Application of GNSS-PPP on Dynamic Deformation Monitoring of Offshore Platforms

The real-time dynamic deformation monitoring of offshore platforms under environmental excitation is crucial to their safe operation.Although Global Navigation Satellite System-Precise Point Positioning(GNSS-PPP)has been considered for this purpose,its monitoring accuracy is relatively low.Moreover,the influence of background noise on the dynamic monitoring accuracy of GNSS-PPP remains unclear.Hence,it is imperative to further validate the feasibility of GNSS-PPP for deformation monitoring of offshore platforms.To address these concerns,vibration table tests with different amplitudes and frequencies are conducted.The results demonstrate that GNSS-PPP can effectively monitor horizontal vibration displacement as low as±30 mm,which is consistent with GNSS-RTK.Furthermore,the spectral characteristic of background noise in GNSS-PPP is similar to that of GNSS-RTK(Real Time Kinematic).Building on this observation,an improved Complete Ensemble Empirical Mode Decomposition with Adaptive Noise(CEEMDAN)has been proposed to de-noise the data and enhance the dynamic monitoring accuracy of GNSS-PPP.Field monitoring application research is also undertaken,successfully extracting and analyzing the dynamic deformation of an offshore platform structure under environmental excitation using GNSS-PPP monitoring in conjunction with improved CEEMDAN de-noising.By comparing the de-noised dynamic deformation trajectories of the offshore platform during different periods,it is observed that the platform exhibits reversible alternating vibration responses under environmental excitation,with more pronounced displacement deformation in the direction of load action.The research results confirm the feasibility and potential of GNSS-PPP for dynamic deformation monitoring of offshore platforms.

Preface for the Special Issue on“Safety and Intelligent Maintenance of Offshore Structures”

The ocean serves as a vital carrier for human resource development and economic growth and contains rich mineral resources such as oil,natural gas,polymetallic nodules,cobalt-rich ferromanganese crusts,polymetallic sulfides,and rare earth ore.Moreover,the ocean has wealthy reserves of wind,wave,tidal,and solar energy,making it an essential strategic space for sustainable future development.However,offshore structures are complex.

Coupling relationship and genetic mechanisms of shelf-edge delta and deep-water fan source-to-sink:A case study in Paleogene Zhuhai Formation in south subsag of Baiyun Sag,Pearl River Mouth Basin,China

The coupling relationship between shelf-edge deltas and deep-water fan sand bodies is a hot and cutting-edge field of international sedimentology and deep-water oil and gas exploration.Based on the newly acquired high-resolution 3D seismic,logging and core data of Pearl River Mouth Basin(PRMB),this paper dissected the shelf-edge delta to deep-water fan(SEDDF)depositional system in the Oligocene Zhuhai Formation of Paleogene in south subsag of Baiyun Sag,and revealed the complex coupling relationship from the continental shelf edge to deep-water fan sedimentation and its genetic mechanisms.The results show that during the deposition of the fourth to first members of the Zhuhai Formation,the scale of the SEDDF depositional system in the study area showed a pattern of first increasing and then decreasing,with deep-water fan developed in the third to first members and the largest plane distribution scale developed in the late stage of the second member.Based on the development of SEDDF depositional system along the source direction,three types of coupling relationships are divided,namely,deltas that are linked downdip to fans,deltas that lack downdip fans and fans that lack updip coeval deltas,with different depositional characteristics and genetic mechanisms.(1)Deltas that are linked downdip to fans:with the development of shelf-edge deltas in the shelf area and deep-water fans in the downdip slope area,and the strong source supply and relative sea level decline are the two key factors which control the development of this type of source-to-sink(S2S).The development of channels on the continental shelf edge is conducive to the formation of this type of S2S system even with weak source supply and high sea level.(2)Deltas that lack downdip fans:with the development of shelf edge deltas in shelf area,while deep water fans are not developed in the downdip slope area.The lack of“sources”and“channels”,and fluid transformation are the three main reasons for the formation of this type of S2S system.(3)Fans that lack updip coeval deltas:with the development of deep-water fans in continental slope area and the absence of updip coeval shelf edge deltas,which is jointly controlled by the coupling of fluid transformation at the shelf edge and the“channels”in the continental slope area.

