Academic literature on the topic 'Manipulator pose selection'
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Journal articles on the topic "Manipulator pose selection"
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Cho, Kyoung-Rae. "Pose Selection of a Mobile Manipulator for a Pick and Place Task." Journal of Korea Robotics Society 6, no. 4 (November 30, 2011): 344–52. http://dx.doi.org/10.7746/jkros.2011.6.4.344.
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Horne, Andrew, and Leila Notash. "POSE SELECTION FOR THE KINEMATIC CALIBRATION OF A PROTOTYPED 4 DEGREES OF FREEDOM MANIPULATOR." Transactions of the Canadian Society for Mechanical Engineering 33, no. 4 (December 2009): 619–32. http://dx.doi.org/10.1139/tcsme-2009-0043.
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Zhang, Hongshuang, Junxia Jiang, Yinglin Ke, and Qing Wang. "Optimal selection of the supporting points of large component aligned and positioned by parallel manipulator." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 230, no. 17 (August 9, 2016): 3066–75. http://dx.doi.org/10.1177/0954406215604876.
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Large components such as wing sections should be aligned and positioned in a desired position prior to the final manufacturing or assembly, so a digital alignment and position device based on six degree of freedom parallel manipulator with several prismatic-prismatic-prismatic-spherical branches was designed and fabricated to meet the needs. The digital alignment and position device is an alignment device based on the parallel manipulator, and it is also a positioning and holding fixture for large components manufacturing or assembly. In order to effectively and efficiently select the supporting points of large component where the digital alignment and position device branch is connected with, the performance of the parallel manipulator and the fixture should be comprehensively analyzed at the same time. The global performance indices such as the dexterity index, the bearing capacity index, and the stiffness index are calculated based on the mechanism Jacobean matrix of the parallel manipulator, and the positioning stability index is calculated based on the position Jacobean matrix of the fixture. The results show that the global performance indices are not related to the pose, but the positioning stability index is; in addition, all indices rely on the originally selected supporting points and provide the basis for the effective selection of the supporting points for large component aligned and positioned by the digital alignment and position device, which is based on parallel manipulator with prismatic- prismatic-prismatic-spherical pairs.
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Klimchik, Alexandr, Yier Wu, Anatol Pashkevich, Stéphane Caro, and Benoît Furet. "Optimal Selection of Measurement Configurations for Stiffness Model Calibration of Anthropomorphic Manipulators." Applied Mechanics and Materials 162 (March 2012): 161–70. http://dx.doi.org/10.4028/www.scientific.net/amm.162.161.
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The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot calibration. This strategy is based on the concept of the robot test-pose and ensures the best compliance error compensation for the test configuration. The advantages of the proposed approach and its suitability for practical applications are illustrated by numerical examples, which deal with calibration of elastostatic parameters of a 3 degrees of freedom anthropomorphic manipulator with rigid links and compliant actuated joints.
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Fan, Shimeng, Xihua Xie, and Xuanyi Zhou. "Optimum manipulator path generation based on improved differential evolution constrained optimization algorithm." International Journal of Advanced Robotic Systems 16, no. 5 (September 1, 2019): 172988141987206. http://dx.doi.org/10.1177/1729881419872060.
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A new improved differential evolution constrained optimization algorithm is proposed to determine the optimum path generation of a rock-drilling manipulator with nine degrees of freedom. This algorithm is developed to minimize the total joint displacement without compromising the pose accuracy of the end-effector. Considering the rule for optimal operation time and smooth joint motion, total joint displacement and minimization of the end-effector pose error are respectively taken as the optimization objective and constraints. In the proposed algorithm, the inverse kinematics solution is computed by self-adaptive mutation differential evolution constrained optimization (SAMDECO) algorithm. Unlike conventional differential evolution (DE) algorithms, in the process of selection operation, the proposed algorithm takes full advantages of the information of excellent infeasible solutions in the contemporary population and scales the contribution of position constraint and orientation constraint. Consequently, the search process is guided to approach the optimal solution from both feasible and infeasible regions, which tremendously improves convergence accuracy and convergence rate. Some contrastive experiments are conducted with the basic self-adaptive mutation differential evoluton (SAMDE) algorithm. The results indicate that the proposed algorithm outperforms the basic SAMDE algorithm in terms of compliance of joints, which raises operation efficiency and plays an important role in engineering services value.
