Recent years have witnessed the development of the applications of machine learning technologies to well logging-based lithology identification. Most of the existing work assumes that the well loggings gathered from different wells share the same probability distribution; however, the variations in sedimentary environment and well-logging technique might cause the data drift problem; i.e., data of different wells have different probability distributions. Therefore, the model trained on old wells does not perform well in predicting the lithologies in newly-coming wells, which motivates us to propose a transfer learning method named the data drift joint adaptation extreme learning machine (DDJA-ELM) to increase the accuracy of the old model applying to new wells. In such a method, three key points, i.e., the project mean maximum mean discrepancy, joint distribution domain adaptation, and manifold regularization, are incorporated into extreme learning machine. As found experimentally in multiple wells in Jiyang Depression, Bohai Bay Basin, DDJA-ELM could significantly increase the accuracy of an old model when identifying the lithologies in new wells.

This paper presents a novel indoor localization method for skid-steering mobile robot by fusing the readings from encoder, gyroscope, and magnetometer which can be read as an enhanced dead-reckoning localization method. Compared with the traditional dead-reckoning localization method implemented by encoder only, the accuracy and reliability can be improved significantly in spite of the price of slightly higher cost in digital devices. The proposed strategy consists mainly of an orientation algorithm and a localization algorithm. First, realizing that gyroscope is barely affected by magnetic field and magnetometer-based orientation has no cumulative error, a novel orientation algorithm, based on the self-tuning Kalman filter coupled with a gross error recognizer, is developed. This orientation algorithm can be applied to determine the robot heading angle in the situation with abundant ferromagnetic materials. Second, based on the orientation algorithm we have proposed, a novel localization algorithm is designed by decomposing the robot motion into uniform linear motion and uniform circular motion. The effectiveness of the proposed indoor localization method is verified via the real-world experiment using a tracked mobile robot developed in our laboratory.

Lithology identification plays an essential role in formation characterization and reservoir exploration. As an emerging technology, intelligent logging lithology identification has received great attention recently, which aims to infer the lithology type through the well-logging curves using machine-learning methods. However, the model trained on the interpreted logging data is not effective in predicting new exploration well due to the data distribution discrepancy. In this article, we aim to train a lithology identification model for the target well using a large amount of source-labeled logging data and a small amount of target-labeled data. The challenges of this task lie in three aspects: 1) the distribution misalignment; 2) the data divergence; and 3) the cost limitation. To solve these challenges, we propose a novel active adaptation for logging lithology identification (AALLI) framework that combines active learning (AL) and domain adaptation (DA). The contributions of this article are three-fold: 1) the domain-discrepancy problem in intelligent logging lithology identification is first investigated in this article, and a novel framework that incorporates AL and DA into lithology identification is proposed to handle the problem; 2) we design a discrepancy-based AL and pseudolabeling (PL) module and an instance importance weighting module to query the most uncertain target information and retain the most confident source information, which solves the challenges of cost limitation and distribution misalignment; and 3) we develop a reliability detecting module to improve the reliability of target pseudolabels, which, together with the discrepancy-based AL and PL module, solves the challenge of data divergence. Extensive experiments on three real-world well-logging datasets demonstrate the effectiveness of the proposed method compared to the baselines.

Autonomous robots that operate in the field can enhance their security and efficiency by accurate terrain classification, which can be realized by means of robot-terrain interaction-generated vibration signals. In this paper, we explore the vibration-based terrain classification (VTC), in particular for a wheeled robot with shock absorbers. Because the vibration sensors are usually mounted on the main body of the robot, the vibration signals are dampened significantly, which results in the vibration signals collected on different terrains being more difficult to discriminate. Hence, the existing VTC methods applied to a robot with shock absorbers may degrade. The contributions are two-fold: (1) Several experiments are conducted to exhibit the performance of the existing feature-engineering and feature-learning classification methods; and (2) According to the long short-term memory (LSTM) network, we propose a one-dimensional convolutional LSTM (1DCL)-based VTC method to learn both spatial and temporal characteristics of the dampened vibration signals. The experiment results demonstrate that: (1) The feature-engineering methods, which are efficient in VTC of the robot without shock absorbers, are not so accurate in our project; meanwhile, the feature-learning methods are better choices; and (2) The 1DCL-based VTC method outperforms the conventional methods with an accuracy of 80.18%, which exceeds the second method (LSTM) by 8.23%.