Abstract: A computer-implemented method of evaluating the performance of a trajectory planner for a mobile robot in a real or simulated scenario, comprises receiving scenario ground truth of the scenario, the scenario ground truth generated using the trajectory planner to control an ego agent of the scenario responsive to at least one scenario element of the scenario. One or more performance evaluation rules for the scenario and at least one activation condition for each performance evaluation rule are received. A test oracle processes the scenario ground truth to determine whether the activation condition of each performance evaluation rule is satisfied over multiple time steps of the scenario. Each performance evaluation rule is evaluated by the test oracle, to provide at least one test result, only when its activation condition is satisfied.

Abstract: A computer-implemented method of computer-implemented method of perceiving structure in a point cloud comprises: applying clustering to the point cloud, and thereby identifying at least one moving object cluster within the point cloud, the point cloud comprising time-stamped points captured over a non-zero accumulation window; determining a motion model for the moving object cluster, by fitting one or more parameters of the motion model to the time-stamped points of that cluster; using the motion model to transform the time-stamped points of the moving object cluster to a common reference time; and applying a perception component to the transformed points of the moving object cluster to extract information about structure exhibited in the transformed points.

Abstract: A well completion and method for improving the productivity of hydrocarbon emulsion from a substrate layer which holds the hydrocarbon. The well completion includes an elongated substantially horizontally disposed liner, the walls of which are perforated to receive the emulsion from the substrate. Operationally, a flow of hot stimulating fluid is injected into the productive layer in a manner to achieve optimum penetration, as well as maximum horizontal sweep thereof. A flowable dam or gravel pack is disposed at the completion remote end and serves to pass a flow of stimulating fluid whereby to achieve the desirable distribution of said stimulating medium into the substrate. However, the gravel pack deters passage of emulsion back into the liner.

Abstract: A process is provided for the recovery of hydrocarbons from a reservoir of heavy oil containing sands. An injection stream comprising steam, hydrocarbon diluent, and a gas which is gaseous at formation temperature and pressure and soluable in the formation fluids at injection pressure is injected into the reservoir to mobilize the heavy oil, producing a flow of formation fluids which is subsequently produced from the reservoir. Suitable gases include carbon dioxide and oxygen. Naphtha is a preferred diluent. The provision of both diluent and gaseous additives in the steam injection stream is shown to improve conformance within the reservoir to enhance ultimate recovery of hydrocarbons from the reservoir.

Abstract: Method and apparatus for subjecting discrete core specimens which have been removed from a subterranean strata or formation, and which contain an amount of bitumen, to a test procedure whereby to evaluate the response of different subterranean formations to a specified recovery process.

Abstract: Disclosed is a method for generating steam from water containing high concentrations of particulate matter such as silt, clay, etc., without the need for filtering and otherwise treating the water prior to generation of steam therefrom, especially useful for use in a viscous oil recovery process. The method comprises introducing solid particulate materials such as coarse sand, etc., into a thermal cracking unit such as, for example, that is used in the Lurgi-Ruhrgas process. The solids are heated to a temperature of at least 1400.degree. F., and on contacting the crude, cause cracking of the viscous crude into lighter molecular weight hydrocarbons and form a solid coke-like residue on the sand grain. The sand grains containing the coke residue are transported into a second chamber into which air is injected and the solid coke residue ignited. The carbon coke residue burns, raising the temperature of the sand or other granular solids.

Abstract: Viscous petroleum may be recovered from formations in a process employing steam and a light hydrocarbon, and a cyclical injection-production program comprising repetitive cycles, each comprising three steps. First steam or steam and hydrocarbons are injected and liquids are recovered from the formation without restriction so long as no vapor phase steam production occurs. Next, steam and hydrocarbons are injected and production throttled until the formation pressure at the production well rises to a value between about 60% to 95% of the steam injection pressure, after which fluid production is permitted without restriction and steam and hydrocarbon injection rate is reduced to 50% or less of the original injection rate. The process should be applied to a formation in which adequate communication exists. Suitable hydrocarbons include C.sub.3 through C.sub.12 paraffinic or olefinic hydrocarbons including natural mixture such as naphtha, natural gasoline, etc.

Abstract: Viscous petroleum may be recovered from viscous petroleum-containing formations such as tar sand deposits in a process employing steam and air or a free oxygen-containing gas in the ratio of 0.05 to 0.65 M.S.C.F. per bbl. and a cyclical injection-production program in which first steam or steam and air are injected and fluids are produced without restriction until live steam is produced at the production well, after which steam and air are injected and production throttled to a value less than 50% and preferably less than 20% until the formation pressure at the production well rises to a value between about 60% to 95% of the steam injection pressure, after which fluid production is permitted without restriction and steam and air injection is reduced to a value less than 50% and preferably less than 20% of the original injection rate. The process should be applied to a formation in which adequate communication exists or in which a communication path is first established.

Abstract: Disclosed is method for treating a high permeabiity communication channel between wells for use in a viscous oil recovery method to stabilize fine particulate matter present in the communication channel to prevent movement of fine particles during the oil recovery process. The communication channel is formed by fracturing or sweeping with air followed by introducing a viscous oil displacing medium such as a solvent or steam to desaturate the previously fractured or air swept zone in the formation, converting it into a high permeability channel between wells. In order to stabilize the fine grain sand and other minerals present in the communication channel to prevent migration thereof which results in loss of permeability of the communication channel, the channel is treated with a hydroxy aluminum solution and allowed to age for a period of time sufficient to form crystalline aluminum hydroxide which cements the grains together while maintaining permeability of the communication channel.

