Abstract: A system for determining when one or more jacks on a vehicle have contacted the ground. The system includes at least one of a pitch sensor that senses a pitch angle of the vehicle and a roll sensor that senses a roll angle of the vehicle. A jack extension system operatively associated with the vehicle jacks extends and retracts the one or more jacks on the vehicle. A control system operatively associated with the pitch sensor, the roll sensor, and the jack extension system monitors the pitch and roll sensors to determine the pitch and roll angles of the vehicle. The control system operates the jack extension system to lower the jacks to the ground and determines that the jacks have contacted the ground based on detected changes in the pitch and roll angles of the vehicle.

Abstract: A system for drilling a borehole according to the present invention includes a drill rig and a control system. The control system receives information from the drill rig that relates to at least one drill parameter. The control system processes information relating to the drill parameter, determines whether the drill parameter is within a predetermined specification for the monitored drill parameter, chooses a hole defect mitigation routine based on the monitored drill parameter when the monitored drill parameter is outside the predetermined specification, and controls the drill rig to implement the chosen hole defect mitigation routine.

Abstract: A computer-readable medium including program instructions for collaring a borehole. When the program instructions are executed by one or more processors of a computer system operatively associated with a drill rig, the program instructions cause the one or more processors to carry out the steps of performing a first phase collaring operation from a surface start to a point at which a drill bit reaches a dynamically determined collaring depth or a maximum collaring depth, and performing a second phase collaring operation to form a hole collar. The second phase collaring operation includes the steps of retracting the drill bit until the drill bit is above the surface, and activating a water injection system during the retracting of the drill bit.

Abstract: A computer-readable medium including program instructions for drilling a borehole. When the program instructions are executed by one or more processors of a computer system operatively associated with a drill rig, the program instructions cause the processor to carry out the steps of initiating a drilling phase and monitoring a drill parameter during the drilling phase. The drill parameter includes at least one of drill rotational speed, drill torque or number of drill retractions. The program instructions further cause the processor to carry out the step of determining whether the monitored drill parameter is within a predetermined specification for the monitored drill parameter in order to choose a drilling phase defect mitigation routine. After implementing the drilling phase defect mitigation routine, the processors carry out the step of resuming the drilling phase.

Abstract: A system for determining when one or more jacks on a vehicle have contacted the ground may include a pitch sensor that senses a pitch angle of the vehicle and a roll sensor that senses a roll angle of the vehicle. A jack extension system operatively associated with the vehicle jacks extends and retracts the one or more jacks on the vehicle. A control system operatively associated with the pitch sensor, the roll sensor, and the jack extension system monitors the pitch and roll sensors to determine the pitch and roll angles of the vehicle. The control system operates the jack extension system to lower the jacks to the ground and determines that the jacks have contacted the ground based on detected changes in the pitch and roll angles of the vehicle.

Abstract: A system for drilling a borehole according includes a drill rig and a control system. The control system receives information from the drill rig that relates to at least one drill parameter. The control system processes information relating to the drill parameter, determines whether the drill parameter is within a predetermined specification for the monitored drill parameter, chooses a hole defect mitigation routine based on the monitored drill parameter when the monitored drill parameter is outside the predetermined specification, and controls the drill rig to implement the chosen hole defect mitigation routine.

Abstract: A computer-readable medium including program instructions for collaring a borehole. When the program instructions are executed by one or more processors of a computer system operatively associated with a drill rig, the program instructions cause the one or more processors to carry out the steps of performing a first phase collaring operation from a surface start to a point at which a drill bit reaches a dynamically determined collaring depth or a maximum collaring depth, and performing a second phase collaring operation to form a hole collar. The second phase collaring operation includes the steps of retracting the drill bit until the drill bit is above the surface, and activating a water injection system during the retracting of the drill bit.

Abstract: A bearing lubrication system for providing supplemental lubrication to a bearing mounted within a bearing housing may include a pump having an inlet and an outlet. The inlet of the pump is fluidically connected to a lubricating fluid sump, whereas the outlet of the pump is fluidically connected to the bearing. A pump control system operatively connected to the pump operates the pump on an intermittent basis to provide a controlled amount of lubricating fluid to the bearing.

Abstract: A method for controlling an autonomous vehicle includes: Receiving data relating to a plurality of proposed vehicle locations; generating a simulated vehicle path based on the received data; determining a simulated vehicle orientation for at least one point on the simulated vehicle path; presenting at least the simulated vehicle orientation in a user-discernable form; receiving a user verification of the simulated vehicle orientation for at least one point on the simulated vehicle path; and producing approved vehicle control commands from the simulated vehicle path and simulated vehicle orientation, the approved vehicle control commands controlling the autonomous vehicle to follow the simulated vehicle path and the simulated vehicle orientation.

Abstract: A system for determining when one or more jacks on a vehicle have contacted the ground may include a pitch sensor that senses a pitch angle of the vehicle and a roll sensor that senses a roll angle of the vehicle. A jack extension system operatively associated with the vehicle jacks extends and retracts the one or more jacks on the vehicle. A control system operatively associated with the pitch sensor, the roll sensor, and the jack extension system monitors the pitch and roll sensors to determine the pitch and roll angles of the vehicle. The control system operates the jack extension system to lower the jacks to the ground and determines that the jacks have contacted the ground based on detected changes in the pitch and roll angles of the vehicle.

Abstract: A dynamic jack reference control system may include a tilt sensor operatively associated with the vehicle so that the tilt sensor senses a tilt angle of the vehicle. A processor operatively connected to the tilt sensor produces a jack reference value based on the tilt angle of the vehicle. A speed controller operatively associated with the processor extends the at least one jack on the vehicle at a speed that is related to the jack reference value.

Abstract: A system for drilling a borehole according includes a drill rig and a control system. The control system receives information from the drill rig that relates to at least one drill parameter. The control system processes information relating to the drill parameter, determines whether the drill parameter is within a predetermined specification for the monitored drill parameter, chooses a hole defect mitigation routine based on the monitored drill parameter when the monitored drill parameter is outside the predetermined specification, and controls the drill rig to implement the chosen hole defect mitigation routine.

Abstract: A system for drilling a borehole according includes a drill rig and a control system. The control system receives information from the drill rig that relates to at least one drill parameter. The control system processes information relating to the drill parameter, determines whether the drill parameter is within a predetermined specification for the monitored drill parameter, chooses a hole defect mitigation routine based on the monitored drill parameter when the monitored drill parameter is outside the predetermined specification, and controls the drill rig to implement the chosen hole defect mitigation routine.