US20140218206A1 - Multi-Scheme Downhole Tool Bus System and Methods - Google Patents
Multi-Scheme Downhole Tool Bus System and Methods Download PDFInfo
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- US20140218206A1 US20140218206A1 US14/239,542 US201214239542A US2014218206A1 US 20140218206 A1 US20140218206 A1 US 20140218206A1 US 201214239542 A US201214239542 A US 201214239542A US 2014218206 A1 US2014218206 A1 US 2014218206A1
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- 238000004891 communication Methods 0.000 claims abstract description 115
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Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/12—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling
- E21B47/13—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling by electromagnetic energy, e.g. radio frequency
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/12—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
- H04L1/0002—Systems modifying transmission characteristics according to link quality, e.g. power backoff by adapting the transmission rate
- H04L1/0003—Systems modifying transmission characteristics according to link quality, e.g. power backoff by adapting the transmission rate by switching between different modulation schemes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
- H04L1/0041—Arrangements at the transmitter end
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/4013—Management of data rate on the bus
- H04L12/40136—Nodes adapting their rate to the physical link properties
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40169—Flexible bus arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L25/00—Baseband systems
- H04L25/38—Synchronous or start-stop systems, e.g. for Baudot code
- H04L25/40—Transmitting circuits; Receiving circuits
- H04L25/49—Transmitting circuits; Receiving circuits using code conversion at the transmitter; using predistortion; using insertion of idle bits for obtaining a desired frequency spectrum; using three or more amplitude levels ; Baseband coding techniques specific to data transmission systems
- H04L25/4904—Transmitting circuits; Receiving circuits using code conversion at the transmitter; using predistortion; using insertion of idle bits for obtaining a desired frequency spectrum; using three or more amplitude levels ; Baseband coding techniques specific to data transmission systems using self-synchronising codes, e.g. split-phase codes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L27/00—Modulated-carrier systems
- H04L27/0008—Modulated-carrier systems arrangements for allowing a transmitter or receiver to use more than one type of modulation
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L5/00—Arrangements affording multiple use of the transmission path
- H04L5/14—Two-way operation using the same type of signal, i.e. duplex
- H04L5/1438—Negotiation of transmission parameters prior to communication
- H04L5/1446—Negotiation of transmission parameters prior to communication of transmission speed
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L5/00—Arrangements affording multiple use of the transmission path
- H04L5/14—Two-way operation using the same type of signal, i.e. duplex
- H04L5/1438—Negotiation of transmission parameters prior to communication
- H04L5/1453—Negotiation of transmission parameters prior to communication of modulation type
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L25/00—Baseband systems
- H04L25/38—Synchronous or start-stop systems, e.g. for Baudot code
- H04L25/40—Transmitting circuits; Receiving circuits
- H04L25/49—Transmitting circuits; Receiving circuits using code conversion at the transmitter; using predistortion; using insertion of idle bits for obtaining a desired frequency spectrum; using three or more amplitude levels ; Baseband coding techniques specific to data transmission systems
- H04L25/4906—Transmitting circuits; Receiving circuits using code conversion at the transmitter; using predistortion; using insertion of idle bits for obtaining a desired frequency spectrum; using three or more amplitude levels ; Baseband coding techniques specific to data transmission systems using binary codes
- H04L25/4908—Transmitting circuits; Receiving circuits using code conversion at the transmitter; using predistortion; using insertion of idle bits for obtaining a desired frequency spectrum; using three or more amplitude levels ; Baseband coding techniques specific to data transmission systems using binary codes using mBnB codes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L27/00—Modulated-carrier systems
- H04L27/10—Frequency-modulated carrier systems, i.e. using frequency-shift keying
Definitions
- Hydrocarbon fluids such as oil and natural gas are obtained from a subterranean geologic formation, referred to as a reservoir, by drilling a well that penetrates the hydrocarbon-bearing formation.
- a variety of downhole tools may be used in all areas of oil and natural gas services.
- downhole tools may be used in a well for surveying, drilling, and production of hydrocarbons. These downhole tools may communicate with the surface via various telemetry systems.
- Tool bus systems may be used to transmit data.
