Abstract: Systems and methods for improving dexterous and extrinsic manipulation of robotic manipulators in the presence of uncertain force readings from tactile sensors include a force estimator, a force planner, and a controller. These components employ algorithms that determine a range of safe operating configurations of the manipulator (e.g., positions and/or joint angles of fingers in a robotic hand) that result in stable manipulation of objects, even with the uncertainty of the tactile measurements.

Abstract: The invention provides an acidizing solution for dissolution of a clay mineral and a preparation method thereof. The acidizing solution comprises hydrochloric acid, fluoboric acid, acetic acid, trifluoroacetic acid, hydrogen peroxide, ammonium chloride, dimethylamino-methylbenzotriazole, alkyl ammonium chloride, and polymethylacrylic acid. The acidizing solution provided by the invention can effectively dissolve organic matter, such as clay minerals and cements, in a high-temperature oil-gas reservoir over 160° C., inhibit swelling and migration of clay particles in the presence of water in the acidizing process, avoid secondary deposition of the reservoir, and improve the permeability of the reservoir. The acidizing solution can be prepared and used on the field conveniently and is safe and reliable.

Abstract: The invention provides an acidizing solution for dissolution of a clay mineral and a preparation method thereof. The acidizing solution comprises hydrochloric acid, fluoboric acid, acetic acid, trifluoroacetic acid, hydrogen peroxide, ammonium chloride, dimethylamino-methylbenzotriazole, alkyl ammonium chloride, and polymethylacrylic acid. The acidizing solution provided by the invention can effectively dissolve organic matter, such as clay minerals and cements, in a high-temperature oil-gas reservoir over 160° C., inhibit swelling and migration of clay particles in the presence of water in the acidizing process, avoid secondary deposition of the reservoir, and improve the permeability of the reservoir. The acidizing solution can be prepared and used on the field conveniently and is safe and reliable.