Related papers: Realization of Precise Perforating Using Dynamic T…
Casing collar locator (CCL) measurements are widely used as reliable depth markers for positioning downhole instruments in cased-hole operations, enabling accurate depth control for operations such as perforation. However, autonomous collar…
In open-pit mining, holes are drilled into the surface of the excavation site and detonated with explosives to facilitate digging. These blast holes need to be inspected internally to assess subsurface material types and drill quality, in…
Accurate depth estimation remains an open problem for robotic manipulation; even state of the art techniques including structured light and LiDAR sensors fail on reflective or transparent surfaces. We address this problem by training a…
A key capability for autonomous underground mining vehicles is real-time accurate localisation. While significant progress has been made, currently deployed systems have several limitations ranging from dependence on costly additional…
Pervasive localization is essential for continuous tracking applications, yet existing solutions face challenges in balancing power consumption and accuracy. GPS, while precise, is impractical for continuous tracking of micro-assets due to…
In the realm of robotic cloth manipulation, accurately estimating the cloth state during or post-execution is imperative. However, the inherent complexities in a cloth's dynamic behavior and its near-infinite degrees of freedom (DoF) pose…
This paper proposes a real-time self-adaptive approach for accurate path loss estimation in underground mines or tunnels based on signal strength measurements from heterogeneous radio communication technologies. The proposed model features…
Depth estimation is a crucial technology in robotics. Recently, self-supervised depth estimation methods have demonstrated great potential as they can efficiently leverage large amounts of unlabelled real-world data. However, most existing…
Monitoring bottom-hole variables in petroleum wells is essential for production optimization, safety, and emissions reduction. Permanent Downhole Gauges (PDGs) provide real-time pressure data but face reliability and cost issues. We propose…
Spectrum sensing is an essential component of modern wireless networks as it offers a tool to characterize spectrum usage and better utilize it. Deep Learning (DL) has become one of the most used techniques to perform spectrum sensing as…
We present DynamicSLAM: an indoor localization technique that eliminates the need for the daunting calibration step. DynamicSLAM is a novel Simultaneous Localization And Mapping (SLAM) framework that iteratively acquires the feature map of…
With the advancement of Internet of Things (IoT) technologies, high-precision indoor positioning has become essential for Location-Based Services (LBS) in complex indoor environments. Fingerprint-based localization is popular, but…
A general control policy framework based on deep reinforcement learning (DRL) is introduced for closed-loop decision making in subsurface flow settings. Traditional closed-loop modeling workflows in this context involve the repeated…
Robot autonomy in unknown, GPS-denied, and complex underground environments requires real-time, robust, and accurate onboard pose estimation and mapping for reliable operations. This becomes particularly challenging in perception-degraded…
Simultaneous Localization and Mapping (SLAM) is considered an ever-evolving problem due to its usage in many applications. Evaluation of SLAM is done typically using publicly available datasets which are increasing in number and the level…
One of the first steps during the investigation of geological objects is the interwell correlation. It provides information on the structure of the objects under study, as it comprises the framework for constructing geological models and…
Current system thermal-hydraulic codes have limited credibility in simulating real plant conditions, especially when the geometry and boundary conditions are extrapolated beyond the range of test facilities. This paper proposes a…
The work in this paper is motivated by the increasing use of electrical and electromagnetic methods in geoscience problems where steel-cased wells are present. Applications of interest include monitoring carbon capture and storage and…
Coherent optics has demonstrated significant potential as a viable solution for achieving 100 Gb/s and higher speeds in single-wavelength passive optical networks (PON). However, upstream burst-mode coherent detection is a major challenge…
Accurate, self-consistent bathymetric maps are needed to monitor changes in subsea environments and infrastructure. These maps are increasingly collected by underwater vehicles, and mapping requires an accurate vehicle navigation solution.…