- legacy tool bus systems have a single scheme construction enabling only a low data rate. According to new downhole tool development, higher acquisition data should be transmitted to surface.
- the present disclosure provides systems, tools and methods for transmitting data to surface.
- the disclosure provides downhole tool bus systems, tool bus slave systems, and methods for communicatively coupling a tool bus master to one or more tool bus slaves.
- the multi-scheme tool bus systems according to this disclosure enable a higher data rate than the legacy single scheme tool bus systems and thus can be used with new downhole tools while also maintaining backward compatibility to legacy tools.
- the tool bus system may comprise a tool bus master and one or more tool bus slaves communicatively coupled together via uplink and downlink communication.
- Each of the one or more tool bus slaves may communicate with the tool bus master via two or more communication schemes.
- the two or more communication schemes may be the same scheme at two or more data rates.
- Each uplink and downlink communication may include one or more communication schemes.
- the tool bus slave includes a transceiver electronics receiver, a transceiver electronics transmitter, a first communication scheme demodulator (decoder), a first communication scheme modulator (encoder), a second communication scheme demodulator (decoder), a second communication scheme modulator (encoder), and the transceiver electronics receiver receives a multi-coding scheme, the transceiver electronics transceiver transmits a multi-coding scheme, the first communication scheme of the multi-coding scheme is processed by the first communication scheme demodulator (decoder) and the first communication scheme modulator (encoder), and the second communication scheme of the multi-coding scheme is processed by the second communication scheme demodulator (decoder) and the second communication scheme modulator (encoder).
- the first communication scheme is biphase and the second communication scheme is 8b/10b.
- the multi-coding scheme can be changed in the slaves.
- the communication scheme of the multi-coding scheme may be processed by the first communication scheme demodulator (decoder) and the second communication scheme modulator (encoder).
- the effective data rate may be the same but the scheme can be chosen according to the downhole environment, for example taking into account a longer communication path in between tools, and/or a protocol change such as addition of an error coding correction.
- the method for communicatively coupling a tool bus master to one or more tool bus slaves includes communicatively coupling a tool bus master to one or more tool bus slaves via an uplink communication and a downlink communication such that the uplink communication and the downlink communication each include one or more schemes.
- the one or more communication schemes includes a first communication scheme at a first data rate and a second communication scheme at a second data rate.
- the first communication scheme is the same as the second communication scheme.
- the first communication is different than the second communication scheme.
- the first communication scheme is biphase and the second communication scheme is 8b/10b.
- FIG. 1 is a multi-coding scheme tool bus system according to an embodiment
- FIG. 2 is a series of mixed modulation schemes in time-division according to an embodiment
- FIG. 3 is a schematic of a tool bus slave design for a multi-coding scheme tool bus system according to an embodiment
- FIG. 4 is a schematic of a multi-data rate tool bus system according to an embodiment.
- FIG. 5 is an actual experimental result to show multi-scheme switching between biphase and 8b/10b.
- connection In the specification and appended claims: the terms “connect”, “connection”, “connected”, “in connection with”, and “connecting” are used to mean “in direct connection with” or “in connection with via one or more elements”; and the term “set” is used to mean “one element” or “more than one element”. Further, the terms “couple”, “coupling”, “coupled”, “coupled together”, and “coupled with” are used to mean “directly coupled together” or “coupled together via one or more elements”.
- downhole refers to a subterranean environment, particularly in a wellbore.
- Downhole tool is used broadly to mean any tool used in a subterranean environment including, but not limited to, a logging tool, an imaging tool, an acoustic tool, a permanent monitoring tool, and a combination tool.
- demodulator and decoder are used in the alternative, are synonymous and have the same meaning.
- modulator and encoder are used in the alternative, are synonymous and have the same meaning.
- downhole tools and systems may utilize arrays of sensing devices that are configured or designed for easy attachment and detachment in downhole sensor tools or modules that are deployed for purposes of sensing data relating to environmental and tool parameters downhole, within a borehole.
- the tools and sensing systems disclosed herein may effectively sense and store characteristics relating to components of downhole tools as well as formation parameters at elevated temperatures and pressures.
- sensing systems may also be measured and stored by the sensing systems contemplated by the present disclosure.
