Advanced control of managed pressure drilling

Automation of managed pressure drilling (MPD) enhances the safety and increases efficiency of drilling and that drives the development of controllers and observers for MPD. The objective is to maintain the bottom hole pressure (BHP) within the pressure window formed by the reservoir pressure and fracture pressure and also to reject kicks. Practical MPD automation solutions must address the nonlinearities and uncertainties caused by the variations in mud flow rate, choke opening, friction factor, mud density, etc. It is also desired that if pressure constraints are violated the controller must take appropriate actions to reject the ensuing kick. The objectives are addressed by developing two controllers: a gain switching robust controller and a nonlinear model predictive controller (NMPC). The robust gain switching controller is designed using H1 loop shaping technique, which was implemented using high gain bumpless transfer and 2D look up table. Six candidate controllers were designed in such a way they preserve robustness and performance for different choke openings and flow rates. It is demonstrated that uniform performance is maintained under different operating conditions and the controllers are able to reject kicks using pressure control and maintain BHP during drill pipe extension. The NMPC was designed to regulate the BHP and contain the outlet flow rate within certain tunable threshold. The important feature of that controller is that it can reject kicks without requiring any switching and thus there is no scope for shattering due to switching between pressure and flow control. That is achieved by exploiting the constraint handling capability of NMPC. Active set method was used for computing control inputs. It is demonstrated that NMPC is able to contain kicks and maintain BHP during drill pipe extension.

The dual effect of normobaric hypoxia on heart rate variability and substrate partitioning following interval cycling

Recent studies have shown the importance of the beat-by-beat changes in heart rate influenced by the autonomic nervous system (ANS), or heart rate variability (HRV). The purpose of this study was to examine the lasting effects of hypoxic exercise on HRV, and its influences on substrate usage. Results from this study could lead an increased understanding on this topic. Eight active healthy males (age: 31±11 years; height: 180±7 cm; weight: 83±8 kg; VO₂max (maximal oxygen consumption): 4.4±0.6 L•min⁻¹) underwent normoxic and hypoxic (FᵢO₂= 0.15) conditions during high-intensity interval (HIIT) cycling (70%-high interval, 35%-rest interval). Cycling intensity was determined by a peak power output cycling test. Each experimental session consisted of a basal metabolic rate determination, up to 45-minutes of HIIT cycling, and three 30-minute post-exercise metabolic rate measurements (spanning 3 hours and 15 minutes after exercise). During exercise, RPE was higher (p<0.01) and LAC (lactate) increased (p=0.001) at each point of time in hypoxia, with no change in normoxia. After hypoxic exercise, the SNS/PNS ratio (overall ANS activity) was significantly higher (p<0.01) and significantly decreased through time in both conditions (p<0.01). In addition, a significant interaction between time and conditions (p<0.02) showed a decrease in LAC concentration through time post-hypoxic exercise. The findings showed that a single bout of hypoxic exercise alters ANS activity post-exercise along with shifting substrate partitioning from glycolytic to lipolytic energy production. The significant decrease in LAC concentration post-hypoxic exercise supports the notion that hypoxic HIIT induces a greater muscle glycogen depletion leading to increased fat oxidation to sustain glycogenesis and gluconeogenesis to maintain blood glucose level during recovery.