Digital Encoder Designing for Mobile Robot Control

In this paper we present the design of a quadrature decoder/counter interface IC (ASIC) that performs the decoding, counting, and bus interface function in digital motor control systems, employing an Altra FLEX 10KA, 2s150fg456 Xilinx device. The ASIC contains a pair of digital filters, a quadrature decoder, an up/down counter, a latch and inhibit circuit, and an 8-bit bus interface to a digital processing system. The design of digital of the digital filter is based on the finite state machine model with datapath (FSMD). A novel scheme for detecting the motor rotation direction is also proposed. The ASIC can be applied to a digital motor control system forgetting the rotation speed or position of the motor, which is quipped with an optical encoder. The data acquisition can be extended to 16-bit integer format by two continuos reading cycles. Simulation and experimental tests are shown to verify the ASIC function properly.DOI:http://dx.doi.org/10.11591/ijece.v4i4.550

Intelligent sequence stratigraphy through a wavelet-based decomposition of well log data

Identification of sequence boundaries is an important task in geological characterization of gas reservoirs. In this study, a continuous wavelet transform (CWT) approach is applied to decompose gamma ray and porosity logs into a set of wavelet coefficients at varying scales. A discrete wavelet transform (DWT) is utilized to decompose well logs into smaller frequency bandwidths called Approximations (A) and Details (D). The methodology is illustrated by using a case study from the Ilam and upper Sarvak formations in the Dezful embayment, southwestern Iran. Different graphical visualization techniques of the continuous wavelet transform results allowed a better understanding of the main sequence boundaries. Using the DWT, maximum flooding surface was successfully recognised from both highest frequency and low frequency contents of signals. There is a sharp peak in all A&D corresponding to the maximum flooding surface (MFS), which can specifically be seen in fifth Approximation (a5), fifth Detail (d5), fourth Detail (d4) and third Detail (d3) coefficients. Sequence boundaries were best recognised from the low frequency contents of signals, especially the fifth Approximation (a5). Normally, the troughs of the fifth Approximation correspond to sequence boundaries where higher porosities developed in the Ilam and upper Sarvak carbonate rocks. Through hybridizing both CWT and DWT coefficient a more effective discrimination of sequence boundaries was achieved. The results of this study show that wavelet transform is a successful, fast and easy approach for identification of the main sequence boundaries from well log data. There is a good agreement between core derived system tracts and those derived from decomposition of well logs by using the wavelet transform approach

A new approach to separate hydrogen from carbon dioxide using graphdiyne-like membrane

In order to separate a mixture of hydrogen ($H_2$) and carbon dioxide ($CO_2$) gases, we have proposed a new approach employing the graphdiyne-like membrane (GDY-H) using density functional theory (DFT) calculations and molecular dynamics (MD) simulations. GDY-H is constructed by removing one-third diacetylenic ($-$C$\equiv$C$-$C$\equiv$C$-$) bonds linkages and replacing with hydrogen atoms in graphdiyne structure. Our DFT calculations exhibit poor selectivity and good permeances for $H_2$/$CO_2$ gases passing through this membrane. To improve the performance of the GDY-H membrane for $H_2$/$CO_2$ separation, we have placed two layers of GDY-H adjacent to each other which the distance between them is 2 nm. Then, we have inserted 1,3,5-triaminobenzene between two layers. In this approach, the selectivity of $H_2$/$CO_2$ is increased from 5.65 to completely purified $H_2$ gas. Furthermore, GDY-H membrane represents excellent permeance, about $10^8$ gas permeation unit (GPU), for $H_2$ molecule at temperatures above 20 K. The $H_2$ permeance is much higher than the value of the usual industrial limits. Moreover, our proposed approach shows a good balance between the selectivity and permeance parameters for the gas separation which is an essential factor for $H_2$ purification and $CO_2$ capture processes in the industry

Determination of NMR T2 cut-off for clay bound water in shales: A case study of Carynginia Formation, Perth Basin, Western Australia

Low-field Nuclear Magnetic Resonance (NMR) has proved to be a valuable tool for the petrophysical characterization of conventional reservoirs, but its effective application to unconventional reservoirs is still under research. Pore structure characterization of shales is particularly challenging due to the complexity of the pore network and the small size of pores.Using low-field NMR, we performed transverse relaxation (T2) experiments on samples from the Perth Basin, Western Australia. The samples were initially saturated with KCl brine to obtain the total NMR porosity and T2 distribution, then centrifuged and finally oven-dried at increasing temperatures. T2 spectra were also acquired after centrifuging and heating the samples. Our results indicate that most of the transverse relaxation occurs below 3ms in saturated samples and that a conventional centrifuge cannot remove water from the smaller pores, making the commonly accepted clay bound water cut-off unsuitable for shales. Furthermore, the results from NMR experiments performed on the oven-dried shale samples suggest that the water content remains relatively constant after heating them above 65°C. The calculated T2 cut-off for clay bound water is between 0.22 and 0.26ms for the samples studied.The methodology presented in this paper can be replicated in other formations to find a suitable T2 value for clay bound water, which can be a good indication of potentially producible porosity and can also be used for permeability estimation

