Search

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012., Cataloged from PDF version of thesis., Includes bibliographical references (p. 71-73)., In this thesis, I consider the problem of collision avoidance between two vehicles approaching an intersection. These vehicles are human driven and one or both are equipped with an on-board driver assist system that provides warnings and can apply automatic braking/throttle when needed. This type of system will establish an intermediary step in the progression towards fully autonomous vehicles. It will allow human drivers to retain control of their vehicles while providing the guidance for drivers to apply the necessary inputs to prevent collisions before autonomous control becomes necessary. A formal approach to the design of the driver assist system is taken, employing a hybrid automaton model. This model has hidden modes, which arise from the driver making decisions about whether or not to follow the provided warnings. As a consequence, the driver assist system design is formulated as a safety control problem for a hybrid automaton with hidden modes. The solution approach is based on a mode estimator that keeps track of the possible driver decisions and, on their basis, provides warning and control inputs that ensure safety. The resulting algorithm is computationally efficient as it leverages the order preserving properties of the vehicle dynamics., by Cassidy Martin Palas., S.M.

Injecting CO2 into deep geological strata is proposed as a safe and economically favourable means of storing CO2 captured from industrial point sources1, 2, 3. It is difficult, however, to assess the long-term consequences of CO2 flooding in the subsurface from decadal observations of existing disposal sites1, 2. Both the site design and long-term safety modelling critically depend on how and where CO2 will be stored in the site over its lifetime2, 3, 4. Within a geological storage site, the injected CO2 can dissolve in solution or precipitate as carbonate minerals. Here we identify and quantify the principal mechanism of CO2 fluid phase removal in nine natural gas fields in North America, China and Europe, using noble gas and carbon isotope tracers. The natural gas fields investigated in our study are dominated by a CO2 phase and provide a natural analogue for assessing the geological storage of anthropogenic CO2 over millennial timescales1, 2, 5, 6. We find that in seven gas fields with siliciclastic or carbonate-dominated reservoir lithologies, dissolution in formation water at a pH of 5–5.8 is the sole major sink for CO2. In two fields with siliciclastic reservoir lithologies, some CO2 loss through precipitation as carbonate minerals cannot be ruled out, but can account for a maximum of 18 per cent of the loss of emplaced CO2. In view of our findings that geological mineral fixation is a minor CO2 trapping mechanism in natural gas fields, we suggest that long-term anthropogenic CO2 storage models in similar geological systems should focus on the potential mobility of CO2 dissolved in water

Identification of the source of CO2 in natural reservoirs and development of physical models to account for the migration and interaction of this CO2 with the groundwater is essential for developing a quantitative understanding of the long term storage potential of CO2 in the subsurface. We present the results of 57 noble gas determinations in CO2 rich fields (>82%) from three natural reservoirs to the east of the Colorado Plateau uplift province, USA (Bravo Dome, NM., Sheep Mountain, CO. and McCallum Dome, CO.), and from two reservoirs from within the uplift area (St. John’s Dome, AZ., and McElmo Dome, CO.). We demonstrate that all fields have CO2/3He ratios consistent with a dominantly magmatic source. The most recent volcanics in the province date from 8 to 10 ka and are associated with the Bravo Dome field. The oldest magmatic activity dates from 42 to 70 Ma and is associated with the McElmo Dome field, located in the tectonically stable centre of the Colorado Plateau: CO2 can be stored within the subsurface on a millennia timescale. The manner and extent of contact of the CO2 phase with the groundwater system is a critical parameter in using these systems as natural analogues for geological storage of anthropogenic CO2. We show that coherent fractionation of groundwater 20Ne/36Ar with crustal radiogenic noble gases (4He, 21Ne, 40Ar) is explained by a two stage re-dissolution model: Stage 1: Magmatic CO2 injection into the groundwater system strips dissolved air-derived noble gases (ASW) and accumulated crustal/radiogenic noble gas by CO2/water phase partitioning. The CO2 containing the groundwater stripped gases provides the first reservoir fluid charge. Subsequent charges of CO2 provide no more ASW or crustal noble gases, and serve only to dilute the original ASW and crustal noble gas rich CO2. Reservoir scale preservation of concentration gradients in ASW-derived noble gases thus provide CO2 filling direction. This is seen in the Bravo Dome and St. John’s Dom