One of the main challenges in deep-water drilling is gas-hydrate plugs,which make the drilling unsafe.Some oil-based drilling fluids(OBDF) that would be used for deep-water drilling in the South China Sea were teste...One of the main challenges in deep-water drilling is gas-hydrate plugs,which make the drilling unsafe.Some oil-based drilling fluids(OBDF) that would be used for deep-water drilling in the South China Sea were tested to investigate the characteristics of gas-hydrate formation,agglomeration and inhibition by an experimental system under the temperature of 4 ?C and pressure of 20 MPa,which would be similar to the case of 2000 m water depth.The results validate the hydrate shell formation model and show that the water cut can greatly influence hydrate formation and agglomeration behaviors in the OBDF.The oleophobic effect enhanced by hydrate shell formation which weakens or destroys the interfacial films effect and the hydrophilic effect are the dominant agglomeration mechanism of hydrate particles.The formation of gas hydrates in OBDF is easier and quicker than in water-based drilling fluids in deep-water conditions of low temperature and high pressure because the former is a W/O dispersive emulsion which means much more gas-water interfaces and nucleation sites than the later.Higher ethylene glycol concentrations can inhibit the formation of gas hydrates and to some extent also act as an anti-agglomerant to inhibit hydrates agglomeration in the OBDF.展开更多
The rheological properties of two kinds of oil-based drilling fluids with typically composition were studied at pressures up to 138 MPa and temperatures up to 204 ℃ using the RheoChan 7400 Rheometer.The experimental ...The rheological properties of two kinds of oil-based drilling fluids with typically composition were studied at pressures up to 138 MPa and temperatures up to 204 ℃ using the RheoChan 7400 Rheometer.The experimental results show that the apparent viscosity,plastic viscosity and yield point decrease with the increase of temperature,and increase with the increase of pressure.The effect of pressure on the apparent viscosity,plastic viscosity and yield point is considerable at ambient temperature.However,this effect gradually reduces with the increase of temperature.The major factor influencing the rheological properties of oil-based drilling fluids is temperature instead of pressure in the deep sections of oil wells.On the basis of numerous experiments,the model for predict the apparent viscosity,plastic viscosity and yield point of oil-based drilling fluids at high temperature and pressure was established using the method of regressive analysis.It is confirmed that the calculated data are in good agreement with the measured data,and the correlation coefficients are more than 0.98.The model is convenient for use and suitable for the application in drilling operations.展开更多
To maintain tight control over rheological properties of high-density water-based drilling fluids, it is essential to understand the factors influencing the theology of water-based drilling fluids. This paper examines...To maintain tight control over rheological properties of high-density water-based drilling fluids, it is essential to understand the factors influencing the theology of water-based drilling fluids. This paper examines temperature effects on the rheological properties of two types of high-density water-based drilling fluids (fresh water-based and brine-based) under high temperature and high pressure (HTHP) with a Fann 50SL rheometer. On the basis of the water-based drilling fluid systems formulated in laboratory, this paper mainly describes the influences of different types and concentration of clay, the content of a colloid stabilizer named GHJ-1 and fluid density on the rheological parameters such as viscosity and shear stress. In addition, the effects of aging temperature and aging time of the drilling fluid on these parameters were also examined. Clay content and proportions for different densities of brine-based fluids were recommended to effectively regulate the rheological properties. Four theological models, the Bingham, power law, Casson and H-B models, were employed to fit the rheological parameters. It turns out that the H-B model was the best one to describe the rheological properties of the high-density drilling fluid under HTHP conditions and power law model produced the worst fit. In addition, a new mathematical model that describes the apparent viscosity as a function of temperature and pressure was established and has been applied on site.展开更多
