WO2000048022A1 - Uncertainty constrained subsurface modeling - Google Patents
Uncertainty constrained subsurface modeling Download PDFInfo
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- WO2000048022A1 WO2000048022A1 PCT/US2000/003615 US0003615W WO0048022A1 WO 2000048022 A1 WO2000048022 A1 WO 2000048022A1 US 0003615 W US0003615 W US 0003615W WO 0048022 A1 WO0048022 A1 WO 0048022A1
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- 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. analysis, for interpretation, for correction
- G01V1/282—Application of seismic models, synthetic seismograms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
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- 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
- G01V2210/66—Subsurface modeling
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- 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
- G01V2210/66—Subsurface modeling
- G01V2210/667—Determining confidence or uncertainty in parameters
Definitions
- This invention is related to subsurface modeling, and is more particularly concerned with a parametric subsurface modeling method, apparatus, and article of manufacture that use uncertainty estimates of subsurface model parameters.
- Subsurface models are typically created by geoscientists and engineers to allow development strategies for the subsurface area to be evaluated. Models of this type are commonly created in connection with the development of hydrocarbon reservoirs and mining sites, but they can also used during drilling and related activities where the physical properties of the subsurface area are important.
- This patent application will focus on the process of creating and updating a model of a subsurface hydrocarbon reservoir, but it should be understood that this merely represents one specific example of how a model of any subsurface area may be created and updated.
- hydrocarbon reservoir modeling is performed most commonly in high-risk, high-profile situations. Typical applications include discoveries in new areas, deepwater exploration, fields in which production surprises or drilling hazards have been encountered, fields in which secondary and tertiary recovery activities are planned, and fields which are being considered for sale or abandonment.
- the failure to adequately model hydrocarbon reservoirs can have numerous adverse financial consequences, including inaccurate reserve calculations, drilling or completion problems, improper production facility sizing, and suboptimal well placement.
- the general problem addressed by this invention is how to construct a model of a subsurface area that is in agreement with multiple sets of measurement data.
- a model that is in agreement with all of the measurement data obtained from the reservoir can help address many of the problems noted above.
- 'reservoir model' we mean a quantitative parameterized representation of the subsurface in terms of geometries and material properties.
- the geometrical model parameters will typically identify geological boundaries, such as contacts between different geologic layers, faults, or fluid/ fluid interfaces .
- the material model parameters will typically identify properties of distributed subsurface materials, such as seismic wave velocities, porosities, permeabilities, fluid saturations, densities, fluid pressures, or temperatures.
- a reservoir model is nonunique even if it is made to fit a variety of data, because different values of material properties and geometries within the model can result in similar predicted measurement values.
- the reservoir model has inherent uncertainties: each of the numerical parameters in the reservoir model (e.g., values of material properties within a layer) can take a range of values while the model remains in agreement with the data. This range in parameter values is the uncertainty associated with the reservoir model.
- the invention described herein is a method to integrate information from multiple measurements and to obtain a reservoir model with quantitative uncertainties in the model parameters .
- a model of the reservoir that fits the data and has quantified uncertainties can be used to assess the risk inherent in reservoir development decisions (e.g., deciding on the location of additional wells) and to demonstrate the value of additional measurements by showing how these measurements decrease uncertainties in model parameters of interest (e.g., the location of a drilling target or hazard) .
- a Shared Earth Model is a geometrical and material property model of a subsurface area.
- the model is 'shared' in the sense that it integrates the work of several experts (geologists, geophysicists , well log analysts, reservoir engineers, etc.) who use information from a variety of measurements and interact with the model through different application programs.
- the SEM contains all available information about a reservoir and thus is the basis to make forecasts and plan future actions.
- the information in the measurements is not sufficient to uniquely constrain the parameters (geometries and material properties) of a SEM.
- any SEM has an associated uncertainty, defined here as the range that model parameters can take while fitting available measurements.
- the invention has two primary aspects .
- the first aspect is a method to quantify and update model parameter uncertainties based on available measurements.
- One embodiment of this method is based on Bayes ' rule, with SEM uncertainty quantified by a posterior probability density function (PDF) of the model parameters, conditioned on the measurements used to constrain the model.
