Abstract: A method and apparatus for controlling drilling, the method comprising ascertaining a current position and attitude of a drilling structure, obtaining a desired end point for the drilling structure, creating an optimized geometric Hermite curve path for the drilling structure from the current position and attitude of the drilling structure to the desired end point for the drilling structure and controlling a drilling of the drilling structure from the current position and attitude of the drilling structure to the desired end point for the drilling structure along the optimized geometric Hermite curve path.

Abstract: A method for optimizing drilling includes initializing values of a plurality of drilling operating parameters and drilling response parameters. In a computer, an initial relationship between the plurality of drilling operating parameters and drilling response parameters is determined. A drilling unit to drill a wellbore through subsurface formations. The drilling operating parameters and drilling response parameters are measured during drilling and entered into the computer. A range of values and an optimum value for at least one of the drilling response parameters and at least one of the drilling response parameters is determined in the computer. A display of the at least one of the plurality of drilling operating parameters and the at least one of the drilling response parameters is generated by the computer.

Abstract: A method for managing a drilling operation, including generating, by a first sensor and a second sensor of a bottom hole assembly (BHA), a first time based data log and a second time based data log, respectively, representing a borehole parameter along a drilling trajectory, determining, by a computer processor of the BHA and during the drilling operation, a time shift by comparing the first time based data log and the second time based data log, where offsetting the first and second time based data logs by the time shift maximizes a correlation factor of the first and second time based data logs, and determining, within a pre-determined time period from generating the first and second time based data logs, a drilling speed based on the time shift and a pre-determined distance between the first sensor and the second sensor.

Abstract: Methods and systems are described for improved drilling operations through the use of real-time drilling data to predict bit wear, lithology, pore pressure, a rotating friction coefficient, permeability, and cost in real-time and to adjust drilling parameters in real-time based on the predictions. The real-time lithology prediction is made by processing the real-time drilling data through a multilayer neural network. The real-time bit wear prediction is made by using the real-time drilling data to predict a bit efficiency factor and to detect changes in the bit efficiency factor over time. These predictions may be used to adjust drilling parameters in the drilling operation in real-time, subject to override by the operator. The methods and systems may also include determining various downhole hydraulics parameters and a rotary friction factor. Historical data may be used in combination with real-time data to provide expert system assistance and to identify safety concerns.

Abstract: Mobile drilling devices and systems, methods, and computer-readable media for controlling such devices are provided. One method includes receiving user input from a user of a mobile computing device. The method further includes transmitting data based on the user input from the mobile computing device to a control circuit of a mobile drilling device via a wireless network connection. The method further includes generating a plurality of control signals based on the data received from the mobile computing device. Each of the plurality of control signals is configured to control movement of a separate one of a plurality of movement devices of the mobile drilling device. The plurality of movement devices are configured to move the mobile drilling device between locations.

Abstract: The invention relates to a method and apparatus for opening threaded joints of drilling equipment (6) by striking the drilling equipment (6) with the percussion device of a rock drilling rig (1) and by measuring vibration originating from the drilling equipment (6) during striking. In addition to vibration, measuring means (9) measure a parameter defining at least one additional condition, on the basis of which the decision to stop striking is made.

Abstract: An attitude hold controller method includes receiving at a navigable apparatus a demand inclination and a demand azimuth with respect to a global coordinate system and determining at the navigable apparatus a demand attitude vector according to the received demand inclination and the demand azimuth. Determining at the navigable apparatus a current navigable apparatus attitude vector. Evaluating a control law using the current navigable apparatus vector and the navigable apparatus demand attitude to derive a control law tool face, converting the control law tool face to an equivalent tool face, and applying the equivalent tool face with the navigable apparatus to control the navigable apparatus attitude.

Abstract: A method and apparatus for estimating the instantaneous rotational speed of a bottom hole assembly at the lower end of a drill string. In one embodiment, a method includes driving the drill string by a drilling mechanism at the upper end of the drill string. A fundamental frequency of stick-slip oscillations suffered by the drill string is estimated. Variations in a drive torque of the drilling mechanism are determined. Known torsional compliance of the drill string is combined with the variations in the drive torque. An output signal representing the instantaneous rotational speed is provided.

Abstract: A method of drilling a subterranean wellbore using a drill string comprising the steps of: a. injecting a drilling fluid into the well bore via the drill string and removing said drilling fluid from an annular space around the drill string (the annulus) via an annulus return line, b. oscillating the pressure of the fluid in the annulus, c. determining the wellbore storage volume and wellbore storage coefficient for each fluid pressure oscillation, d. using the wellbore storage volume and wellbore storage coefficient to determine the proportion by volume of gas and proportion by volume of liquid in the annulus during that pressure oscillation.

