WO2010102030A2 - Method and apparatus for acoustic impedance and p-wave anisotropy measurements - Google Patents
Method and apparatus for acoustic impedance and p-wave anisotropy measurements Download PDFInfo
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- WO2010102030A2 WO2010102030A2 PCT/US2010/026085 US2010026085W WO2010102030A2 WO 2010102030 A2 WO2010102030 A2 WO 2010102030A2 US 2010026085 W US2010026085 W US 2010026085W WO 2010102030 A2 WO2010102030 A2 WO 2010102030A2
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- WIPO (PCT)
- Prior art keywords
- orientation
- formation
- impedance
- transducer
- borehole
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/28—Processing seismic data, e.g. for interpretation or for event detection
- G01V1/30—Analysis
- G01V1/307—Analysis for determining seismic attributes, e.g. amplitude, instantaneous phase or frequency, reflection strength or polarity
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/02—Generating seismic energy
- G01V1/159—Generating seismic energy using piezoelectric or magnetostrictive driving means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/28—Processing seismic data, e.g. for interpretation or for event detection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/40—Seismology; Seismic or acoustic prospecting or detecting specially adapted for well-logging
- G01V1/44—Seismology; Seismic or acoustic prospecting or detecting specially adapted for well-logging using generators and receivers in the same well
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/40—Seismology; Seismic or acoustic prospecting or detecting specially adapted for well-logging
- G01V1/44—Seismology; Seismic or acoustic prospecting or detecting specially adapted for well-logging using generators and receivers in the same well
- G01V1/48—Processing data
- G01V1/50—Analysing data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V2210/00—Details of seismic processing or analysis
- G01V2210/60—Analysis
- G01V2210/62—Physical property of subsurface
- G01V2210/622—Velocity, density or impedance
- G01V2210/6226—Impedance
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V2210/00—Details of seismic processing or analysis
- G01V2210/60—Analysis
- G01V2210/62—Physical property of subsurface
- G01V2210/626—Physical property of subsurface with anisotropy
Definitions
- the present disclosure is a method of obtaining an anisotropic velocity model for proper depth imaging of seismic data.
- the search for subsurface hydrocarbon deposits typically involves a multifaceted sequence of data acquisition, analysis, and interpretation procedures.
- the data acquisition phase involves use of an energy source to generate signals that propagate into the earth and reflect from various subsurface geologic structures.
- the reflected signals are recorded by a multitude of receivers on or near the surface of the earth, or in an overlying body of water.
- the received signals which are often referred to as seismic traces, consist of amplitudes of acoustic energy that vary as a function of time, receiver position, and source position and, most importantly, vary as a function of the physical properties of the structures from which the signals reflect.
- the data analyst uses these traces along with a geophysical model to develop an image of the subsurface geologic structures.
- CMP Common Mid Point
- CDP Common Reflection Point
- CRP Common Reflection Point
- P-wave anisotropy is manifested by a change in the compressional wave velocity with direction of propagation in earth formations due to combined effects of sedimentary layering and the intrinsic anisotropy of the rock. Shales, in particular, could exhibit more than a 20% difference in P-wave velocities parallel to bedding and P-wave velocities perpendicular to bedding. Sandstones and limestones usually show smaller differences in velocity with direction of propagation. Postma (1955) showed that a type of anisotropy called transverse isotropy could be exhibited by seismic waves propagating through a thin layering of isotropic materials.
- the traditional acoustic logging For a horizontal borehole (with an axis parallel to bedding), the traditional acoustic logging would give the horizontal P-wave velocity component. For an arbitrary borehole inclination, the traditional acoustic logging gives a P-wave velocity that depends upon both the horizontal P- wave velocity component and the vertical P-wave velocity component.
- One embodiment of the disclosure is a method of determining an anisotropic elastic property of an earth formation.
- a logging tool is conveyed into a borehole and a transducer on the logging tool is coupled to the borehole wall.
- the transducer is excited at a plurality of different orientations. Relative changes in impedance of the formation with orientation are estimated from the measurements. Additionally, using a calibration measurement, absolute values of the formation impedance and compressional wave velocity with orientation may be estimated.
- Another embodiment of the disclosure is an apparatus for determining an anisotropic elastic property of an earth formation.
- the apparatus includes a transducer configured to be conveyed into a borehole, coupled to a wall of the borehole and excited at a plurality of different orientations.
- a processor is configured to estimate relative changes in impedance of the formation at the different orientations using the measurements. The processor may further use a calibration measurement to estimate absolute values of the formation impedance and the compressional wave velocity of the formation.