- PDF posterior probability density function
- This posterior PDF may be approximated by a multivariate normal distribution, which is fully described by the posterior mean and covariance matrix of the SEM parameters.
- Monte Carlo method to obtain a sample of models drawn from the posterior PDF. This sample of models spans the uncertainty implied by the measurements.
- the second aspect is how such a measure of uncertainty acts as a 'memory' of the SEM and can be used for consistent model updating.
- Quantified uncertainties provide a mechanism to ensure that updates of the SEM based on new data (e.g., well data) are consistent with information provided by data examined previously (e.g., surface seismic data) .
- new data e.g., well data
- data examined previously e.g., surface seismic data
- the ideal of a SEM is that all specialists should be able to interact with a common geometry and material property model of the reservoir, incorporating changes into the model using measurements from their own domain of expertise, while maintaining model consistency with previous measurements.
- This SEM representation would always be consistent with all available information and should be easy to update as soon as new measurements become available ⁇ e . g . , from additional wells) .
- Model building would not be a task done episodically, but instead the reservoir model would evolve incrementally as more and more information becomes available during development and production.
- reservoir models are simply modified to fit new data and confirming that the modification is not inconsistent with the previously obtained measurement data is left up to the discretion of the user.
- the reservoir model may be the result of years of effort and may incorporate measurement data from a wide variety of sources.
- a user will often only confirm that the change made is not inconsistent with the measurement data within his or her area of expertise (a well log analyst may confirm, for instance, that the change made is consistent with the other well logging data, but may not determine whether the change has introduced an inconsistency with the seismic or geologic data from the area) .
- Many reservoir simulations rely heavily on production data from wells and only four types of geological or geophysical reservoir information: structure of the top of the reservoir, reservoir thickness, porosity, and the ratio of net pay to gross pay.
- the model can be assured to be consistent with all data sets only by repeating the comparisons with each data set. Also, if a new data set is acquired and the model is modified to fit it, all other data sets must be examined again to ensure consistency. These repeated checks can make the method time-consuming and inefficient in practice. Moreover, an iterative comparison of predicted and measured data does not by itself quantify the uncertainty in the model (defined, e.g., as the range that the model parameters can span while still fitting the measured data) .
- the invention comprises a parametric subsurface modeling method, apparatus, and article of manufacture that use measurement data to create a model of a subsurface area.
- the method includes the steps of: creating a parameterized model having an initial estimate of model parameter uncertainties; considering measurement data from the subsurface area; updating the model to fit the measurement data, the updated model having an updated estimate of model parameter uncertainties; and repeating the considering and updating steps with additional measurement data.
- a computer-based apparatus and article of manufacture for implementing the method are also disclosed.
- the method, apparatus, and article of manufacture are particularly useful in assisting oil companies in making hydrocarbon reservoir data acquisition and field development decisions.
- FIG. 1 is a flowchart showing steps associated with the present method, apparatus, and article of manufacture
- FIG. 2 is a schematic illustration of computer hardware associated with the apparatus and article of manufacture
- FIG. 3 is a related group of diagrams used to describe a first embodiment of the inventive method
- FIG. 4 is a related group of diagrams used to describe the first embodiment of the inventive method
- FIG. 5 is a related group of diagrams used to describe a second embodiment of the inventive method. Detailed Description of the Invention
- Figure 1 shows several steps associated with the present method, apparatus and article of manufacture and provides a general overview of the invention.
- a parameterized model of a subsurface area is created using initial reservoir information 12 and/or initial measurement data 14.
- the initial parameterized model will have an associated initial estimate of model parameter uncertainties .
- the model of the subsurface area will typically have geometrical model parameters representing geological boundaries and material parameters representing properties of distributed subsurface materials.
- the model of the subsurface area may be, for instance, a layered medium representing a layered earth with material properties that are constant or variable within each layer; a geocellular model having material property values defined on a regular or irregular three-dimensional grid; or may be a geometry-based model having material property values defined on a plurality of discrete geometrical sub-regions within the subsurface area.
- the initial information may consist of prior knowledge of the spatial distribution of material properties in the subsurface, e.g., the increase of seismic velocity with depth.