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Bai, YongJun, Feng Gao, WeiZhong Guo, and Yi Yue. "Kinematic and dynamic analyses of the multi-actuated mechanical press with parallel topology." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 226, no. 10 (January 9, 2012): 2573–88. http://dx.doi.org/10.1177/0954406211435036.
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This article proposes a new type of multi-actuated mechanical press with parallel topology to develop high stamping capacity. Four active limbs actuated by servomotor deliver forces and motions to moving platform, and the passive limbs are driven by moving platform to push or pull the ram. This four-input-single-output system realizes multiple actuations without causing being over-constrained. Due to infinite number of solutions for the inverse kinematics, selection of actuation schemes for given ram trajectories is more crucial. Further, the principle of virtual work is used in the inverse dynamic problem. By choosing the pose variables of moving platform as generalized coordinates to describe the manipulator system, the linear form of dynamic models is derived. A typical deep-drawing process with nominal 25,000 kN capacity and 1200 mm stroke is simulated, and the required driving torques are computed. These performance analyses provide a basis to the design of the control law or the estimation of servomotor parameters for the mechanical press.
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Pickard, Joshua K., and Juan A. Carretero. "AN INTERVAL ANALYSIS METHOD FOR WRENCH WORKSPACE DETERMINATION OF PARALLEL MANIPULATOR ARCHITECTURES." Transactions of the Canadian Society for Mechanical Engineering 40, no. 2 (June 2016): 139–54. http://dx.doi.org/10.1139/tcsme-2016-0012.
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This paper deals with the wrench workspace (WW) determination of parallel manipulators. The WW is the set of end-effector poses (positions and orientations) for which the active joints are able to balance a set of external wrenches acting at the end-effector. The determination of the WW is important when selecting an appropriate manipulator design since the size and shape of the WW are dependent on the manipulator’s geometry (design) and selected actuators. Algorithms for the determination of the reachable workspace and the WW are presented. The algorithms are applicable to manipulator architectures utilizing actuators with positive and negative limits on the force/torque they can generate, as well as cable-driven parallel manipulator architectures which require nonnegative actuator limits to maintain positive cable tensions. The developed algorithms are demonstrated in case studies applied to a cable-driven parallel manipulator with 2-degrees-of-freedom and three cables and to a 3-RRR parallel manipulator. The approaches used in this paper provide guaranteed results and are based on methods utilizing interval analysis techniques for the representation of end-effector poses and design parameters.
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Yao, Kunpeng, Dagmar Sternad, and Aude Billard. "Hand pose selection in a bimanual fine-manipulation task." Journal of Neurophysiology 126, no. 1 (July 1, 2021): 195–212. http://dx.doi.org/10.1152/jn.00635.2020.
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We study hand poses selection in bimanual fine motor skills. To understand how roles and control variables are distributed across the hands and fingers, we compared two conditions when unscrewing a screw from a watch face. When the watch face needed positioning, role distribution was strongly influenced by hand dominance; when the watch face was stationary, a variety of hand pose combinations emerged. Control of independent task demands is distributed either across hands or across distinct groups of fingers.
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Klimchik, Alexandr, Stéphane Caro, and Anatol Pashkevich. "Optimal pose selection for calibration of planar anthropomorphic manipulators." Precision Engineering 40 (April 2015): 214–29. http://dx.doi.org/10.1016/j.precisioneng.2014.12.001.
