Development of a novel autonomous robot for navigation and inspect in oil wells

This paper proposes a novel robotic system that is able to move along the outside of the oil pipelines used in Electric Submersible Pumps (ESP) and Progressive Cavity Pumps (PCP) applications. This novel design, called RETOV, proposes a light weight structure robot that can be equipped with sensors to measure environmental variables avoiding damage in pumps and wells. In this paper, the main considerations and methodology of design and implementation are discussed. Finally, the first experimental results that show RETOV moving in vertical pipelines are analyzed.

Option contracts for allocating water in inter-basin transfers: the case of the Tagus-Segura Basin in Spain

Users in the Mediterranean region face significant water supply risks. Water markets mechanisms can provide flexibility to water systems run in tight situations. The largest water infrastructure in the Iberian Peninsula connects the Segura and Tagus Basins. Stakeholders and politicians in the Tagus Basin have asked that water transfers between the two basins be eventually phased out. The need to increase the statutory minimum environmental flow in the middle Tagus and to meet new urban demands is going to result in a redefinition of the Transfer?s management rules, leading to a reduction in the transferable volumes. To minimise the consequences of such restrictions to irrigators in the Segura Basin who depend on the transferred volumes, we propose the establishment of water option contracts between both basins that represents an institutional innovation with respect to previous inter-basin spot market experiences. Based on the draft of the new Tagus Basin Plan, we propose both a modification of the Transfer?s management rule and an innovative inter-basin option contract. The main goal of the paper is to define this contract and evaluate it with respect to non-market scenarios. We also assess the resulting impact on environmental flows in the Tagus River and water availability for users in the Segura Basin, together with the economic impacts of such contract on both basins. Our results show that the proposed option contract would reduce the impact of a change in the transfer?s management rule, and reduce the supply risks of the recipient area.

Summer deficit irrigation strategies in hedgerow olive orchard cv. ‘Arbequina’: Effect on fruit characteristics and yield.

Maximum production in hedgerow olive orchards is likely not achieved with maximum evapotranspiration over the long-term. Thus, regulated deficit irrigation (RDI) should be considered as a management option. Four irrigation treatments were evaluated during the summer when olive is most drought resistant. Control (CON) was irrigated to maintain the rootzone close to field capacity. Severe water deficit was applied by irrigating 30% CON from end of fruit drop to end July (DI-J) and from end July until beginning of oil synthesis (DI-A). Less severe water deficit was applied during July and August (DI-JA) by irrigating 50% CON. Flowering, fruiting, abscission, fruit development, fresh and dry weight of fruits, and oil production were evaluated. There were not significant differences in number of buds initiated, number of fruits per inflorescence and fruit drop. Oil production was significantly different between irrigation treatments in all experimental years. CON produced more oil and fruit with higher oil% than DI-A and DI-JA. Oil production of DI-J was not significantly reduced compared to CON and oil% was greater. DI-J was the most effective RDI strategy; with 16% less applied water relative to CON average loss in oil production of 8% was not significantly different to CON. While DI-JA saved most water (27%), oil production was reduced by 15%. Greatest loss in oil production (21%) was observed in DI-A with water saving of 22%.

Mathematical and Numerical Modeling in Maritime Geomechanics

A theoretical and numerical framework to model the foundation of marine offshore structures is presented. The theoretical model is composed by a system of partial differential equations describing coupling between seabed solid skeleton and pore fluids (water, air, oil,…) combined with a system of ordinary differential equations describing the specific constitutive relation of the seabed soil skeleton. Once the theoretical model is described, the finite element numerical procedure to achieve an approximate solution of the governing equations is outlined. In order to validate the proposed theoretical and numerical framework the seaward tilt mechanism induced by the action of breaking waves over a vertical breakwater is numerically reproduced. The results numerically attained are in agreement with the main conclusions drawn from the literature associated with this failure mechanism

Optimal water allocation in shortage situations as applied to an irrigation community.

This work studies the most beneficial way of allocating water in an irrigation community in water shortage situations. Therefore, it proposes that the irrigation surface area be divided into homogeneous zones, each with a beneficial relationship with respect to the water applied. The mathematical formula that enables one to obtain the optimal quota for the users or irrigation community as a whole has been found for individual relations of a quadratic or power type, and these have yielded different and complementary characteristics. Dimensionless variables have been used to display the results, and to compare with other alternative allocation rules such as the proportional rule, referencing the situation without water restrictions. As a result, for each water shortage situation, the water that is allocated to each user is obtained, together with the losses in individual income and the losses for the community as a whole. Furthermore, a proposal is put forth for establishing the marginal benefit from the water available, which could be of interest in enabling each community to analyze whether it is in its best interest to invest in increasing the resource, or to sell the resource to other users. Finally, an example is given to demonstrate how the method works and to show that, when the differences between the production schemes are considered, the differences in benefit reduction between the proportional allocation and the optimal allocation are also sizeable. Read More: http://ascelibrary.org/doi/abs/10.1061/(ASCE)IR.1943-4774.0000667

Simulating potential growth and yield of oil palm (Elaeis guineensis) with PALMSIM: Model description, evaluation and application.

Reducing the gap between water-limited potential yield and actual yield in oil palm production systems through intensification is seen as an important option for sustainably increasing palm oil production. Simulation models can play an important role in quantifying water-limited potential yield, and therefore the scope for intensification, but no oil palm model exists that is both simple enough and at the same time incorporates sufficient plant physiological knowledge to be generally applicable across sites with different growing conditions. The objectives of this study therefore were to develop a model (PALMSIM) that simulates, on a monthly time step, the potential growth of oil palm as determined by solar radiation and to evaluate model performance against measured oil palm yields under optimal water and nutrient management for a range of sites across Indonesia and Malaysia. The maximum observed yield in the field matches the corresponding simulated yield for dry bunch weight with a RMSE of 1.7 Mg ha?1 year?1 against an observed yield of 18.8 Mg ha?1. Sensitivity analysis showed that PALMSIM is robust: simulated changes in yield caused by modifying the parameters by 10% are comparable to other tree crop model evaluations. While we acknowledge that, depending on the soils and climatic environment, yields may be often water limited, we suggest a relatively simple physiological approach to simulate potential yield, which can be usefully applied to high rainfall environments and is considered as a first step in developing an oil palm model that also simulates water-limited potential yield. To illustrate the application possibil- ities of the model, PALMSIM was used to create a potential yield map for Indonesia and Malaysia by sim- ulating the growth and yield at a resolution of 0.1?. This map of potential yield is considered as a first step towards a decision support tool that can identify potentially productive, but at the moment degraded sites in Indonesia and Malaysia. ?