As the oil and gas industries continue to increase their activity in deep water, gas hydrate hazards will become more serious and challenging, both at present and in the future. Accurate predictions of the hydrate-fre...As the oil and gas industries continue to increase their activity in deep water, gas hydrate hazards will become more serious and challenging, both at present and in the future. Accurate predictions of the hydrate-free zone and the suitable addition of salts and/or alcohols in preparing drilling fluids are particularly important both in preventing hydrate problems and decreasing the cost of drilling operations. In this paper, we compared several empirical correlations commonly used to estimate the hydrate inhibition effect of aqueous organic and electrolyte solutions using experiments with ethylene glycol (EG) as a hydrate inhibitor. The results show that the Najibi et al. correlation (for single and mixed thermodynamic inhibitors) and the Ostergaard et al. empirical correlation (for single thermodynamic inhibitors) are suitable for estimating the hydrate safety margin of oil-based drilling fluids (OBDFs) in the presence of thermodynamic hydrate inhibitors. According to the two correlations, the OBDF, composed of 1.6 L vaporizing oil, 2% emulsifying agent, 1% organobentonite, 0.5% SP-1, 1% LP-1, 10% water and 40% EG, can be safely used at a water depth of up to 1900 m. However, for more accurate predictions for drilling fluids, the effects of the solid phase, especially bentonite, on hydrate inhibition need to be considered and included in the application of these two empirical correlations.展开更多
With the enhancement of environmental protection awareness, the requirements on drilling fluid are increasingly strict, and the use of ordinary oil-based drilling fluid has been strictly restricted. In order to solve ...With the enhancement of environmental protection awareness, the requirements on drilling fluid are increasingly strict, and the use of ordinary oil-based drilling fluid has been strictly restricted. In order to solve the environmental protection and oil-gas reservoir protection problems of offshore oil drilling, a new synthetic basic drilling fluid system is developed. The basic formula is as follows: a basic fluid (80% Linear a-olefin + 20% Simulated seawater) + 2.5% nano organobentonite + 3.5% emulsifier RHJ-5<sup>#</sup> + 2.5% fluid loss agent SDJ-1 + 1.5% CaO + the right amount of oil wetting barite to adjust the density, and a multifunctional oil and gas formation protective agent YRZ has been developed. The performance was evaluated using a high-low-high-temperature rheometer, a high-temperature and high-pressure demulsification voltage tester, and a high-temperature and high-pressure dynamic fluid loss meter. The results show that the developed synthetic based drilling fluid has good rheological property, demulsification voltage ≥ 500 V, temperature resistance up to 160°C, high temperature and high pressure filtration loss < 3.5 mL. After adding 2% - 5% YRZ into the basic formula of synthetic based drilling fluid, the permeability recovery value exceeds 90% and the reservoir protection effect is excellent. The new synthetic deepwater drilling fluid is expected to have a good application prospect in offshore deepwater drilling.展开更多
To improve the thermal stability of starch in water-based drilling fluid,monoethanolamine(MEA)was added,and the effect was investigated by laboratory experiment.The experimental results show that the addition of monoe...To improve the thermal stability of starch in water-based drilling fluid,monoethanolamine(MEA)was added,and the effect was investigated by laboratory experiment.The experimental results show that the addition of monoethanolamine(MEA)increases the apparent viscosity,plastic viscosity,dynamic shear force,and static shear force of the drilling fluid,and reduces the filtration rate of drilling fluid and thickness of mud cake apparently.By creating hydrogen bonds with starch polymer,the monoethanolamine can prevent hydrolysis of starch at high temperature.Starch,as a natural polymer,is able to improve the rheological properties and reduce filtration of drilling fluid,but it works only below 121℃.The MEA will increase the thermal stability of starch up to 160℃.There is a optimum concentration of MEA,when higher than this concentration,its effect declines.展开更多
In complex strata, oil-based drilling fluid is the preferred drilling fluid system, but its preparation cost is high, and there are hidden safety risks. Therefore, the new progress of high-performance anti-collapse wa...In complex strata, oil-based drilling fluid is the preferred drilling fluid system, but its preparation cost is high, and there are hidden safety risks. Therefore, the new progress of high-performance anti-collapse water-based drilling fluid at home and abroad is analyzed. It is difficult to prevent and control the well collapse. Once the well wall instability problem occurs, it will often bring huge economic losses to the enterprises, and the underground safety accidents will occur. In order to ensure the stability of the well wall and improve the downhole safety, the key treatment agent of water-based collapse drilling fluid is selected, the anti-collapse drilling fluid system is formulated, the evaluation method of drilling fluid prevention performance is established, and a set of water-based drilling fluid system suitable for easy to collapse strata in China is selected to ensure the downhole safety. The development trend of high performance anti-collapse water-based drilling fluid is expected to provide a reference for the research of high performance anti-collapse water-based drilling fluid system and key treatment agent.展开更多
