Abstract: Methods and apparatus pertaining to scaling of the proportional gain and the integral gain in PI controllers of an autodriller based on drilling context. For example, a proportional gain and an integral gain are each determined for utilization by a PI controller of an autodriller controlling operation of equipment to be utilized for a drilling operation to drill a borehole into a subterranean formation. During the drilling operation, the integral gain is updated in real-time utilizing current values of drilling parameters that change with respect to time.

Abstract: A position detection device for detecting the position of a bucket of an excavator having a cab and one or more booms is disclosed. A boom is rotatably attached to the cab by a mounting structure that is rotatably attached to the cab by a shaft having a longitudinal axis extending basically vertically during normal use of the excavator. The bucket is rotatably mounted to a stick that is rotatably attached to the boom. The mounting structure is arranged and configured to allow the boom to be rotated with respect to the longitudinal axis of the shaft. The position detection device comprises one or more antennas arranged and configured to receive satellite signals. The position detection device comprises a sensor assembly configured to detect the angular position of the boom with respect to rotation about the longitudinal axis of the shaft.

Abstract: A method of connecting tubular components includes positioning a first tubular component at a surface location and a second tubular component at least partially disposed in a borehole to initiate a threaded connection, and rotating the first tubular component relative to the second tubular component by a tubular connection system, and during the rotating, measuring at least one of a rotational position of the first tubular component and/or a component of the tubular connection system, relative to the second tubular component, and a rotational speed of the first tubular component and/or the component of the tubular connection system. The method further includes measuring a torque, estimating a number of turns remaining to reach a target torque on the first tubular component, and controlling a rotational speed of the first tubular component based on the estimated number of turns remaining to connect the first tubular component to the second tubular component.

Abstract: A system can flush a drilling fluid sample with a hydrocarbon blend, which includes a determined concentration of at least one chemical species to generate a flushed drilling fluid sample. The system can extract a dissolved gas from the flushed drilling fluid sample. The system can determine a concentration over time of at least one chemical species of the dissolved gas. The system can generate an area per concentration curve based on the concentration over time of the at least one chemical species. The system can determine at least one concentration value of the at least one chemical species. The system can modify the at least one concentration value based on the area per concentration curve. The system can then correct bias caused by the gas extractor and fluid sampling system.

Abstract: The invention relates to an arrangement for controlling a rock drilling machine during an extraction of a drill string from a drilled bore, the rock drilling machine being movably arranged on a feeder, the arrangement comprising an actuator arranged to move the rock drilling machine in a direction opposed to a drilling direction along the feeder, a rotation motor arranged to rotate the drill string, and an actuator controller arranged to control the actuator during the extraction of the drill string from a drilled bore, the actuator controller being arranged to control the actuator according to a first or a second mode in dependence of an operational parameter, such as a torque generated by the rotation motor to rotate the drill string.

Abstract: A system and methods for petro-steering methodologies are provided. An exemplary method obtains rock fabric data, and integrate rock fabric data with dynamic productivity data to identify patterns between the rock fabric data and dynamic productivity data. Gas rates and steering values are predicted across UBCT wells based on the patterns.

Abstract: The present invention relates to a downhole self-propelling wireline tool string for being connected to and powered by a wireline for propelling a tool forward in a well and/or for providing weight on a bit while performing an operation, comprising a first downhole self-propelling wireline tool, comprising a first tool body, a first electric motor operating at a rotational speed, a first electric control unit for controlling the rotational speed of the electric motor, one first drive section, comprising a plurality of projectable arm assemblies movably connected at a first arm end with the tool body and projectable from the tool body by means of a first fluid having a first fluid pressure, and a plurality of wheels for contacting a wall of the well, each wheel comprising a hydraulic motor for rotation of the wheel to provide a self-propelling movement, and each wheel being connected with a second arm end of one of the arm assemblies, a first hydraulic pump driven by the electric motor for generation of a seco

Abstract: A drilling rig includes a carrier, a ground support attached to the carrier for supporting the carrier on the ground, a drilling boom attached at a first end to the carrier, a feed beam attached to a second end of the drilling boom, a drilling unit attached movably along the feed beam, a ground pin attached to the feed beam for supporting the feed beam onto the ground, and control means configured for performing the steps of at least: receiving ground support force information indicative of force applied by the ground support to the ground, and detecting ground contact state of the ground pin on the basis of the received ground support force information.

