<p dir="ltr">This research project aims to develop a robotic platform capable of drilling horizontal laterals from existing wellbores, offering data-guided steering and control features using information captured by sensors. The project provides an opportunity to expand the application of downhole drilling robots toward semi-autonomous operations in existing fields, especially those with declining production. Mature fields represent a global resource, and even modest hydrocarbon reserves additions are substantial to keep up the energy demand, having positive economic and environmental impacts. Available lateral drilling techniques do not fit the constraints offered by the challenge; moreover, they are not cost-effective.</p><p dir="ltr">The project will be organized into three phases to accomplish this developmental study. First, design criteria and key performance aspects will be identified and established to design a self-propelled robotic prototype capable of drilling lateral sections from an existing wellbore with an internal diameter of 4” to 6”. The creation of lateral sections can potentially add hydrocarbon reserves taking advantage of an already-drilled vertical section of a mature field. Second, the design of the prototype will take place, along with the design of a sub-surface communication and control system. The third phase is manufacturing and subsystems integration, finishing with a pilot test in a controlled environment. Based on the pilot testing results, design optimization will occur. Finally, a field version will be designed, and IP (Intellectual Property) disclosures and plans for commercialization will be identified and addressed.</p>

La commande des actionneurs électropneumatiques a été un sujet largement traité au cours des dernières décennies. Le caractère fortement non-linéaire de son comportement en a fait un cas d'étude particulièrement pertinent dans le cadre d'une démarche d'application de la théorie de la commande des systèmes non-linéaires. L'utilisation de ces techniques a été comparée aux approches linéaires traditionnelles et généralement jugée largement supérieure notamment en termes de précision ou de temps de réponse. Dans ce manuscrit nous abordons très spécifiquement l'aspect multivariable du système et introduisons la transformée A-T, similaire à la transformée de Park appliquée classiquement aux systèmes électriques, afin de donner une forme strict feedback à son modèle d'état, de clarifier les phénomènes physiques mis en jeu lors de sa commande et de distinguer les deux degrés de liberté du système. Cette transformée permet en outre une comparaison directe avec les moteurs électriques décrits dans le repère de Park. Ce parallèle rend notamment possible la solution du problème délicat de l'observation de la position à vitesse nulle en transférant des méthodologies déjà validées sur des systèmes électriques. L'exploitation des deux degrés de liberté est illustrée par la synthèse de lois de commande combinant le suivi d'une trajectoire de position du piston au respect d'un second critère variable (réglage de la pressurisation moyenne, optimisation de la consommation instantanée). L'utilisation d'un actionneur électropneumatique asservi comme actionneur à compliance variable est étudiée. Une loi de commande basée sur la transformée A-T est proposée pour contrôler simultanément la position et la raideur pneumatique de l'actionneur. Une méthodologie de réglage des gains de commande est proposée pour définir l'impédance en boucle fermée du système. L'influence de la raideur pneumatique sur la raideur en boucle fermée est étudiée. L'utilisation d'une source d'énergie alternative (de l'hélium sous pression) est également pour la première fois mise en œuvre. L'influence du changement de gaz sur le dimensionnement de l'actionneur électropneumatique est étudiée et une méthodologie permettant d'utiliser les lois de commande prévues pour de l'air est proposée. L'ensemble des propositions faites dans ce manuscrit est testée et validée sur un banc d'essais à la structure inédite. Ce dernier allie deux actionneurs, l'un électropneumatique (l'actionneur étudié) et l'autre, un moteur plat électrique (l'actionneur de charge). L'utilisation de celui-ci permet la génération d'efforts perturbateurs dans une large bande passante ainsi que la modification en temps réel des paramètres mécaniques dynamiques de la charge. / Control of electropneumatic actuator is a subject which has been thoroughly dealt with in the past decades. The strongly non-linear behavior of those systems made them a particularly relevant case study for applications of the non linear control theory. The use of those techniques has been compared to the traditional linear approaches and is generally considered as more efficient in terms of precision and response time. In this work, we specifically deal with the multivariable character of this actuator and we introduce the A-T transformation, similar to the Park Transformation used for electrical systems study, in order to give a strict feedback form to its state model, clarify the physical phenomena occurring during its control and distinguish the system's two degrees of freedom. This transformation allows a comparison with electrical motors described in the Park's frame. This parallel allows to solution the complex problem of zero speed observation of the piston's position by transferring the methodologies which have been previously used on electrical systems. The utilization of the two degrees of freedom is illustrated by the synthesis of control law which combines the piston position trajectory tracking with the respect of a given criterion (which can be the pressurization level or the instantaneous gas consummation optimization). The use of an electropneumatic actuator as a variable stiffness actuator (VSA) is studied. A control law base on the A-T transform is proposed in order to simultaneously control the position and the pneumatic stiffness of the actuator. A control gains tuning strategy is proposed to allow the system closed loop impedance tuning. The influence of the pneumatic stiffness over the closed loop stiffness is studied. An alternative energy source (pressurized helium) is also used for the first time. The influence of the change of gas over the actuator sizing is studied and a methodology allowing using control laws designed for air applications is proposed. Every proposition are tested and validated using an innovative test bench with a unique structure. The latter combines two actuators. One is an electropneumatic actuator (the one studied) and the other one is a linear motor (used as the load actuator). The use of the latter allows disturbance generation in a wide bandwidth and the real-time tuning of the load dynamic characteristics. Finally, the tools developed in this PHD are used in order to validate the implementation of an electropneumatic solution to the thrust vector control problem of a nano scale space launcher. Data provided by the CNES (the French National Space Agency) are used to de ne specific requirements and the flight conditions are reproduced on the test bench to assess the solution quality.

