The article gives a classification of the main components of unmanned aerial vehicle (UAV) systems, gives the areas in which the application of UAVs is actual in practice today. Further, the UAV is considered in more detail from the point of view of its flight dynamics analysis, the equation necessary for creating a mathematical model, as well as the model of an ordinary dynamic system as a non-stationary nonlinear controlled object, is given. Next, a description of the developed software for modeling and a description of program algorithm are given. Finally, a conclusion describes the necessary directions for further scientific researches.
In this paper, we present a new surface logging technology, named the Automated Mud Logging System (AMLS), which is a cost-effective alternative to advanced wireline logging required to identify producible oil in tight rocks. AMLS provides characterization of drill cuttings samples at the well site. Current version of the system (AMLS ver 1.0) includes a Natural Gamma-ray Spectrometer (NGS) and Nuclear Magnetic Resonace (NMR) relaxometer, with an automated sample feeding system which can be installed in a mud logging unit to perform sample analysis while drilling. The sensitivity of NGS and NMR measurements to sample volume avoids time consuming and labor intensive sample preparation required by other geological material characterization methods (e.g. X-ray diffraction, X-ray fluorescence, etc.) which are surface sensitive. The ability of NGS and NMR to characterize "as received" cuttings allows for the automation of data acquisition and minimizes the operational expenses. Results from a field trial of AMLS on a vertical well, drilled through tight formation at a rate of penetration (ROP) of approx. 120 ft/hour are also presented. The uranium (U) concentration curve from cuttings, acquired by the AMLS ver 1.0, compares favorably with that acquired by a wireline tool. This demonstrates the robustness of the developed system to characterize drill cuttings for formation evaluation. The main challenge in cuttings analysis is ensuring efficient mud logging operations at the well site during fast drilling (e.g. sampling cuttings every 5 ft in depth with a ROP of 100-120 ft/hr) The presented results demonstrate the feasibility of converting mud logging from a source of qualitative information about the subsurface into a source of quantitative information comparable to the information delivered by wireline or LWD logging but acquired at much lower cost and operational risk. The addition of other components to AMLS such as automated sample catcher and Neutron Induced Gamma-ray Spectroscopy (NIGS) measurement system should make this mud logging system even more valuable source of subsurface information. Another enhancement of the data acquired by AMLS can originate from properly acquired advanced mud gas logs. An example of the application of data acquired by NGS node of AMLS ver 1.0 and mass spectroscopy-based mud gas logging system to identify intervals containing producible oil in a tight rock formation in West Texas, is presented.
The article describes several modifications of the obstacle detection algorithm on the flight trajectory of an unmanned aerial vehicle (UAV). First, we give an illustration of the problems on the example of the relief image on topographic maps and the essence of the relief image by horizontal contours. Then the conclusion is made about necessity of development of algorithm and software, which can help the operator of the UAV in deciding on necessary trajectory changes of UAV, since, for example, guided solely by the method image of the terrain or another similar method in the planning of the UAV trajectory as preliminary preparation for the flight, however, such methods are fairly static and are not suitable in such situations as, for example, detection of unexpected obstacles. Further, the article describes the process of developing several modifications of the algorithm that solves the above problem and generates a notification of the UAV operator. It is also described depending on the flight speed of the UAV and natural conditions; it is possible to choose the most appropriate modification of the algorithm, which has different sensitivity to potential obstacles. The conclusion shows the settings screen and results of the software work and the principle of visual notification of the UAV operator with the proposal direction of the flight around detected obstacles.
The probabilistic analysis of crossing by an unmanned aerial vehicle (UAV) of the boundary of the no-fly area is solved. Condition of stating of the fact of the violation of the boundary of the restricted area is to stand of UAV within the area during a specified time. The substantiation of the mathematical model to research through linearized vector stochastic equation is carried out. The problem is solved by applying the theory of Markov processes of random structure with absorption of realizations at the boundary of a given area. Particularity of the approach is the contemporaneously consideration of two probability densities of the distribution of phase coordinates that describe the boundary conditions. In this case, two equations systems are solved for probabilistic moments: taking into account the absorption of realizations and without taking into account the absorption. The probability of an object gets into specified area and do not leave one during the time that necessary to notice the unmanned aerial vehicle at the restricted area.
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