Abstract: Methods and compositions for treating a siliceous geologic formation are described herein. An aqueous treatment composition for treating such formations includes an acid having molecular weight less than about 200, or an ammonium or sodium salt thereof, an HF source, and from about 0.1 wt % to about 2.0 wt % of a fluoride scale inhibitor, the aqueous treatment composition having a pH from about 1.0 to about 3.0.

Abstract: A method includes placing, via a bailer, a slurry into a wellbore to deposit a slurry downhole. The slurry includes a solids mixture and a fluid. The method also includes terminating placement of the slurry for a period of time. A viscous pill inhibits settling of the solids mixture, and the slurry displaces the viscous pill in contact with a surface of a screen.

Abstract: A specific plan for traversing a lattice of a geographic region is generated and provided to an autonomous vehicle. A general plan that includes the lattice and a planned sequence of operator traversal data of the lattice is received. Actual operator traversal data used to traverse the geographical region is determined. A tolerance range that defines an allowable deviation from the general plan is determined. A first subset of the actual operator traversal data that is within the tolerance range and a second subset of the actual operator traversal data that is not within the tolerance range is determined. A specific plan for traversing the geographical region is formulated based on the first subset of the actual operator traversal data that is within the tolerance range. The specific plan is provided to the autonomous vehicle for controlling traversal of the geographical region by the autonomous vehicle.

Abstract: Methods and compositions for treating a siliceous geologic formation are described herein. An aqueous treatment composition for treating such formations includes an acid having molecular weight less than about 200, or an ammonium or sodium salt thereof, an HF source, and from about 0.1 wt % to about 2.0 wt % of a fluoride scale inhibitor, the aqueous treatment composition having a pH from about 1.0 to about 3.0.

Abstract: Techniques for autonomous vehicle boundary intersection detection and avoidance are described. In an example, a geofence boundary is received at a display coupled to a control module of a vehicle. A 2D footprint is generated using a definition of the vehicle and an implement coupled to the vehicle. Using geographic coordinates for the vehicle, a current position and orientation for the footprint are determined. A 2D projection footprint is generated for the vehicle using the current position and orientation, a current steering state, and a direction of travel. A first distance from the current position and orientation at which the projection footprint intersects with the boundary is determined. Based on the first distance, the speed of the vehicle is maintained at or below a maximum speed.

Abstract: A method of area coverage planning with replenishment planning includes receiving information of a boundary of the work area, location information of one or more refill stations, and information of a current amount of the material left in the autonomous vehicle, laying a plurality of tracks within the boundary of the work area so as to minimize a total distance of the plurality of tracks, generating a coverage trajectory, and based on (i) the coverage trajectory, (ii) the location information of the one or more refill stations, (iii) the current amount of the material left in the autonomous vehicle, and (iv) a nominal full amount and a nominal consumption rate of the material by the autonomous vehicle, determining one or more logistic points along the coverage trajectory at which a remaining amount of the material reaches a threshold, for each logistic point, generating a replenishment trajectory.

Abstract: A method of area coverage planning for an autonomous vehicle includes, at a computer system, receiving information of a boundary of a work area, and laying a plurality of tracks within the boundary of the work area. The plurality of tracks is spaced apart from each other by a spacing. Laying the plurality of tracks includes, based on the information of the boundary of the work area, performing a multivariate optimization to: (i) determine an optimal direction of the plurality of tracks, and (ii) an optimal offset for a first track from the boundary, so as to minimize a total distance of the plurality of tracks. The method further includes generating a trajectory that is traversable by the autonomous vehicle to traverse the plurality of tracks.

Abstract: A method of path planning for an autonomous vehicle to make a turn includes receiving a request for a turn of a vehicle from a current swath to a next swath in a work area. The work area has a headland at a periphery thereof, and the headland is characterized by a guidance line therethrough. The method further includes receiving information of the current swath, information of the next swath, and information of the guidance line, and determining a trajectory of the turn based on the information of the current swath, the information of the next swath, and the information of the guidance line. The trajectory includes one or more segments. At least a portion of a first segment of the one or more segments follows the guidance line in the headland. The method further includes, outputting the trajectory to a control system of the vehicle for executing the turn.

Abstract: A method of area coverage planning for an autonomous vehicle includes, at a computer system, receiving information of a boundary of a work area, and laying a plurality of tracks within the boundary of the work area. The plurality of tracks is spaced apart from each other by a spacing. Laying the plurality of tracks includes, based on the information of the boundary of the work area, performing a multivariate optimization to: (i) determine an optimal direction of the plurality of tracks, and (ii) an optimal offset for a first track from the boundary, so as to minimize a total distance of the plurality of tracks. The method further includes generating a trajectory that is traversable by the autonomous vehicle to traverse the plurality of tracks.