Application of fluid modulus inversion to complex lithology reservoirs in deep-water areas

It has been a challenge to distinguish between seismic anomalies caused by complex lithology and hydrocarbon reservoirs using conventional fluid identification techniques,leading to difficulties in accurately predicting hydrocarbon-bearing properties and determining oil-water contacts in reservoirs.In this study,we built a petrophysical model tailored to the deep-water area of the Baiyun Sag in the eastern South China Sea based on seismic data and explored the feasibility of the tri-parameter direct inversion method in the fluid identification of complex lithology reservoirs,offering a more precise alternative to conventional techniques.Our research found that the fluid modulus can successfully eliminate seismic amplitude anomalies caused by lithological variations.Furthermore,the seismic databased direct inversion for fluid modulus can remove the cumulative errors caused by indirect inversion and the influence of porosity.We discovered that traditional methods using seismic amplitude anomalies were ineffective in detecting fluids,determining gas-water contacts,or delineating high-quality reservoirs.However,the fluid factor Kf,derived from solid-liquid decoupling,proved to be sensitive to the identification of hydrocarbon-bearing properties,distinguishing between high-quality and poor-quality gas zones.Our findings confirm the value of the fluid modulus in fluid identification and demonstrate that the tri-parameter direct inversion method can significantly enhance hydrocarbon exploration in deep-water areas,reducing associated risks.

Experimental Study on the Sinking and Leveling of A Large-Capacity Offshore Wind Turbine Five-Bucket Foundation in Sand

As offshore wind farms expand into deeper and farther ocean regions and the unit capacity of offshore wind turbines(OWTs)increases,there is a pressing need for a new foundation structure that can accommodate deep-sea conditions and support large capacities while maintaining economical and safe.To meet this goal of integrated transportation and one-step installation,a novel five-bucket jacket foundation(FBJF),with its suction installation and leveling methods in sand,has been proposed,analyzed and experimentally studied.First,seepage failure experiments of the FBJF at various depths were conducted,and a formula for calculating the critical suction of seepage failure suitable for the FBJF in sand was chosen and recommended for use with a range of values for the permeability coefficient ratio.Second,through leveling experiments of the FBJF at different depths,the maximum adjustable leveling angle during the sinking process was defined using seepage failure and the adjustable leveling angle of the foundation as control criteria.Various leveling control strategies were proposed and verified.Finally,an automatic sinking and leveling control system for the FBJF was developed and experimentally verified for feasibility.

Offshore high-grade limemud resources of west coast of India:Economic potential and industrial applications

Limestone is one of the essential raw materials in the cement,paint,steel,ceramic,glass,chemical,pharmaceutical,paper,and fertilizer industries.In India,only 8%of the limestone resources are placed under the reserve category,of which 97%is of cement grade.Thus,India depends on imports to bridge the demand‐supply gap of steel,blast furnace,and chemical‐grade limestone.Efforts of Geological Survey of India(GSI)to locate alternate sources for limestone led to the discovery of enormous quantities of carbonate minerals called limemud from the continental shelf margin of the west coast of India.GSI carried out systematic studies to explore the nature of the disposition,quality,quantity,and suitability of the offshore limemud for various industrial applications.A preliminary estimate of resources using high‐resolution subbottom profiling and sediment core sample studies established the occurrence of more than 172 billion tonnes of high‐grade(The content of CaCO3 is greater than 80 wt%)limemud in 0.4–28.0m thick stratified sediment layers spread over an area of 18000 km2.Chemical,physical,mineralogical,beneficiation,and agglomeration studies found the offshore limemud as a potential replacement for limestone in the cement,filler,blast furnace,steel melting shop,lime production,paint,and Grade‐I steel industries.An assessment of mining and transportation costs indicates that the offshore limemud(USD 5–6/ton)is more cost‐effective than that imported from other countries(USD16‐18/ton).With several advantageous factors like low impurity,mode of occurrence in overburden‐free stratified form,fine‐grained slurry nature,and shallow water depth,sustainable mining of offshore limemud could be a future reality with controllable technological,economic,and environmental challenges.