- the sensing systems herein may be incorporated in tool systems such as wireline logging tools, measurement-while-drilling and logging-while-drilling tools, permanent monitoring systems, drill bits, drill collars, sondes, among others.
- tool systems such as wireline logging tools, measurement-while-drilling and logging-while-drilling tools, permanent monitoring systems, drill bits, drill collars, sondes, among others.
- any of the terms wireline, cable line, slickline or coiled tubing or conveyance it is understood that any of the referenced deployment means, or any other suitable equivalent means, may be used with the present disclosure without departing from the spirit and scope of the present disclosure.
- FIGS. 1( a )-( d ) various schematics of multi-coding schemes tool bus systems are shown according to embodiments of the present disclosure.
- both 8b/10b and biphase schemes are used to illustrate general communication schemes for in the interest of simplifying the description.
- many types and combinations of schemes may be used in accordance with the teachings of this description.
- a non-limiting listing of schemes may include FSK (Frequency Shift Keying) modulation, 64b/66b, and LVDS (Low Voltage Differential Signaling), among others not expressly identified.
- the downhole tool bus system for data communication coupling between downhole tools may include a tool bus master in a telemetry cartridge and a tool bus slave in one or more of the various downhole application tools.
- Data communication includes all forms of communicative coupling such as instructions, time stamps, synchronization signals, data transmission, among other forms of communicative coupling.
- the downhole tools may include sonic, seismic, and other various forms of tools, such as analytical and logging, among others.
- both the uplink and downlink communication couplings may use the same scheme.
- 8b/10b are used for both the uplink and downlink communication couplings whereas in FIG. 1( d ) biphase schemes are used.
- various combinations of schemes may be used.
- 8b/10b is used for the uplink communication and biphase is used for the downlink communication.
- biphase is used for the uplink communication
- 8b/10b is used for the downlink communication.
- 8b/10b and biphase are used for the purposes of illustration in order to simplify the description, scheme 1 and scheme 2 could be substituted as more general descriptors of communication systems.
- an uplink communication may use a combination of 8b/10b and biphase coding scheme in a time-division manner.
- the downlink communication may use a biphase coding scheme as illustrated in FIG. 2( a ).
- the uplink communication may use a combination of 8b/10b and biphase coding scheme in a time-division manner while the downlink communication uses an 8b/10b coding scheme (as shown in FIG. 2( b )).
- a downhole tool bus system may use a biphase coding scheme for the uplink communication coupling while using a combination of 8b/10b and biphase coding schemes in the downlink communication coupling, as shown in FIG. 2( c ).
- some embodiments may use an 8b/10b coding scheme for the uplink communication coupling while the downlink communication coupling may use a combination of 8b/10b and biphase coding schemes in a time-division manner, as seen in FIG. 2( d ).
- an embodiment of a downhole tool bus system may include a combination of biphase coding schemes and 8b/10b coding schemes in both the uplink and downlink communication coupling.
- the schematic shown in FIG. 2( e ) is an illustration of this exemplary embodiment. Additional combinations and configurations of schemes including alternative or additional schemes are considered within the scope of this disclosure. In some configurations, more than two schemes may be used. In some embodiments, guard bands may be used to separate the various schemes and allow the electronics to recognize and receive the different communication coupling schemes.
- FIG. 3 shows a schematic of an illustrative example of a tool bus slave design for a multi-coding scheme tool bus system, according to an embodiment of this disclosure.
- biphase and 8b/10b coding schemes are used as illustrative examples in order to simplify the detailed descriptions, and embodiments of this disclosure should not be limited to these schemes or to the schematic shown in FIG. 3 .
- a tool bus slave design includes a transceiver electronics receiver, a transceiver electronics transmitter, a first communication scheme demodulator, a first communication modulator, a second communication scheme demodulator, a second communication scheme modulator, and the transceiver electronics receiver receives a multi-coding scheme, the transceiver electronics transceiver transmits a multi-coding scheme, the first communication scheme of the multi-coding scheme is processed by the first communication scheme demodulator and the first communication scheme modulator, and the second communication scheme or the multi-coding scheme is processed by the second scheme demodulator and the second communication scheme modulator.
