This paper describes the technical aspects of the Redblade III, Miami University's third generation autonomous lawnmower. The Redblade III was created for entrance in the Institute of Navigation's 4th Annual Autonomous Lawnmower Competition by a team of undergraduate students majoring in electrical, computer, and mechanical engineering at Miami University. This paper details the five major subsystems of the lawnmower, including (1) the sensing system, (2) the control system, (3) the mechanical chassis system, (4) the safety system, and (5) the base monitoring and testing system. The paper discusses each aforementioned system in detail, along with providing cost analysis and conclusions.
The application of miscible CO 2 flooding for enhanced oil recovery in a vuggy/fractured carbonate formation has found commercial success in the Weyburn reservoir (Saskatchewan). The Weyburn waterflood performance indicated that flow could be classified as matrix flow, with certain sections of the reservoir dominated by fracture flow. The physical mechanisms that lead to improved miscible flood recovery in fracture-dominated flow are only partially understood. To highlight the different recovery mechanisms, coreflood tests in homogeneous, matrix cores and artificially fractured limestone cores were conducted. For some of these miscible CO 2 displacement tests, the in situ oil saturations were continuously monitored using a magnetic resonance imaging (MRI) technique. Image analysis demonstrated how channeling, gravity segregation, and partial displacement led to contrasting recoveries in matrix and fractured cores. Additional improvement in oil recovery was obtained by implementing conformance control methods such as foams, gels, and gel-foams. Injecting blocking and diverting gels into the fractured cores proved to be the most effective means of conformance control, providing improved sweep efficiency and resulting in accelerated oil production during subsequent CO 2 injection.
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