Environmental Impact Assessment Follow-Up of Seismic Survey Offshore Activities in Brazil

Follow-up of environmental impacts is an integral part of the Environmental Impact Assessment (EIA) process, closely related to the effectiveness of the instrument. EIA follow-up has been receiving a lot of interest from scientists and practitioners, though it is recognized as one of the weakest points of EIA systems globally. Also, EIA follow-up is influenced by the context, mainly in terms of the types of projects or activities and their related impacts on the environment. Therefore, the present paper is focused on the investigation of the follow-up stage applied to the activity of seismic survey coupled with offshore oil & gas exploitation in Brazil. Research was based on a qualitative approach that included document analysis and semi-structured interviews with analysts involved in EIA processes, and sought to generate evidence of effectiveness of the EIA follow-up as conducted by the Federal Environment Agency (Ibama) in order to situate the practice of follow-up in the broader context of international best practice principles. Based on the findings, it was concluded that, due to the peculiarities of offshore seismic survey, it is necessary to promote adaptations in the procedures for monitoring impacts in order to ensure proper alignment with the principles and conceptual foundations that guide EIA practice. Specifically, the timing of the execution of the activity imposes challenges for its integration into the “conventional” cycle that has guided the monitoring of the impacts in the EIA of projects.

Zonal Coupling Analysis Method of Seismic Response of Offshore Monopile Wind Turbine

The seismic safety of offshore wind turbines is an important issue that needs to be solved urgently.Based on a unified computing framework,this paper develops a set of seawater-seabed-wind turbine zoning coupling analysis methods.A 5 MW wind turbine and a site analysis model are established,and a seismic wave is selected to analyze the changes in the seismic response of offshore monopile wind turbines under the change of seawater depth,seabed wave velocity and seismic wave incidence angle.The analysis results show that when the seawater increases to a certain depth,the seismic response of the wind turbine increases.The shear wave velocity of the seabed affects the bending moment and displacement at the bottom of the tower.When the angle of incidence increases,the vertical displacement and the acceleration of the top of the tower increase in varying degrees.

Local Scour Mechanisms and Prediction Methods Around Offshore Wind Turbine Foundations:Insights and Future Directions

Local scour around offshore wind turbine foundations presents a considerable challenge due to its potential influence on structural stability,driven by hydrodynamic forces.While research has made strides in comprehending scouring mechanisms,notable complexities persist,specifically with newer foundation types.Addressing these limitations is vital for advancing our understanding of scour mechanisms and for improving mitigation strategies in offshore wind energy development.This review synthesizes current findings on local scour across various offshore foundations,encompassing field observations,data-driven approaches,turbulence-sediment interactions,scour evolution processes,influencing factors,and numerical model advancements.The objective is to enrich our understanding of local scour mechanisms.In addition,future research directions are outlined,including the development of robust arti-ficial intelligence models for accurate predictions,the exploration of vortex structure characteristics,and the refinement of numerical models to strengthen prediction capabilities while minimizing computational efforts.

Dynamic Analysis of a 10 MW Floating Offshore Wind Turbine Considering the Tower and Platform Flexibility

Recently,semisubmersible floating offshore wind turbine technologies have received considerable attention.For the coupled simulation of semisubmersible floating offshore wind energy,the platform is usually considered a rigid model,which could affect the calculation accuracy of the dynamic responses.The dynamic responses of a TripleSpar floating offshore wind turbine equipped with a 10 MW offshore wind turbine are discussed herein.The simulation of a floating offshore wind turbine under regular waves,white noise waves,and combined wind-wave conditions is conducted.The effects of the tower and platform flexibility on the motion and force responses of the TripleSpar semisubmersible floating offshore wind turbine are investigated.The results show that the flexibility of the tower and platform can influence the dynamic responses of a TripleSpar semisubmersible floating offshore wind turbine.Considering the flexibility of the tower and platform,the tower and platform pitch motions markedly increased compared with the fully rigid model.Moreover,the force responses,particularly for tower base loads,are considerably influenced by the flexibility of the tower and platform.Thus,the flexibility of the tower and platform for the coupled simulation of floating offshore wind turbines must be appropriately examined.