- the initial information may come from physical laws or measurements made in subsurface areas other than the one being modeled.
- the initial measurement data may consist of seismic data, drilling data, well logging data, well test data, production history data, permanent monitoring data, ground penetrating radar data, gravity measurements, etc. or various combinations of these types of data.
- the initial estimate of model parameter uncertainties will typically consist of probability density functions, and preferably consist of multivariate normal/lognormal probability density functions definable by mean vectors and covariance matrices.
- Measurement Data 18 that provides information regarding the subsurface model parameters is examined.
- the Measurement Data 18 will provide information that may be compared directly to one or more of the subsurface model parameters.
- Well logging data may, for instance, give direct measurements of the thickness or the compressional seismic wave velocity of a given geologic layer.
- a Prediction Algorithm 20 will be used to compute data predicted by the model that can be compared to Measurement Data 18, because the Measurement Data 18 only indirectly measures one or more of the subsurface model parameter values.
- Identify Inconsistencies 22 is used to flag those occasions when the Measurement Data 18 being considered is inconsistent with the model and its associated uncertainty estimate.
- the model is updated to fit the Measurement Data 18 (typically within the model uncertainty constraints) .
- the estimate of model parameter uncertainties is updated as well using the Measurement Data 18.
- the Consider Measurement Data Step 16 may for instance, produce a likelihood function that is combined with the initial estimate of model parameter uncertainties to produce both the updated parameterized model as well as the updated estimate of model parameter uncertainties.
- the mean and covariance matrix of the updated estimate of model parameter uncertainties may be computed using deterministic optimization. Alternatively, one may use Monte Carlo sampling to obtain a number of models that are consistent with the Measurement Data 18. These samples may be used to compute the mean and covariance matrix of the updated model parameter uncertainties.
- the Consider Measurement Data Step 16 and the Update Model and Uncertainty Estimate Step 24 are repeated for Additional Measurement Data 26 to produce a further updated parameterized model having a further updated estimate of model parameter uncertainties .
- the Measurement Data 18 and the Additional Measurement Data 26 may, for instance, consist of different types of data, such as seismic data and well logging data.
- the Measurement Data 18 and the Additional Measurement Data 26 may, alternatively, consist of the same type of data that has been acquired from the subsurface area at different times to measure changes in reservoir, such as time-lapse/4D surface seismic data.
- Identify Inconsistencies 22 may be used to identify changes in the model parameters that appear to be inconsistent with the initial estimate of model parameter uncertainties derived from the previously considered measurement data. This is generally an indication that model assumptions and data quality assumptions need to be re-examined.
- the Consider Measurement Data Step 16 and the Update Model and Uncertainty Estimate Step 24 may be repeated as desired using Additional Measurement Data 26 to further update the model of the subsurface area and its associated estimate of model parameter uncertainties. This may be repeated, for instance, whenever a new set of Additional Measurement Data
- Figure 2 schematically illustrates computer hardware that may be used to implement the inventive method.
- Computer 30 has a media reading device, such as floppy disk device 32, a CD-ROM Reader or a ZIP drive.
- the media reading device may also be capable of recording the output of the program the computer
- a user of the computer 30 may enter commands using a user input device, such as a keyboard 34 or a mouse, may view output of the program code on a visual display device, such as monitor 36, and may make hardcopies of output using an output device, such as printer 38.
- computer 30 (and its associated peripheral devices) is an apparatus for creating a model of a subsurface area in accordance with the present invention.
- Computer media such as floppy disk 40, a CD-ROM or a ZIP disk, may have computer readable program code that allows the computer 42 to create a model of a subsurface area in accordance with the inventive method.
- the inventive method addresses two primary issues: how to quantify uncertainties in a SEM given measurements and how to use these uncertainties to ensure consistent model updating.
- the latter is an important issue because in a SEM environment one should be able to continuously update the model; however, model updates based on a set of new data must be consistent with the information provided by data examined previously.
- We will now show how to generally address these issues using two simple examples where model uncertainties are calculated and updated using seismic and well data.
- the first example will be used to illustrate the quantification of uncertainty in a multivariate normal distribution and consistent model updating environment and will use a simple two-dimensional SEM containing three layers (see Figure 3, diagram 42) .