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Samini, Ali, and Karljohan Lundin Palmerius. "Wand-Like Interaction with a Hand-Held Tablet Device—A study on Selection and Pose Manipulation Techniques." Information 10, no. 4 (April 24, 2019): 152. http://dx.doi.org/10.3390/info10040152.
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Current hand-held smart devices are supplied with powerful processors, high resolution screens, and sharp cameras that make them suitable for Augmented Reality (AR) applications. Such applications commonly use interaction techniques adapted for touch, such as touch selection and multi-touch pose manipulation, mapping 2D gestures to 3D action. To enable direct 3D interaction for hand-held AR, an alternative is to use the changes of the device pose for 6 degrees-of-freedom interaction. In this article we explore selection and pose manipulation techniques that aim to minimize the amount of touch. For this, we explore and study the characteristics of both non-touch selection and non-touch pose manipulation techniques. We present two studies that, on the one hand, compare selection techniques with the common touch selection and, on the other, investigate the effect of user gaze control on the non-touch pose manipulation techniques.
Dissertations / Theses on the topic "Manipulator pose selection"
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Webb, Stephen Scott Mechanical & Manufacturing Engineering Faculty of Engineering UNSW. "Belief driven autonomous manipulator pose selection for less controlled environments." Publisher:University of New South Wales. Mechanical & Manufacturing Engineering, 2008. http://handle.unsw.edu.au/1959.4/43090.
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This thesis presents a new approach for selecting a manipulator arm configuration (a pose) in an environment where the positions of the work items are not able to be fully controlled. The approach utilizes a belief formed from a priori knowledge, observations and predictive models to select manipulator poses and motions. Standard methods for manipulator control provide a fully specified Cartesian pose as the input to a robot controller which is assumed to act as an ideal Cartesian motion device. While this approach simplifies the controller and makes it more portable, it is not well suited for less-controlled environments where the work item position or orientation may not be completely observable and where a measure of the accuracy of the available observations is required. The proposed approach suggests selecting a manipulator configuration using two types of rating function. When uncertainty is high, configurations are rated by combining a belief, represented by a probability density function, and a value function in a decision theoretic manner enabling selection of the sensor??s motion based on its probabilistic contribution to information gain. When uncertainty is low the mean or mode of the environment state probability density function is utilized in task specific linear or angular distances constraints to map a configuration to a cost. The contribution of this thesis is in providing two formulations that allow joint configurations to be found using non-linear optimization algorithms. The first formulation shows how task specific linear and angular distance constraints are combined in a cost function to enable a satisfying pose to be selected. The second formulation is based on the probabilistic belief of the predicted environment state. This belief is formed by utilizing a Bayesian estimation framework to combine the a priori knowledge with the output of sensor data processing, a likelihood function over the state space, thereby handling the uncertainty associated with sensing in a less controlled environment. Forward models are used to transform the belief to a predicted state which is utilized in motion selection to provide the benefits of a feedforward control strategy. Extensive numerical analysis of the proposed approach shows that using the fed-forward belief improves tracking performance by up to 19%. It is also shown that motion selection based on the dynamically maintained belief reduces time to target detection by up to 50% compared to two other control approaches. These and other results show how the proposed approach is effectively able to utilize an uncertain environment state belief to select manipulator arm configurations.
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Mojtahedzadeh, Rasoul. "Safe Robotic Manipulation to Extract Objects from Piles : From 3D Perception to Object Selection." Doctoral thesis, Örebro universitet, Institutionen för naturvetenskap och teknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-51435.