When drilling deep wells and ultra-deep wells, the downhole high temperature and high pressure environment will affect the emulsion stability of oil-based drilling fluids. Moreover, neither the demulsification voltage...When drilling deep wells and ultra-deep wells, the downhole high temperature and high pressure environment will affect the emulsion stability of oil-based drilling fluids. Moreover, neither the demulsification voltage method nor the centrifugal method currently used to evaluate the stability of oil-based drilling fluids can reflect the emulsification stability of drilling fluids under high temperature and high pressure on site. Therefore, a high-temperature and high-pressure oil-based drilling fluid emulsion stability evaluation instrument is studied, which is mainly composed of a high-temperature autoclave body, a test electrode, a temperature control system, a pressure control system, and a test system. The stability test results of the instrument show that the instrument can achieve stable testing and the test data has high reliability. This instrument is used to analyze the factors affecting the emulsion stability of oil-based drilling fluids. The experimental results show that under the same conditions, the higher the stirring speed, the better the emulsion stability of the drilling fluid;the longer the stirring time, the better the emulsion stability of the drilling fluid;the greater the oil-water ratio, the better the emulsion stability of the drilling fluid. And the test results of the emulsification stability of oil-based drilling fluids at high temperature and high pressure show that under the same pressure, as the temperature rises, the emulsion stability of oil-based drilling fluids is significantly reduced;at the same temperature, the With the increase in pressure, the emulsion stability of oil-based drilling fluids is in a downward trend, but the decline is not large. Relatively speaking, the influence of temperature on the emulsion stability of oil-based drilling fluids is greater than that of pressure.展开更多
Seeking effective solutions to control and mitigate the interaction between drilling fluids and clay formations has been a challenge for many years, and various shale inhibitors have shown excellent results in problem...Seeking effective solutions to control and mitigate the interaction between drilling fluids and clay formations has been a challenge for many years, and various shale inhibitors have shown excellent results in problematic shale formations around the world. Herein, the hyperbranched polyamine (HBPA) inhibitor with a higher ratio of amine groups and obvious tendentiousness in protonation was successfully synthesized from ethylenediamine, acryloyl chloride and aziridine by five steps, in which the metal-organic framework (MOF) was employed as a catalyst for ring-open polycondensation (ROP). The structure and purity were confirmed by nuclear magnetic resonance hydrogen spectroscopy and high-performance liquid chromatography (HPLC) respectively. The HBPA displays more excellent performance than EDA and KCl widely applied in the oil field. After aging at 80°C and 180°C, the YP of a slurry system containing 25 wt.% bentonite and 2 wt.% HBPA are just 8.5 Pa and 5.5 Pa (wt.%: percentage of mass), respectively. The swelling lengths of 2 wt.% HBPA are estimated to be 1.78 mm, which falls by 70% compared with that of freshwater. Under a hot rolling aging temperature of 180°C, the HBPA system demonstrates a significant inhibition with more than 85% shale cuttings recovery rate and is superior to conventional EDA and KCl. Mechanism analysis further validates that the HBPA can help to increase the zeta potential.展开更多
Traditional oil-based drilling muds(OBMs) have a relatively high solid content, which is detrimental to penetration rate increase and reservoir protection. Aimed at solving this problem, an organoclay-free OBM system ...Traditional oil-based drilling muds(OBMs) have a relatively high solid content, which is detrimental to penetration rate increase and reservoir protection. Aimed at solving this problem, an organoclay-free OBM system was studied, the synthesis methods and functioning mechanism of key additives were introduced, and performance evaluation of the system was performed. The rheology modifier was prepared by reacting a dimer fatty acid with diethanolamine, the primary emulsifier was made by oxidation and addition reaction of fatty acids, the secondary emulsifier was made by amidation of a fatty acid, and finally the fluid loss additive of water-soluble acrylic resin was synthesized by introducing acrylic acid into styrene/butyl acrylate polymerization. The rheology modifier could enhance the attraction between droplets, particles in the emulsion via intermolecular hydrogen bonding and improve the shear stress by forming a three-dimensional network structure in the emulsion. Lab experimental results show that the organoclay-free OBM could tolerate temperatures up to 220 ?C and HTHP filtration is less than 5 m L. Compared with the traditional OBMs, the organoclay-free OBM has low plastic viscosity, high shear stress, high ratio of dynamic shear force to plastic viscosity and high permeability recovery, which are beneficial to penetration rate increase, hole cleaning and reservoir protection.展开更多