The Compact Rescue Crawler is a pneumatic legged robot. Two legs of a hexapod were designed and built. The legs are controlled directly from operator inputs. The operator gives foot position inputs through two PHANToM haptic controllers. A PD controller with a supplementary force gain-scheduler control stroke lengths of each cylinder. The force-based position control technique allows the robot feet to track operator inputs to within 10% position error. A guided gait algorithm was developed to allow the operator to control all 6 legs simply by haptically guiding the front two. The operator records successful and collision-free trajectories and the gait coordinator plays the trajectories through the rear legs as they approach the detected obstacles. This hybrid gait algorithm allows the robot to proceed through a hazardous environment, guided by an operator, but without taxing the input capabilities of the human operator.

Thesis submitted in fulfilment of the requirements for the degree Master of Technology: Civil Engineering in the Faculty of Engineering at the CAPE PENINSULA UNIVERSITY OF TECHNOLOGY 2014 / The current problems of orifice, nozzle and Venturi flow meters are that they are limited to turbulent flow and the permanent pressure drop produced in the pipeline. To improve these inadequacies, converging-diverging (C-D) tubes were manufactured, consisting of symmetrical converging and diverging cones, where the throat is the annular section between the two cones, with various angles and diameter ratios to improve the permanent pressure loss and flow measurement range. The objective of this study was firstly to evaluate the permanent pressure loss, secondly to determine the discharge coefficient values for various C-D tubes and compare them with the existing differential pressure flow meter using Newtonian and non-Newtonian fluids, and finally to assess the performance of these differential pressure flow meters. The tests were conducted on the multipurpose test rig in the slurry laboratory at the Cape Peninsula University of Technology. Newtonian and non-Newtonian fluids were used to conduct experiments in five different C-D tube flow meters with diameter ratios (β) of 0.5, 0.6 and 0.7, and with angles of the wall to the axis of the tube (θ) of 15°, 30° and 45°. The results for each test are presented firstly in the form of static pressure at different flow rates. It was observed that the permanent pressure loss decreases with the flow rate and the length of the C-D tube. Secondly, the results are presented in terms of discharge coefficient versus Reynolds number. It was found that the Cd values at 15° drop earlier than at 30° and 45°; when viscous forces become predominant, the Cd increases with increasing beta ratio. The Cd was found to be independent of the Reynolds number for Re>2000 and also a function of angle and beta ratio. Preamble Performance of a symmetrical converging-diverging tube differential pressure flow meter Finally, the error analyses of discharge coefficients were assessed to determine the performance criteria. The standard variation was found to increase when the Reynolds number decreases. The average discharge coefficient values and their uncertainties were determined to select the most promising C-D tube geometry. An average Cd of 0.96, with an uncertainty of ±0.5 % for a range of Reynolds numbers greater than 2,000 was found. The comparison between C-D tubes 0.6(15-15) and classical Venturi flow meters reveals that C-D 0.6(15-15) performs well in turbulent range and shows only a slight inaccuracy in laminar. This thesis provides a simple geometrical differential pressure flow meter with a constant Cd value over a Reynolds number range of 2000 to 150 000.

