Robotic Systems and Applications
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Comprehensive sensitivity analysis on static and dynamic reservoir parameters impacting near wellbore injectivity during CO2 sequestration
Get PDFCarbon capture and storage (CCS) is proved to be effective measure for reducing CO2 emissions. whilst the world still highly depends on the use of fossil fuel energy, this method is necessary for reaching the world’s 1.5 °C goal. In CCS, CO2 is hindered from entering the atmosphere by capturing it from sources of emission and storing it in geological formation. Saline aquifers among all possible underground formations are most common targeted ones for CO2 storage due to their frequent presence, and large storage capacity. However, this storage option suffers from sufficient well injectivity to inject large volumes of CO2 at acceptable rates through a minimum number of wells. The injectivity impairment / reinforcement happens through mineral dissolution, fine particle movement, salt precipitation and hydrate formation (known so far). Each of these mechanisms will be more dominant in injectivity alteration at different distance from the injection point depending on reservoir pressure and temperature, formation water salinity, rock mineralogy, and flow rate of CO2 injection as well as its dryness. Incorporating all the finding into radial flow near wellbore will help gaining insight into the resultant of injectivity changes over time and distant from injection point. In this study we have chosen Eclipse 300 together with an open-source code to investigate the impact of formation characteristics, CO2 -Brine-Rock interaction, pressure, temperature as well as injection rate on injectivity alteration. The goal for this work is to provide a workflow which can help predicting injectivity alteration using the existing tools. Simulation results show that the high homogenous horizontal permeability in combination with vertical flow baffles in the formation (among all other parameters) has positive impact on storage capacity by increasing residual trapping. However, permeability is affected severely by salt precipitation during CO2 injection. Combined static and dynamic parameter study demonstrate that the injection rate plays a crucial role in size and expansion of CO2 plume as well as growth rate of dry out zone length, amount of salt precipitation and length of equilibrium region. The higher the injection rate, the quicker activation of the capillary and gravity force which leads to drag more brine to near well-bore resulting in higher volume fraction of salt precipitation. However, low injection rate could result in smaller CO2 plume, shorter dry out zone and longer equilibrium region in term of distance from injection point
Potential of CCS at SC Achema
Get PDFAchema is a leading producer of nitrogen fertilizers and chemical products in Lithuania and the Baltic states. First construction works of the factory date back to 1962, however officially the company was founded on February 9, 1965 after the first tons of synthetic ammonia were produced in a newly launched ammonia unit. Carbon capture and sequestration has been considered as suitable measure of decarbonization during middle term – till year 2030. There is developed technology and logistic chains for on shore and offshore projects. The geographical location of companies plays crucial role because of logistics. SC “Achema” yearly emits more than 2 million tons of CO2. Our advantage is in having 200-300 kilo T of pure CO2 suitable to liquify and transport. Disadvantage of this topic in Lithuania is political attitude and big distances till real wells at North Sea. The deep check of all aspects necessary to estimate real potential of CCS in Lithuania. The company aspires for significant reduction in greenhouse gas emissions and is the winner of ‘Most Environment Friendly Process' nomination for greenhouse gas emission (NO) mitigation in the nitric acid manufacturing process. Company aspires for sustainable and safe production of fertilizers and has also has also developed capabilities to liquify and transport CO2 over long distances. In this conference Achema’s capabilities to liquify 200-300 kilo T of pure CO2 will be highlighted. Potential challenges related to long distance transfer and political challenges will be also be highlighted
Experimental and numerical analysis for improving the suction capacity of the manufactured water jet ejectors
Get PDFWater jet ejectors are the silent pumping fluid devices which doesn’t have any rotating parts in functional industrial applications. The dimensionless geometrical parameters effects ejector suction capacity. In this study, it is found that optimum design intervals have been determined by using the Response Surface Method (RSM). Design ranges determined in the dimensionless study have been used in the improvement of the suction capacity of an existing ejector. The suction capacity of the existing ejector is investigated via numerical and experimental analysis. Two new water jet ejector designs (D1 and D2) are built to improve the suction capacity of the initial water jet ejector (D0). The generated design parameters have been analyzed by using SolidWorks flow analysis and optimization software. The suction capacity of the ejector has been determined through the iterative numerical analysis for the selected geometrical parameters under the applied design conditions. The effect of design parameters on the suction capacity of the water jet ejectors is unveiled through numerical and experimental analysis. The established designs were produced as two novel bronze water jet ejectors. The suction capacities of the produced bronze water jet ejectors have been investigated experimentally. The numerical results have been validated using the experimental results. It is achieved that the suction capacity of the manufactured water jet ejector with the improved design (D2) is suddenly increased from 52.05 m3/h to 103.4 m3/h
Multi-axis vibration test technology of satellite based on vector-fixture’s design and applications
Get PDFAiming at the problems that the three-direction uniaxial sequential vibration test cannot effectively simulate the real launch environment of the satellite, and the high cost of the multi-axis shaker and the limitation of engineering application, the multi-axis vibration test scheme based on vector-fixture is proposed. Taking the vibration magnitude of uniaxial vibration test on the satellite mounting surface as equivalent reference, the appropriate vector direction is determined to carry out vector-fixture design. By analyzing the multi-axial vibration test data of the real structure of a satellite, it can be seen that: The “satellite-fixture” mounting surface can reach the set vibration magnitude at low frequencies, and undertest occurs at high frequency due to structural resonance and other factors; By optimizing the control strategy, the degree of over-test and under-test in the three directions can be balanced. According to the mission characteristics and development cycle of micro-nano satellites, this paper provides an efficient vibration test scheme
