Control of vibrational field in an elastic vibration unit with DC motors and time-varying observer

In the paper the problem of feedback control of vibrational fields in a vibration unit is analyzed taking into account the influence of the elasticity of cardan shafts, the drive dynamics, saturation for control torques. In addition, the synthesized rotor synchronization control algorithm uses the estimates of a non-stationary observer, which makes it possible to implement it practically on a two-rotor vibration unit SV-2. The performance of the closed loop mechatronic systems is examined by simulation for the model of the two-rotor vibration unit SV-2.

The effect of mating complexity on gene drive dynamics

Gene drive technology is being presented as a means to deliver on some of the global challenges humanity faces today in healthcare, agriculture and conservation. However, there is a limited understanding of the consequences of releasing self-perpetuating transgenic organisms into the wild populations under complex ecological conditions. In this study, we analyze the impact of three factors, mate-choice, mating systems and spatial mating network, on the population dynamics for two distinct classes of modification gene drive systems; distortion and viability-based ones. All three factors had a high impact on the modelling outcome. First, we demonstrate that distortion based gene drives appear to be more robust against the mate-choice than viability-based gene drives. Second, we find that gene drive spread is much faster for higher degrees of polygamy. With fitness cost, speed is the highest for intermediate levels of polygamy. Finally, the spread of gene drive is faster and more effective when the individuals have fewer connections in a spatial mating network. Our results highlight the need to include mating complexities while modelling the population-level spread of gene drives. This will enable a more confident prediction of release thresholds, timescales and consequences of gene drive in populations.

Adhesion dynamics regulate cell intercalation behaviour in an active tissue

Cell intercalation is a key cell behaviour of morphogenesis and wound healing, where local cell neighbour exchanges can cause dramatic tissue deformations such as body axis extension. Here, we develop a mechanical model to understand active cell intercalation behaviours in the context of an epithelial tissue. Extending existing descriptions, such as vertex models, the junctional actomyosin cortex of every cell is modelled as a continuum morphoelastic rod, explicitly representing cortices facing each other at bicellular junctions. Cells are described directly in terms of the key subcellular constituents that drive dynamics, with localised stresses from the contractile actomyosin cortex and adhesion molecules coupling apposed cortices. This multi-scale apposed-cortex formulation reveals key behaviours that drive tissue dynamics, such as cell-cell shearing and flow of junctional material past cell vertices. We show that cell neighbour exchanges can be driven by purely junctional mechanisms. Active contractility and viscous turnover in a single bicellular junction are sufficient to shrink and remove a junction. Next, the 4-way vertex is resolved and a new, orthogonal junction extends passively. The adhesion timescale defines a frictional viscosity that is an important regulator of these dynamics, modulating tension transmission in the tissue as well as the speeds of junction shrinkage and growth. The model additionally predicts that rosettes, which form when a vertex becomes common to many cells, are likely to occur in active tissues with high adhesive friction.

Measurement of Mud Motor Back-Drive Dynamics, Associated Risks and Benefits of Real-Time Detection and Mitigation Measures

North America shale drilling is a fast-paced environment where downhole drilling equipment is pushed to the limits for maximum rate of penetration (ROP). Downhole mud motor power sections have rapidly advanced to deliver more horsepower and torque, resulting in different downhole dynamics that have not been identified in the past. High-frequency (HF) compact drilling dynamics recorders embedded in the drill bit, mud-motor bit box, and motor top sub (sub-assembly) provide unique measurements to fully understand the reaction of the steerable-motor power section under load relative to the type of rock being drilled. 3-axis shock, gyro and temperature sensors placed above and below the power section measure the dynamic response of power transfer to the bit and associated losses caused by back-drive dynamics. Detection of back-drive from surface measurements is not possible, and many measurement-while-drilling (MWD) systems do not have the measurement capability to identify the problem. Motor back-drive dynamics severity is dependent on many factors, including formation type, bit type, power section, WOB (weight on bit) and drill pipe size. The torsional energy stored and released in the drill string can be high due to the interaction between surface RPM (revolutions per minute)/torque output and mud-motor downhole RPM/torque. Torsional drill string energy wind-up and release results in variable power output at the bit, inconsistent rate of penetration (ROP), rapid fatigue on downhole equipment, and motor or drillstring back-offs and twist-offs. A new mechanism of motor back-drive dynamics due to the use of an MWD pulser above a steerable motor is discovered. HF continuous gyro sensors and pressure sensors were deployed to capture the mechanism in which a positive mud pulser reduces as much as one third of the mud flow in the motor and bit rotation speed, creating a propensity for a bit to come to a complete stop in certain conditions and for the motor to rotate the drillstring backward. We have observed the backward rotation of a PDC drill bit during severe stick-slip and back-drive events (-50 RPM above the motor), confirming that the bit rotated backward for 9 mS every 133.3 mS (at 7.5Hz), using a 1000-Hz continuous sampling/recording in-bit gyro. In one field test, multiple drillstring dynamics recorders were used to measure the motor back-drive severity along the drillstring. It is discovered that the back-drive dynamics are worse at the drillstring, approximately 1110 ft behind the bit, than these measured at the motor top-sub position. These dynamics caused drillstring back-offs and twist-offs in a particular field. A motor back-drive mitigation tool was used in the field to compare the runs with and without the mitigation tool, while keeping the surface drilling parameters nearly the same. The downhole drilling dynamics sensors were used to confirm that the mitigation tool significantly reduced stick-slip and eliminated the motor back-drive dynamics in the same depth interval. Detailed analysis of the HF embedded downhole sensor data provides an in-depth understanding of mud-motor back-drive dynamics. The cause, severity, reduction in drilling performance and risk of incident can be identified, allowing performance and cost gains to be realized. This paper will detail the advantages to understanding and reducing motor back-drive dynamics, a topic that has not commonly been discussed in the past.