- This model has seven parameters: the thicknesses h of the two top layers at two locations define the SEM geometry, and three compressional wave velocities V P ⁇ are material properties.
- V P ⁇ three compressional wave velocities
- the second example consists of a layered model and will be used to illustrate the quantification of uncertainty using a Monte Carlo method.
- the data consists of a single seismic reflection trace, and the uncertainty quantification problem is to infer how much variability in the layered medium parameters is consistent with the data given an assumed signal-to-noise ratio.
- the prior PDF quantifies what is known about the model parameters from the prior information only, i.e., independently of the information provided by the data.
- a uniform distribution for the layer thicknesses between a minimum of 1 m and a maximum of 400 m
- a normal distribution for the compressional wave velocities with a mean of 2500 m/s, a standard deviation of 500 m/s, a minimum of 1500 m/s and a maximum of 5000 m/s
- This prior PDF represents an initial state of information where the layer thicknesses are unknown, while the prior PDF of the velocities reflects what is expected for sedimentary rocks .
- g(m) is a forward modeling (i.e. simulation, prediction) operator that returns the value of the data calculated for a given value of the SEM parameters.
- this operator gives the data computed by convolving a seismic wavelet (assumed known) with the reflection coefficient sequence corresponding to the parameters in the SEM. The combination of the prior and likelihood tells us what we know about the model parameters a posteriori .
- Diagrams 60 through 74 show how to update a posterior PDF when new data become available.
- a posterior PDF is obtained when there are only data d .
- the posterior PDF as constrained by all the data can be obtained by applying Bayes ' rule again while using as the prior PDF the posterior obtained previously. This simple update can be done if errors in the data d and d 121 are independent, which is a reasonable assumption for data of different types.
- Diagrams 60 through 74 also illustrate how uncertainty can be quantified.
- the posterior PDF can be approximated by a multivariate normal distribution as in
- the posterior PDF is fully described by the mean value of the model parameters ⁇ and by the covariance matrix C.
- the mean (indicated by the white triangles 62, 68, and 76 in diagrams 60, 66, and 74) gives a most probable, 'best' value of the SEM parameters;
- the covariance matrix defines an ellipsoid in parameter space describing the shape of the posterior PDF (the ellipses 70 and 78 in diagrams 66 and 74) , an indication of model parameter uncertainty.
- a generic optimizer ⁇ e . g. , quasi-Newton can be used to find the maximum of the objective function, and the value of m at the maximum can be taken to correspond to the posterior mean ⁇ .
- the posterior covariance matrix C can be computed as the inverse of the Hessian matrix (the matrix of second derivatives) of the objective function evaluated by finite differences around ⁇ .
- diagrams 46 and 48 The result of applying the nonlinear optimization procedure to the SEM and data of diagrams 42 and 44 is illustrated in diagrams 46 and 48. While the seismic data predicted by the best values of the SEM match closely the measured data, there are large uncertainties in the layer thicknesses and wave velocity in the top layer. This illustrates the fundamental non-uniqueness of time-depth conversion: increasing simultaneously thickness and wave velocity in the top layer does not change the travel time of the reflection. The data do not constrain well the combination of layer thickness and wave velocity, and this uncertainty has been captured in the posterior covariance.
- Generic optimization algorithms are typically 'local', in the sense that they find a maximum by moving toward higher values of the objective function from a starting point. Therefore, if the objective function has multiple maxima (as often is the case for band-limited seismic data) , the optimizer may converge to a meaningless local maximum. If there are multiple local maxima, these optimizers will converge to the global maximum only if they start from a value of m that is close to (in the sense of being downhill from) that maximum. For these optimizers to be useful in practice, the user should have the capability to search for a reasonably good starting point by trial-and-error interactions with the SEM.
- the uncertainties computed from the Hessian matrix are also 'local' because they are obtained from the local curvature of the objective function near its maximum.
- the uncertainties computed in this fashion will be accurate only if the objective function is well approximated by a quadratic, i.e., if the posterior PDF is well approximated by a multivariate normal distribution.