- Another embodiment of the disclosure is a computer-readable medium accessible to a processor.
- the computer-readable medium includes instructions which enable the processor to estimate relative changes in impedance of the formation with orientation using measurements made by a transducer coupled to a borehole wall at a plurality of different orientations.
- the medium may include a ROM, an EPROM, an EEPROM, a flash memory, and/or an optical disk.
- FIG. 1 is a schematic illustration of a wireline logging system
- FIG. 2 illustrates the principle of the present disclosure
- FIGS. 3A shows an equivalent electromechanical circuit representing an electromagnetic transducer coupled to an earth formation
- FIG. 3B shows an equivalent electrical circuit of the electromechanical circuit of FIG. 3A;
- FIG. 4 shows a conductivity plot of an acoustic transducer coupled to a medium
- FIG. 5 illustrates some of the steps involved in determining anisotropy
- FIGS. 6A, 6B show a laboratory setup for measuring impedance at different angles to the bedding plane
- FIGS. 7A, 7B show arrangements in which point contact is provided for the transducers
- FIGS. 8A, 8B show a transducer configuration mounted on a plate supported by ball-bearings; and FIGS. 9a, 9b show two views of a logging tool with pad-mounted transducers of the type shown in Figures 7a and 7b or figure 8a and 8b in a borehole.
- FIG. 1 A typical configuration of the logging system is shown in FIG. 1. This is a modification of an arrangement from U.S. Patent No. 4,953,399 to Fertl et al., having the same assignee as the present disclosure, the contents of which are incorporated herein by reference. Shown in FIG.
- Logging instrument suite 10 may include a resistivity device 12, a natural gamma ray device 14, and/or two porosity-determining devices, such as a neutron device 16 and/or a density device 18. Collectively, these devices and others used in the borehole for logging operations are referred to as formation evaluation sensors.
- the resistivity device 12 may be one of a number of different types of instruments known to the art for measuring the electrical resistivity of formations surrounding a borehole so long as such device has a relatively deep depth of investigation.
- a HDIL (High Definition Induction Logging) device such as that described in U.S. Patent No. 5,452,761 to Beard et al., having the same assignee as the present disclosure, the contents of which are fully incorporated herein by reference, may be used.
- the natural gamma ray device 14 may be of a type including a scintillation detector including a scintillation crystal cooperatively coupled to a photomultiplier tube such that when the crystal is impinged by gamma rays a succession of electrical pulses is generated, such pulses having a magnitude proportional to the energy of the impinging gamma rays.
- the neutron device 16 may be one of several types known to the art for using the response characteristics of the formation to neutron radiation to determine formation porosity. Such a device is essentially responsive to the neutron-moderating properties of the formation.
- the density device 18 may be a conventional gamma-gamma density instrument such as that described in US Patent 3,321,625 to Wahl, used to determine the bulk density of the formation.
- a downhole processor 29 may be provided at a suitable location as part of the instrument suite.
- the logging instrument suite 10 is conveyed within borehole 11 by a cable 20 containing electrical conductors (not illustrated) for communicating electrical signals between the logging instrument suite 10 and the surface electronics, indicated generally at 22, located at the earth's surface.
- the logging devices 12, 14, 16, and/or 18 within the logging instrument suite 10 are cooperatively coupled such that electrical signals may be communicated between each of the logging devices 12, 14, 16, and/or 18 and the surface electronics 22.
- the cable 20 is attached to a drum 24 at the earth's surface in a manner familiar to the art.
- the logging instrument suite 10 is caused to traverse the borehole 11 by spooling the cable 20 on to or off of the drum 24, also in a manner familiar to the art.
- the surface electronics 22 may include such electronic circuitry as is necessary to operate the logging devices 12, 14, 16, and/or 18 within the logging instrument suite 10 and to process the data therefrom. Some of the processing may be done downhole. In particular, the processing needed for making decisions on speeding up (discussed below) or slowing down the logging speed is preferably done downhole. If such processing is done downhole, then telemetry of instructions to speed up or slow down the logging could be carried out substantially in real time. This avoids potential delays that could occur if large quantities of data were to be telemetered uphole for the processing needed to make the decisions to alter the logging speed. It should be noted that with sufficiently fast communication rates, it makes no difference where the decision-making is carried out.
- Control circuitry 26 contains such power supplies as are required for operation of the chosen embodiments of logging devices 12, 14, 16, and/or 18 within the logging instrument suite 10 and further contains such electronic circuitry as is necessary to process and normalize the signals from such logging devices 12, 14, 16, and/or 18 in a conventional manner to yield generally continuous records, or logs, of data pertaining to the formations surrounding the borehole 11. These logs may then be electronically stored in a data storage 32 prior to further processing.
