Abstract: A method for leveling a jacked vehicle may involve: (a) sensing a pitch angle of the vehicle; (b) sensing a roll angle of the vehicle; (c) producing a pitch reference value that is related to the sensed pitch angle of the vehicle; (d) producing a roll reference value that is related to the sensed roll angle of the vehicle; (e) extending a vehicle jack that affects at least the pitch angle of the vehicle at a speed that is related to the pitch reference value; (f) extending a vehicle jack that affects at least the roll angle of the vehicle at a speed that is related to the roll reference value; and (g) repeating (a)-(f) until the sum of the pitch and roll angles falls below a predetermined angle.

Abstract: A system for drilling a borehole according to the present invention includes a drill rig and a control system. The drill rig includes a drill, an air injection system and a water injection system. The control system, which is operatively associated with the drill rig, 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 method for leveling a jacked vehicle may involve: (a) sensing a pitch angle of the vehicle; (b) sensing a roll angle of the vehicle; (c) producing a pitch reference value that is related to the sensed pitch angle of the vehicle; (d) producing a roll reference value that is related to the sensed roll angle of the vehicle; (e) extending a vehicle jack that affects at least the pitch angle of the vehicle at a speed that is related to the pitch reference value; (f) extending a vehicle jack that affects at least the roll angle of the vehicle at a speed that is related to the roll reference value; and (g) repeating (a)-(f) until the sum of the pitch and roll angles falls below a predetermined angle.

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 to the present invention includes a drill rig and a control system. The drill rig includes a drill, an air injection system and a water injection system. The control system, which is operatively associated with the drill rig, 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 to the present invention includes a drill rig and a control system. The drill rig includes a drill, an air injection system and a water injection system. The control system, which is operatively associates with the drill rig, 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 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 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 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 to the present invention includes a drill rig and a control system. The drill rig includes a drill, an air injection system and a water injection system. The control system, which is operatively associates with the drill rig, 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 to the present invention includes a control system and a drill rig, including a water injection system and an air injection 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 to implement a hole defect mitigation routine, including a drilling phase defect mitigation routine or a retraction phase defect mitigation routine following completion of the drilling phase. The control system 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 method for determining when at least one jack on a vehicle has contacted the ground, in which the vehicle includes a first jack mounted to a first end of the vehicle and a pair of jacks mounted to a second end of the vehicle. The method includes the steps of: determining an initial pitch angle of the vehicle before any of the jacks have contacted the ground; combining the initial pitch angle with a pitch setpoint value to create a resultant pitch value; sensing a pitch angle and a roll angle of the vehicle; extending the first jack mounted at the first end of the vehicle while monitoring the pitch angle of the vehicle; and determining that the first jack has contacted the ground by comparing the monitored pitch angle of the vehicle with the resultant pitch value.

Abstract: A method for determining when at least one jack on a vehicle has contacted the ground, in which the vehicle includes a first jack mounted to a first end of the vehicle and a pair of jacks mounted to a second end of the vehicle. The method includes the steps of: determining an initial pitch angle of the vehicle before any of the jacks have contacted the ground; combining the initial pitch angle with a pitch setpoint value to create a resultant pitch value; sensing a pitch angle and a roll angle of the vehicle; extending the first jack mounted at the first end of the vehicle while monitoring the pitch angle of the vehicle; and determining that the first jack has contacted the ground by comparing the monitored pitch angle of the vehicle with the resultant pitch value.

Abstract: A system for drilling a borehole according to the present invention includes a control system and a drill rig, including a water injection system and an air injection 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 to implement a hole defect mitigation routine, including a drilling phase defect mitigation routine or a retraction phase defect mitigation routine following completion of the drilling phase. The control system 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 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 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 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 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.