In this paper, by in-depth geological research of Kalamkas Oilfield in Central Asia, the geological body has been re-ascertained; combined with fine study of reservoir engineering, based on the understanding of the di...In this paper, by in-depth geological research of Kalamkas Oilfield in Central Asia, the geological body has been re-ascertained; combined with fine study of reservoir engineering, based on the understanding of the distribution of remaining oil horizontal wells have been given full play to stabilizing oil production and controlling water cut, reducing the producing pressure drop, improving well productivity and other advantages, and the development and deployment has been optimized; horizontal wells have been applied to solve problems such as old well casing damages, shutting down wells, low-productivity and low- efficiency wells, and high water cut wells to improve the utilization rate of old wells; through separate layer system improved injection production pattern, adjustment wells have been optimized and deployed, and part measures wells have been preferably selected to tap the residual oil improve the degree of reserves control realize the stabilization of oil production and control of water cut in an old oilfield, and further improve the development effects.展开更多
The redundant humanoid manipulator has characteristics of multiple degrees of freedom and complex joint structure, and it is not easy to obtain its inverse kinematics solution. The inverse kinematics problem of a huma...The redundant humanoid manipulator has characteristics of multiple degrees of freedom and complex joint structure, and it is not easy to obtain its inverse kinematics solution. The inverse kinematics problem of a humanoid manipulator can be formulated as an equivalent minimization problem, and thus it can be solved using some numerical optimization methods. Biogeography-based optimization （BBO） is a new biogeography inspired optimization algorithm, and it can be adopted to solve the inverse kinematics problem of a humanoid manipulator. The standard BBO algorithm that uses traditional migration and mutation operators suffers from slow convergence and prematurity. A hybrid biogeography-based optimization （HBBO） algorithm, which is based on BBO and differential evolution （DE）, is presented. In this hybrid algorithm, new habitats in the ecosystem are produced through a hybrid migration operator, that is, the BBO migration strategy and Did/best/I/bin differential strategy, to alleviate slow convergence at the later evolution stage of the algorithm. In addition, a Gaussian mutation operator is adopted to enhance the exploration ability and improve the diversity of the population. Based on these, an 8-DOF （degree of freedom） redundant humanoid manipulator is employed as an example. The end-effector error （position and orientation） and the ＇away limitation level＇ value of the 8-DOF humanoid manipulator constitute the fitness function of HBBO. The proposed HBBO algorithm has been used to solve the inverse kinematics problem of the 8-DOF redundant humanoid manipulator. Numerical simulation results demonstrate the effectiveness of this method.展开更多
文摘In this paper, by in-depth geological research of Kalamkas Oilfield in Central Asia, the geological body has been re-ascertained; combined with fine study of reservoir engineering, based on the understanding of the distribution of remaining oil horizontal wells have been given full play to stabilizing oil production and controlling water cut, reducing the producing pressure drop, improving well productivity and other advantages, and the development and deployment has been optimized; horizontal wells have been applied to solve problems such as old well casing damages, shutting down wells, low-productivity and low- efficiency wells, and high water cut wells to improve the utilization rate of old wells; through separate layer system improved injection production pattern, adjustment wells have been optimized and deployed, and part measures wells have been preferably selected to tap the residual oil improve the degree of reserves control realize the stabilization of oil production and control of water cut in an old oilfield, and further improve the development effects.
基金Project supported by the National Natural Science Foundation of China （No. 61273340） and the China Postdoctoral Science Foundation （No. 2013M541721）
文摘The redundant humanoid manipulator has characteristics of multiple degrees of freedom and complex joint structure, and it is not easy to obtain its inverse kinematics solution. The inverse kinematics problem of a humanoid manipulator can be formulated as an equivalent minimization problem, and thus it can be solved using some numerical optimization methods. Biogeography-based optimization （BBO） is a new biogeography inspired optimization algorithm, and it can be adopted to solve the inverse kinematics problem of a humanoid manipulator. The standard BBO algorithm that uses traditional migration and mutation operators suffers from slow convergence and prematurity. A hybrid biogeography-based optimization （HBBO） algorithm, which is based on BBO and differential evolution （DE）, is presented. In this hybrid algorithm, new habitats in the ecosystem are produced through a hybrid migration operator, that is, the BBO migration strategy and Did/best/I/bin differential strategy, to alleviate slow convergence at the later evolution stage of the algorithm. In addition, a Gaussian mutation operator is adopted to enhance the exploration ability and improve the diversity of the population. Based on these, an 8-DOF （degree of freedom） redundant humanoid manipulator is employed as an example. The end-effector error （position and orientation） and the ＇away limitation level＇ value of the 8-DOF humanoid manipulator constitute the fitness function of HBBO. The proposed HBBO algorithm has been used to solve the inverse kinematics problem of the 8-DOF redundant humanoid manipulator. Numerical simulation results demonstrate the effectiveness of this method.
