between modified valves across the completion column will provide the relationship between in situ conditions, microbial colonization in the context of pore space and risk

关键词： Decision making

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Self-tuning dynamic impedance control for human arm motion

Self-tuning dynamic impedance control for human arm motion

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Iranian Conference of Biomedical Engineering (ICBME)

作者： Sedigheh Dehghani Hamid D. Taghirad Mohammad Darainy Advanced Robotic & Automated Systems (ARAS) Faculty of Electrical and computer Engineering K.N. Toosi University of Technology Tehran Iran Department of Psychology McGill University Montreal Canada

It is understood that human motion control system uses the motion memory in accomplishment of an appropriate movement. It uses the past experience, learns and creates a precise or incident knowledge of the physical properties of the body and the external environment. In this paper, since the interaction with the environment is one of the main characteristics of the human motion controller design, a dynamic impedance control model is proposed. This model consists of two feedback loops, the internal force loop and the external position loop in the Cartesian space. By exploiting the dynamic impedance control scheme, the controller identifies the mechanical impedance of the environment while interacting and adapting its required impedance coefficients. A neural network self tuning PID controller is proposed to determine the controller coefficients. By this means and through the adaptation properties of neural networks, the proportional, integral and differential coefficients of the dynamic impedance controller is obtained during the interaction with the environment. Finally, the results of proposed controller structure are verified by experiments.

关键词： Jacobian matrices Computational modeling Adaptation model Robots

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Swarm Robots Long Term Autonomy Using Moveable Charger

Swarm Robots Long Term Autonomy Using Moveable Charger

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International Conference on Future computer and Communication, ICFCC

作者： Farshad Arvin Khairulmizam Samsudin Abdul Rahman Ramli Computer Systems Research Group Department of Computer System Engineering University of Putra Malaysia Serdang Malaysia Intelligent System and Robotic Laboratory Institute on Advanced Technology University of Putra Malaysia Serdang Malaysia

This paper proposes an alternative docking charger station for mobile robots. One crucial task in swarm robots scenario is to find low battery robots and recover them. Overcoming this problem requires a versatile mobile charging station that is able to actively locate and charge inactive mobile robots unlike the conventional stationary docking stations. The mobile charger robot should perform independent tasks other than the swarm robots global task. It uses similar communication method with other swarm robots, however new preprogrammed instructions are required to facilitate battery charging task for swarm robots.

关键词： Mobile robots Batteries Intelligent robots Service robots robotics and automation computer interfaces Portable computers Robot sensing systems Humans Navigation

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Suborbital flight test of a prototype terrain-relative navigation system

Suborbital flight test of a prototype terrain-relative navig...

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2007 AIAA InfoTech at Aerospace Conference

作者： Seybold, Calina Chen, George Bellutta, Paolo Johnson, Andrew Matthies, Larry Thurman, Sam Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 United States System Engineering Section M/S 233-201 4800 Oak Grove Drive United States AIAA United States EDL Systems and Advanced Technologies Group System Engineering Section M/S 301-490 Mobility and Robotic Systems Section M/S 198-235 United States Computer Vision Group Mobility and Robotics Systems Section M/S 198-235 United States Autonomous Systems Division M/S 198-105

ISBN: (纸本)1563478935

In April 2006, a terrain-relative navigation experiment successfully flew on a sounding rocket mission at White Sands Missile Range. The mission was designated by NASA/Wallops Flight Facility as 41.068 NT/Seybold ("41.068") and was flown as part of the New Millennium Program ST9 Terrain-Relative Guidance System (TRGS) Project's competitive Phase A effort. The TRN experiment had two objectives: 1) To demonstrate the viability of a navigation filter for precision landing that uses on-board IMU and descent image data to achieve position knowledge errors of less than 100m, validated with GPS data recorded during flight;and 2) To establish that commercial off-the-shelf cameras can be packaged sufficiently well to survive the sounding rocket launch environment. Both objectives were met. The 13 min flight provided a data set that was processed post-flight through the prototype algorithms to bring the ST9 TRGS Project to a technology readiness level of 4 in TRN. This paper describes the flight system development and operations of the TRN experiment on 41.068.