The targets, importance, difficulties, strategies, general function frame and technology frame of Petroleum DrillingFluid Engineering Design Expert Ssytem(PDFEDES) were discussed. A brief introduction to the special d...The targets, importance, difficulties, strategies, general function frame and technology frame of Petroleum DrillingFluid Engineering Design Expert Ssytem(PDFEDES) were discussed. A brief introduction to the special domain and application cases of the PDFEDES are given. A good prospect of artificial intelligence application in petroleum exploration engineering is presented.展开更多
基金supported by Project 863 (No. 2006AA09Z316)NSFC (No. 50704028 and 40974071)
文摘One of the main challenges in deep-water drilling is gas-hydrate plugs,which make the drilling unsafe.Some oil-based drilling fluids(OBDF) that would be used for deep-water drilling in the South China Sea were tested to investigate the characteristics of gas-hydrate formation,agglomeration and inhibition by an experimental system under the temperature of 4 ?C and pressure of 20 MPa,which would be similar to the case of 2000 m water depth.The results validate the hydrate shell formation model and show that the water cut can greatly influence hydrate formation and agglomeration behaviors in the OBDF.The oleophobic effect enhanced by hydrate shell formation which weakens or destroys the interfacial films effect and the hydrophilic effect are the dominant agglomeration mechanism of hydrate particles.The formation of gas hydrates in OBDF is easier and quicker than in water-based drilling fluids in deep-water conditions of low temperature and high pressure because the former is a W/O dispersive emulsion which means much more gas-water interfaces and nucleation sites than the later.Higher ethylene glycol concentrations can inhibit the formation of gas hydrates and to some extent also act as an anti-agglomerant to inhibit hydrates agglomeration in the OBDF.
基金Project(50574061) supported by the National Natural Science Foundation of ChinaProject(IRT0411) supported by the Changjiang Scholars and Innovative Research Team,Ministry of Education
文摘The rheological properties of two kinds of oil-based drilling fluids with typically composition were studied at pressures up to 138 MPa and temperatures up to 204 ℃ using the RheoChan 7400 Rheometer.The experimental results show that the apparent viscosity,plastic viscosity and yield point decrease with the increase of temperature,and increase with the increase of pressure.The effect of pressure on the apparent viscosity,plastic viscosity and yield point is considerable at ambient temperature.However,this effect gradually reduces with the increase of temperature.The major factor influencing the rheological properties of oil-based drilling fluids is temperature instead of pressure in the deep sections of oil wells.On the basis of numerous experiments,the model for predict the apparent viscosity,plastic viscosity and yield point of oil-based drilling fluids at high temperature and pressure was established using the method of regressive analysis.It is confirmed that the calculated data are in good agreement with the measured data,and the correlation coefficients are more than 0.98.The model is convenient for use and suitable for the application in drilling operations.
文摘To maintain tight control over rheological properties of high-density water-based drilling fluids, it is essential to understand the factors influencing the theology of water-based drilling fluids. This paper examines temperature effects on the rheological properties of two types of high-density water-based drilling fluids (fresh water-based and brine-based) under high temperature and high pressure (HTHP) with a Fann 50SL rheometer. On the basis of the water-based drilling fluid systems formulated in laboratory, this paper mainly describes the influences of different types and concentration of clay, the content of a colloid stabilizer named GHJ-1 and fluid density on the rheological parameters such as viscosity and shear stress. In addition, the effects of aging temperature and aging time of the drilling fluid on these parameters were also examined. Clay content and proportions for different densities of brine-based fluids were recommended to effectively regulate the rheological properties. Four theological models, the Bingham, power law, Casson and H-B models, were employed to fit the rheological parameters. It turns out that the H-B model was the best one to describe the rheological properties of the high-density drilling fluid under HTHP conditions and power law model produced the worst fit. In addition, a new mathematical model that describes the apparent viscosity as a function of temperature and pressure was established and has been applied on site.
