A new approach of formation navigation derived from multi-robots cooperative online FastSLAM

A new formation navigation approach derived from multi-robots cooperative online FastSLAM is proposed. In this approach,the leader and follower robots are defined.The posteriori estimation of the leader robot state is treated as a relative reference for all follower robots to correct their state priori estimations.The control volume of individual follower will be achieved from the results of the corrected estimation.All robots are observed as landmarks with known associations by the others and are considered in their landmarks updating.By the method,the errors of the robot posterior estimations are reduced and the formation is well kept.The simulation and physical experiment results show that the multi-robots relative localization accuracy is improved and the formation navigation control is more stable and efficient than normal leader-following strategy.The algorithm is easy in implementation.     

Domestic and Industrial Wastewater Treatment with Ozonated Activated Sludge

Poor sludge settleability is a problem encountered in many activated sludge wastewater treatment plants. This study was aimed at combatting the unwanted biological growths at the root of this phenomenon with ozone. Ozone dosed directly into the aeration basins of small activated sludge pilot plants treating both domestic and synthetic fuel wastewaters led to a substantial reduction of the bulking problem even at dosages as low as 6 to 10 mg/L. Ozone did not interfere in the delicate nutrient removal processes and significantly enhanced effluent quality.     

Effect of additives on formation of natural gas hydrate

The formation of natural gas hydrate (NGH) is studied in this work. Kinetics data of hydrate formation with no agitation were collected at various concentrations of the aqueous solutions with different additives such as alkylpolyglucside, sodium dodecyl benzene sulfonate and potassium oxalate monohydrate. Various kinds of additive increased the formation rates of NGH and its storage capacity and reduced the induction time of NGH formation. Moreover, the storage capacity, the induction time and the hydrate formation rate were influenced by the concentration of the aqueous solution.     

Effects Of Ozone On The Production Of Biodegradable Dissolved Organic Carbon (BDOC) During Water Treatment

This article deals with the oxidation effect of ozone on the increasing fraction of biodegradable organic matter with the “ozotest” method, a laboratory technique which simulates the effect of ozonation and allows a complete oxidation assessment. Ozone treatment was performed on river water samples and sand filter effluent samples. Ozone consumption, reduction of UV absorbance and BDOC formation were monitored with applied ozone doses from 0 to 10 mg/L and with contact times from 0 to 60 min. The BDOC formation was optimum at an applied ozone dose of 0.25-0.5 mg O₃ per mg DOC (contact time = 5 min) corresponding to apparition of traces of residual ozone and maximum UV reduction. Maximum ozone consumption, UV reduction and BDOC formation occurred simultaneously during the first two minutes of treatment. Concerning BDOC formation, applied ozone dose showed a greater effectiveness than contact time. For the same quantity of consumed ozone, a short contact time associated with a high ozone dose was preferable to a long contact time and a low ozone dose.     

氧化物对3CaO·3Al2O3·CaSO4形成的影响

借助XRD测试手段研究了Al2O3、SiO2、Fe2O3以及MgO几种生料中常见氧化物对高温固硫物相3CaO·3Al2O3·CaSO4形成的影响.结果表明,改变Al2O3的含量,不会对3CaO·3Al2O3·CaSO4的形成产生明显影响;Fe2O3及MgO的存在能降低3CaO·3Al2O3·CaSO4的形成温度,但也使其分解温度提前;SiO2的大量存在则会抑制3CaO·3Al2O3·CaSO4的形成.     

八面河地区孔店组油气成藏条件与勘探方向

在剖析了八面河地区孔店组的地层和沉积特征及其油源、储层、储盖组合条件等油气成藏条件的基础上,认为研究区西北部为有利勘探区带,东北部为较有利勘探区带,南部为潜在勘探区带。     

鄂尔多斯盆地乌审旗古隆起对岩溶气藏的控制机理

随着鄂尔多斯盆地北部中国石化大牛地区块一系列深井的钻探成功,发现乌审旗古隆起对奥陶系马家沟组的成藏起着重要的控制作用。在充分利用盆地北部钻井、地震和分析化验资料的基础上,研究乌审旗古隆起的形成与演化对下古生界成储和成藏的控制作用。结果表明：(1)乌审旗古隆起形成于新元古代,一直持续活动到奥陶纪末,具有“水上、水下交替发育”的特点,可分为5个演化阶段;(2)乌审旗古隆起在早古生代的持续活动造成了其东侧断裂系统发育,这些断裂为加里东期—海西期马家沟组岩溶作用提供了通道,形成深层岩溶储层;(3)乌审旗古隆起上沉积水体较浅,利于微生物岩的形成和准同生白云石化,可以形成白云岩孔隙型储层;(4)乌审旗古隆起东侧的断裂是成藏期天然气运移的主要通道,断裂沟通了多套储层,具有“三向供烃、断裂控储、立体成藏”的特征。该研究为鄂尔多斯盆地下古生界奥陶系的立体勘探提供了一种新模式。     

