Effect of Process Conditions on Microstructure and Corrosion Resistance of Cold-Sprayed Ti Coatings

Ti and Ti alloys can be applied to steels as a protective coating in view of its excellent resistance to corrosive environment. Cold spraying, as a new coating technique, has potential advantages in fabrication of Ti coating in comparison with conventional thermal spraying techniques. In this study, Ti coatings were prepared on carbon steel substrates by cold spraying via controlling the process conditions. The microstructure of coatings was observed by SEM. The porosity of coatings was estimated by image analysis and the bond strength was tested for comparison of the process conditions. Potentiodynamic polarization and open-circuit potential (OCP) measurements were performed to understand the corrosion behavior of the coatings. The SEM examination shows that the coatings become more compact with the increases of pressure and temperature of driving gas. The potentiodynamic polarization curves indicate that the coating which has lower porosity has lower corrosion current. The polarization and OCP measurement reveal that cold-sprayed Ti coating can provide favorable protection to carbon steel substrate. The polishing treatment of coating surface polishes the rough outer layer including the small pores as well as decreases the actual surface area of the coating, leading to the considerable improvement of corrosion resistance.

基于立体视觉的移动机器人楼梯识别

本文提出了一种结构化环境下,基于立体视觉的机器人楼梯识别算法,并将算法该应到自主移动机器人上。该算法首先利用二维图像分析的方法搜索楼梯的疑似区域;进而利用立体视觉对各个疑似区域进行精确三维重建,结合三维信息重构楼梯平面,排除虚假疑似楼梯区域;最后判定机器人和楼梯的相对位姿关系,引导机器人爬楼梯。最终我们将该算法应用到了自主移动机器人上,通过在各种光照条件下的实验,进一步验证了该算法的准确性和快速性。

砂砾岩储层流动单元四维模型研究

This article is an important part of "95" technological subject of SINOPEC. It has a large number of difficulties and workloads, and has significant theoretical meanings and practical value. The study area is composed of sandstone & conglomerate reservoir of alluvial fan & fan delta, which belong to Sha3 lower member and Sha4 upper member of lower tertiary of Yong'an Town Oilfield in Dongying Depression. The target stataum develops in the hanging wall of the synsedimentary fault in the scarp zone of Dongying Depression. The frequently intense movements result in the variation of sandstone and conglomerate reservoir and the evolution of the time and space of Sha3 lower member and Sha4 upper member in Yong'an Town Oilfield. As a result, it is difficult for the individual reservoir correlation at the root of fan, which bring about a tackle problem for the exploitation of oilfield. In this background, the research of fluid units will be more difficult. In this article, the new concepts, the new methods, and the new techniques of sedimentology, petroleum geology, reservoir geology, physics of crystal surface, dynamic & static state reservoir description and well logging geology are synthetically applied, and the computer technology are made full uses of, and the identifying, dividing and appraising of the two-formation-type sandstone & conglomerate reservoir fluid units of Sha3 lower member and Sha4 upper member systemically analyzed in Yong'an Town Oilfield, Dongying Depression. For the first time, the single-well model, the section model, the plane model, the nuclear magnetism log model, the microcosmic network model, the 4-D geology model and the simulation model of the two-formation-type reservoir fluid units of the of sandstone & conglomerate reservoir of Sha3 lower member and Sha4 upper member are established, and the formative mechanism and distributing & enrichment laws of oil-gas of the two type of sandstone and conglomerate reservoir fluid units are revealed. This article established the optimizing, identifying, classifying and appraising standard of the two-formation-type reservoir fluid units of the of sandstone and conglomerate reservoir of Sha3 lower member and Sha4 upper member, which settles the substantial foundations for static state model of the fluid units, reveals the macroscopic & microcosmic various laws of geometrical static state of the fluid units, and instructs the oil exploitation. This article established static state model of the two-formation-type sandstone and conglomerate reservoir fluid units by using the multi-subject theories, information and techniques, and reveals the geometrical configuration, special distribution and the oil-gas enrichment laws of the sandstone and conglomerate reservoir fluid units. For the first time, we established the nuclear magnetism log model of the two-formation-type sandstone and conglomerate reservoir of Sha3 lower member and Sha4 upper member, which reveals not only the character and distributing laws of the porosity and permeability, bat also the formation and distribution of the movable fluid. It established six type of microcosmic net model of the two-formation-type sandstone and conglomerate reservoir of Sha3 lower member and Sha4 upper member in the working area by using the advanced theories, such as rock thin section, SEM, image analysis, intrusive mercury, mold, rock C.T. measure & test image etc., which reveals the microcosmic characteristic of porosity & throat, filterate mode and microcosmic oil-gas enrichment laws of the sandstone and conglomerate reservoir. For the first time, it sets up the 4-D model and mathematic model of the sandstone and conglomerate reservoir, which reveals the distributing and evolving laws of macroscopic & microcosmic parameters of the two-formation-type sandstone and conglomerate reservoir and oil-gas in 4-D space. At the same time, it also forecasts the oil-gas distribution and instructs the oilfield exploitation. It established reservoir simulation model, which reveals the filterate character and distributing laws of oil-gas in different porosity & throat net models. This article established the assistant theories and techniques for researching, describing, indicating and forecasting the sandstone and conglomerate reservoir fluid units, and develops the theories and techniques of the land faces faulted basin exploitation geology. In instructing oilfield exploitation, it had won the notable economic & social benefits.

