Fracture network types revealed by well test curves for shale reservoirs in the Sichuan Basin,China

Pressure buildup testing can be used to analyze fracture network characteristics and conduct quantitative interpretation of relevant parameters for shale gas wells,thus providing bases for assessing the well productivity and formulating proper development strategies.This study establishes a new well test interpretation model for fractured horizontal wells based on seepage mechanisms of shale reservoirs and proposes a method for identifying fracturing patterns based on the characteristic slopes of pressure buildup curves and curve combination patterns.The pressure buildup curve patterns are identified to represent three types of shale reservoirs in the Sichuan Basin,namely the moderately deep shale reservoirs with high pressure,deep shale reservoirs with ultra-high pressure,and moderately deep shale reservoirs with normal pressure.Based on this,the relationship between the typical pressure buildup curve patterns and the fracture network types are put forward.Fracturing effects of three types of shale gas reservoir are compared and analyzed.The results show that typical flow patterns of shale reservoirs include bilinear flow in primary and secondary fractures,linear flow in secondary fractures,bilinear flow in secondary fractures and matrix,and linear flow in matrix.The fracture network characteristics can be determined using the characteristic slopes of pressure buildup curves and curve combinations.The linear flow in early secondary fractures is increasingly distinct with an increase in primary fracture conductivity.Moreover,the bilinear flow in secondary fractures and matrix and the subsequent linear flow in the matrix occur as the propping and density of secondary fractures increase.The increase in the burial depth,in-situ stress,and stress difference corresponds to a decrease in the propping of primary fractures that expand along different directions in the shale gas wells in the Sichuan Basin.Four pressure buildup curve patterns exist in the Sichuan Basin and its periphery.The pattern of pressure buildup curves of shale reservoirs in the Yongchuan area can be described as 1/2/→1/4,indicating limited stimulated reservoir volume,poorly propped secondary fractures,and the forming of primary fractures that extend only to certain directions.The pressure buildup curves of shale reservoirs in the main block of the Fuling area show a pattern of 1/4/→1/2 or 1/2,indicating greater stimulated reservoir volume,well propped secondary fractures,and the forming of complex fracture networks.The pattern of pressure buildup curves of shale reservoirs in the Pingqiao area is 1/2/→1/4→/1/2,indicating a fracturing effect somewhere between that of the Fuling and Yongchuan areas.For reservoirs with normal pressure,it is difficult to determine fracture network characteristics from pressure buildup curves due to insufficient formation energy and limited liquid drainage.

Characteristic model-based consensus of networked heterogeneous robotic manipulators with dynamic uncertainties

In this paper, we address the characteristic model-based discrete-time consensus problem of networked robotic manipulators with dynamic uncertainties. The research objective is to achieve joint-position consensus of multiple robotic agents interconnected on directed graphs containing a spanning tree. A novel characteristic model-based distributed adaptive control scenario is proposed with a state-relied projection estimation law and a characteristic model-based distributed controller. The performance analysis is also unfolded where the uniform ultimate boundedness(UUB) of consensus errors is derived by resorting to the discrete-time-domain stability analysis tool and the graph theory. Finally, numerical simulations illustrate the effectiveness of the proposed theoretical strategy.

Targeted isolation and identification of bioactive pyrrolidine alkaloids from Codonopsis pilosula using characteristic fragmentation-assisted mass spectral networking

Codonopsis pilosula(CP),a well-known food medicine homology plant,is commonly used in many countries.In our preliminary study,a series of pyrrolidine alkaloids with high MS responses were detected as characteristic absorbed constituents in rat plasma after oral administration of CP extract.However,their structures were unclear due to the presence of various isomers and the lack of reference standards.In the present study,an MS-guided targeted isolation of pyrrolidine alkaloids of CP extract was performed by ultra-performance liquid chromatography coupled with quadrupole time-of-flight tandem mass spectrometry(UPLC/Q-TOF MS).For data analysis under fast data directed acquisition mode(Fast-DDA),an effective approach named characteristic fragmentation-assisted mass spectral networking was successfully applied to discover new pyrrolidine alkaloids with high MS response in CP extract.As a result,seven new pyrrolizidine alkaloids[codonopyrrolidiums C–I(3–9)],together with two known ones(1 and 2),were isolated and identified by NMR spectral analysis.Among them,codonopyrrolidium B(1),codonopyrrolidium D(4)and codonopyrrolidium E(5)were evaluated for lipid-lowering activity,and they could improve high fructose-induced lipid accumulation in HepG2 cells.In addition,the characteristic MS/MS fragmentation patterns of these pyrrolizidine alkaloids were investigated,and 17 pyrrolidine alkaloids were identified.This approach could accelerate novel natural products discovery and characterize a class of natural products with MS/MS fragmentation patterns from similar chemical scaffolds.The research also provides a chemical basis for revealing in vivo effective substances in CP.

A Topological Implementation for Motion Planning of a Robotic Arm

An efficient path planning algorithm based on topologic method is presented in this paper.The colli- sion free path planning for three-joint robotic arm consists of three parts:partition of C-space,construc- tion of CN and search for a path in CN.We mainly solved the problems of partitioning the C-space and judging the connectivity between connected blocks,etc.For the motion planning of a robotic arm with a gripper,we developed the concepts of global planning and local planning,and discussed the basic fac- tors for constructing the planning system.In the paper,some evaluation and analysis of the complexity and reliability of the algorithm are given,together with some ideas to improve the efficiency and increase the reliability.At last,some experimental results are presented to show the efficiency and accuracy of the nigorithm.