四川盆地海相页岩气富集条件及勘探开发有利区

历经十余年探索实践,四川盆地海相页岩气勘探取得了一系列进展,锁定五峰组—龙马溪组为最有利产层,提出了一批页岩气富集高产理论,形成了集地质评价、开发优化、优快钻井、体积压裂、工厂化作业、清洁开发等为一体的勘探开发技术,探明了万亿立方米级储量的页岩气大气田。时值中国页岩气勘探发展的重要节点,回顾四川盆地海相页岩气勘探开发历程、梳理五峰组—龙马溪组页岩气在地质条件与富集规律上的成果认识、展望四川盆地海相页岩气勘探的重点接替领域,对推进盆地海相页岩气的勘探开发有积极意义。(1)四川盆地海相页岩气勘探开发经历了4个阶段：评层选区找目标阶段;浅层至中—深层先导试验阶段;浅层至中—深层示范区建设阶段;浅层至中—深层上产、深层评价、常压页岩气评价、立体开发评价、超深层和新层系探索阶段。(2)四川盆地五峰组—龙马溪组的沉积条件优越,深水陆棚相高有机质含量页岩呈连续稳定分布;页岩气主要赋存在有机孔隙中,页岩储层在纵向上集中发育,连续厚度大;川南地区和川东南涪陵区块的构造相对简单,气源持续补给、远离古/今剥蚀区和大型断裂逸散区是页岩气富集保存的有利区;目前,五峰组—龙马溪组的页岩气资源量为33.19×10<...     

上扬子地区下寒武统牛蹄塘组富有机质页岩岩相及沉积环境分析

贵州温水村剖面发育有一套完整的下寒武统牛蹄塘组富有机质黑色页岩,为厘清下寒武统牛蹄塘组页岩岩相类型,明确不同岩相形成环境特征,通过采集25块该剖面页岩样品,进行岩石薄片观察、X射线衍射（全岩）分析、总有机碳含量（TOC）测定及主微量和稀土元素分析,划分出温水村剖面下寒武统页岩的岩相类型,并明确了该层位页岩的沉积环境和有机质富集特征,建立了沉积模式。根据TOC值、沉积构造和矿物组成,同时考虑岩石脆性特征,共划分出9类页岩岩相：①富有机质块状强脆性硅质细粒岩;②富有机质纹层状强脆性硅质页岩;③高有机质块状强脆性硅质细粒岩;④高有机质纹层状强脆性硅质页岩;⑤高有机质块状中等脆性硅/黏土混合质细粒岩;⑥中有机质块状强脆性硅质细粒岩;⑦中有机质纹层状强脆性硅质页岩;⑧低有机质块状强脆性硅质细粒岩;⑨低有机质纹层状中脆性硅/黏土混合质页岩。其中,前5类页岩相形成于深水缺氧、暖湿型气候和以低温热水沉积作用为主的环境,初级生产力和古盐度较高,有机质富集受控于古氧化还原条件、古生产力、古盐度、古水深、暖湿型气候和热液活动,而其他岩相有机质富集则不受热液活动影响,沉积环境初级生产力和古盐度有所下降;建立了一个受氧化还原条件、古生产力、古盐度、热液活动及暖湿型气候影响的深水陆棚相沉积模式。     

高温-超压-高CO2背景下致密砂岩储层成岩作用特征——以莺歌海盆地LD10区新近系梅山组-黄流组为例

利用薄片鉴定、扫描电镜、阴极发光及碳氧同位素分析等手段,对莺歌海盆地LD10区新近系梅山组-黄流组高温-超压-高CO₂背景下的储层成岩作用特征及其对孔隙的影响进行了系统研究。研究结果表明: ①莺歌海盆地LD10区新近系梅山组-黄流组储层发育重力流沉积,岩性以中-细粒长石岩屑石英砂岩为主,储层物性以特低-低孔、特低渗特征为主。②压实、胶结和溶蚀作用是研究区主要的成岩作用类型。超压对黏土矿物的转化及石英次生加大具有明显抑制作用,并在一定程度上保护了原生孔隙。富含CO₂的高温流体不仅造成了黏土矿物的异常转化,同时促进了溶蚀作用发生,增加了次生孔隙。③研究区黄二段储层的成岩演化序列为: 菱铁矿胶结→石英次生加大→绿泥石胶结→长石淋滤溶蚀→高岭石形成→早期方解石胶结→早期白云石胶结→长石溶蚀→方解石溶蚀→伊利石大量生成→晚期铁方解石、铁白云石形成。④总体上,压实作用使孔隙度减少了45.30%～62.93%,胶结作用使孔隙度减少了1.65%～35.01%,溶蚀作用使孔隙度增加了0.72%～8.00%。其中,黄流组中下部砂岩储层受到了超压保护和CO₂溶蚀作用的双重影响,物性较好,钻井过程中应考虑高CO₂风险。