Abstract: Disclosed is an automatic hole-processing method with self-adapting adjustment of processing parameters, including the following steps: performing tool feeding, detecting whether the rotate speed changes or not, if changes, judging the type of the processing material according to the new rotate speed after stabilization (if not, the tool feeding is continued); feeding the tool according to the processing parameters suitable for the material, detecting whether the rotate speed changes or not, if changes, judging whether the hole processing has been completed or not according to the new rotate speed after stabilization (if not, the tool feeding is continued), if completed, retracting the tool with the set parameters (if not, judging the type of the processing material according to the new rotate speed after stabilization, and repeating the above steps), completing the hole processing.

Abstract: Systems and methods for monitoring slide drilling operations and providing advisory information includes a Bayesian network having a slide drilling dysfunction output node and six input nodes including: a downhole mechanical specific energy (MSE) trend node; a downhole bit aggressiveness trend node; a differential pressure trend node; a minimum buckling load node; a downhole weight on bit (DWOB) vs surface weight on bit (SWOB) ratio node, and a toolface efficiency index node. When one or more dysfunctions are detected based on the information provided to one or more nodes, the system sends out one or more alerts and provides one or more corrective actions to return to efficient drilling.

Abstract: A pitch data processing system of a horizontal directional drilling system can include a sonde, an offset and range calibration unit, a pitch speed limiter, and a low pass filter. The sonde can include an accelerometer configured to measure and output a raw pitch signal. The offset and range calibration unit can receive and process the raw pitch signal and output a calibrated pitch signal. The pitch speed limiter can receive the calibrated pitch signal. The pitch speed limiter is configured to set upper and lower pitch change speed limits. The pitch speed limiter can yield a speed-change limited pitch signal. The low pass filter can receive the speed-change limited pitch signal and attenuate the received speed-change limited pitch signal above a selected cutoff frequency of the low pass filter, the low pass filter configured to output an adjusted pitch signal.

Abstract: An integrated data recorder may be positioned within a slot in a tool. The integrated data recorder includes a sensor package that includes one or more drilling dynamics sensors, a processor in data communication with the one or more drilling dynamics sensors, a memory module in data communication with the one or more drilling dynamics sensors, a wireless communications module in data communication with the processor, and an electrical energy source in electrical communication with the memory module, the one or more drilling dynamics sensors, and the processor.

Abstract: A method for well integrity assessment using machine-trained prediction of physical characteristics related to well integrity across a depth interval of a cased wellbore having one or more casing strings. The method includes collecting scattered X-ray signals from a plurality of X-ray detectors arranged within a well logging tool, learning trained weights to predict wellbore characteristics from the scattered X-ray signals, collecting further scattered X-ray signals from the X-ray detectors, using the trained weights to quantitatively predict the wellbore characteristics from the further X-ray signals, and using the predicted wellbore characteristics to assess well integrity.

Abstract: Methods, systems, and computer-readable media for controlling a toolface of a downhole tool are described. The toolface of the downhole tool, and a toolface setpoint, are determined. Based on the toolface and the toolface setpoint, a toolface error is determined. Based on the toolface error, one or more drilling parameter setpoints are selected from among multiple drilling parameter setpoints. The selected one or more drilling parameter setpoints are adjusted. The adjusted one or more drilling parameter setpoints are inputted to one or more drilling controllers for controlling the toolface of the downhole tool.

Abstract: A tool, e.g. a downhole tool, utilizes at least one actuator which may be actuated rapidly between positions during operation of the tool. The actuator is moved via flow of an actuating fluid controlled by a main valve which, in turn, is controlled via a pilot valve. The pilot valve is operated to selectively control flow of the actuating fluid to the main valve so as to shift the main valve between desired operational positions.

Abstract: A line of coherent radiation is projected on a bed on which one or more particles is located, the one or more particles flowing produced as a result of a downhole operation in the borehole. An image of the bed is captured wherein one or more particles on the bed deflect the line of coherent radiation. One or more image edges is detected based on the captured image. A subset of the one or more image edges is identified as corresponding to edges of the one or more particles, based in part on changes in intensity of the captured image. Information about the one or more particles, including information about of size, shape and volume, can be determined from the one or more image edges corresponding to the edges of the one or more particles.