- a surface processor 28 may process the measurements made by the formation evaluation sensor(s) 12, 14, 16, and/or 18. This processing could also be done by the downhole processor 29.
- the surface electronics 22 may also include such equipment as will facilitate machine implementation of various illustrative embodiments of the method of the present disclosure.
- the surface processor 28 may be of various forms, but preferably is an appropriate digital computer programmed to process data from the logging devices 12, 14, 16, and/or 18.
- a memory unit 30 and the data storage unit 32 are each of a type to interface cooperatively with the surface processor 28 and/or the control circuitry 26.
- a depth controller 34 determines the longitudinal movement of the logging instrument suite 10 within the borehole 11 and communicates a signal representative of such movement to the surface processor 28.
- the logging speed is altered in accordance with speedup or slowdown signals that may be communicated from the downhole processor 29, and/or provided by the surface processor 28, as discussed below.
- FIG. 2 a logging tool specific to various illustrative embodiments of the present disclosure is illustrated.
- the borehole 11 in an earth formation 123 is depicted by a borehole 121.
- an array 125 of transducers Positioned within the borehole 121 and in contact with a wall of the borehole 121 is an array 125 of transducers.
- Each of the transducers of the array 125 may be a piezoelectric transducer of the type commonly used for making acoustic measurements in boreholes.
- a commonly used transducer is a bender bar that includes a disk and a piezoelectric material that flexes the disk in a bender action.
- the disk is fixed around its edge, as by a support ring, so that when a voltage is applied to the piezoelectric material, the center portion of the disk flexes.
- Alternatives to piezoelectric transducers include magnetostrictive, electromagnetic, and/or electromechanical transducers.
- the array 125 of transducers is part of one of the logging devices 12, 14, 16, and/or 18 that forms the logging instrument string.
- a feature of the present disclosure is electronic circuitry that sequentially activates the transducers of the array 125 to generate an elastic wave in a selected direction in the earth formation. Three such directions are shown in FIG.
- each of these beams 131, 133, and 135 will have a different velocity of propagation.
- the problem of velocity determination is equivalent to the problem of determination of the elastic impedance of respective elastic waves traveling in different directions.
- the fundamental physics behind the present disclosure is based on the fact that loading of an acoustic source with an external load causes a certain phase shift between the voltage and current applied to the source due to some impedance mismatch. If this phase shift is quantified and a specific relationship between the load impedance and measured phase shift is established, then the value of this impedance can be derived.
- a piezoceramic acoustic source loaded with a known medium is discussed.
- the source is excited in a resonance mode.
- the use of a piezoceramic material is for illustrative purposes and is not to be construed as a limitation.
- the problem can be formulated as follows: It is necessary to estimate bulk anisotropy of a medium using data of input electric conductivity of a high-quality resonance transducer. The impedance measurement method is best understood using an electromechanical analogy. The equivalent circuit of the piezoceramic transducer is shown in FIG. 3.
- U is the applied voltage to the transducer having a capacitance Co and electrical resistance R 0 and n is the electromechanical coupling factor between the transducer and the medium being investigated.
- the medium being investigated has an equivalent compliance C m , an equivalent mass denoted by the inductance L m and a resistance R m .
- the vibrational velocity of the medium is denoted by ⁇ .
- the medium to be tested is represented by a secondary circuit of an transformer, having the transformation factor n.
- the value of this factor corresponds to electromechanical coupling factor and depends on the size of the transducer as well as on the piezoelectric strain coefficient.
- R 0 has a very large value, since piezoceramics are poor conductors of electricity.
- Co is a characteristic of the transducer.
- the circuit can be reduced to an electric input using well-known rules, and is shown in FIG. 3B. The following transformation applies going from the electromechanical circuit of FIG. 3A to the electrical circuit of FIG. 3B.
- Vector diagrams of the conductivity of the transducer may be represented as circles as shown in a Bode diagram in FIG. 4.
- the abscissa is the real part of the conductivity and the ordinate is the imaginary part of the conductivity.
- the parameter of the diagrams is frequency.
- the extreme right point corresponds to the resonant frequency F r , given by
- the transducer is in contact with air.
- Other points are used just to make sure that there are no other resonances nearby, i.e., within a frequency band Fi- F 2 .
- the resonances may be caused, for example, by standing waves generated in a sample of finite size, or by additional capacitances and inductances not accounted for in the model.
- the characteristic resistance may be assumed to be zero.