Measurement of Mud Motor Back-Drive Dynamics, Associated Risks, and Benefits of Real-Time Detection and Mitigation Measures

Summary North American shale drilling is a fast-paced environment where downhole drilling equipment is pushed to the limits for the maximum rate of penetration (ROP). Downhole mud motor power sections have rapidly advanced to deliver more horsepower and torque, resulting in different downhole dynamics that have not been identified in the past. High-frequency (HF) compact drilling dynamics recorders embedded in the drill bit, mud motor bit box, and motor top subassembly (top-sub) provide unique measurements to fully understand the reaction of the steerable-motor power section under load relative to the type of rock being drilled. Three-axis shock, gyro, and temperature sensors placed above and below the power section measure the dynamic response of power transfer to the bit and associated losses caused by back-drive dynamics. Detection of back-drive from surface measurements is not possible, and many measurement-while-drilling (MWD) systems do not have the measurement capability to identify the problem. Motor back-drive dynamics severity is dependent on many factors, including formation type, bit type, power section, weight on bit, and drillpipe size. The torsional energy stored and released in the drillstring can be high because of the interaction between surface rotation speed/torque output and mud motor downhole rotation speed/torque. Torsional drillstring energy wind-up and release results in variable power output at the bit, inconsistent rate of penetration, rapid fatigue on downhole equipment, and motor or drillstring backoffs and twistoffs. A new mechanism of motor back-drive dynamics caused by the use of an MWD pulser above a steerable motor has been discovered. HF continuous gyro sensors and pressure sensors were deployed to capture the mechanism in which a positive mud pulser reduces as much as one-third of the mud flow in the motor and bit rotation speed, creating a propensity for a bit to come to a complete stop in certain conditions and for the motor to rotate the drillstring backward. We have observed the backward rotation of a polycrystalline diamond compact (PDC) drill bit during severe stick-slip and back-drive events (−50 rev/min above the motor), confirming that the bit rotated backward for 9 milliseconds (ms) every 133.3 ms (at 7.5 Hz), using a 1,000-Hz continuous sampling/recording in-bit gyro. In one field test, multiple drillstring dynamics recorders were used to measure the motor back-drive severity along the drillstring. It was discovered that the back-drive dynamics are worse at the drillstring, approximately 1,110 ft behind the bit, than these measured at the motor top-sub position. These dynamics caused drillstring backoffs and twistoffs in a particular field. A motor back-drive mitigation tool was used in the field to compare the runs with and without the mitigation tool while keeping the surface drilling parameters nearly the same. The downhole drilling dynamics sensors were used to confirm that the mitigation tool significantly reduced stick-slip and eliminated the motor back-drive dynamics in the same depth interval. Detailed analysis of the HF embedded downhole sensor data provides an in-depth understanding of mud motor back-drive dynamics. The cause, severity, reduction in drilling performance and risk of incident can be identified, allowing performance and cost gains to be realized. This paper will detail the advantages to understanding and reducing motor back-drive dynamics, a topic that has not commonly been discussed in the past.

Gene Drive Dynamics in Natural Populations: The Importance of Density Dependence, Space, and Sex

The spread of synthetic gene drives is often discussed in the context of panmictic populations connected by gene flow and described with simple deterministic models. Under such assumptions, an entire species could be altered by releasing a single individual carrying an invasive gene drive, such as a standard homing drive. While this remains a theoretical possibility, gene drive spread in natural populations is more complex and merits a more realistic assessment. The fate of any gene drive released in a population would be inextricably linked to the population's ecology. Given the uncertainty often involved in ecological assessment of natural populations, understanding the sensitivity of gene drive spread to important ecological factors is critical. Here we review how different forms of density dependence, spatial heterogeneity, and mating behaviors can impact the spread of self-sustaining gene drives. We highlight specific aspects of gene drive dynamics and the target populations that need further research.