Abstract: Systems and methods determine friction in a borehole during drilling operations. A drilling system applies oscillatory angular movement at the top of a drill string in a wellbore during drilling by the drilling system, and measures a torque applied to the drill string and an angular position of the drill string. Based on the measured torque and the measured angular position, the drilling system computes a friction between the borehole and the drill string. This can be repeated during drilling of the wellbore to determine multiple friction values, corresponding to various depths of the borehole. Based on the computed friction, the drilling system can perform one or more actions resulting in modified drilling operation. The systems and methods also include oscillating a casing in the borehole, measuring the torque and angular position of the casing, and determining a friction value, which can be repeated to develop a wellbore friction profile.

Abstract: A method for controlling a drilling trajectory of a wellbore includes receiving a target trajectory reference of a drill bit within a wellbore from a formation model. The method also includes receiving real-time formation evaluation measurements from at least one sensor positioned within the wellbore and computing a target trajectory set-point change based on the real-time formation evaluation measurements. Further, the method includes generating a target trajectory from the target trajectory reference and the target trajectory set-point change and steering the drill bit using the target trajectory.

Abstract: An example hybrid power system includes a mobile platform comprising: a generator set comprising: a reciprocating engine configured to convert natural gas into rotational mechanical energy; and a generator configured to convert rotational mechanical energy sourced from the reciprocating engine into electrical energy; an electrical energy storage system (ESS) configured to store electrical energy; an electrical motor configured to convert electrical energy sourced from a combination of the generator set and the ESS into rotational mechanical energy; and a pump configured to operate using rotational mechanical energy sourced from the electrical motor.

Abstract: Drilling operations may be monitored to detect and quantify potential drilling dysfunctions. Using a Bayesian network, potential improvements to drilling operation may be made depending upon the type of dysfunction detected. Suggestions for improved drilling performance may comprise increasing, decreasing, or maintaining one or both of RPM and weight on bit. Suggestions may be presented to an operator as a cone having an apex at the current RPM and weight on bit drilling parameters, with suggestions for modifications to one or both of the RPM and weight on bit corresponding to a cone extending from that apex.

Abstract: A flow measurement apparatus can include a main flow passage, a variable flow restrictor, a bypass flow passage having an inlet connected with the main flow passage upstream of the variable flow restrictor and an outlet connected with the main flow passage downstream of the variable flow restrictor, and a mass flowmeter connected in the bypass flow passage between the inlet and the outlet. A method can include connecting a flow measurement apparatus, so that a fluid flow in a well also flows through the flow measurement apparatus, and varying a restriction to the fluid flow through the variable flow restrictor in response to a change in a flow rate of the fluid flow.

Abstract: A boring tool is movable through the ground. A transmitter supported by the boring tool transmits an electromagnetic homing signal. A portable device monitors the electromagnetic homing signal and receives the electromagnetic homing signal in a homing mode for guiding the boring tool to a target position. A processor generates steering commands for guiding the boring tool based on a bore plan in a steering mode such that at least some positional error is introduced without using the electromagnetic homing signal. Switching from the steering mode to the homing mode is based on monitoring of the electromagnetic homing signal as the boring tool approaches the portable device to then guide the boring tool to the target position location in compensation for the positional error. Intermediate target positions are described as well as guiding the boring tool based on the homing signal so long as the portable device receives the signal.

Abstract: A support gate device that allows iron tubes to be loaded efficiently into a pipe holding bin of a directional drilling machine. The support gate device is a rectangular cartridge the houses a swiveling gate. The swiveling gate has a stop plate and a spring. The support gate device attaches to an end of a horizontal bar of the directional drilling machine. The directional drilling machine has a pair of horizontal bars that are linearly opposed to each other that lead into the pipe holding bin. A pair of support gate devices are installed on the horizontal bars of the directional drilling machine.

Abstract: Methods and systems are provided that combine NMR and IR spectroscopy measurements on a rock sample to determine data representing at least one property of the rock sample. In one embodiment, cuttings can be split into first and second lots. Results of an NMR measurement performed on the first lot of cuttings without cleaning can be analyzed to determine pore volume of the cuttings. Results of an IR spectroscopy measurement performed on the second lot of cuttings after solvent cleaning can be analyzed to determine matrix density of the cuttings. Porosity can be determined from the pore volume and matrix density of the cuttings. In another embodiment, combined NMR and IR spectroscopy measurements can be performed on an unprepared rock sample (without solvent cleaning) to characterize properties of kerogen in the rock sample and porosity. In another aspect, a method is provided that employs multi-nucleic NMR measurements to determine porosity.