Abstract: A method of area coverage planning with replenishment planning includes receiving information of a boundary of the work area, location information of one or more refill stations, and information of a current amount of the material left in the autonomous vehicle, laying a plurality of tracks within the boundary of the work area so as to minimize a total distance of the plurality of tracks, generating a coverage trajectory, and based on (i) the coverage trajectory, (ii) the location information of the one or more refill stations, (iii) the current amount of the material left in the autonomous vehicle, and (iv) a nominal full amount and a nominal consumption rate of the material by the autonomous vehicle, determining one or more logistic points along the coverage trajectory at which a remaining amount of the material reaches a threshold, for each logistic point, generating a replenishment trajectory.

Abstract: A method of path planning for a vehicle includes receiving a request for a turn from a current swath to a next swath, receiving information of the current swath and information of the next swath, determining a trajectory of the turn based on the information of the current swath and the information of the next swath, and outputting the trajectory to a control system of the vehicle for executing the turn. The trajectory includes a first segment and a second segment. The first segment starts from a beginning position of the turn at the current swath and ends at an intermediate position; and the second segment starts from the intermediate position and ends at an ending position of the turn at the next swath. The vehicle changes from a forward gear to a reverse gear, or vice versa, as the vehicle transitions from the first segment to the second segment.

Abstract: A method of path planning for a vehicle includes receiving a request for a turn from a current swath to a next swath, receiving information of the current swath and information of the next swath, determining a trajectory of the turn based on the information of the current swath and the information of the next swath, and outputting the trajectory to a control system of the vehicle for executing the turn. The trajectory includes a first segment and a second segment. The first segment starts from a beginning position of the turn at the current swath and ends at an intermediate position; and the second segment starts from the intermediate position and ends at an ending position of the turn at the next swath. The vehicle changes from a forward gear to a reverse gear, or vice versa, as the vehicle transitions from the first segment to the second segment.

Abstract: A method of path planning for an autonomous vehicle to make a turn includes receiving a request for a turn of a vehicle from a current swath to a next swath in a work area. The work area has a headland at a periphery thereof, and the headland is characterized by a guidance line therethrough. The method further includes receiving information of the current swath, information of the next swath, and information of the guidance line, and determining a trajectory of the turn based on the information of the current swath, the information of the next swath, and the information of the guidance line. The trajectory includes one or more segments. At least a portion of a first segment of the one or more segments follows the guidance line in the headland. The method further includes, outputting the trajectory to a control system of the vehicle for executing the turn.

Abstract: Methods of breaking a filter cake in a wellbore may include circulating a breaker fluid into the wellbore, the breaker fluid having a (2-hydroxyethyl)ethylenediaminetriacetic acid (HEDTA) chelant, where the HEDTA chelant is used with divalent brine in the breaker fluid or in the filter cake.

Abstract: An area-based open pit mine designer is disclosed. One example includes an economic shell receiver module to receive an economic shell. In addition, a user input module receives a user parametric input denoting an open pit mine shape based on the economic shell. The open pit mine designer module automatically develops an open pit mine design based on the user parametric input.

Abstract: Automatic change propagation in an area-based open pit mine designer is disclosed. One example includes an economic shell receiver module to receive an economic shell. In addition a user input module receives a user parametric input denoting an open pit mine shape based on the economic shell. An open pit mine designer module automatically develops an open pit mine design from the user parametric input. The user input module receives an additional area to be incorporated into the open pit mine design. The open pit mine designer module automatically propagates the additional area into the open pit mine design to generate a modified open pit mine design.

Abstract: A method for treating a subterranean formation penetrated by a wellbore comprising combining a carrier fluid, a first amount of particulates, and a second amount of particulates into a slurry, wherein the first amount of particulates have a first average size distribution and the second amount of particulates have a second average size distribution, wherein at least one of the first amount of particulates and the second amount of particulates comprise an expanding material, placing the slurry in the wellbore, and lowering a screen into the slurry.

Abstract: An open pit mine designer is disclosed. One example includes a metric receiver receives an economic shell metric including ore information and an open pit mine metric. In addition, a user input is provided to receive user modifiable criteria. The open pit mine designer combines the open pit mine metrics, the user modifiable criteria and a waste reduction criteria to develop an open pit mine design, wherein user modifiable information may be used to adjust the open pit mine design during the life of the open pit mine.

Abstract: An area-based open pit mine designer is disclosed. One example includes an economic shell receiver module to receive an economic shell. In addition, a user input module receives a user parametric input denoting an open pit mine shape based on the economic shell. The open pit mine designer module automatically develops an open pit mine design based on the user parametric input.

Abstract: Automatic change propagation in an area-based open pit mine designer is disclosed. One example includes an economic shell receiver module to receive an economic shell. In addition a user input module receives a user parametric input denoting an open pit mine shape based on the economic shell. An open pit mine designer module automatically develops an open pit mine design from the user parametric input. The user input module receives an additional area to be incorporated into the open pit mine design. The open pit mine designer module automatically propagates the additional area into the open pit mine design to generate a modified open pit mine design.