We are pleased to present the conference proceedings for the 12th edition of the International Fluid Power Conference (IFK). The IFK is one of the world’s most significant scientific conferences on fluid power control technology and systems. It offers a common platform for the presentation and discussion of trends and innovations to manufacturers, users and scientists. The Chair of Fluid-Mechatronic Systems at the TU Dresden is organizing and hosting the IFK for the sixth time. Supporting hosts are the Fluid Power Association of the German Engineering Federation (VDMA), Dresdner Verein zur Förderung der Fluidtechnik e. V. (DVF) and GWT-TUD GmbH. The organization and the conference location alternates every two years between the Chair of Fluid-Mechatronic Systems in Dresden and the Institute for Fluid Power Drives and Systems in Aachen. The symposium on the first day is dedicated to presentations focused on methodology and fundamental research. The two following conference days offer a wide variety of application and technology orientated papers about the latest state of the art in fluid power. It is this combination that makes the IFK a unique and excellent forum for the exchange of academic research and industrial application experience. A simultaneously ongoing exhibition offers the possibility to get product information and to have individual talks with manufacturers. The theme of the 12th IFK is “Fluid Power – Future Technology”, covering topics that enable the development of 5G-ready, cost-efficient and demand-driven structures, as well as individual decentralized drives. Another topic is the real-time data exchange that allows the application of numerous predictive maintenance strategies, which will significantly increase the availability of fluid power systems and their elements and ensure their improved lifetime performance. We create an atmosphere for casual exchange by offering a vast frame and cultural program. This includes a get-together, a conference banquet, laboratory festivities and some physical activities such as jogging in Dresden’s old town.:Group 1 | 2: Digital systems Group 3: Novel displacement machines Group 4: Industrial applications Group 5: Components Group 6: Predictive maintenance Group 7: Electro-hydraulic actuators / Der Download des Gesamtbandes wird erst nach der Konferenz ab 15. Oktober 2020 möglich sein.:Group 1 | 2: Digital systems Group 3: Novel displacement machines Group 4: Industrial applications Group 5: Components Group 6: Predictive maintenance Group 7: Electro-hydraulic actuators

Different special brass (e.g. CuZn37Mn3Al2PbSi) and bronze alloys (e.g. CuPb15Sn) are well known for use in oil-hydraulics having in common to be alloyed with lead. The lead content of special brass alloys in this use ranges from 0.1 to 2.0 mass-%. Some bronze alloys provide even much higher contents of lead of 10 to 15 mass-%. Typically, lead is considered for improvement of machinability or castability. Beyond this purpose lead in brass and bronze alloys affects many more properties of manufacturing and application. During the shaping of the parts by means of hot or cold forming often the materials are strained close to their limits. Thanks to lead cracking is prevented during this process. Lead is also of great importance for the improvement of tribological systems. The surfaces of these systems are exposed to friction and wear. Lead is incorporated in the surface layers and supports the tribological system in their running-in process to achieve a steady state of friction and wear. Above all lead is unique because it forms no solid solution with copper or brass and forms no compounds with other typical copper alloying elements. The feasibility assessment of elements in order to substitute lead in brass or bronze alloys has to be done for each alloy and application individually. In oil-hydraulic applications as bushings, slippers or distributor plates, lead-free alloys must fulfil different profiles of requirements, depending on the conditions of manufacturing and application. The requirements do not only include mechanical strength, formability and thermal strength, but also fatigue strength, low friction and high wear resistance and lubricant compatibility. Consequently, the substitution of lead in brass and bronze alloys for application in oil-hydraulics is a challenging task. This does not only apply for the requirements for machining and forming, but particularly for the need of the new alloys to function under wear, friction and corrosion. Examples are given for how these challenges of new lead-free special brass alloys can be met in bushings (machining, friction properties), slippers (forming, strength) and distributor plates (fatigue strength) for axial piston pumps. Further on, new lead-free special brass alloys for contact with environmentally compatible lubricants are presented. All these examples show that there is not the one and only lead-free alloy for applications in oil-hydraulics. In fact, every application requires a different alloy which is composed and processed individually to meet the specific demands.