- the term demodulator is synonymous to the term decoder for digital base baseband transmission
- modulator is synonymous to the term encoder for digital base band transmission.
- the tool bus slave design includes transceiver electronics as a receiver in which an incoming signal is split between a biphase decoder and a 8b/10b decoder.
- the biphase decoder may then take the biphase portion of the signal and send via FIFO (First in First Out) to a biphase encoder.
- the biphase encoder will then pass the signal along to transceiver electronics as a transmitter for sending along a communicative pathway.
- the 8b/10b decoder may take the 8b/10b signal portion of the signal and send via FIFO to an 8b/10b encoder.
- the 8b10b encoder will then pass the signal to transceiver electronics as a transmitter for sending along the communicative pathway.
- a CDR (Clock and Data Recovery) module may be used for example to detect the various schemes in the data stream automatically.
- Other configurations may include a method for detecting and repeating a mixed 8b/10b and biphase uplink and downlink from the adjacent tools.
- a schematic comprising an illustrative configuration of five tool bus slaves communicatively coupled together with a tool bus master.
- a mixture of tool bus slave schemes and speeds may be present depending upon the availability of tools and the type of function required downhole.
- there are biphase schemes of varying bit rates e.g., 1 Mbps and 2 Mbps for example
- an 8b/10b scheme of 8 Mbps e.g., 1 Mbps and 2 Mbps for example
- the multi-scheme approach facilitates backward compatibility with legacy tools and thus the systems of the present disclosure may be used simultaneously or alternatively with new downhole tools as well as legacy downhole tools.
- the lower bit rate biphase tools may be located farthest away from the tool bus master and increase in bit rate capability as the tools are located closer to the tool bus master along the communicative coupling.
- a configuration structured as such may allow the data to communicate at high speed.
- the data from the 2 Mbps tool may be constrained by the capability of the 1 Mbps tool as it traveled from the 2 Mbps tool to the tool bus master.
- embodiments of the disclosure may accommodate various data rates as well.
- the graphs of FIG. 5 illustrate use of multi-scheme switching between biphase and 8b/10.
- a bi-phase scheme and an 8b10b scheme are processed in one slave, and the two schemes are mixed in time division multiplexing. Further as shown, the scheme is changed from bi-phase, which has about 2 Mbps speed performance, to 8b10b, which has about 8 Mbps speed performance in a certain frame period.
- the multi-scheme selection is automatically done by the CDR part.
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- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Quality & Reliability (AREA)
- Remote Sensing (AREA)
- Geochemistry & Mineralogy (AREA)
- Fluid Mechanics (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
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- Dc Digital Transmission (AREA)
- Small-Scale Networks (AREA)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/239,542 US20140218206A1 (en) | 2011-09-12 | 2012-09-11 | Multi-Scheme Downhole Tool Bus System and Methods |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201161533302P | 2011-09-12 | 2011-09-12 | |
US14/239,542 US20140218206A1 (en) | 2011-09-12 | 2012-09-11 | Multi-Scheme Downhole Tool Bus System and Methods |
PCT/IB2012/054720 WO2013038336A2 (fr) | 2011-09-12 | 2012-09-11 | Système de bus d'outil de fond de trou multi-technique et procédés |
Publications (1)
Publication Number | Publication Date |
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US20140218206A1 true US20140218206A1 (en) | 2014-08-07 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US14/239,542 Abandoned US20140218206A1 (en) | 2011-09-12 | 2012-09-11 | Multi-Scheme Downhole Tool Bus System and Methods |
Country Status (4)
Country | Link |
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US (1) | US20140218206A1 (fr) |