Abstract: A system, method, and computer-readable storage medium, of which the method includes receiving an image of a tool including a consumable object from a remote device via a network at a processor, decoding the image to identify the consumable object, using the processor, and determining a degradation characteristic, a consumption, or both for the consumable object by providing the decoded image to a neural network. The degradation characteristic represents a mode of degradation and the consumption represents an amount of degradation.

Abstract: An example method for monitoring drilling includes releasing a wireless data retrieval device within a drill string in a wellbore, forcing fluid downhole through the drill string such that the data retrieval device travels in the fluid through a fluid outlet in a drill bit connected to the drill string, receiving data in the data retrieval device from a wireless sensor disposed on or in a body of the drill bit, and transferring the data from the data retrieval device after the data retrieval device travels in the fluid through the fluid outlet. An example wellbore drilling system includes a drill bit that includes a body, a fluid outlet, one or more wireless sensors disposed on or in the body, and a waterproof data retrieval device configured to receive data wirelessly from the wireless sensor(s), the data retrieval device having a size smaller than an opening in the fluid outlet.

Abstract: Disclosed is a pipeline pulling tool having an elongate housing. First and second roller wheel sections have at least two freely rotating roller wheels extending out from a sidewall of the housing. An attachment for a tool string is fixed to one of the roller wheel sections. A main section with a retractable propulsion wheel and at least one actuator for actuating the propulsion wheel between an extended position, out from the sidewall of the housing, and a retracted position, inside the housing, is located between the first roller wheel section and the second roller wheel section. A method of actuating a pipeline pulling tool is also disclosed.

Abstract: An apparatus for drilling a directional wellbore is disclosed that in one non-limiting embodiment includes a drive for rotating a drill bit, a deflection device that enables a lower section of the drilling assembly to tilt about a member of the deflection device within a selected plane when the drilling assembly is substantially rotationally stationary to allow drilling of a curved section of the wellbore when the drill bit is rotated by the drive and wherein the tilt is reduced when the drilling assembly is rotated to allow drilling of a straighter section of the wellbore, and a tilt sensor that provides measurements relating to tilt of the lower section. A controller determines a parameter of interest relating to the tilt for controlling drilling of the directional wellbore.

Abstract: A method of optimizing drilling and drilling instructions for different segments of a wellbore that includes: calculating mathematical approximations of energy transfer loss between a top drive and a BHA using a neural network and a plurality of drilling records for segments of wellbores that are similar to the segments of the wellbore to be drilled; calculating drilling instructions based on each mathematical approximation; drilling the wellbore using the drilling instructions; monitoring the energy transfer loss; and optimizing the drilling instructions using one of the mathematical approximations to minimize the energy transfer loss. Optimizing the drilling instructions includes using Bayesian optimization techniques.

Abstract: Systems and methods for controlling subsurface drilling operations are described. The methods include performing the subsurface drilling operation using a bottomhole assembly having a disintegrating device, detecting, with a sensor, a formation layer orientation, approaching, with the disintegrating device, a rock layer, and generating a steering command to change an angle of attack of the disintegrating device relative to the rock layer based on the detected formation layer orientation.

Abstract: A collar control system and methods for mobile drilling machines are disclosed. One method may include: automatically initiating rotation of a drill bit based on collar settings; automatically feeding the drill bit at a feed rate to form an initial hole at a predetermined reaming increment; and automatically retracting the drill bit from the initial hole when the predetermined reaming increment is achieved, but prior to reaching a collar depth. Another method may include: measuring values of multiple drill bit inputs at a predetermined sample depth region during the collar operation; storing average values for each of the drill bit inputs over the predetermined sample depth region; monitoring values of the drill bit inputs when the drill bit moves beyond the predetermined sample depth region; and ending the collar operation prior to a desired collar depth when any of the monitored values change by a predetermined threshold.

Abstract: A method of designing a drill bit is disclosed. The method includes determining a location of a bit coordinate system in a wellbore coordinate system and generating a bit profile based on an angular coordinate around a wellbore axis of a wellbore and the location of the bit coordinate system. The bit profile is based on a cutting edge of a first cutting element on an exterior portion of a first blade. The method also includes determining a cutting layer volume based on the bit profile and identifying a weak zone based on the cutting layer volume being less than a predefined minimum cutting layer volume. The method includes determining a location for a second cutting element on the exterior portion of a second blade based on the weak zone.