关键词： Flight control systems

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Runtime reconfiguration of a modular mobile robot with serial and parallel mechanisms

Runtime reconfiguration of a modular mobile robot with seria...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： H. X. Zhang S.Y. Chen W. Wang J. W. Zhang G. H. Zong Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Dept of Informatics University of Hamburg Germany College of Information Engineering Zhejiang University of Technology Hangzhou China Robotic Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Cognitive Technology Laboratory Shenzhen Institute of Advanced Technology Shenzhen China

This paper presents a novel field robot JL-I based on a reconfigurable concept for urban search and rescue applications. The robot consists of three identical modules; each module is an entire robotic system that can perform distributed activities. It features three-degrees-of-freedom (DOF) active joints actuated by serial and parallel mechanisms for changing shape and flexible docking mechanism. The docking mechanism enables adjacent modules to connect or disconnect flexibly and automatically. DOF analysis, working space analysis and the kinematics of the 3D active joint between connected modules are studied thoroughly. In the end a series of successful tests confirm the principles and the robot's capabilities.

关键词： Runtime Mobile robots Orbital robotics robotics and automation Space technology Intelligent robots Kinematics Testing Prototypes Accidents

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Experimental results of two robot arms manipulating large objects

Experimental results of two robot arms manipulating large ob...

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IEEE International Conference on robotics and Automation (ICRA)

作者： E. Paljug X. Yun Robotic Systems and Advanced Computer Technology Section Jet Propulsion Laboratory Pasadena CA USA General Robotics and Active Sensory Perception (GRASP) Laboratory University of Pennsylvania Philadelphia PA USA

Experimental results for the TRACS testbed, consisting of two PUMA 250 robot arms, are presented. The two arms manipulate a large object by means of an enveloping grasp. A dynamic control algorithm developed for coordinating two robotic arms have been successfully implemented. The results from two experimental tasks in which the two arms move an object while adapting the grasp configuration to the motion trajectory and to an external disturbance force are described in detail.< >

关键词： Manipulators Arm Robot kinematics Force control Laboratories Propulsion Drives System testing Heuristic algorithms Transportation

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STEREO VISION FOR PLANETARY ROVERS - STOCHASTIC MODELING TO NEAR REAL-TIME IMPLEMENTATION

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INTERNATIONAL JOURNAL OF computer VISION 1992年第1期8卷 71-91页

作者： MATTHIES, L 1. Robotic Systems and Advanced Computer Technology Section Jet Propulsion Laboratory California Institute of Technology 91109 Pasadena CA

NASA scenarios for lunar and planetary missions include robotic vehicles that function in both teleoperated and semi-autonomous modes. Under teleoperation, on-board stereo cameras may provide 3-D scene information to human operators via stereographic displays;likewise, under semi-autonomy, machine stereo vision may provide 3-D information for obstacle avoidance. In the past, the slow speed of machine stereo vision systems has posed a hurdle to the semi-autonomous scenario;however, recent work at JPL and other laboratories has produced stereo systems with high reliability and near real-time performance for low-resolution image pairs. In particular, JPL has taken a significant step by achieving the first autonomous, cross-country robotic traverses (of up to 100 meters) to use stereo vision, with all computing on-board the vehicle. Here, we describe the stereo vision system, including the underlying statistical model and the details of the implementation. The statistical and algorithmic aspects employ random field models of the disparity map, Bayesian formulations of single-scale matching, and area-based image comparisons. The implementation builds bandpass image pyramids and produces disparity maps from the 60 x 64 level of the pyramids at rates of up to two seconds per image pair. All vision processing is done in one 68020 augmented with Datacube image processing boards. We argue that the overall approach provides a unifying paradigm for practical, domain-independent stereo ranging. We close with a discussion of practical and theoretical issues involved in evaluating and extending the performance of the stereo system.

关键词： Obstacle avoidance quasi-realtime language remote operation Low-resolution image Pyramid LUNAR Three Dimensions OUTER PLANETS EXPLORERS Stereoviews Acoustic equipment computer vision Pyramid Stochastic models

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Teleoperated satellite repair experiments

Teleoperated satellite repair experiments

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1992 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 1992

作者： Das, H. Schenker, P.S. Zak, H. Bejczy, A.K. Robotic Systems and Advanced Computer Technology Jet Propulsion Laboratory California Institute of Technology MS 198-2194800 Oak Grove Drive PasadenaCA91109 United States

ISBN: (纸本)0780307372

In this paper, we focus on the role and importance of experiments in the development of teleoperation systems. Experiments conducted in the JPL advanced Teleoperation Laboratory and lessons we have learned from them are described. We also describe novel procedures and techniques that facilitate the conduct of experiments and these are presented in this paper. Also reported are problems faced in a laboratory that develops new teleoperation technology while concurrently validating the technology with experiments. © 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Remote control

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