Studies on tensile and tear fracture of the S8210 tarpaulin
Get PDFThe tarpaulin of PVC-coated S8210 wagons is a composite textile membrane. This material is resistant to atmospheric factors (wind, rain, snow, etc.), durable for many practical applications and can be manufactured in various colors and prints. PVC membrane material is inexpensive, soft and easy to manufacture. These materials are widely used in large-opening spatial structures due to excellent mechanical behavior and beautiful textures. The tarpaulins are made by the method of welding with high frequency currents from the material S8210. In the present paper, the tensile and tearing mechanical properties of tarpaulins intended to protect goods carried by railway wagons are presented. The results of this study can be used in establishing the appropriate utilization of the fabric, in accordance to the warp and weft directions
Damage localization in beams based on the analysis of modal parameters
Get PDFThis paper presents a two-step method for damage localization in beams by combining natural frequencies and mode shapes. The general locations of the damage are first identified from an indicator developed using relative natural frequency change (RNFC) curves and the values of RNFCs. A curvature-mode-shape-based method is then utilized to determine the specific location of the damage in the second step. The proposed two-step method is verified by detecting damage in a simulated simply-supported beam. The identified damage location agrees well with the actual damage location. A strategy for fast and accurate damage localization based on general localization using natural frequencies and specific localization using mode shapes is the main novelty of the paper
Seismic response analysis of tunnel with cavity behind lining
Get PDFFor the seismic safety of tunnels with cavity behind lining, based on the finite element method, the viscoelastic artificial boundaries are introduced to study the influence of the location of cavity behind lining on the seismic response of tunnel structure under vertically incident SV wave. The analysis results show that the cavity behind the lining has a significant effect on the seismic response of tunnel structure, and the appearance of cavity behind lining will significantly change the dynamic characteristics of tunnel structure; when the incidence frequency of wave is close to the natural vibration frequency of tunnel structure, the lining stress has the largest amplification when the cavity appears behind the vault; Regardless of the cavity location, the maximum of lining stresses always appears at the arched foot, and the vault stress has the largest amplification; Under the Taft wave, the maximum stress 1.642 MPa of lining without cavity appears at the arched foot, and the minimum 0.118MPa at the arched waist, the stress amplification at the vault can reach about 760 %, which is unfavorable to tunnels. In addition, the soil property also has a great influence on the tunnel; the layered site will lead to the obvious change of the seismic wave, hence the geological data should be collected in detail in the seismic design of tunnel. Meanwhile it is proposed that the PE material can be filled back into the cavities behind the tunnel lining to reduce the earthquake damage of tunnels
Frequency splitting approach using wavelet for energy management strategies in fuel cell ultra-capacitor hybrid system
Get PDFUsing frequency splitting, two energy management strategies (EMS) based on Haar wavelet decomposition and Fourier analysis for fuel cell hybrid vehicle (FCHV) are proposed to manage efficiently the power flow between components. The paper aims to discuss the performances of the proposed EMS in terms of dynamic behavior, robustness operation, real time application and fuel economy. For apply this methodology, two EMS approaches are elaborated and successfully tested for parallel Fuel Cell/UC: conventional approach using Fourier Transform analysis (FT) and Wavelet analysis approach allowing natural frequency splitting. Finally, and to evaluate the performance and relevance of the developed approach, a comparison analysis were conducted. The simulation results exhibit the effectiveness of both strategies. Indeed, Wavelet analysis leads to better results in terms of energy flow and dynamic behavior, excellent robustness and stability of system, as well as energy economy improvement. A very relevant strategy is proposed based on Wavelet analysis using digital filtering techniques, which enables a natural frequency splitting to ensure the best global performances. In addition, the approach remains simple and suitable for real time operation
Experimental investigation of bi-modular material coating to enhance damping
Get PDFHard coatings can be used to increase damping when applied on the surface of the components of turbomachinery. This can be effective to reduce the resonant vibration level of components working in a high cycle fatigue environment due to the extremely high operational speed. This paper discusses the experimental investigation of a bi-modular material hard coating to enhance damping in structural steel elements. Firstly, a hard coating (Al2O3+MgO) is applied on AISI 304L stainless steel substrate by plasma spraying. After that, a layer of chrome is deposited by chrome plating. Dynamic responses of both coated and uncoated samples are measured. The damping ratio of the test specimen is extracted from the time response by the logarithmic decrement method. Improved damping capacity of the coated steel sample is observed and is mainly attributed to the thin coating of chrome on the steel structure. The natural frequency of coated specimen showed 8 to 10 % improvement, the forced response showed a 30 to 35 % decrement in displacement, the damping ratio showed a 200 % increment, and the time of decaying showed a 20 % decrement. The results of the present study provide new ideas for the development of high-damping structural elements
Construction and benchmark of an autonomous tracked mobile robot system
Get PDFRobots require a certain set of skills to perceive and analyse the environment and act accordingly. For tracked mobile robots getting good odometry data from sensory information is a challenging key prerequisite to perform in an unstructured dynamic environment, thus an essential issue in the tracked mobile robotics domain. In this article, we construct a ROS-based tracked mobile robot system taking the Jaguar V4 mobile robot as the base platform. On which several visual odometry solutions based on different cameras and methods (Intel RealSense T265, Zed camera, RTAB-Map RGBD) are integrated and benchmark comparison is performed. Analysis of new challenges faced by different methods while applied on a tracked vehicle as well as recommendations and conclusions are presented. Intel RealSense T265 solution proved to perform well in uncertain conditions which involves bounded vibrations and low lighting conditions with low latency, which result in good map generation. Further evaluations with a path planning algorithm and Intel RealSense T265 were conducted to test the effect of the robot’s motion profiles on odometry data accuracy