Sensitivity of Marine Controllable Source Electromagnetic Soundings for Identifying Plume Migration in Offshore CO_(2) Storage

Offshore carbon dioxide(CO_(2)) storage is an effective method for reducing greenhouse gas emissions. However, when using traditional seismic wave methods to monitor the migration of sequestration CO_(2) plumes, the characteristics of wave velocity changes tend to become insignificant beyond a certain limit. In contrast, the controllable source electromagnetic method(CSEM) remains highly sensitive to resistivity changes. By simulating different CO_(2) plume migration conditions, we established the relevant models and calculated the corresponding electric field response characteristic curves, allowing us to analyze the CSEM's ability to monitor CO_(2) plumes. We considered potential scenarios for the migration and diffusion of offshore CO_(2) storage, including various burial depths, vertical extension diffusion, lateral extension diffusion,multiple combinations of lateral intervals, and electric field components. We also obtained differences in resistivity inversion imaging obtained by CSEM to evaluate its feasibility in monitoring and to analyze all the electric field(Ex, Ey, and Ez) response characteristics. CSEM has great potential in monitoring CO_(2) plume migration in offshore saltwater reservoirs due to its high sensitivity and accuracy. Furthermore, changes in electromagnetic field response reflect the transport status of CO_(2) plumes, providing an important basis for monitoring and evaluating CO_(2)transport behavior during storage processes.

Primary frequency control considering communication delay for grid-connected offshore wind power systems

Offshore wind farms are becoming increasingly distant from onshore centralized control centers,and the communication delays between them inevitably introduce time delays in the measurement signal of the primary frequency control.This causes a deterioration in the performance of the primary frequency control and,in some cases,may even result in frequency instability within the power system.Therefore,a frequency response model that incorporates communication delays was established for power systems that integrate offshore wind power.The Padéapproximation was used to model the time delays,and a linearized frequency response model of the power system was derived to investigate the frequency stability under different time delays.The influences of the wind power proportion and frequency control parameters on the system frequency stability were explored.In addition,a Smith delay compensation control strategy was devised to mitigate the effects of communication delays on the system frequency dynamics.Finally,a power system incorporating offshore wind power was constructed using the MATLAB/Simulink platform.The simulation results demonstrate the effectiveness and robustness of the proposed delay compensation control strategy.

Aero-Hydro-Elastic-Servo Modeling and Dynamic Response Analysis of A Monopile Offshore Wind Turbine Under Different Operating Scenarios

This paper constructs a coupled aero-hydro-elastic-servo simulation framework for a monopile offshore wind turbine(OWT).In this framework,a detailed multi-body dynamics model of the monopile OWT including the gearbox,blades,tower and other components(nacelle,hub,bedplate,etc.)has been explicitly established.The effects of pile−soil interaction,controller and operational conditions on the turbine dynamic responses are studied systematically in time domain and frequency domain.The results show that(1)a comprehensive drivetrain model has the capability to provide a more precise representation of the complex dynamic characteristics exhibited by drivetrain components,which can be used as the basis for further study on the dynamic characteristics of the drivetrain.(2)The pile−soil interaction can influence the wind turbine dynamic responses,particularly under the parked condition.(3)The effect of the pile−soil interaction on tower responses is more significant than that on blade responses.(4)The use of the controller can substantially affect the rotor characteristics,which in turn influences the turbine dynamic responses.(5)The tower and blade displacements under the operational condition are much larger than those under the parked condition.The model and methodology presented in this study demonstrate potential for examining complex dynamic behaviors of the monopile OWTs.To ensure accuracy and precision,it is imperative to construct a detailed model of the wind turbine system,while also taking into account simulation efficiency.

Application of Feature, Event, and Process Methods to Leakage Scenario Development for Offshore CO_(2) Geological Storage

Offshore carbon dioxide(CO_(2)) geological storage(OCGS) represents a significant strategy for addressing climate change by curtailing greenhouse gas emissions. Nonetheless, the risk of CO_(2) leakage poses a substantial concern associated with this technology. This study introduces an innovative approach for establishing OCGS leakage scenarios, involving four pivotal stages, namely, interactive matrix establishment, risk matrix evaluation, cause–effect analysis, and scenario development, which has been implemented in the Pearl River Estuary Basin in China. The initial phase encompassed the establishment of an interaction matrix for OCGS systems based on features, events, and processes. Subsequent risk matrix evaluation and cause–effect analysis identified key system components, specifically CO_(2) injection and faults/features. Building upon this analysis, two leakage risk scenarios were successfully developed, accompanied by the corresponding mitigation measures. In addition, this study introduces the application of scenario development to risk assessment, including scenario numerical simulation and quantitative assessment. Overall, this research positively contributes to the sustainable development and safe operation of OCGS projects and holds potential for further refinement and broader application to diverse geographical environments and project requirements. This comprehensive study provides valuable insights into the establishment of OCGS leakage scenarios and demonstrates their practical application to risk assessment, laying the foundation for promoting the sustainable development and safe operation of ocean CO_(2) geological storage projects while proposing possibilities for future improvements and broader applications to different contexts.