Abstract: A method of and a device, borehole drilling equipment and a computer program product for estimating at least one of down hole speed and down hole torque of borehole drilling equipment while drilling a borehole in an earth formation. The borehole equipment comprising a rotational drive system, a drill string, a bottom hole assembly comprising a drill bit, a top end coupled to the rotational drive system, and a speed controller arranged for controlling rotational top end drive speed by commanding a top end drive torque. The method being performed in a computer based on a two-port spectral domain transfer matrix computational model of the borehole drilling equipment. While drilling, rotational top end drive speed and top end drive torque are obtained and down hole speed and down hole torque of the borehole drilling equipment are calculated by reducing spectral bandwidth of and applying a time delay term to the calculations enabling a causal time domain solution.

Abstract: A method includes receiving a plurality of drilling parameters from a drilling operation, wherein the plurality of drilling parameters. The drilling parameters include a cuttings bed height and a friction factor between a drill string and a wellbore. The method further includes applying the plurality of drilling parameters to a friction model. The friction model utilizes a function of the cuttings bed height to determine a comprehensive friction factor. The comprehensive friction factor is applied to the plurality of drilling parameters to determine a required torque or hook load of the drill string. The method further includes providing an indication of a stuck pipe event.

Abstract: Certain aspects and features relate to a system that selects an output value for controlling a drilling tool using dynamic force analysis coupled to fluid effects as part of a model that estimates projected torque and drag. A drilling model according to aspects and features of the present disclosure takes into account pipe axial elasticity as it relates to dynamic, time-based, force analysis and couples this relationship with drilling fluid effects over time. In some examples, a system calculates at least one dynamic sideforce and at least one dynamic, hydraulic force for each interval of time. An equilibrium solution for an output value using the dynamic sideforce and dynamic, hydraulic force for each time interval can be applied to the drilling tool for each time interval during drilling operations.

Abstract: System and methods for optimizing parameters for drilling operations are provided. Real-time data including values for input variables associated with a current stage of a drilling operation along a planned well path are acquired. A neural network model is trained to produce an objective function defining a response value for at least one operating variable of the drilling operation. The response value for the operating variable is estimated based on the objective function produced by the trained neural network model. Stochastic optimization is applied to the estimated response value so as to produce an optimized response value for the operating variable. Values of controllable parameters are estimated for a subsequent stage of the drilling operation, based on the optimized response value of the operating variable. The subsequent stage of the drilling operation is performed based on the estimated values of the controllable parameters.

Abstract: The present disclosure is directed to improved downhole motor designs. In one illustrative embodiment, primary and secondary thrust bearings that are maintained in position by other structural components of the motor without compressive loading of the entire bearing assembly are positioned inside the motor housing for protection from cuttings and debris in the drilling fluid. In some illustrative embodiments, a drive train that features at least one multi-part sectional flex joint may allow for a shortened flex shaft while sufficiently converting eccentric forces from the power source to rotation of the mandrel.

Abstract: An automated system for a jetter system, a method for automatically filling a sewer access system with antifreeze liquid, and a method for automatically recapturing antifreeze within a sewer access system are provided. The automated system may include: a control system configured to provide a normal operational mode, an auto antifreeze mode, and an auto recapture mode; a pump; first and second tanks, and conduits that connect these components. The system automatically fills the conduits with antifreeze liquid from the second tank and then can automatically purge the conduits of antifreeze liquid and return the antifreeze liquid to the second tank for later use in again filing the conduits with antifreeze liquid.

Abstract: An electric submersible pump (ESP) assembly. The ESP assembly comprises a first actuator having a first member that is configured to extend and retract radially with respect to a central axis of the ESP assembly in response to receiving a control input, wherein the first actuator is mechanically coupled to an electric motor, to a seal section, or to a centrifugal pump of the ESP assembly.

Abstract: For a wellbore drilled in a low or subnormal pressure reservoirs, a static loss rate of drilling fluid is monitored within a limit of a drilling rate. In reaching the limit, the annulus is closed off to returns using a rotating control device, or the annulus may remain open to the atmosphere at surface. Operations may not be able to keep the annulus filled with a mud cap so pressurized mud cap drilling cannot be sustained. Instead, an initial fluid level of the mud cap is defined in the annulus. Drilling the wellbore with the mud cap then involves: pumping a sacrificial fluid through the drillstring without returns to surface through the annulus, and monitoring the initial fluid level in the annulus to detect a change. Monitoring uses downhole instrumentation to measure pressure, temperature, and gas level of the mud cap. In response to the detected change, the drilling can be further controlled, including stopping the drilling, turning off pumps, and possibly bullheading the well.