EP (1) | EP2748427A4 (fr) |
CA (1) | CA2847094A1 (fr) |
WO (1) | WO2013038336A2 (fr) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10090624B1 (en) | 2018-01-03 | 2018-10-02 | Jianying Chu | Bottom hole assembly tool bus system |
EP3382908A4 (fr) * | 2015-12-26 | 2018-12-19 | Huawei Technologies Co., Ltd. | Procédé et appareil de traitement de données à débits multiples |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6552665B1 (en) * | 1999-12-08 | 2003-04-22 | Schlumberger Technology Corporation | Telemetry system for borehole logging tools |
US20040052528A1 (en) * | 2002-05-13 | 2004-03-18 | Ross Halgren | Jitter control in optical network |
US20070096941A1 (en) * | 2005-10-19 | 2007-05-03 | Halliburton Energy Services, Inc. | High performance communication system |
US20110158639A1 (en) * | 2009-12-29 | 2011-06-30 | Derek Spadaro | Methods and apparatuses to support multiple fiber networking platforms |
US20110285511A1 (en) * | 2009-06-12 | 2011-11-24 | Impinji, Inc. | Dual-frequency rfid tag with isolated inputs |
US20120063556A1 (en) * | 2010-09-13 | 2012-03-15 | Altera Corporation | Techniques for Varying a Periodic Signal Based on Changes in a Data Rate |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5191326A (en) * | 1991-09-05 | 1993-03-02 | Schlumberger Technology Corporation | Communications protocol for digital telemetry system |
GB2392184B (en) * | 2001-03-27 | 2005-02-16 | Halliburton Energy Serv Inc | Very high data rate telemetry system for use in a wellbore |
US6549759B2 (en) * | 2001-08-24 | 2003-04-15 | Ensemble Communications, Inc. | Asymmetric adaptive modulation in a wireless communication system |
US20040155794A1 (en) * | 2003-02-06 | 2004-08-12 | Halliburton Energy Services, Inc. | Downhole telemetry system using discrete multi-tone modulation with adaptive noise cancellation |
JP2009503306A (ja) * | 2005-08-04 | 2009-01-29 | シュルンベルジェ ホールディングス リミテッド | 坑井遠隔計測システム用インターフェイス及びインターフェイス方法 |
US8362916B2 (en) * | 2009-02-05 | 2013-01-29 | Schlumberger Technology Corporation | Methods and systems for borehole telemetry |
-
2012
- 2012-09-11 WO PCT/IB2012/054720 patent/WO2013038336A2/fr active Application Filing
- 2012-09-11 CA CA2847094A patent/CA2847094A1/fr not_active Abandoned
- 2012-09-11 US US14/239,542 patent/US20140218206A1/en not_active Abandoned
- 2012-09-11 EP EP12831725.2A patent/EP2748427A4/fr not_active Withdrawn
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6552665B1 (en) * | 1999-12-08 | 2003-04-22 | Schlumberger Technology Corporation | Telemetry system for borehole logging tools |
US20040052528A1 (en) * | 2002-05-13 | 2004-03-18 | Ross Halgren | Jitter control in optical network |
US20070096941A1 (en) * | 2005-10-19 | 2007-05-03 | Halliburton Energy Services, Inc. | High performance communication system |
US20110285511A1 (en) * | 2009-06-12 | 2011-11-24 | Impinji, Inc. | Dual-frequency rfid tag with isolated inputs |
US20110158639A1 (en) * | 2009-12-29 | 2011-06-30 | Derek Spadaro | Methods and apparatuses to support multiple fiber networking platforms |
US20120063556A1 (en) * | 2010-09-13 | 2012-03-15 | Altera Corporation | Techniques for Varying a Periodic Signal Based on Changes in a Data Rate |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3382908A4 (fr) * | 2015-12-26 | 2018-12-19 | Huawei Technologies Co., Ltd. | Procédé et appareil de traitement de données à débits multiples |
US10382237B2 (en) | 2015-12-26 | 2019-08-13 | Huawei Technologies Co., Ltd. | Method and apparatus for processing data of multiple rates |
US10090624B1 (en) | 2018-01-03 | 2018-10-02 | Jianying Chu | Bottom hole assembly tool bus system |
WO2019135795A1 (fr) * | 2018-01-03 | 2019-07-11 | Chu Jianying | Système de bus d'outil d'assemblage de fond de trou |
Also Published As
Publication number | Publication date |
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CA2847094A1 (fr) | 2013-03-21 |
EP2748427A4 (fr) | 2015-03-04 |
WO2013038336A3 (fr) | 2013-05-16 |
WO2013038336A2 (fr) | 2013-03-21 |
EP2748427A2 (fr) | 2014-07-02 |
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