Simulation Study on the Migration Range of CO_(2) in the Offshore Saline Aquifer

The geological storage of carbon dioxide(CO_(2)) is a crucial technology for mitigating climate change. Offshore deep saline aquifers have elicited increased attention due to their remarkable potential for storing CO_(2). During long-term storage, CO_(2) migration in a deep saline aquifer needs special attention to prevent it from reaching risk points and leading to security issues. In this paper, a mechanism model is established according to the geological characteristics of saline aquifers in an offshore sedimentary basin in China. The CO_(2) migration over 100 years is simulated considering geological changes such as permeability, dip angle, thickness, and salinity. The effects of injection conditions on the CO_(2) migration range are also investigated. Results reveal that the migration range of CO_(2) in the injection period exceeds 70%, even if the postinjection period's duration is five times longer than that of the injection period. As the values of the above geological parameters increase, the migration range of CO_(2) increases, and permeability has a particularly substantial influence. Moreover, the influences of injection rate and well type are considerable. At high injection rates, CO_(2) has a greater likelihood of displacing brine in a piston-like scheme. CO_(2) injected by long horizontal wells migrates farther compared with that injected by vertical wells. In general, the plane migration range is within 3 000 m, although variations in the reservoir and injection parameters of the studied offshore saline aquifers are considered. This paper can offer references for the site selection and injection well deployment of CO_(2) saline aquifer storage. According to the studied offshore aquifers, a distance of at least 3 000 m from potential leakage points, such as spill points, active faults, and old abandoned wells, must be maintained.

Characteristics and Insights of Offshore Oil and Gas Exploration and Development Investment

The oceans'vast expanse has given rise to copious oil and gas resources,with recent years witnessing a steady unlocking of offshore oil and gas potential,positioning them as a key successor in global energy reserves.Currently,offshore oil and gas extraction constitutes nearly a third of the world's oil and gas output.This segment has evolved into a mutually beneficial ecosystem where operators and service providers collaborate closely around exploration and development activities.Investment in offshore oil and gas typically follows a dual "one-third’"pattern,reflecting high upfront costs but promising returns.It also underscores the stark variations in project viability and regional economic efficiency,with monopolistic traits seen at both national and corporate levels.Collaboration has emerged as a key tactic for resource-rich countries and oil companies to advance their offshore ventures.Given the distinct nature of offshore oil and gas development,Chinese oil companies are advised to seize opportunities in marine exploration,emphasize the coordination and planning abilities of the global supply chain,focus on the reserves of offshore oil and gas development technologies,as well as the capabilities of commercial talents and other forms of support,courageously pursue significant offshore assets,and effectively utilize global technology,equipment,and expertise,and rapidly build a competitive edge in offshore oil and gas projects.

Securing offshore resources development:A mathematical investigation into gas leakage in long-distance flexible pipes

Gas flexible pipes are critical multi-layered equipment for offshore oil and gas development.Under high pressure conditions,small molecular components of natural gas dissolve into the polymer inner liner of the flexible pipes and further diffuse into the annular space,incurring annular pressure build-up and/or production of acidic environment,which poses serious challenges to the structure and integrity of the flexible pipes.Gas permeation in pipes is a complex phenomenon governed by various factors such as internal pressure and temperature,annular structure,external temperature.In a long-distance gas flexible pipe,moreover,gas permeation exhibits non-uniform features,and the gas permeated into the annular space flows along the metal gap.To assess the complex gas transport behavior in long-distance gas flexible pipes,a mathematical model is established in this paper considering the multiphase flow phenomena inside the flexible pipes,the diffusion of gas in the inner liner,and the gas seepage in the annular space under varying permeable properties of the annulus.In addition,the effect of a variable temperature is accounted.A numerical calculation method is accordingly constructed to solve the coupling mathematical equations.The annular permeability was shown to significantly influence the distribution of annular pressure.As permeability increases,the annular pressure tends to become more uniform,and the annular pressure at the wellhead rises more rapidly.After annular pressure relief followed by shut-in,the pressure increase follows a convex function.By simulating the pressure recovery pattern after pressure relief and comparing it with test results,we deduce that the annular permeability lies between 123 and 512 m D.The results help shed light upon assessing the annular pressure in long distance gas flexible pipes and thus ensure the security of gas transport in the emerging development of offshore resources.

