Abstract: Systems, methods, tangible non-transitory computer-readable media, and devices for operating an autonomous vehicle are provided. For example, the disclosed technology can include receiving state data that includes information associated with states of an autonomous vehicle and an environment external to the autonomous vehicle. Responsive to the state data satisfying vehicle stoppage criteria, vehicle stoppage conditions can be determined to have occurred. A severity level of the vehicle stoppage conditions can be selected from a plurality of available severity levels respectively associated with a plurality of different sets of constraints. A motion plan can be generated based on the state data. The motion plan can include information associated with locations for the autonomous vehicle to traverse at time intervals corresponding to the locations. Further, the locations can include a current location of the autonomous vehicle and a destination location at which the autonomous vehicle stops traveling.

Abstract: Systems, methods, tangible non-transitory computer-readable media, and devices for operating an autonomous vehicle are provided. For example, the disclosed technology can include receiving state data that includes information associated with states of an autonomous vehicle and an environment external to the autonomous vehicle. Responsive to the state data satisfying vehicle stoppage criteria, vehicle stoppage conditions can be determined to have occurred. A severity level of the vehicle stoppage conditions can be selected from a plurality of available severity levels respectively associated with a plurality of different sets of constraints. A motion plan can be generated based on the state data. The motion plan can include information associated with locations for the autonomous vehicle to traverse at time intervals corresponding to the locations. Further, the locations can include a current location of the autonomous vehicle and a destination location at which the autonomous vehicle stops traveling.

Abstract: The present disclosure is directed to analyzing motion plans of autonomous vehicles. In particular, the methods, devices, and systems of the present disclosure can: receive data indicating a motion plan, of an autonomous vehicle through an environment, based at least in part on multiple different constraints of the environment; and determine, for each constraint of the multiple different constraints, a measure of an influence of the constraint on the motion plan.

Abstract: An autonomous vehicle navigates an intersection in which occlusions block the vehicle's ability to detect moving objects. The vehicle handles this by generating a phantom obstacle behind the occlusion. The vehicle will predict the speed of the phantom obstacle and use the predicted speed to assess whether the phantom obstacle may collide with the vehicle. If a collision is a risk, the vehicle will slow or stop until it confirms that either (a) the phantom obstacle is not a real obstacle or (b) the vehicle can proceed at a speed that avoids the collision. To determine which occlusions shield real objects, the system may use a rasterized visibility grid of the area to identify occlusions that may accommodate the object.

Abstract: Systems, methods, tangible non-transitory computer-readable media, and devices for operating an autonomous vehicle are provided. For example, the disclosed technology can include receiving state data that includes information associated with states of an autonomous vehicle and an environment external to the autonomous vehicle. Responsive to the state data satisfying vehicle stoppage criteria, vehicle stoppage conditions can be determined to have occurred. A severity level of the vehicle stoppage conditions can be selected from a plurality of available severity levels respectively associated with a plurality of different sets of constraints. A motion plan can be generated based on the state data. The motion plan can include information associated with locations for the autonomous vehicle to traverse at time intervals corresponding to the locations. Further, the locations can include a current location of the autonomous vehicle and a destination location at which the autonomous vehicle stops traveling.

Abstract: Systems, methods, tangible non-transitory computer-readable media, and devices for operating an autonomous vehicle are provided. For example, the disclosed technology can include receiving state data that includes information associated with states of an autonomous vehicle and an environment external to the autonomous vehicle. Responsive to the state data satisfying vehicle stoppage criteria, vehicle stoppage conditions can be determined to have occurred. A severity level of the vehicle stoppage conditions can be selected from a plurality of available severity levels respectively associated with a plurality of different sets of constraints. A motion plan can be generated based on the state data. The motion plan can include information associated with locations for the autonomous vehicle to traverse at time intervals corresponding to the locations. Further, the locations can include a current location of the autonomous vehicle and a destination location at which the autonomous vehicle stops traveling.

Abstract: An autonomous vehicle navigates an intersection in which occlusions block the vehicle's ability to detect moving objects. The vehicle handles this by generating a phantom obstacle behind the occlusion. The vehicle will predict the speed of the phantom obstacle and use the predicted speed to assess whether the phantom obstacle may collide with the vehicle. If a collision is a risk, the vehicle will slow or stop until it confirms that either (a) the phantom obstacle is not a real obstacle or (b) the vehicle can proceed at a speed that avoids the collision. To determine which occlusions shield real objects, the system may use a rasterized visibility grid of the area to identify occlusions that may accommodate the object.

Abstract: A system is provided that can include an acoustic emission sensor. The acoustic emission sensor can be positionable for detecting an acoustic emission from a cement sheath in a wellbore. The acoustic emission sensor can be operable to transmit a sensor signal associated with the acoustic emission. The system can also include a processing device in communication with the acoustic emission sensor. The system can further include a memory device in which instructions executable by the processing device are stored for causing the processing device to: receive the sensor signal; determine a characteristic associated with the sensor signal; and determine a structural integrity of the cement sheath based on the characteristic associated with the sensor signal.