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This thesis is concerned with the task of autonomous selection of objects to remove (unload) them from a pile in robotic manipulation systems. Applications such as the automation of logistics processes and service robots require an ability to autonomously manipulate objects in the environment. A collapse of a pile of objects due to an inappropriate choice of the object to be removed from the pile cannot be afforded for an autonomous robotic manipulation system. This dissertation presents an indepth analysis of the problem and proposes methods and algorithms to empower robotic manipulation systems to select a safe object from a pile elaborately and autonomously. The contributions presented in this thesis are three-fold. First, a set of algorithms is proposed for extracting a minimal set of high level symbolic relations, namely, gravitational act and support relations, of physical interactions between objects composing a pile. The symbolic relations, extracted by a geometrical reasoning method and a static equilibrium analysis can be readily used by AI paradigms to analyze the stability of a pile and reason about the safest set of objects to be removed. Considering the problem of undetected objects and the uncertainty in the estimated poses as they exist in realistic perception systems, a probabilistic approach is proposed to extract the support relations and to make a probabilistic decision about the set of safest objects using notions from machine learning and decision theory. Second, an efficient search based algorithm is proposed in an internal representation to automatically resolve the inter-penetrations between the shapes of objects due to errors in the poses estimated by an existing object detection module. Refining the poses by resolving the inter-penetrations results in a geometrically consistent model of the environment, and was found to reduce the overall pose error of the objects. This dissertation presents the concept of minimum translation search for object pose refinement and discusses a discrete search paradigm based on the concept of depth of penetration between two polyhedrons. Third, an application centric evaluation of ranging sensors for selecting a set of appropriate sensors for the task of object detection in the design process of a real-world robotics manipulation system is presented. The performance of the proposed algorithms are tested on data sets generated in simulation and from real-world scenarios.
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Horne, Andrew. "SIMULATED AND EXPERIMENTAL KINEMATIC CALIBRATION OF A 4 DEGREES OF FREEDOM PARALLEL MANIPULATOR." Thesis, 2013. http://hdl.handle.net/1974/7726.
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This thesis discusses the kinematic calibration of the constraining linkage of a four degrees of freedom parallel manipulator. The manipulator has hybrid actuation of joints and wires, however the wires are not considered in this calibration. Two of the passive joints of the manipulator contain sensing so the calibration of the constraining linkage can be considered.
Four kinematic models are developed for the manipulator. For each of these models, an independent set of model parameters are identified through an analysis of the augmented identification Jacobian matrix. Three different methods for formulating the augmented identification Jacobian matrix are explored.
For the calibration, an optical tracking system is used to track the end-effector of the manipulator. The procedure to collect the calibration data is explained and the sources of error are considered. To further analyze the sources of error, simulated input data is created and the calibration using the experimental data and the simulated data are compared.
In an attempt to improve the calibration, the selection of measured poses to be used for calibration is explored. Several different pose selection criteria have been proposed in the literature and five are evaluated in this work. The pose selection criteria were applied to the experimental manipulator and also a simulated two degrees of freedom manipulator. It is found that the pose selection criteria have a large impact when few poses are used; however the best results occur when a large number of poses are used for the calibration.
An experimental calibration is carried out for the manipulator. Using the joint encoders and the kinematic model, the expected pose of the end-effector is calculated. The actual pose is measured using a vision tracking system and the difference between the actual and expected pose is minimized by adjusting the model parameters using a nonlinear optimization method.Thesis (Master, Mechanical and Materials Engineering) -- Queen's University, 2013-01-06 22:46:05.076
Books on the topic "Manipulator pose selection"
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Penney, Joel. The Citizen Marketer Approach to Political Action. Oxford University Press, 2017. http://dx.doi.org/10.1093/acprof:oso/9780190658052.003.0001.
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This introductory chapter lays the conceptual foundation for the book, defining the citizen marketer approach to political activism and its close connection to the concept of the citizen consumer, as well as its embeddedness in the viral marketing model that is currently being employed by both commercial marketers and myriad political institutions and organizations. The discussion further delineates the persuasion framework of citizen media participation and how it differs from and overlaps with other major frameworks in the existing scholarship. The chapter then turns to an examination of the broader context of promotional culture and the “marketplace of ideas” and how their critiques sensitize us to the risks of trivialization and manipulation that are posed by the citizen marketer approach. Finally, it defines two key concepts, selective forwarding and curatorial agency, which describe the peer-to-peer circulation of preexisting media content as a means of publicizing and promoting political ideas.