基金supported by the National Natural Science Foundation (No. 50704028, 50904053)the Project 863 (No.2006AA09Z316)+1 种基金the Fundamental Research Funds for the Central Universities (No. CUGL100410)supported by the Opening Project of National Laboratory on Scientific Drilling, China University of Geosciences at Beijing (No. NLSD200901)
文摘As the oil and gas industries continue to increase their activity in deep water, gas hydrate hazards will become more serious and challenging, both at present and in the future. Accurate predictions of the hydrate-free zone and the suitable addition of salts and/or alcohols in preparing drilling fluids are particularly important both in preventing hydrate problems and decreasing the cost of drilling operations. In this paper, we compared several empirical correlations commonly used to estimate the hydrate inhibition effect of aqueous organic and electrolyte solutions using experiments with ethylene glycol (EG) as a hydrate inhibitor. The results show that the Najibi et al. correlation (for single and mixed thermodynamic inhibitors) and the Ostergaard et al. empirical correlation (for single thermodynamic inhibitors) are suitable for estimating the hydrate safety margin of oil-based drilling fluids (OBDFs) in the presence of thermodynamic hydrate inhibitors. According to the two correlations, the OBDF, composed of 1.6 L vaporizing oil, 2% emulsifying agent, 1% organobentonite, 0.5% SP-1, 1% LP-1, 10% water and 40% EG, can be safely used at a water depth of up to 1900 m. However, for more accurate predictions for drilling fluids, the effects of the solid phase, especially bentonite, on hydrate inhibition need to be considered and included in the application of these two empirical correlations.
文摘With the enhancement of environmental protection awareness, the requirements on drilling fluid are increasingly strict, and the use of ordinary oil-based drilling fluid has been strictly restricted. In order to solve the environmental protection and oil-gas reservoir protection problems of offshore oil drilling, a new synthetic basic drilling fluid system is developed. The basic formula is as follows: a basic fluid (80% Linear a-olefin + 20% Simulated seawater) + 2.5% nano organobentonite + 3.5% emulsifier RHJ-5<sup>#</sup> + 2.5% fluid loss agent SDJ-1 + 1.5% CaO + the right amount of oil wetting barite to adjust the density, and a multifunctional oil and gas formation protective agent YRZ has been developed. The performance was evaluated using a high-low-high-temperature rheometer, a high-temperature and high-pressure demulsification voltage tester, and a high-temperature and high-pressure dynamic fluid loss meter. The results show that the developed synthetic based drilling fluid has good rheological property, demulsification voltage ≥ 500 V, temperature resistance up to 160°C, high temperature and high pressure filtration loss < 3.5 mL. After adding 2% - 5% YRZ into the basic formula of synthetic based drilling fluid, the permeability recovery value exceeds 90% and the reservoir protection effect is excellent. The new synthetic deepwater drilling fluid is expected to have a good application prospect in offshore deepwater drilling.
文摘To improve the thermal stability of starch in water-based drilling fluid,monoethanolamine(MEA)was added,and the effect was investigated by laboratory experiment.The experimental results show that the addition of monoethanolamine(MEA)increases the apparent viscosity,plastic viscosity,dynamic shear force,and static shear force of the drilling fluid,and reduces the filtration rate of drilling fluid and thickness of mud cake apparently.By creating hydrogen bonds with starch polymer,the monoethanolamine can prevent hydrolysis of starch at high temperature.Starch,as a natural polymer,is able to improve the rheological properties and reduce filtration of drilling fluid,but it works only below 121℃.The MEA will increase the thermal stability of starch up to 160℃.There is a optimum concentration of MEA,when higher than this concentration,its effect declines.
文摘In complex strata, oil-based drilling fluid is the preferred drilling fluid system, but its preparation cost is high, and there are hidden safety risks. Therefore, the new progress of high-performance anti-collapse water-based drilling fluid at home and abroad is analyzed. It is difficult to prevent and control the well collapse. Once the well wall instability problem occurs, it will often bring huge economic losses to the enterprises, and the underground safety accidents will occur. In order to ensure the stability of the well wall and improve the downhole safety, the key treatment agent of water-based collapse drilling fluid is selected, the anti-collapse drilling fluid system is formulated, the evaluation method of drilling fluid prevention performance is established, and a set of water-based drilling fluid system suitable for easy to collapse strata in China is selected to ensure the downhole safety. The development trend of high performance anti-collapse water-based drilling fluid is expected to provide a reference for the research of high performance anti-collapse water-based drilling fluid system and key treatment agent.