Tribology has been recognized as a very important discipline in different branches of industry because almost every mechanical system has some moving parts. Due to the relative motion between these different mechanical parts, a variety of contacts are formed, and they are very often lubricated with oil. Environmental protection and ecological awareness are becoming increasingly important, which in turn has resulted in the shift to a low-carbon society, making water more interesting as a possible lubricant. On the one hand, water is less environmentally damaging as a lubricant than oil, but on the other hand, water has very poor lubrication properties, as its viscosity is 100 times lower than the viscosity of oil. These limitations might be overcome by appropriate surface engineering (e.g., diamond-like carbon, DLC). Tribological tests were performed in oil and water for two different contacts. Steel/steel and steel/DLC were investigated. DLC was recognized as a very promising solution, which ensures low friction and low wear. DLC was deposited on a real hydraulic part in an orbital hydraulic motor and tested under real industrial conditions. The overall efficiency of the hydraulic motor was measured.

The efficiency of hydraulic drive systems in mobile machines is influenced by several factors, like the operators’ guidance, weather conditions, material respectively loading properties and primarily the working cycle. This leads to varying operation points, which have to be performed by the drive system. Regarding efficiency analysis, the usage of standardized working cycles gained through measurements or synthetically generated is state of the art. Thereby, only a small extract of the real usage profile is taken into account. This contribution deals with process pattern recognition (PPR) and frequency based efficiency evaluation to gain more precise information and conclusion for the drive design of mobile machines. By the example of an 18 t mobile excavator, the recognition system using Hidden – Markov - Models (HMM) and the efficiency evaluation process by means of backwards simulation of measured operation points will be described.

A new primary torque control concept for hydrostatics mobile machines was introduced in 2018 [1]. The mentioned concept controls the pressure in a closed circuit by changing the angle of the hydraulic pump to achieve the desired pressure based on a feedback system. Thanks to this concept, a series of advantages are expected [2]. However, while working in a Y cycle, the primary torque controlled wheel loader has worse performance in efficiency compared to secondary controlled earthmover due to lack of recuperation ability. Alternatively, we use deep learning algorithms to improve machines’ regeneration performance. In this paper, we firstly make a potential analysis to show the benefit by utilizing the regeneration process, followed by proposing a series of CRDNNs, which combine CNN, RNN, and DNN, to precisely detect Y cycles. Compared to existing algorithms, the CRDNN with bidirectional LSTMs has the best accuracy, and the CRDNN with LSTMs has a comparable performance but much fewer training parameters. Based on our dataset including 119 truck loading cycles, our best neural network shows a 98.2 % test accuracy. Therefore, even with a simple regeneration process, our algorithm can improve the holistic efficiency of mobile machines up to 9% during Y cycle processes if primary torque concept is used.

The recent electrification trend in the off-road market has incentivized research towards the proposal of compact, cost-effective and energy-efficient solutions for hydraulic actuators. As a result, increased attention has been given to electro-hydraulic actuator (EHA) architectures. The paper offers a study performed on a novel closed-circuit EHA architecture with the goal to maximize the overall system efficiency while meeting or exceeding traditional off-road applications performance, thereby enabling further electrification of off-road applications. Both numerical and experimental approaches are utilized to validate the functionality of the proposed EHA circuital configuration in four quadrants. Moreover, the actuator functionality at both high and low velocities are considered, which has never been explored in the past due to the limitations on the hydraulic machine driving speed. The good match between the experimental data and the simulation results confirms the potential of the simulation model for sizing such EHA architecture for different actuator sizes, duty cycles, and performance levels.