Book chapters on the topic "Manipulator pose selection"
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Klimchik, Alexandr, David Daney, Stephane Caro, and Anatol Pashkevich. "Geometrical Patterns for Measurement Pose Selection in Calibration of Serial Manipulators." In Advances in Robot Kinematics, 263–71. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-06698-1_28.
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Mostafa Zakaria, Hesham, and Frank La Marca. "Material Selection Impact on Intraoperative Spine Manipulation and Post-op Correction Maintenance." In Handbook of Spine Technology, 1–8. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-319-33037-2_33-1.
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Mostafa Zakaria, Hesham, and Frank La Marca. "Material Selection Impact on Intraoperative Spine Manipulation and Post-op Correction Maintenance." In Handbook of Spine Technology, 163–70. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-319-44424-6_33.
Full textConference papers on the topic "Manipulator pose selection"
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Canfield, Stephen L., R. Randall Soper, and Charles F. Reinholtz. "Uniformity As the Guide to Evaluation of Dexterous Manipulator Workspaces." In ASME 1997 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1997. http://dx.doi.org/10.1115/detc97/dac-3969.
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Abstract While robotic dexterity is the common measure of a manipulator’s ability to adequately and effectively position and orient a tool, it is position and direction dependent and therefore variable throughout the manipulator’s workspace. Since the ability to pose (position and orient) is the robot’s fundamental task, a parameter for evaluating this ability over all the workspace, proposed and referred to in this paper as the “dexterous measure,” is extremely important for use in selecting and evaluating manipulators. This work demonstrates that uniformity in dexterity is the essential feature of a dexterous manipulator and thus provides a correct basis for comparison of manipulators, all other factors being equal. Uniformity of dexterity is of tantamount importance because of the ability to select the relative magnitude of dexterity at the actuator level, for example by means of transmission gearing or in actuator selection. Arguments are presented for a holistic evaluation of the dexterous properties of manipulators based on the variation of dexterity over the workspace for a specific task. Application of the new measure is demonstrated by the analysis of three mechanical pointing devices for two common tasks over a hemispherical workspace.
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Wu, Yier, Alexandr Klimchik, Anatol Pashkevich, Stéphane Caro, and Benoît Furet. "Optimality Criteria for Measurement Poses Selection in Calibration of Robot Stiffness Parameters." In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/esda2012-82213.
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The paper focuses on the accuracy improvement of industrial robots by means of elasto-static parameters calibration. It proposes a new optimality criterion for measurement poses selection in calibration of robot stiffness parameters. This criterion is based on the concept of the manipulator test pose that is defined by the user via the joint angles and the external force. The proposed approach essentially differs from the traditional ones and ensures the best compliance error compensation for the test configuration. The advantages of this approach and its suitability for practical applications are illustrated by numerical examples, which deal with calibration of elasto-static parameters of planar manipulator with rigid links and compliant actuated joints.
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Chen, Hsiu-hung, and Dayong Gao. "Particle Manipulation Inside a Grooved Microfluidic Channel." In ASME 2009 Second International Conference on Micro/Nanoscale Heat and Mass Transfer. ASMEDC, 2009. http://dx.doi.org/10.1115/mnhmt2009-18394.
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The manipulation of particles and cells in micro-fluids, such as cell suspensions, is a fundamental task in Lab-on-a-Chip applications. According to their analysis purposes in either the pre- or post-processing stage, particles/cells flowing inside a microfluidic channel are handled by means of enriching, trapping, separating or sorting. In this study, we report the use of patterning flows produced by a series of grooved surfaces with different geometrical setups integrated into a microfluidic device, to continuously manipulate the flowing particles (5 to 20 μm in diameters) of comparable sizes to the depth of the channel in ways of: 1) concentrating, 2) focusing, and 3) potential separating. The device is fabricated using soft lithographic techniques and is composed of inlets, microfluidic channels, and outlets for loading, manipulating and retrieving cell suspensions, respectively. Such fabrication methods allow rapid prototyping of micron or submicron structures with multiple layers and replica molding on those fabricated features in a clear polymer. The particles are evenly distributed in the entrance of the microchannel and illustrate the enriching, focusing, or size-selective profiles after passing through the patterning grooves. We expect that the techniques of manipulating cell suspensions from this study can facilitate the development of cell-based devices on 1) the visualization of counting, 2) the visualization of sizing, and 3) the particle separating.
