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In terms of mobile robot path planning, the traditional A* algorithm has the following problems: a long searching time, an excessive number of redundant nodes, and too many path-turning points. As a result, the shortest path obtained from planning may not be the optimal movement route of actual robots, and it will accelerate the hardware loss of robots. To address the aforementioned problems, a fusion algorithm for path planning, combining the improved A* algorithm with segmented second-order Bézier curves, is proposed in this paper. On the one hand, the improved A* algorithm is presented to reduce unnecessary expansion nodes and shorten the search time, which was achieved from three aspects: (1) the traditional 8-neighborhood search strategy was adjusted to 5-neighborhood according to the orientation of the target point relative to the current node; (2) the dynamic weighting factor of the heuristic function was introduced into the evaluation function of the traditional A* algorithm; and (3) the key node extraction strategy was designed to reduce the redundant nodes of the optimal path. On the other hand, the optimal path planned by the improved A* algorithm was smoothed using segmented second-order Bézier curves. The simulation results show that the improved A* algorithm can effectively reduce the search time and redundant nodes and the fusion algorithm can reduce the path curvature and path length to a certain extent, improving path safety. [ABSTRACT FROM AUTHOR]

Many factors need to be considered in the evaluation of tight conglomerate reservoirs, including the microscopic pore-throat structure, pore connectivity, lithology, porosity, permeability, and clay mineral content. The contents and types of clay minerals reflect the mineral evolution process during the deposition of the reservoir and can reflect the reservoir's physical properties to a certain extent. In this study, cores from the Baikouquan Formation in Mahu were used to comprehensively analyze the effects of the clay mineral content on the physical properties of a tight conglomerate reservoir, including field emission scanning electron microscopy (FE-SEM), casting thin section observations, X-ray diffraction (XRD), interface property testing, high-pressure mercury injection, low temperature N2 adsorption, and nuclear magnetic resonance (NMR)-movable fluid saturation testing. The results revealed that differences in different lithologies lead to differences in clay mineral content and pore structure, which in turn lead to differences in porosity and permeability. The interface electrification, adsorption, and specific surface area of the reservoir are positively correlated with the clay mineral content, which is mainly affected by the smectite content. As the clay mineral content increases, the proportion of nanoscale pore throats increases, and the core becomes denser. The saturation of the movable fluid controlled by the >50 nm pore throats in the tight conglomerate ranges from 8.7% to 33.72%, with an average of 20.24%. The clay mineral content, especially the I/S (mixed layer of Illite and montmorillonite) content, is negatively correlated with the movable fluid. In general, the research results clarified the relationship between the lithology and physical properties of clay minerals and the microscopic pore structure of the tight conglomerate reservoirs in the Baikouquan Formation in the Mahu area. [ABSTRACT FROM AUTHOR]

After primary and secondary recovery of tight reservoirs, it becomes increasingly challenging to recover the remaining oil. Therefore, improving the recovery of the remaining oil is of great importance. Herein, molecular dynamics simulation (MD) of residual oil droplet movement behavior under CO2 displacement was conducted in a silica nanopores model. In this research, the movement behavior of CO2 in contact with residual oil droplets under different temperatures was analyzed, and the distribution of molecules number of CO2 and residual oil droplets was investigated. Then, the changes in pressure, kinetic energy, potential energy, van der Waals' force, Coulomb energy, long-range Coulomb potential, bond energy, and angular energy with time in the system after the contact between CO2 and residual oil droplets were studied. At last, the g(r) distribution of CO2–CO2, CO2-oil molecules, and oil molecules-oil molecules at different temperatures was deliberated. According to the results, the diffusion of CO2 can destroy residual oil droplets formed by the n-nonane and simultaneously peel off the n-nonane molecules that attach to SiO2 and graphene nanosheets (GN). The cutoff radius r of the CO2–CO2 is approximately 0.255 nm and that of the C–CO2 is 0.285 nm. The atomic force between CO2 and CO2 is relatively stronger. There is little effect caused by changing temperature on the radius where the maximum peak occurs in the radial distribution function (RDF)-g(r) of CO2–CO2 and C–CO2. The maximum peak of g(r) distribution of the CO2–CO2 in the system declines first and then rises with increasing temperature, while that of g(r) distribution of C–CO2 changes in the opposite way. At different temperatures, after the peak of g(r), its curve decreases with the increase in radius. The coordination number around C9H20 decreases, and the distribution of C9H20 becomes loose. [ABSTRACT FROM AUTHOR]

Archie's parameters are substantial to be investigated in the evaluation of water saturation. Many researchers adhered to the opinion that Archie's equation can still be applied to water saturation calculation in shale if the accuracy of relative parameters could be improved. External conditions, such as temperature, confining pressure, water salinity, wettability, and displacement, may influence the determination of Archie's parameters. The aim of the study is to investigate the effect of salinity on Archie's parameters and their correlation with mineral composition and pore structure. The mineral contents and petrophysical properties were firstly acquired through X-ray diffraction (XRD) and basic measurements. Rock-electric experiments under different salinity were conducted on deep shale samples taken from Longmaxi (LMX) Formation in Luzhou (LZ). The results indicate that Archie's parameters of " a ," " b ," " m ," and " n " under actual brine salinity are assigned to 1.47, 1, 1.26, and 1.6, respectively. Our cementation factor is lower than that in other studies including (shaly) sandstones, carbonates, and shales, probably due to the extremely low porosity in study area. Salinity has a positive effect on cementation factor (m) and saturation exponent (n), suggesting the traditional assignment to Archie's parameters is inappropriate. It was concluded that the complicated pore structure and high porosity mainly associated with clay mineral may trigger the increased cementation factor. Further mathematical derivations confirmed that the rock resistivity is inextricable from pore system and establish a physical model. The paper provides a solid evidence base for further understanding and evaluation of water saturation in unconventional shale reservoirs, more significantly, innovatively unveils the research into Archie formula in deep shale reservoirs of southern Sichuan basin. [ABSTRACT FROM AUTHOR]