- Other circles have
- Y corresponding wave impedance taken with the dimensional factor — f .
- S is the radiation area which, for one embodiment of the device, represents the area of contact between two cylindrical rods with a plane surface along the generatrix. For these measurements, it is desirable to consistently maintain the same contact conditions. If this condition is satisfied, knowledge of the absolute value of the area of contact is not essential. The knowledge of n is not important in calculating anisotropy. This is discussed below.
- the following steps are carried out, as illustrated in FIG. 5.
- Measurements of conductivity are made at different frequencies 501.
- the circle of conductivity is plotted 503 to make sure there are no resonances in the proximity of the resonant frequency. Such resonances may be caused by capacitances and inductances other than those considered in the model of FIG. 3 and will show up as deviations from the circle expected for the model.
- additional measurements of electric conductivity of the transducer loaded both with the air Y a and with a standard well known medium e.g. water, Y s
- a standard well known medium e.g. water, Y s
- This allows calculation of the impedance of medium 1 (for example) according to the following formula.
- the anisotropy factor (velocity ratio) may be obtained by calculating the ratio of horizontal lengths connecting the extreme right edges of the circles for both media and the air circle. Absolute impedance values may be estimated using one more reference calibration measurement circle, e.g., for water.
- the feasibility of making measurements at different orientations to the bedding plane has been evaluated using the setup shown in FIGS. 6A-6B. Two steel rods are glued to the surface of the sample 605. Needles serve to maintain electric contact. The cheeks 603 and wooden adaptors have no acoustic contact with the sample. Stripes 604 show the direction of anisotropy of the sample and the arrow shows the rotation direction of a device. The rotation makes it possible to make measurements at different direction to the anisotropy direction.
- the PZT Upon excitation by a broadband signal with a bandwidth of up to 250 kHz, the PZT generates a standing wave in the sample.
- FIG. 7A shows an arrangement in which PZT rings 703 are mounted between two titanium rods 701 that are supported by ball-bearings 705. This makes it possible to freely rotate the orientation of the PZT transducers relative to the bedding.
- FIG. 7B the transducer assembly is shown in a curved borehole 707 wherein a force 709 is applied to maintain contact with the borehole wall.
- FIG. 8A a plate 801 is shown with ball bearings 803.
- the plate is provided with slots 805 in which the transducers may be positioned.
- a pressure adaptor 811 is provided so as to maintain uniform loading of the transducers 813.
- a force of 200-300N is found to be adequate to provide repeatable and reliable results.
- the method of using the present disclosure thus involves making calibration measurements prior to going into the borehole.
- the calibration includes making measurements in air and water, and may further involve making measurements with a nominal force using the pressure adaptor against an isotropic material of known properties.
- measurements made at two orthogonal orientations (parallel to the borehole axis and in a circumferential direction) give one measurement of anisotropy.
- a third measurement made at an intermediate angle is needed to completely characterize the anisotropy.
- the TI medium is characterized by five elastic moduli. These may be denoted by the tensor
- the modulus Cu defines the velocity of a horizontally propagating P- wave
- C 33 defines the velocity of a vertically propagating P- wave
- C 44 defines the velocity of a vertically propagating shear wave
- C 66 defines the velocity of a horizontally propagating S- wave (shear wave) with horizontal polarization.
- Cu can be obtained by measuring the impedance to compressional waves radiating out in a plane perpendicular to the borehole. This can be done by making measurements in which the transducer 801 is vibrated in a plane orthogonal to the longitudinal axis of the tool.
- C 33 can be obtained by measuring the impedance of a compressional wave propagating parallel to the borehole, or with transducer 805 vibration orthogonal to the bedding plane.
- the parameter C 44 can be obtained using a dipole shear-logging tool.
- the elastic modulus C y is given by the square of the velocity multiplied by density.
- Getting the parameter C 13 requires a measurement of the P-wave velocity (or impedance) at an intermediate angle.
- Fig. 9a, 9b show an example of how the transducers of the type 701, 801 (shown here as 701', 801') may be mounted on pads.
- the body of the logging tool 125 is provided with a plurality of pads 901a, 901b, 901c... In the example, six pads are provided but this is not to be construed as a limitation. Use of six pads makes it possible to measure the azimuthal variation of the acoustic impedance.
- Each of the pads is mounted on an extendable arm 903 and with a transducer of the type described above (701 or 801). The extendable arms make it possible to maintain the transducer in contact with the borehole wall.
- a formation density may be estimated using the impedance measurements made for a P-wave along the borehole axis and a conventional P-wave measurement.
