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.

Automatic Target Recognition in Synthetic Aperture Radar Imagery: A State-of-the-Art Review

The purpose of this paper is to survey and assess the state-of-the-art in automatic target recognition for synthetic aperture radar imagery (SAR-ATR). The aim is not to develop an exhaustive survey of the voluminous literature, but rather to capture in one place the various approaches for implementing the SAR-ATR system. This paper is meant to be as self-contained as possible, and it approaches the SAR-ATR problem from a holistic end-to-end perspective. A brief overview for the breadth of the SAR-ATR challenges is conducted. This is couched in terms of a single-channel SAR, and it is extendable to multi-channel SAR systems. Stages pertinent to the basic SAR-ATR system structure are defined, and the motivations of the requirements and constraints on the system constituents are addressed. For each stage in the SAR-ATR processing chain, a taxonomization methodology for surveying the numerous methods published in the open literature is proposed. Carefully selected works from the literature are presented under the taxa proposed. Novel comparisons, discussions, and comments are pinpointed throughout this paper. A two-fold benchmarking scheme for evaluating existing SAR-ATR systems and motivating new system designs is proposed. The scheme is applied to the works surveyed in this paper. Finally, a discussion is presented in which various interrelated issues, such as standard operating conditions, extended operating conditions, and target-model design, are addressed. This paper is a contribution toward fulfilling an objective of end-to-end SAR-ATR system design.