基于MRF模型的油气储层属性随机建模方法研究

Stochastic reservoir modeling is a technique used in reservoir describing. Through this technique, multiple data sources with different scales can be integrated into the reservoir model and its uncertainty can be conveyed to researchers and supervisors. Stochastic reservoir modeling, for its digital models, its changeable scales, its honoring known information and data and its conveying uncertainty in models, provides a mathematical framework or platform for researchers to integrate multiple data sources and information with different scales into their prediction models. As a fresher method, stochastic reservoir modeling is on the upswing. Based on related works, this paper, starting with Markov property in reservoir, illustrates how to constitute spatial models for catalogued variables and continuum variables by use of Markov random fields. In order to explore reservoir properties, researchers should study the properties of rocks embedded in reservoirs. Apart from methods used in laboratories, geophysical means and subsequent interpretations may be the main sources for information and data used in petroleum exploration and exploitation. How to build a model for flow simulations based on incomplete information is to predict the spatial distributions of different reservoir variables. Considering data source, digital extent and methods, reservoir modeling can be catalogued into four sorts: reservoir sedimentology based method, reservoir seismic prediction, kriging and stochastic reservoir modeling. The application of Markov chain models in the analogue of sedimentary strata is introduced in the third of the paper. The concept of Markov chain model, N-step transition probability matrix, stationary distribution, the estimation of transition probability matrix, the testing of Markov property, 2 means for organizing sections-method based on equal intervals and based on rock facies, embedded Markov matrix, semi-Markov chain model, hidden Markov chain model, etc, are presented in this part. Based on 1-D Markov chain model, conditional 1-D Markov chain model is discussed in the fourth part. By extending 1-D Markov chain model to 2-D, 3-D situations, conditional 2-D, 3-D Markov chain models are presented. This part also discusses the estimation of vertical transition probability, lateral transition probability and the initialization of the top boundary. Corresponding digital models are used to specify, or testify related discussions. The fifth part, based on the fourth part and the application of MRF in image analysis, discusses MRF based method to simulate the spatial distribution of catalogued reservoir variables. In the part, the probability of a special catalogued variable mass, the definition of energy function for catalogued variable mass as a Markov random field, Strauss model, estimation of components in energy function are presented. Corresponding digital models are used to specify, or testify, related discussions. As for the simulation of the spatial distribution of continuum reservoir variables, the sixth part mainly explores 2 methods. The first is pure GMRF based method. Related contents include GMRF model and its neighborhood, parameters estimation, and MCMC iteration method. A digital example illustrates the corresponding method. The second is two-stage models method. Based on the results of catalogued variables distribution simulation, this method, taking GMRF as the prior distribution for continuum variables, taking the relationship between catalogued variables such as rock facies, continuum variables such as porosity, permeability, fluid saturation, can bring a series of stochastic images for the spatial distribution of continuum variables. Integrating multiple data sources into the reservoir model is one of the merits of stochastic reservoir modeling. After discussing how to model spatial distributions of catalogued reservoir variables, continuum reservoir variables, the paper explores how to combine conceptual depositional models, well logs, cores, seismic attributes production history.