Estimation of vitrinite reflectance from well log data

Vitrinite reflectance (VR) data provide important information for thermal maturity assessment and source rock evaluation. The current study introduces a practical method for vitrinite reflectance determination from sonic and resistivity logs. The main determinant factor of the method is ΔRRS which is defined as the separation between cumulative frequency values of resistivity ratio (RR) and sonic log data. The values of ΔRRS range from −1 at ground level to +1 at bottom hole. The crossing point depth of the DT and RR cumulative frequency curves, where ΔRRS=0, indicates the onset of oil generation window. From the surface (ground level) to the crossing point depth ΔRRS takes negative values indicating organic material diagenesis window. Below the crossing point depth ΔRRS turns into positive values showing thermally-mature organic matter within the catagenesis window. Vitrinite reflectance measurements revealed strong exponential relationships with the calculated ΔRRS data. Accordingly, a new calibration chart was proposed for VR estimation based on ΔRRS data. Finally, an equation is derived for vitrinite reflectance estimation from ΔRRS and geothermal gradient. The proposed equation works well in the event of having limited VR calibration data

A new correlation for water saturation calculation in gas shale reservoirs based on compensation of kerogen-clay conductivity

Determination of water saturation in gas shale reservoirs is a very challenging issue due to the incomplete understanding of the non-Archie components. Kerogen and clay content are the two main factors controlling the conductivity of gas shales and resistivity log responses. The presence of clays as conductive materials causes excessive conductivity for the rock that result in an overestimation of water saturation calculation. On the other hand, the presence of solid kerogen has an opposite effect to clays and causes reduction of rock conductivity and thus underestimation of water saturation.In this research, attempts have been made to develop an effective equation for water saturation determination in gas shale reservoirs based on compensation of kerogen and shale conductivities. The new equation is able to handle both high and low conductivity components. The proposed approach makes one step ahead towards reducing uncertainty in the petrophysical evaluation of gas shale reservoirs. Being independent of formation water resistivity and Archie parameters are of the important and effective aspects of the introduced equation in water saturation calculation of gas shale reservoirs.Finally, the kerogen-clay compensation equation has successfully been applied to the determination of water saturation in the Goldwyer shale formation, Canning basin, Western Australia

Tight gas sands permeability estimation from mercury injection capillary pressure and nuclear magnetic resonance data

There are several methods to estimate permeability from pore throat sizes and NMR T2 relaxation time. Although most of the methods are well-established and work well for conventional reservoirs they fail to estimate permeability for tight gas sands. The aim of this study was to establish relationships between permeability and pore throat sizes, derived from mercury injection analysis, and NMR T2 relaxation time. Regression analysis was used to achieve a set of relationships between dry gas permeability, porosity and pore throat sizes for 50 tight gas sand samples. Unlike for normal sandstone, pore throat radii corresponding to a mercury saturation of 10% (r10) is the best permeability predictor for tight gas sands. For tight gas sands, NMR T2 relaxation spectra fall on the shorter values corresponding to the smaller pores. This is because pore spaces are significantly reduced both in size and volume due to extensive compaction and cementation. This study shows that using NMR T2peak and multi-regression analysis, permeability can be estimated with high accuracy even in rocks with substantially constricted pore throats

Significance of compressional tectonic on pore pressure distribution in Perth Basin

The Perth Basin is one of the major tectonic structures along the western continental margin of Australia and was initially formed through the rifting and break-up of the Indian and Australian plates. The severe tectonic movements accompanied and occurred after the break-up are responsible for the most structural elements and for the distribution of pore pressure in the basin. Investigations on the well log data from the Perth Basin have identified shale intervals which are characterised as overpressured in some parts of the basin, whereas similar shale intervals found to be normally pressured in other parts of the basin. The phenomena of overpressure have frequently been reported while drilling the same intervals. Based on this research, sections with overpressure were observed in the majority of the wells in the basal section of the Kockatea shale where there were less tectonic activities have been recorded. Normal pore pressure was observed in shallower wells in the Kockatea shales which were located within uplifted sections that were more tectonically active areas. Based on the results of this research, the pore pressure distribution in the Kockatea Shale varied significantly from one part of the Perth Basin to another as a result of compressive tectonic stress. Compressional tectonic activities either induced fracturing in shallower localities (e.g. Beagle Ridge, Cadda Terrace and the adjacent terraces) or removed part of the Kockatea Shale as a result of faulting resulting in overpressures being released. Regions with less intensity of the tectonic activities showed an increase in pressure gradients as approaching away from the centre of uplift

Investigation on the adsorption kinetics and diffusion of methane in shale samples

© 2018 Elsevier B.V. Shale gas is becoming increasingly important to mitigate the energy crisis of the world. Understanding the mechanisms of gas transport in shale matrix is crucial for development strategies. In this study, methane adsorption kinetics in shale samples were measured under different pressures and temperatures. The results of methane adsorption rate were fitted by the bidisperse diffusion model. Pore structure of the shale samples were characterized by low-pressure N2 and CO2 adsorption. The results showed that pressure has a negative effect on methane adsorption rate and diffusion, while the effect of temperature is positive. Combining the total organic carbon (TOC) and pore structure, methane adsorption rate and effective diffusivity were compared between all the shale samples. The methane adsorption rate under high pressure (50bar) is positively related to the TOC content. The micropore volume showed a moderate positive relation with the methane adsorption rate at 30bar. A weak positive relation exists between the TOC and effective diffusivity at low pressure and the effective diffusivity at low pressure shows an increasing trend with micropore(<2 nm) volume. A hypothetic pore model is proposed: micropore in shales controls gas diffusion as pore throat which connects pores