this paper presents designing an optimal adaptive controller for tracking control of robot manipulators based on particle swarm optimization (pso) algorithm. pso algorithm has been employed to optimize parameters of the controller and hence to minimize the integral square of errors (ise) as a performance criteria. in this paper, an improved pso using logic is proposed to increase the convergenc...

Highlights Performance of denitrifying bioreactors in Alberta was evaluated. Barley straw more effective reducing nitrate compared to wood chips. Hydraulic retention time, feedstock, and season are the primary factors affecting removal. Abstract. This study evaluated performance pilot-scale (LWD: 6 × 0.6 1m) filled with different carbon substrates, including barley straw, hemp woodchips, for re...

The allelic frequency of c.335A>C polymorphisms in the porcine ghrelin/obestatin prepropeptide (GHRL) gene was surveyed among six pig breeds and two subspecies of wild boars. The c.335C was the most frequent allele in Berkshire, Landrace, Large White, Yorkshire, and Clawn miniature pigs and Ryukyu wild boars (Sus scrofa riukiuanus), whereas c.335A was the most frequent allele in Duroc and Meish...

We report the characterization of the nuclear localization signal (NLS) of the short stature homeobox gene SHOX. Mutations within the SHOX gene cause Léri-Weill dyschondrosteosis (LWD) and Langer mesomelic dysplasia (LD) as well as idiopathic short stature (ISS). Furthermore, haploinsufficiency of SHOX has also been implicated in Turner syndrome. SHOX has been shown to be a cell-type-specific t...

Compared to vertical or lowinclination wells, horizontal wells can deliver higher production rates, higher recovery factors, and more efficient use of steam in thermally enhanced recovery projects for heavy oil. However, the shallow, thin, and friable sand reservoirs in Columbia’s Girasol field present several challenges to the accurate placement of horizontal wells. Schlumberger was contracted...

Many safety and mission critical systems depend on the correct and secure operation of both supportive and core software systems. E.g., both the safety of personnel and the effective execution of core missions on an oil platform depend on the correct recording storing, transfer and interpretation of data, such as that for the Logging While Drilling (LWD) and Measurement While Drilling (MWD) sub...

Abstract This paper presents a coil optimization method of the ultra-deep azimuthal electromagnetic (EM) resistivity Logging While Drilling (LWD) to obtain best parameters tool for formation boundary detection by theory. First, rapid numerical simulation algorithm, i.e. Fast Hankel Transform (FHT) method, is developed simulate logging responses layered formation. A system double inclined coils ...

The internal structure of a convergent plate boundary was the focus of ODP Leg 170 in 1996 at the subduction zone off Costa Rica. Although the structure of the subduction zone is rather well known from seismic surveys, prior to drilling of ODP Leg 170 it was a matter of discussion whether it is accretionary or non-accretionary. With a neural network approach, we confirm the evidence gained duri...

Abstract 3D holographic azimuthal electromagnetic resistivity logging while drilling is a convenient and efficient technology to obtain information about formation. It has the advantages of instant, accurate. can be applied field engineering such as evaluating anisotropy detecting nearby geological interfaces. A LWD instrument consists coaxial, coplanar, tilted, orthogonal antenna systems, bein...