Abstract: A ground drilling device for drilling in soil by means of a drill string, wherein the ground drilling device comprises a drilling carriage and a sled movable in translation on the drilling carriage, and on the sled there is arranged a holder a) for the screwed connection of a rod section to the drill string, or b) for the screwed detachment of a rod section from the drill string, wherein the holder can move in translation relative to the sled in order to compensate for a change in the position of the holder caused by the screwing process.

Abstract: Methods and apparatus for identifying downhole dynamics in a drilling system are provided. Acceleration-detecting sensors are mounted at multiple locations near to a drill bit, such as at a drill collar. The sensors may be spaced 90° apart along a circumference of the drill collar. The sensors detect acceleration measurements in a plane orthogonal to the drill string's axis of rotation, with respect to a first reference frame that moves with the drill string. The acceleration measurements are received by a processor and processed to determine rotational and revolution positions of the drill string within the wellbore with respect to a static reference frame. Whirl dynamics may, in particular, be determined based on the results in real time.

Abstract: A rotary steerable tool for steering a drill string can include a tool collar, a plurality of pad pushers, and a plurality of fasteners. The pad pushers can each be positionable within a respective cavity of the tool collar. Each pad pusher can be coupled to a pad retention housing that has an engagement hole and a through hole spaced apart from the engagement hole. The pad pushers can be interconnected by a plurality of fasteners. Each fastener can extend between adjacent pad retention housings to interconnect the plurality of pad pushers around the tool collar.

Abstract: The disclosure addresses mitigating stick-slip in drilling systems. In one example, a method of operating a drill string is disclosed for stick-slip mitigation. The method can include: 1) monitoring operation of a drill string, wherein the drill string is rotated via a top drive that is controlled by a speed controller, and (2) changing the value of at least one speed controller parameter of the speed controller in response to torsional oscillations of the drill string during the operation, wherein the value is based on a stability model for the drill string. A stick-slip mitigation advisor for drilling systems is also disclosed herein.

Abstract: Systems, apparatus and methods are described for purposes of initiating a response to detection of an adverse operational condition involving a system including a drill rig and an inground tool. The response can be based on an uphole sensed parameter in combination with a downhole sensed parameter. The adverse operational condition can involve cross-bore detection, frac-out detection, excessive downhole pressure, a plugged jet indication and drill string key-holing detection. A communication system includes an inground communication link that allows bidirectional communication between a walkover detector and the drill rig via the inground tool. Monitoring of inground tool depth and/or lateral movement can be performed using techniques that approach integrated values. Bit force based auto-carving is described in the context of an automated procedure. Loss of locator to drill rig telemetry can trigger an automated switch to a different communication path within the system.

Abstract: A drilling boom and rock drilling rig. The drilling boom includes a basic boom part, a distal end of which is provided with a front joint assembly of a wrist. The wrist connects a feed beam assembly to the basic boom part. The wrist has three joints, which are a roll-over joint, a feed tilt joint and a feed swing joint. The order of the joints of the wrist is optimized when the joints are in the mentioned order. The rock drilling rig is provided with one or more such drilling booms provided with face drilling units or bolting heads.

Abstract: An apparatus and method of automatically altering proposed sliding instructions to comply with operating parameters is described.

Abstract: Systems and methods for avoiding discrete 3D geological bodies that are hazards to drilling operations by identifying each 3D geological body near a well-path, defining the extents of each 3D geological body relative to the well-path, and displaying the extents of each 3D geological body relative to the well-path.

Abstract: Drill hole sequence planning equipment (14) includes a position determining module (18) for determining an initial location of a mobile drill rig (12). A selection module (24) selects a destination location for the drill rig (12). A corridor establishment module (26) establishes a corridor between the initial location of the drill rig (12) and its destination location, the corridor having a selected width. A processing unit (28) is responsive to the modules (18, 24 and 26) for selecting a hole location of each hole within the corridor to be drilled by the drill rig (12) sequentially as it moves from its initial location to its destination location.

Abstract: A method for drilling a well includes applying energy input to a drill string (31) by at least one of rotating the drill string (31) from surface and operating a drilling motor (41) disposed in the drill string (31) to operate a drill bit (2) at a bottom of the drill string (31); an amount of the applied energy not consumed in drilling formations caused by at least one of motion, deformation, and interaction of the drill string (31) is calculated; an amount of the applied energy used to drill formations below the drill bit (2) is calculated; and at least one drilling operating parameter is adjusted based on energy calculation before or during drilling operation.