Utility of fluid inclusion paleo-temperature in petroleum system modelling:A case study from western offshore,India

The paleo-temperature(Th)data from fluid inclusions are utilized for thermal history modelling using PetroMod software.Generally,bottom hole temperature(BHT)and vitrinite reflectance(Ro)measurements are widely used in petroleum system modelling(PSM)in the oil industry for calibration purposes.Th representing the minimum temperature of fluid entrapment estimated from fluid-inclusion study provides extra support to build the thermal models for PSM.Fluid inclusion parameters along with Rock-Eval pyrolysis analysis have been used to predict the maturity of oil in terms of API gravity as well as the maturity of source rocks respectively.Two exploratory wells RV-1(Mumbai Offshore Basin)and KK4C-A-1(Kerala-Konkan Offshore Basin),India were examined and the T_(h)from most of the fluid inclusions of wells RV-1 and KK4C-A-1 fell in the oil window range of 60-140℃suggesting thermal conditions favourable for oil generation in both of the wells.T_(h)of coeval aqueous inclusions along with the Hydrocarbon Fluid inclusions(HCFIs)was used to calibrate PSM.Vital parameters show that source rocks of well RV-1 are mature and that of well KK4C-A-1 are immature.Two sets of PSM are created in terms of generation and expulsion for the dry wells RV-1 and KK4C-A-1 and calibrated each well using fluid inclusion Th and BHT.From the fluid inclusion analysis method,it is evident that hydrocarbon generation happened in both wells and the paleo-temperature indicates that the formations of both wells were subjected to temperatures in the oil window range,even though it was designated as dry wells in the present scenario.The present study highlights the application of fluid inclusion paleo-temperature(Th)during calibration instead of commonly used methods.We could obtain desirable and accurate data output from PSM using T_(h) calibration.

Oil Spill Risk Assessment of Offshore Pipeline in the Bohai Sea Under the Perspective of Ecological Protection

In recent decades,the exploration and development of marine oil and gas resources have increased significantly to meet the increasing energy demand of mankind.The Bohai Sea is a semi-closed continental sea that has a weak water exchange capacity and high ecological fragility.However,at present,more than 200 oil platforms have been built in the Bohai Sea,with more than 270 offshore oil pipelines having a length exceeding 1600 km.The oil spill pollution of offshore platforms has a great impact on the marine environment and ecosystems.Therefore,a comprehensive assessment of its risks is of great practical significance.This paper systematically constructs a comprehensive oil spill risk assessment model that combines the oil spill risk probability model and the ocean hydrodynamic model.This paper uses the Bohai Sea offshore pipeline as an example to assess its oil spill risk.The high-risk-value areas of the Bohai Sea offshore pipeline are mainly distributed at the bottom of Liaodong Bay,the bottom of Bohai Bay,near the Caofeidian area,and the northern part of the Yellow River Estuary.

Aero-Hydrodynamic Coupled Dynamic Characteristics of Semi-Submersible Floating Offshore Wind Turbines Under Inflow Turbulence

In this study,the frequency characteristics of the turbulent wind and the effects of wind-wave coupling on the low-and high-frequency responses of semi-submersible floating offshore wind turbines(FOWT)are investigated.Various wave load components,such as first-order wave loads,combined first-and second-order difference-frequency wave loads,combined first-and second-order sum-frequency wave loads,and first-and complete second-order wave loads are taken into consideration,while different turbulent environments are considered in aerodynamic loads.The com-parison is based on time histories and frequency spectra of platform motions and structural load responses and statistical values.The findings indicate that the second-order difference-frequency wave loads will significantly increase the natural frequency of low-frequency motion in the responses of the platform motion and structure load of the semi-submersible platform,which will cause structural fatigue damage.Under the action of turbulent wind,the influences of second-order wave loads on the platform motion and structural load response cannot be ignored,especially under extreme sea conditions.Therefore,in order to evaluate the dynamic responses of semi-submersible FOWT more accurately,the actual environment should be simulated more realistically.