Abstract: The present disclosure is directed to analyzing motion plans of autonomous vehicles. In particular, the methods, devices, and systems of the present disclosure can: receive data indicating a motion plan, of an autonomous vehicle through an environment, based at least in part on multiple different constraints of the environment; and determine, for each constraint of the multiple different constraints, a measure of an influence of the constraint on the motion plan.

Abstract: Systems, methods, tangible non-transitory computer-readable media, and devices for operating an autonomous vehicle are provided. For example, the disclosed technology can include receiving state data that includes information associated with states of an autonomous vehicle and an environment external to the autonomous vehicle. Responsive to the state data satisfying vehicle stoppage criteria, vehicle stoppage conditions can be determined to have occurred. A severity level of the vehicle stoppage conditions can be selected from a plurality of available severity levels respectively associated with a plurality of different sets of constraints. A motion plan can be generated based on the state data. The motion plan can include information associated with locations for the autonomous vehicle to traverse at time intervals corresponding to the locations. Further, the locations can include a current location of the autonomous vehicle and a destination location at which the autonomous vehicle stops traveling.

Abstract: A surface wettability measurement method for determining the surface wettability of a surface for operations that require the removal of oil-based fluid such as cementing operations in an oil/gas environment. Time domain reflectometry (TDR) measurements are used to measure the wettability in a wellbore downhole during operations or in a lab environment when fluid flow is present. A surface wettability measurement system for determining the surface wettability of a surface located either in a wellbore downhole or in a laboratory setting using time domain reflectometry for measurements during operations when fluid flow is present.

Abstract: An optical measurement system comprising a vessel for non-invasively testing a sample material composition in-situ and in real time. The test chamber is configured to hold a sample material composition for a wellbore. The optical measurement system is configured to provide in-situ monitoring of the sample material composition in real time and at high temperature and high pressure. Dimensional and geometrical changes occurring within the sample material composition are monitored using the optical measurement system. The system further performs goniometry on a sample.

Abstract: Methods and apparatuses for determining surface wetting of metallic materials at downhole wellbore condition with fixed or changing well fluids are disclosed. In general, the methods according to the disclosure include carrying out an electrical impedance spectroscopy (“EIS”) for a system simulating downhole conditions for the wetting of a surface by simultaneously dynamically moving electrodes exposed to the well fluid while measuring the changes in electrical characteristics between the electrodes.

Abstract: Methods and apparatuses for determining surface wetting of metallic materials at downhole wellbore condition with fixed or changing well fluids are disclosed. In general, the methods according to the disclosure include carrying out an electrical impedance spectroscopy (“EIS”) for a system simulating downhole conditions for the wetting of a surface by simultaneously dynamically moving electrodes exposed to the well fluid while measuring the changes in electrical characteristics between the electrodes.

Abstract: An optical measurement system comprising a vessel for non-invasively testing a sample material composition in-situ and in real time. The test chamber is configured to hold a sample material composition for a wellbore. The optical measurement system is configured to provide in-situ monitoring of the sample material composition in real time and at high temperature and high pressure. Dimensional and geometrical changes occurring within the sample material composition are monitored using the optical measurement system. The system further performs goniometry on a sample.

Abstract: Methods and apparatuses for determining surface wetting of metallic materials at downhole wellbore condition with fixed or changing well fluids are disclosed. In general, the methods according to the disclosure include carrying out an electrical impedance spectroscopy (“EIS”) for a system simulating downhole conditions for the wetting of a surface by simultaneously dynamically moving electrodes exposed to the well fluid while measuring the changes in electrical characteristics between the electrodes.

Abstract: A surface wettability measurement method for determining the surface wettability of a surface for operations that require the removal of oil-based fluid such as cementing operations in an oil/gas environment. Time domain reflectometry (TDR) measurements are used to measure the wettability in a wellbore downhole during operations or in a lab environment when fluid flow is present. A surface wettability measurement system for determining the surface wettability of a surface located either in a wellbore downhole or in a laboratory setting using time domain reflectometry for measurements during operations when fluid flow is present.

Abstract: A system is provided that can include an acoustic emission sensor. The acoustic emission sensor can be positionable for detecting an acoustic emission from a cement sheath in a wellbore. The acoustic emission sensor can be operable to transmit a sensor signal associated with the acoustic emission. The system can also include a processing device in communication with the acoustic emission sensor. The system can further include a memory device in which instructions executable by the processing device are stored for causing the processing device to: receive the sensor signal; determine a characteristic associated with the sensor signal; and determine a structural integrity of the cement sheath based on the characteristic associated with the sensor signal.

Abstract: Methods and apparatuses for determining surface wetting of metallic materials at downhole wellbore condition with fixed or changing well fluids are disclosed. In general, the methods according to the disclosure include carrying out an electrical impedance spectroscopy (“EIS”) for a system simulating downhole conditions for the wetting of a surface by simultaneously dynamically moving electrodes exposed to the well fluid while measuring the changes in electrical characteristics between the electrodes.