The properties of polyacrylamide for oil displacement are determined by the microstructure. Optimizing the method of studying the microstructure of polyacrylamide is convenient to screen out the oil displacement polymer with better performance in practice. In this paper, the effects of the degree of hydrolysis on the macroscopic viscosity and micromolecular morphology of polyacrylamide were investigated by using a new method of laser scanning fluorescence microscopy, atomic force microscopy, and cryo‐etching transmission electron microscopy. In the experiment, the influence of alkali content on the dynamic viscosity and micromorphology of the solution was eliminated by the innovative method of dialysis and alkali removal, which ensured the degree of hydrolysis as a single variable. The results show that the dynamic viscosity is less affected by the degree of hydrolysis macroscopically. With the increase of the degree of hydrolysis, the streamline structure of the molecule changed from coarse branched cluster to fluffy line. The chances of intermolecular entanglement are increased during the transformation process, which makes the microstructure characteristics agree with the results that the viscosity changes slightly with the degree of hydrolysis after alkali removal. [ABSTRACT FROM AUTHOR]

The shale gas productivity model based on shale gas nonlinear seepage mechanism is an effective way to reasonably predict productivity. The incomplete gas nonlinear effects considered in the current production prediction models can lead to inaccurate production prediction. Based on the conventional five-zone compound flow model, comprehensive gas nonlinearities were considered in the improved compound linear flow model proposed in the paper and a semianalytical solution for productivity was obtained. The reliability of the productivity model was verified by the field data, and then, the 20-year production performance analysis of the gas well was studied. Ultimately, the key influencing factors of the fracture control stage and matrix control stage have been analyzed. Research indicated the following: (1) the EUR predicted by the productivity model is higher than the EUR that the comprehensive nonlinear effects are not considered, which demonstrated that the various nonlinear effects cannot be neglected during the production prediction to ensure the greater calculation accuracy; (2) during the early production stage of shale reservoir, the adsorbed gas is basically not recovered, and the cumulative adsorption contribution rate does not exceed 10%. The final adsorption gas contribution rate is 23.28%, and the annual adsorption rate can exceed 50% in the 20th year, showing that free gas and adsorbed gas are, respectively, important sources of the early stage of production and long-term stable production; (3) the widely ranged three-dimensional fracturing reformation of shale reservoirs and reasonable bottom hole pressure in the later matrix development process should be implemented to increase the effective early production of the reservoir and ensure the earlier gas production process of the matrix development. The findings of this study can help for better ensuring the prediction accuracy of the estimated ultimate recovery and understanding the main influencing factors of the dynamic performance of gas wells so as to provide a theoretical reference for production optimization and development plan formulation of the shale gas reservoirs. [ABSTRACT FROM AUTHOR]

In order to improve the information and product originality level of intelligent manufacturing industry based on sensor technology, this paper summarizes the current situation of CAx integration based on sensor technology and its design application and analyzes the shortcomings of existing CAx integration, aiming at accurate, complete, timely, and barrier-free transfer of sensor product data and information between CAx system and MRPII/ERP management information system. The concept and information model of feature extension of sensor components oriented to the whole process of sensor intelligent manufacturing is presented. Taking feature extension of sensor components as the integration link, CAx integration framework structure and its design application mode based on feature extension are established, while key technologies and implementation ideas to realize the integration and the design application are put forward, which provides an effective path to realize the sensor integration of CAx and management information systems such as MRPII/ERP. [ABSTRACT FROM AUTHOR]

The shale gas productivity model based on shale gas nonlinear seepage mechanism is an effective way to reasonably predict productivity. The incomplete gas nonlinear effects considered in the current production prediction models can lead to inaccurate production prediction. Based on the conventional five-zone compound flow model, comprehensive gas nonlinearities were considered in the improved compound linear flow model proposed in the paper and a semianalytical solution for productivity was obtained. The reliability of the productivity model was verified by the field data, and then, the 20-year production performance analysis of the gas well was studied. Ultimately, the key influencing factors of the fracture control stage and matrix control stage have been analyzed. Research indicated the following: (1) the EUR predicted by the productivity model is higher than the EUR that the comprehensive nonlinear effects are not considered, which demonstrated that the various nonlinear effects cannot be neglected during the production prediction to ensure the greater calculation accuracy; (2) during the early production stage of shale reservoir, the adsorbed gas is basically not recovered, and the cumulative adsorption contribution rate does not exceed 10%. The final adsorption gas contribution rate is 23.28%, and the annual adsorption rate can exceed 50% in the 20th year, showing that free gas and adsorbed gas are, respectively, important sources of the early stage of production and long-term stable production; (3) the widely ranged three-dimensional fracturing reformation of shale reservoirs and reasonable bottom hole pressure in the later matrix development process should be implemented to increase the effective early production of the reservoir and ensure the earlier gas production process of the matrix development. The findings of this study can help for better ensuring the prediction accuracy of the estimated ultimate recovery and understanding the main influencing factors of the dynamic performance of gas wells so as to provide a theoretical reference for production optimization and development plan formulation of the shale gas reservoirs. [ABSTRACT FROM AUTHOR]