Abstract: Viscous petroleum may be recovered from viscous petroleum-containing formations such as tar sand deposits in a process employing a cyclical injection-production program in which first steam is injected and fluids are produced without restriction until live steam production occurs at the production well, followed by steam injection with production throttled until the formation pressure at the production well rises to a value between about 60% to 95% of the steam injection pressure, after which fluid production is permitted without restriction and steam injection is reduced to 50% or less of the original injection rate. The process should be applied to a viscous petroleum formation in which adequate communication exist or in which a communication path is first established.

Abstract: An improved method for the recovery of heavy oils and bitumen from subterranean formations by the injection thereinto of a mixture of an oxygen-containing gas and steam in which the ratio of free oxygen in the gas to steam is in the range of 0.03 to 0.13 MSCF/bbl.

Abstract: Petroleum may be recovered from viscous petroleum-containing formations including tar sand deposits by injecting into the formation a solvent which is liquid at formation conditions and simultaneously therewith injecting a substance which will remain totally gaseous at the pressure and temperature conditions existing within the reservoir. The presence of noncondensible gas in the formation into which solvent is being injected prevents formation of a impremeable bitumen bank which blocks the further flow of fluids through the formation. The gas should be essentially unreactive with the solvent and formation fluids in order to obtain the desired benefits. Examples of suitable gases for the practice of this invention include methane, ethane, nitrogen, carbon dioxide, and mixtures thereof.

Abstract: Solid hydrocarbon materials remaining in a subsurface earth formation such as, for example, the coke residue remaining in a subterranean tar sand deposit which has previously been exploited by means of a controlled oxidation process, is reignited and an oxygen-containing gas such as air is injected to burn the coke residue, thereby increasing the temperature of the sand or other formation matrix substantially. Water is then injected into the formation to absorb heat from the hot sand or formation matrix. Hot water and/or steam is thereby generated for use in thermal oil recovery methods in the immediate vicinity without the need for burning natural gas or other fuels which can be used more advantageously.

Abstract: A method for the recovery of low API gravity viscous oils or bitumen from a subterranean formation by the injection of steam followed by a mixture of an oxygen-containing gas and steam until an optimum amount of gas has been injected, followed by injection of steam alone.

Abstract: Solid hydrocarbon materials present in subsurface earth formation such as, for example, the coke like residue remaining in a subterranean tar sand deposit which has previously been exploited by controlled oxidation depletion, is converted to a synthesis gas composition by contacting the solid hydrocarbon material with an oxygen enriched gas or essentially pure oxygen and a moderating fluid such as water, steam or carbon dioxide to control the reaction temperature so as to ensure the generation of carbon monoxide and hydrogen within the formation. The oxygen and steam or carbon dioxide may be injected as a mixture or simultaneously by separate injection means, or oxygen may be injected for intervals of time interrupted by brief periods of carbon dioxide, steam or water injection. The effluent is predominantly gaseous carbon monoxide, hydrogen, and lesser amounts of carbon dioxide and methane and, occasionally liquid hydrocarbons.

Abstract: A method for the recovery of low API gravity viscous oils or bitumens from a subterranean formation by the injection of a mixture of an oxygen-containing gas and steam at a temperature corresponding to the temperature of saturated steam at the pressure of the formation.

Abstract: A method for the recovery of low API gravity viscous oils or bitumen from a subterranean formation by the injection of a mixture of an oxygen-containing gas and steam having an optimum gas/steam ratio that is decreased as the cumulative amount of steam is increased.

Abstract: A method for the recovery of low gravity viscous oils or bitumens from a subterranean formation by the injection of a mixture of an oxygen-containing gas and steam to establish a hot communications path, followed by a shutting in of the wells for a period to allow the oxygen to react with the oil or bitumen in the formation and thereafter recovering the oil or bitumens via the production well. The cycle may thereafter be repeated.

Abstract: This invention relates to a method for treating wells completed in subterranean formations to prevent the movement of unconsolidated sand particles from the formation into the well during recovery of formation fluid or away from the well during injection of an extraneous recovery fluid thereinto. The method is especially applicable to formations containing asphaltic or bituminous petroleum, such as tar sand deposits. In one embodiment, granular material such as sand or gravel is introduced into the formation adjacent to the well bore and saturated with bituminous or asphaltic petroleum. The bituminous petroleum naturally occurring in a tar sand material may be used, or bituminous petroleum may be pumped into the sand and gravel.

Abstract: Disclosed is a process for recovering petroleum from subterranean, viscous asphaltic or bituminous petroleum-containing formations, including subterranean tar sand deposits. A zone of gas permeability is established in the formation first, such as by fracturing or gas sweeping a section of the formation. Oxidizing gas such as oxygen, air, oxygen enriched air, ozone, or chlorine, or a mixture of steam and an oxidizing gas is introduced into the zone of increased gas permeability to expand the zone and further to cause a reaction to occur between the oxidizing gas and the oxygen-susceptible groups or labile groups associated witn the bituminous or asphaltic petroleum molecules forming acidic or aldehyde groups. Next, a gaseous or liquid alkalinity agent such as ammonia is introduced into the formation to react with the oxidatively pre-treated groups in the bituminous or asphaltic petroleum to form surface active agents or surfactants in situ.