Hydraulic Fracturing is a technique to accelerate production and enhance ultimate recovery of oil and gas while fracture geometry is an important aspect in hydraulic fracturing design and optimization. Systematic design procedures are available based on the so-called two-dimensional models (2D) focus on the optimization of fracture length and width, assuming one can estimate a value for fracture height, while so-called pseudo three dimensional (p-3D) models suitable for multi-layered reservoirs aim to maximize well production by optimizing fracture geometry, including fracture height, half-length and width at the end of the stimulation treatment. The proposed p-3D approach to design integrates four parts: 1) containment layers discretization to allow for a range of plausible fracture heights, 2) the Unified Fracture Design (UFD) model to calculate the fracture half-length and width, 3) the PKN or KGD models to predict hydraulic fracture geometry and the associated net pressure and other treatment parameters, and, finally, 4) Linear Elastic Fracture Mechanics (LEFM) to calculate fracture height. The aim is to find convergence of fracture height and net pressure. Net pressure distribution plays an important role when the fracture is propagating in the reservoir. In multi-layered reservoirs, the net pressure of each layer varies as a result of different rock properties. This study considers the contributions of all layers to the stress intensity factor at the fracture tips to find the final equilibrium height defined by the condition where the fracture toughness equals the calculated stress intensity factor based on LEFM. Other than maximizing production, another obvious application of this research is to prevent the fracture from propagating into unintended layers (i.e. gas cap and/or aquifer). Therefore, this study can aid fracture design by pointing out: (1) Treating pressure needed to optimize fracture geometry, (2) The containment top and bottom layers of a multi-layered reservoir, (3) The upwards and downwards growth of the fracture tip from the crack center.

Le travail de recherche effectué dans le cadre de cette thèse concerne le développement d’un système de perception de la saillance en environnement 3D en tirant l’avantage d’une représentation pseudo-3D. Notre contribution et concept issue de celle-ci part de l'hypothèse que la profondeur de l’objet par rapport au robot est un facteur important dans la détection de la saillance. Sur ce principe, un système de vision saillante de l’environnement 3D a été proposé, conçu et validée sur une plateforme comprenant un robot équipé d’un capteur pseudo-3D. La mise en œuvre du concept précité et sa conception ont été d’abord validés sur le système de vision pseudo-3D KINECT. Puis dans une deuxième étape, le concept et les algorithmes mis aux points ont été étendus à la plateforme précitée. Les principales contributions de la présente thèse peuvent être résumées de la manière suivante : A) Un état de l'art sur les différents capteurs d'acquisition de l’information de la profondeur ainsi que les différentes méthodes de la détection de la saillance 2D et pseudo 3D. B) Etude d’un système basé sur la saillance visuelle pseudo 3D réalisée grâce au développement d’un algorithme robuste permettant la détection d'objets saillants dans l’environnement 3D. C) réalisation d’un système d’estimation de la profondeur en centimètres pour le robot Pepper. D) La mise en œuvre des concepts et des méthodes proposés sur la plateforme précitée. Les études et les validations expérimentales réalisées ont notamment confirmé que les approches proposées permettent d’accroitre l’autonomie des robots dans un environnement 3D réel / The research work, carried out within the framework of this thesis, concerns the development of a system of perception and saliency detection in 3D environment taking advantage from a pseudo-3D representation. Our contribution and the issued concept derive from the hypothesis that the depth of the object with respect to the robot is an important factor in the detection of the saliency. On this basis, a salient vision system of the 3D environment has been proposed, designed and validated on a platform including a robot equipped with a pseudo-3D sensor. The implementation of the aforementioned concept and its design were first validated on the pseudo-3D KINECT vision system. Then, in a second step, the concept and the algorithms have been extended to the aforementioned robotic platform. The main contributions of the present thesis can be summarized as follow: A) A state of the art on the various sensors for acquiring depth information as well as different methods of detecting 2D salience and pseudo 3D. B) Study of pseudo-3D visual saliency system based on benefiting from the development of a robust algorithm allowing the detection of salient objects. C) Implementation of a depth estimation system in centimeters for the Pepper robot. D) Implementation of the concepts and methods proposed on the aforementioned platform. The carried out studies and the experimental validations confirmed that the proposed approaches allow to increase the autonomy of the robots in a real 3D environment

This diploma thesis deals with ant colony optimization for shortest path problems. In the theoretical part it describes Ant Colony Optimization. In the practical part ant colony optimization algorithms are selected for the design and implementation of shortest path problems in the Java.