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Tusimin, Fuziana, Latief Riyanto, Nurul Aula A'akif Fadzil, Nur Syazana Sadan, Asba Mazidah Abu Bakar, Nik Fazril Ain Sapian, A. Hafriz A. Wahid, M. Farris Bakar, Noman Shahreyar, and Zulkiflee Hamzah. "Achieving Injectivity Optimization and Zonal Rates Allocation through Multi-Zone Intelligent Completion Technology – A Field B Case Study from Offshore Malaysia." In IADC/SPE Asia Pacific Drilling Technology Conference. SPE, 2021. http://dx.doi.org/10.2118/201044-ms.
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Abstract Properly distributing injected fluid to provide injection conformance and reservoir pressure support into the respective zones of interest in mature fields can be challenging. This challenge, with injection fluid distribution, is typically encountered in fields with high contrast in permeability, reservoir pressure, and injectivity indexes among individual zones. Deployment of intelligent completion (IC) technology to address this challenge has rapidly increased, especially in multi-zone water injector wells, due to its capabilities for real-time reservoir monitoring and control of the fluid injected into multiple zones without requiring well interventions. This paper presents a case study of successful installation of IC technology in two water injector wells in Field B offshore Sarawak. The main objective of the IC implementation is to provide an efficient water-injection method for pressure support to the nearby oil producers and counteract the gas expansion through water injection at the flank area. Water injection implementation using the IC approach can further develop the oil rims and improve oil recovery in the particular reservoir to extend the field's production life. The custom tailored inflow control valve (ICV) design is robust enough to provide control of desired zonal injection rates. Each well was installed with two sets of ICVs to control the injection rate for each dedicated zone as well as a real-time permanent downhole gauge (PDG) to monitor the pressure drop across the ICV for zonal rates allocation / analysis. Apart from conceptual and detailed engineering study of the applied IC technology, proper downhole equipment selection and integration with surface facilities are also crucial to ensure successful implementation of the IC system as a holistic solution to achieve the injection objective. Post well completion installation, a water injectivity test was performed in both the selective and commingle injection modes. During selective injection testing, different positions of the ICV were manipulated and the water injection rate was monitored. This testing approach was performed for each ICV in the well. Post selective injection testing, commingle testing was conducted at the base 9,000 bwpd and maximum injection target of 18,000 bwpd, in which the testing was successfully executed to achieve the maximum well target injection rate. This paper shall discuss the reservoir management strategy through deployment of the water injectors, conceptual well completion design, and multi-zone injectivity requirements. Details such as ICV design using pre-drill and post-drill information, final well completion strategy, pre-installation preparation, installation optimization, execution of the IC deployment, injectivity test procedure, and results are discussed as well.
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Booncharoen, Pichita, Thananya Rinsiri, Pakawat Paiboon, Supaporn Karnbanjob, Sonchawan Ackagosol, Prateep Chaiwan, and Ouraiwan Sapsomboon. "Pore Pressure Estimation by Using Machine Learning Model." In International Petroleum Technology Conference. IPTC, 2021. http://dx.doi.org/10.2523/iptc-21490-ms.