- a density measurement may be made using a convention nuclear logging device. The estimated or measured density may then be used together with the estimated anisotropic impedance to give an anisotropic velocity model of the earth formation that is used for migration of surface seismic data or of offset data acquired in vertical seismic profiling.
- the method of the present disclosure may also be used in a measurement- while-drilling (MWD) implementation.
- the transducer array may be on a non-rotating sleeve that is part of a bottomhole assembly conveyed downhole on a drilling tubular.
- a non-rotating sleeve is described in U.S. Patent No. 6,247,542 of Kruspe et al, having the same assignee as the present disclosure, the contents of which are incorporated herein by reference.
- the processing of the measurements made in wireline applications may be done by the surface processor 28, by the downhole processor 29, or at a remote location.
- the data acquisition may be controlled at least in part by the downhole electronics.
- Implicit in the control and processing of the data is the use of a computer program on a suitable machine readable-medium that enables the processors to perform the control and processing.
- the machine-readable medium may include ROMs, EPROMs, EEPROMs, flash memories and optical disks.
- the term processor is intended to include devices such as a field programmable gate array (FPGA).
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- Engineering & Computer Science (AREA)
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- Geology (AREA)
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- Environmental & Geological Engineering (AREA)
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- Acoustics & Sound (AREA)
- Mining & Mineral Resources (AREA)
- Fluid Mechanics (AREA)
- Geochemistry & Mineralogy (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
- Geophysics And Detection Of Objects (AREA)
- Surface Acoustic Wave Elements And Circuit Networks Thereof (AREA)
Abstract
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Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB1114248.6A GB2480187B (en) | 2009-03-03 | 2010-03-03 | Method and apparatus for acoustic impedance and p-wave anisotropy measurements |
| NO20111240A NO20111240A1 (en) | 2009-03-03 | 2011-09-13 | Method and apparatus for acoustic impedance and P-wave anisotropic coatings |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US15704809P | 2009-03-03 | 2009-03-03 | |
| US61/157,048 | 2009-03-03 | ||
| US12/716,085 | 2010-03-02 | ||
| US12/716,085 US8576659B2 (en) | 2009-03-03 | 2010-03-02 | Method and apparatus for acoustic impedance and P-wave anisotropy measurements |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| WO2010102030A2 true WO2010102030A2 (en) | 2010-09-10 |
| WO2010102030A3 WO2010102030A3 (en) | 2011-01-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/US2010/026085 Ceased WO2010102030A2 (en) | 2009-03-03 | 2010-03-03 | Method and apparatus for acoustic impedance and p-wave anisotropy measurements |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US8576659B2 (en) |
| GB (1) | GB2480187B (en) |
| NO (1) | NO20111240A1 (en) |
| WO (1) | WO2010102030A2 (en) |
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| US9223039B2 (en) | 2010-11-12 | 2015-12-29 | Chevron U.S.A. Inc. | System and method for generating micro-seismic events and characterizing properties of a medium with non-linear acoustic interactions |
| US20120271552A1 (en) * | 2011-04-22 | 2012-10-25 | Dashevsky Yuliy A | Increasing the resolution of vsp ava analysis through using borehole gravity information |
| AU2013405196B2 (en) * | 2013-11-12 | 2017-06-15 | Halliburton Energy Services, Inc. | Validation of cased-hole acoustic tools |
| US9594057B2 (en) * | 2014-01-21 | 2017-03-14 | Baker Hughes Incorporated | Reflection-only sensor for fluid acoustic impedance, sound speed, and density |
| US11078787B2 (en) | 2018-01-29 | 2021-08-03 | Baker Hughes, A Ge Company, Llc | Estimating properties of a subterranean formation |
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-
2010
- 2010-03-02 US US12/716,085 patent/US8576659B2/en active Active
- 2010-03-03 WO PCT/US2010/026085 patent/WO2010102030A2/en not_active Ceased
- 2010-03-03 GB GB1114248.6A patent/GB2480187B/en not_active Expired - Fee Related
-
2011
- 2011-09-13 NO NO20111240A patent/NO20111240A1/en not_active Application Discontinuation
Also Published As
| Publication number | Publication date |
|---|---|
| WO2010102030A3 (en) | 2011-01-13 |
| GB2480187B (en) | 2013-04-03 |
| US20100246325A1 (en) | 2010-09-30 |
| GB2480187A (en) | 2011-11-09 |
| NO20111240A1 (en) | 2011-09-28 |
| US8576659B2 (en) | 2013-11-05 |
| GB201114248D0 (en) | 2011-10-05 |
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