文摘When drilling deep wells and ultra-deep wells, the downhole high temperature and high pressure environment will affect the emulsion stability of oil-based drilling fluids. Moreover, neither the demulsification voltage method nor the centrifugal method currently used to evaluate the stability of oil-based drilling fluids can reflect the emulsification stability of drilling fluids under high temperature and high pressure on site. Therefore, a high-temperature and high-pressure oil-based drilling fluid emulsion stability evaluation instrument is studied, which is mainly composed of a high-temperature autoclave body, a test electrode, a temperature control system, a pressure control system, and a test system. The stability test results of the instrument show that the instrument can achieve stable testing and the test data has high reliability. This instrument is used to analyze the factors affecting the emulsion stability of oil-based drilling fluids. The experimental results show that under the same conditions, the higher the stirring speed, the better the emulsion stability of the drilling fluid;the longer the stirring time, the better the emulsion stability of the drilling fluid;the greater the oil-water ratio, the better the emulsion stability of the drilling fluid. And the test results of the emulsification stability of oil-based drilling fluids at high temperature and high pressure show that under the same pressure, as the temperature rises, the emulsion stability of oil-based drilling fluids is significantly reduced;at the same temperature, the With the increase in pressure, the emulsion stability of oil-based drilling fluids is in a downward trend, but the decline is not large. Relatively speaking, the influence of temperature on the emulsion stability of oil-based drilling fluids is greater than that of pressure.
文摘Seeking effective solutions to control and mitigate the interaction between drilling fluids and clay formations has been a challenge for many years, and various shale inhibitors have shown excellent results in problematic shale formations around the world. Herein, the hyperbranched polyamine (HBPA) inhibitor with a higher ratio of amine groups and obvious tendentiousness in protonation was successfully synthesized from ethylenediamine, acryloyl chloride and aziridine by five steps, in which the metal-organic framework (MOF) was employed as a catalyst for ring-open polycondensation (ROP). The structure and purity were confirmed by nuclear magnetic resonance hydrogen spectroscopy and high-performance liquid chromatography (HPLC) respectively. The HBPA displays more excellent performance than EDA and KCl widely applied in the oil field. After aging at 80°C and 180°C, the YP of a slurry system containing 25 wt.% bentonite and 2 wt.% HBPA are just 8.5 Pa and 5.5 Pa (wt.%: percentage of mass), respectively. The swelling lengths of 2 wt.% HBPA are estimated to be 1.78 mm, which falls by 70% compared with that of freshwater. Under a hot rolling aging temperature of 180°C, the HBPA system demonstrates a significant inhibition with more than 85% shale cuttings recovery rate and is superior to conventional EDA and KCl. Mechanism analysis further validates that the HBPA can help to increase the zeta potential.
基金Supported by the Basic Research Funds Reserved to State-run Universities(18CX02171A,18CX02033A)
文摘Traditional oil-based drilling muds(OBMs) have a relatively high solid content, which is detrimental to penetration rate increase and reservoir protection. Aimed at solving this problem, an organoclay-free OBM system was studied, the synthesis methods and functioning mechanism of key additives were introduced, and performance evaluation of the system was performed. The rheology modifier was prepared by reacting a dimer fatty acid with diethanolamine, the primary emulsifier was made by oxidation and addition reaction of fatty acids, the secondary emulsifier was made by amidation of a fatty acid, and finally the fluid loss additive of water-soluble acrylic resin was synthesized by introducing acrylic acid into styrene/butyl acrylate polymerization. The rheology modifier could enhance the attraction between droplets, particles in the emulsion via intermolecular hydrogen bonding and improve the shear stress by forming a three-dimensional network structure in the emulsion. Lab experimental results show that the organoclay-free OBM could tolerate temperatures up to 220 ?C and HTHP filtration is less than 5 m L. Compared with the traditional OBMs, the organoclay-free OBM has low plastic viscosity, high shear stress, high ratio of dynamic shear force to plastic viscosity and high permeability recovery, which are beneficial to penetration rate increase, hole cleaning and reservoir protection.
文摘The targets, importance, difficulties, strategies, general function frame and technology frame of Petroleum DrillingFluid Engineering Design Expert Ssytem(PDFEDES) were discussed. A brief introduction to the special domain and application cases of the PDFEDES are given. A good prospect of artificial intelligence application in petroleum exploration engineering is presented.