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Abstract In the past few years, over hundreds of wells were drilled in Gulf of Thailand, had faced with the depletion and lost circulation issues resulted from a lack of pressure data. A prior research of reservoir depletion pressure (Fangming, 2009) in oil field, China was obtained from multivariate statistic and regression by using density and neutron porosity log curves in logging-while-drilling data. However, the relative errors are 7.5% from the actual formation pressure. Thus, there are several latent variables in the model like drilling parameters (Rehm, 1971) which part of formation pressure. From 2018 initiative model in Satun-Funan, the classification model was obtained by using mud gas, porosity, water saturation, net sand thickness, net-hydrocarbon-pore thickness and neutron-density separation. However, the limitation is drilling parameters could not account by classifier, and accurate only original pressure category. So, this study has expanded scope to include other reservoir properties and drilling parameters then applied with machine learning on offset well dataset by using three regressors such quantile, ridge and XGBoost regressors. The pore pressure estimation model aims to improve efficiency for making decision in execution phase, increasing confidence in perforation strategy. The model parameters, pay thickness, porosity, water saturation, original pressure from local pressure profile and total gas show are accounted into this model. As of regressor assumption, some facts are conducted to logarithm and perform 2nd polynomial feature for model flexibility. There are three steps for building model such as data manipulation, analysis and deployment. Two purposes of pressure prediction impact algorithm selection, for operational phase, quantile regressor is implemented to provide conservative prediction while Ridge or XGBoost regressors are alternatives for perforation strategy, provide mid case result of pressure prediction. Overall model performance was measured using root mean square error (RMSE) on train & test dataset which show approximately 1.2 and 1.5 ppg range of accuracy respectively from total 12 drilling projects in Pattani basin. Overall model fitting is within reasonable range of generalization capacity to apply with unknown data point (test set). The future model will continue to improve accuracy and manage imbalanced dataset between original pressure and depleted sands.
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Lambert, Tylan John, Shiv Aanand Mj, and Courtney Clark. "Development Field First - Directionally Drilling Through Challenging Muderong Shale and Highly Depleted Reservoir Sand with HPWBM." In SPE/IADC International Drilling Conference and Exhibition. SPE, 2021. http://dx.doi.org/10.2118/204030-ms.
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Abstract Advancement in High Performance Water Based Mud (HPWBM) coupled with a deeper understanding of shale and chemical interaction has taken a leap in recent years enabling the drilling of challenging wells whilst replacing Synthetic Based Mud (SBM) as the preferred technical option. The exceptional inhibition properties, versatility to chemical manipulation and stability, as well as being an environmentally beneficial alternative to SBM, HPWBM has proven to be a robust solution for drilling the challenging Muderong shale and highly depleted reservoir sands in the field. Through a detailed field wide offset review focusing on wellbore stability and shale reactivity relationship observations, time dependent shale reactivity and an engineered bridging package was the basis of a successful fluid formulation and selection which then resulted in a flawless execution of the challenging well. Various testing of shale cuttings from the field paired with an offset review was key to understanding the extent of shale reactivity in relation to the type of shale being drilled and cause of shale instability in the area. These results were imperative in providing technical justification to utilise HPWBM for drilling through the Muderong shale. Applying detailed reservoir drilling fluid analysis to the overburden drilling fluids design and incorporating previous offset fluid design learnings, provided a robust and versatile drilling fluid system. This paper will review the steps undertaken to validate the selection of HPWBM over SBM through detailed analysis of wellbore stability, shale reactivity, permeability assessment, pore throat sizing and pore pressure transmission. It will present the misnomer of comingling the wellbore stability requirement, primarily mud weight, with shale reactivity in the field as well as the relation between the plateauing of shale reactivity curves to near well wellbore swelling. Extensive laboratory testing was performed to formulate and demonstrate the efficacy of the bridging package in addressing differential sticking, losses and wellbore strengthening in highly depleted sands. In addition, this paper will also present actual field results on stability of the fluid properties along with resultant torque and drag throughout drilling of a directional well with no requirement for lubricants. This paper should be of interest to all engineers and technologists who are involved in shale reactivity analysis, well design, drilling fluids design, selection and interaction as well as highly depleted reservoir sand drilling.