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Register a new userIterative interferometry-based method for picking microseismic events
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Continuous microseismic monitoring of hydraulic fracturing is commonly used in many engineering, environmental, mining, and petroleum applications. Microseismic signals recorded at the surface, suffer from excessive noise that complicates first-break picking and subsequent data processing and analysis. This study presents a new first-break picking algorithm that employs concepts from seismic interferometry and time-frequency (TF) analysis. The algorithm first uses a TF plot to manually pick a reference first-break and then iterates the steps of cross-correlation, alignment, and stacking to enhance the signal-to-noise ratio of the relative first breaks. The reference first-break is subsequently used to calculate final first breaks from the relative ones. Testing on synthetic and real data sets at high levels of additive noise shows that the algorithm enhances the first-break picking considerably. Furthermore, results show that only two iterations are needed to converge to the true first breaks. Indeed, iterating more can have detrimental effects on the algorithm due to increasing correlation of random noise.
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Passive microseismic data are commonly buried in noise, which presents a significant challenge for signal detection and recovery. For recordings from a surface sensor array where each trace contains a time-delayed arrival from the event, we propose an autocorrelation-based stacking method that designs a denoising filter from all the traces, as well as a multi-channel detection scheme. This approach circumvents the issue of time aligning the traces prior to stacking because every traces autocorrelation is centered at zero in the lag domain. The effect of white noise is concentrated near zero lag, so the filter design requires a predictable adjustment of the zero-lag value. Truncation of the autocorrelation is employed to smooth the impulse response of the denoising filter. In order to extend the applicability of the algorithm, we also propose a noise prewhitening scheme that addresses cases with colored noise. The simplicity and robustness of this method are validated with synthetic and real seismic traces.
Bayesian inference applied to microseismic activity monitoring allows for principled estimation of the coordinates of microseismic events from recorded seismograms, and their associated uncertainties. However, forward modelling of these microseismic events, necessary to perform Bayesian source inversion, can be prohibitively expensive in terms of computational resources. A viable solution is to train a surrogate model based on machine learning techniques, to emulate the forward model and thus accelerate Bayesian inference. In this paper, we improve on previous work, which considered only sources with isotropic moment tensor. We train a machine learning algorithm on the power spectrum of the recorded pressure wave and show that the trained emulator allows for the complete and fast retrieval of the event coordinates for $textit{any}$ source mechanism. Moreover, we show that our approach is computationally inexpensive, as it can be run in less than 1 hour on a commercial laptop, while yielding accurate results using less than $10^4$ training seismograms. We additionally demonstrate how the trained emulators can be used to identify the source mechanism through the estimation of the Bayesian evidence. This work lays the foundations for the efficient localisation and characterisation of any recorded seismogram, thus helping to quantify human impact on seismic activity and mitigate seismic hazard.
This paper proposes a iterative visual recognition system for learning based randomized bin-picking. Since the configuration on randomly stacked objects while executing the current picking trial is just partially different from the configuration while executing the previous picking trial, we consider detecting the poses of objects just by using a part of visual image taken at the current picking trial where it is different from the visual image taken at the previous picking trial. By using this method, we do not need to try to detect the poses of all objects included in the pile at every picking trial. Assuming the 3D vision sensor attached at the wrist of a manipulator, we first explain a method to determine the pose of a 3D vision sensor maximizing the visibility of randomly stacked objects. Then, we explain a method for detecting the poses of randomly stacked objects. Effectiveness of our proposed approach is confirmed by experiments using a dual-arm manipulator where a 3D vision sensor and the two-fingered hand attached at the right and the left wrists, respectively.
In the presence of background noise, arrival times picked from a surface microseismic data set usually include a number of false picks that can lead to uncertainty in location estimation. To eliminate false picks and improve the accuracy of location estimates, we develop an association algorithm termed RANSAC-based Arrival Time Event Clustering (RATEC) that clusters picked arrival times into event groups based on random sampling and fitting moveout curves that approximate hyperbolas. Arrival times far from the fitted hyperbolas are classified as false picks and removed from the data set prior to location estimation. Simulations of synthetic data for a 1-D linear array show that RATEC is robust under different noise conditions and generally applicable to various types of subsurface structures. By generalizing the underlying moveout model, RATEC is extended to the case of a 2-D surface monitoring array. The effectiveness of event location for the 2-D case is demonstrated using a data set collected by the 5200-element dense Long Beach array. The obtained results suggest that RATEC is effective in removing false picks and hence can be used for phase association before location estimates.
This paper shows experimental results on learning based randomized bin-picking combined with iterative visual recognition. We use the random forest to predict whether or not a robot will successfully pick an object for given depth images of the pile taking the collision between a finger and a neighboring object into account. For the discriminator to be accurate, we consider estimating objects poses by merging multiple depth images of the pile captured from different points of view by using a depth sensor attached at the wrist. We show that, even if a robot is predicted to fail in picking an object with a single depth image due to its large occluded area, it is finally predicted as success after merging multiple depth images. In addition, we show that the random forest can be trained with the small number of training data.
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