A New Approach to Improve the Success Ratio and Localization Duration of a Particle Filter Based Localization for Mobile Robots

Abstract In real world applications, it is important that mobile robots know their location to achieve goals correctly. The localization of the robot is difficult by using raw sensor data because of the noisy measurements from these sensors. To overcome this difficulty probabilistic localization algorithm approaches can be used. The Particle filter is one of the Bayesian-based methods. In this study, two new features incorporated into the particle filter approach. These features are: decreasing the size of sample space using compass data and a new sensor model. The proposed approach is applied in the localization problem of a mobile robot. Performance of the proposed algorithm is compared with the performance of traditional particle filter approach by changing several parameters of the system. These analyses emphasized that the proposed approach improved the localization performance of the system. The results are promising for the future studies on this subject

Simülator kullanarak bir gaz kondansat sahasının üretim stratejilerinin değerlendirilmesi: saha çalışması.

Condensates are low-density liquids that are produced along with the gas phase from wet gas or gas-condensate reservoirs. Availability of these liquids makes gas-condensate reservoirs more profitable than the other gas reservoirs since condensates are gasoline like fluids with API gravities more than 45°. Although the condensate production is profitable, the management of gas-condensate reservoirs is challenging. Due to their nature, condensates condense and separate from the gas if the pressure drops below the dew point pressure. The condensation causes an increase in the amount of liquid drop-out especially around the wellbores where the maximum pressure drop occurs. The condensates around the wellbores decreases or even blocks the flow of gas into the wells due relative permeability effects. Therefore it is required to prevent condensation in the reservoir which can be done by keeping the reservoir pressure high. On the other hand, bottom hole well pressures should be low enough to have a good production rate. This dissertation aims to assess different production and injection strategies and find out the optimal one by constructing static and dynamic reservoir models and simulate the production strategies for 50 more years in addition to the 45 years of production history of a South Caspian Basin field. The starting point of this study is to construct a static model based on an existing reservoir which consist of three blocks with eleven producing layers. The required fluid model is obtained using available fluid properties by the help of a compositional PVT equation of state software prior the preparation of dynamic or flow model. The production history of the field is used to construct a base for the simulations. The volumetric calculations are compared with the available data. Different production scenarios are applied including production at different rates, injection of water and gas separately and simultaneously as well. It was observed that keeping the pressure high with water injection in the reservoir but using the driving force of gas at the same time leads the minimum amount of liquid drop-out in the reservoir.M.S. - Master of Scienc

Evaluation of Geothermal District Heating Systems of Turkey

Turkey is one of the few countries that has almost all possible applications of geothermal energy. Geothermal district heating has a relatively short history (since 1987) compared to other direct utilization but plays important economic, social and environmental roles in some towns. There are 18 geothermal district heating systems (GDHS), mainly in the Aegean region with resource temperatures between 57–145C. Current heating capacities of those systems are in the range of 570 to 37500 Residence Equivalent (RE, 1 RE= 100 m2 heated area). This paper evaluates each GDHS on their technical characteristics, then gives details about three GDHS and compares the economics of district heating applications based on alternative fuel prices

Flow Testing of Balcova Geothermal Field Turkey

Balçova geothermal field is located in a densely populated area which makes direct heat applications very efficient and economical. Heat produced from Balçova geothermal field is utilized for three main purposes: greenhouse heating, balneology and residential heating. Among these three applications, the latter one is the main application throughout the Balçova District Heating System. The field produces hot water from two different horizons: one shallow and one deeper zone. After had utilized for 16 years, few wellbores in the deeper zone had to be abandoned because of operational difficulties, and new wellbores were drilled in the same zone. Interference tests were carried out during flow testing at newly drilled wellbores. Analysis of pressure response at observation wellbores for production/injection practices indicated that there exists a very strong connection within the wellbores in the same zone. In addition, there exists also a hydraulic but weaker connection between shallower and deeper zones. Response of the field and the operational changes in production/injection applications are also presented

Seismic velocity characterisation and survey design to assess CO2 injection performance at Kızıldere geothermal field

The noncondensable gases in most geothermal resources include CO2 and smaller amounts of other gases. Currently, the worldwide geothermal power is a small sector within the energy industry, and CO2 emissions related to the utilisation of geothermal resources are consequently small. In some countries, however, such as Turkey and Iceland, geothermal energy production contributes significantly to their energy budget, and their CO2 emissions are relatively significant. SUCCEED is a targeted innovation and research project, which aims to investigate the reinjection of CO2 produced at geothermal power production sites and develop, test, and demonstrate at field scale innovative measurement, monitoring and verification (MMV) technologies that can be used in most CO2 geological storage projects. The project is carried out at two operating geothermal energy production sites, the Kızıldere geothermal field in Turkey and the CarbFix project site at the Hellisheiði geothermal field in Iceland. Together with a brief description of the project, this paper presents the details of the two field sites and the progress made in seismic velocity characterisation and modelling relevant to the Kızıldere geothermal field in Turkey.Applied Geophysics and Petrophysic

Seismic velocity characterisation and survey design to assess CO2 injection performance at Kizildere geothermal field

The noncondensable gases in most geothermal resources include CO2 and smaller amounts of other gases. Currently, the worldwide geothermal power is a small sector within the energy industry, and CO2 emissions related to the utilisation of geothermal resources are consequently small. In some countries, however, such as Turkey and Iceland, geothermal energy production contributes significantly to their energy budget, and their CO2 emissions are relatively significant. SUCCEED is a targeted innovation and research project, which aims to investigate the reinjection of CO2 produced at geothermal power production sites and develop, test, and demonstrate at field scale innovative measurement, monitoring and verification (MMV) technologies that can be used in most CO2geological storage projects. The project is carried out at two operating geothermal energy production sites, the Kizildere geothermal field in Turkey and the CarbFix project site at the Hellishei eth i geothermal field in Iceland. Together with a brief description of the project, this paper presents the details of the two field sites and the progress made in seismic velocity characterisation and modelling relevant to the Kizildere geothermal field in Turke