- An alternative is to use a Monte Carlo sampling strategy where values of the model parameter vector m are sampled from the posterior PDF. While uncertainties computed from the Hessian matrix are likely to be useful in many instances, there may be cases where a Monte Carlo approach is necessary to obtain a sufficiently accurate uncertainty quantification.
- the Monte Carlo approach is illustrated in the example of Figure 5.
- the data d 86 are seismic reflection data
- the model parameters in the vector m are
- n is the number of layers
- t is a vector of travel times to the layer interfaces
- v is a vector of compressional wave velocities or acoustic impedances in each of the layers.
- the three profiles 88 are obtained by sampling the posterior PDF of the parameters using a Monte Carlo algorithm. In practice, this can be done in two steps: first obtain a sample of layered media in travel time from the posterior PDF, and then convert each of the sampled layered media from travel time to depth starting from a travel time-depth tie (a point where the travel time and depth are known or have been measured) .
- the image 90 is obtained by superimposing a large number of layered media sampled from the posterior PDF and gives an image of the uncertainty in compressional wave velocity with depth for a given travel time-depth tie.
- a method that may be used to obtain a sample from the posterior PDF is the Metropolis-Hastings algorithm.
- Each step of the algorithm consists of choosing a "candidate” layered medium by perturbing the current one (e.g., by adding a layer, deleting a layer, or changing the travel time to a layer interface) . This amounts to choosing a candidate parameter vector m' from a "candidate PDF" g(m/
- deltat ⁇ is the thickness of the i-th layer in travel time and v is the velocity of the i-th layer.
- the Monte Carlo approach provides a more detailed and accurate quantification of uncertainty compared to the multivariate normal distribution method described above.
- a Monte Carlo approach such as that shown in Figure 5 accounts for the possibility of having different number of layers in the reservoir model and captures the uncertainty of posterior PDFs that are not well approximated by a normal distribution.
- Figure 5 shows that the PDF of compressional wave velocity at a given depth may be multimodal. If a description of uncertainty in terms of a multivariate normal distribution is needed, however, it is easy to compute a posterior mean ⁇ and a posterior covariance matrix C from the result of Monte Carlo sampling.
- the uncertainties computed and displayed in diagram 46 are obviously useful in that they quantify how well the seismic data constrain each parameter of the SEM. Uncertainties also provide a 'memory' to the model: if information on the covariance matrix were stored with the model, it would effectively remember the constraints placed by all the data types that the model was tested against.
- diagram 80 shows as a shaded ellipse the posterior PDF of the compressional wave velocity V p and thickness h of a layer; the best value of V p and h is shown as a white triangle 82.
- V p and h given the well data is now located at dot 84, which is the point within the narrow rectangle where the posterior PDF given the seismic data only is greatest. Note that the information from the seismic data specifies that if the best value of the layer thickness changes, the best value of the layer wave velocity must change as well.
- the operation illustrated in chart 80 is the calculation of the conditional mean of V p for a given value of h .
- this calculation is straightforward.
- the vector m contains the parameters whose conditional mean is to be computed
- the vector m 2 contains the parameters that are fixed.
- m 2 would contain the two layer thicknesses constrained by the well observations and m, the two other layer thicknesses and the three wave velocities.
- Figure 3, diagrams 54 and 56 show the result of adding the well data using a 'consistent' model update, i . e . , computing the mean and covariance of the seismically-defined SEM parameters conditional on the two values of thickness observed at the well.
- this is a consistent update because it uses the information provided by the seismic data to propagate the effects of a local model update done on the basis of well data to other model parameters in order to preserve consistency with the seismic data.
- the seismic data imply that if the thickness of the top layer is modified, the wave velocity must change as well.
- the conditional value computed from the uncertainty for the top layer wave velocity is 1997 m/s, which is very close to the true value (2000 m/s; see diagrams 42 and 54) .
- Diagrams 54 and 56 also show that the data predicted by the updated SEM match the measurements well, in contrast with the SEM of diagrams 50 and 52. It is important to stress that this close match has not been achieved by comparing the SEM predictions with the seismic data again after the well data were incorporated in the model.
- the good fit to the measurements is simply a result of using the posterior PDF to compute a consistent model update. This is the key advantage of quantifying uncertainties; at first approximation, the effects of any update to the SEM can be propagated using the posterior uncertainties wi thout needing to re-examine all data previously incorporated into the model .
- the posterior uncertainties are a 'memory' mechanism that allows the SEM to remember how closely data constrain its geometries and material property distributions.
- the updated model should be close to the best value and thus an automated optimization applied at this stage should have a good chance of succeeding.
- an optimization converges to a meaningless local maximum; if one starts instead from the consistently updated model of diagrams 54 and 56, the optimization quickly converges to a best model with an improved fit to the seismic data.
- the posterior covariance matrix may be evaluated again for more accurate uncertainty quantification.
- the travel time-depth tie may be obtained at the depth of a receiver/source in the borehole.
- the uncertainty in the depth of a layer as determined from seismic reflection data is greater the farther away the layer is from the deepest travel time-depth tie. This is because depth is the sum of layer thicknesses starting from the deepest travel time-depth tie; the uncertainty in depth is the cumulative uncertainty of the layer thicknesses.
- Diagrams 92 and 94 illustrate our method of updating a layered model and its uncertainties as new information on travel time-depth ties becomes available.
- Diagram 92 shows the results of Monte Carlo sampling obtained for a relatively shallow travel time-depth tie (e.g. the Earth's surface, the sea floor, the depth of a seismic receiver/source in a borehole) .
- the results are presented in the form of a posterior image (as in diagram 90) computed by superimposing all the layered media sampled by the Monte Carlo method.
- the Monte Carlo sampling obtains a sample of layered media in travel time, rather than depth; each of these layered media is then converted to depth using a known/measured travel time-depth tie.
- Diagram 94 illustrates how the uncertainty in depth changes if a deeper travel time-depth tie is measured.
- This additional travel time-depth tie will typically be provided by a seismic receiver/source placed in a borehole, and it could be acquired during or after drilling the well.
- Diagram 94 shows how the uncertainty in deep layers is reduced by using the deeper travel time-depth tie. It should be stressed that the application of this method does not require sampling the posterior PDF again, but simply using the same sample of layered media in travel time obtained earlier while recomputing the travel time to depth conversion for the additional, deeper travel time-depth tie. This reduction in uncertainty can be extremely important in making decisions during the drilling of a well (e.g., on determining the depth of zones that have anomalous pore pressures and are drilling hazards) .
- Uncertainty quantification and consistent model updating can improve significantly the efficiency of constructing and modifying a SEM. Because industry-standard interpretation workflows don't account for uncertainty, model consistency is maintained by making elements of the model 'rigid' as the interpretation progresses down the workflow.
- the term 'rigid' means here that once a domain expert has set the optimal values for parameters under his control (e . g . , a geophysicist interpreting the model framework) , these values are not changed by later experts ( e . g. , a reservoir engineer,) for fear that the model will no longer be consistent with the previous data. For example, once the model framework is fixed, the reservoir engineer is only left flow parameters to adjust during history matching.
- uncertainty quantification allows us to approach the ideal of a SEM that is constrained by as many data as possible, can be easily updated, and ties directly into decision-making tools.
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EP00910159A EP1151326B1 (en) | 1999-02-12 | 2000-02-11 | Uncertainty constrained subsurface modeling |
AU32299/00A AU3229900A (en) | 1999-02-12 | 2000-02-11 | Uncertainty constrained subsurface modeling |
CA002362285A CA2362285C (en) | 1999-02-12 | 2000-02-11 | Uncertainty constrained subsurface modeling |
NO20013894A NO20013894L (en) | 1999-02-12 | 2001-08-09 | Uncertainty limited underground modeling |
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Also Published As
Publication number | Publication date |
---|---|
CA2362285A1 (en) | 2000-08-17 |
AU3229900A (en) | 2000-08-29 |
EP1151326B1 (en) | 2005-11-02 |
CA2362285C (en) | 2005-06-14 |
NO20013894L (en) | 2001-10-12 |
NO20013894D0 (en) | 2001-08-09 |
US6549854B1 (en) | 2003-04-15 |
EP1151326A1 (en) | 2001-11-07 |
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