Abstract: A downhole tool for drilling a sidetracked borehole. The downhole tool includes a body having an axial bore formed at least partially therethrough. At least one magnetometer is within the body. The magnetometer is configured to measure a magnetic field. A processor may be in communication with the at least one magnetometer. The processor may be configured to receive measurements from the at least one magnetometer, determine an orientation of the downhole tool based upon the received measurements, and selectively maintain the orientation of the downhole tool or change the orientation of the downhole tool based upon the determined orientation.

Abstract: A swing control apparatus and a swing control method for a construction machine are provided. The swing control apparatus includes a start position estimation unit, a stop target position calculation unit, and a swing motor position control unit. Even if an operator releases a lever or commands a stop at different times, an upper swing structure of the construction machine (for example, excavator) can be stopped within a predetermined range, and thus the inconvenience caused by an additional driving operation, which is required as the stop position differs according to the time point where the stop command starts, can be solved.

Abstract: A multi purpose hoisting device for use on a floating vessel having a deck, including: a load bearing structure to be mounted on the vessel; a main hoisting mechanism for raising/lowering an object above the deck and including: at least one main hoisting winch; an upper cable pulley block supported by the load bearing structure; a travelling cable pulley block; a main hoisting cable associated with the at least one main hoisting winch and passed over pulleys of the upper cable pulley block and of the travelling pulley block in a multiple fall configuration, such that the travelling cable pulley block is moveable relative to the load bearing structure by using the at least one main hoisting winch; a main hoist heave compensation mechanism associated with the main hoisting cable for damping the effect of sea-state induced motion of the vessel onto an object supported by the main hoisting cable.

Abstract: A method for reversing an air mover to remove debris from a cooling system of a work vehicle. In one embodiment, the largest required fan speed for cooling the engine coolant, hydraulic oil and the charge air is used as the set point speed for a fan. The fan is operated at the set point speed to generate airflow across each of the heat exchangers. Multiple conditions are evaluated for reversing the direction of the fan.

Abstract: A drilling system and associated systems and methods for monitoring, controlling, and predicting vibration of a drilling operation. The vibration information can include axial, lateral or torsional vibration of a drill string.

Abstract: A robot system, including one or more robots which are provided to a first area where an entry by a person is restricted, and configured to perform a first work which includes one or more steps in the first area, a controller configured to control an operation of the one or more robots, and a visitor detector configured to detect a visitor to the first area.

Abstract: There is disclosed a method for assessing risk associated with drilling a section of a wellbore in a formation using a drilling system, comprising: providing a probabilistic model for the risk of the drilling system triggering a failure mode during drilling; and assessing the risk of the drilling system triggering one of said failure modes during drilling of the section based on said model. A further such method comprises: defining the critical control parameters for the drilling system; and identifying one or more failure modes of the drilling system associated with each critical control parameter which may arise during drilling the section of the formation.

Abstract: Apparatus, systems, and methods for controlling activities on a drilling rig are described. The methods include installing a control system operably coupled to the drilling rig and having a user interface, receiving operational guidelines from the user interface that include a plurality of control limits associated with operational parameters of the rig, monitoring current values of the operational parameters, and automatically applying the control limits to the operational parameters during operation of the rig.

Abstract: A geo-steering method for drilling a formation penetrated by multiple wells. The method comprises computing a stratigraphic target formation window, computing a target line utilizing an instantaneous formation dip angle correlated to offset well data from an offset well. The method further comprises calculating a target window from actual drilling data overlaying the target window over the stratigraphic target formation window to drill on the target line, identifying target deviation from target line using overlaid windows, generating a target deviation flag when the overlaid results differ above or below the stratigraphic target formation window or user inputted target deviation flag parameters, wherein the target deviation flag stops drilling by the rig. The method performs another actual survey, creating a new window, starting drilling, creating a new target window, overlaying the two windows and monitoring for target deviations, repeating the process until target depth is reached.

Abstract: A method and apparatus for estimating the instantaneous rotational speed of a bottom hole assembly at the lower end of a drill string. In one embodiment, a method includes driving the drill string by a drilling mechanism at the upper end of the drill string. A fundamental frequency of stick-slip oscillations suffered by the drill string is estimated. Variations in a drive torque of the drilling mechanism are determined. Known torsional compliance of the drill string is combined with the variations in the drive torque. An output signal representing the instantaneous rotational speed is provided.

Abstract: A drill for excavating a bore in the earth includes a steerable boring tool configured to excavate a bore and sensors coupled to the boring tool. The sensors are spaced apart from one another at multiple azimuthal locations around the steerable boring tool and the sensors are configured to detect a mineral property in the earth adjacent the steerable boring tool.

Abstract: A pre-defined custom profile that specifies a potential condition, such as of a drilling rig site, is generated. One or more operational parameters at the drilling rig site are monitored to determine an actual condition of the drilling rig site. A dynamic response is made when it is detected that the actual condition of the drilling rig site matches the potential condition of the drilling rig site, as specified by the pre-defined custom profile. According to one aspect, one or more operations at the drilling rig site are automatically controlled based on the actual condition of the drilling rig site. According to another aspect, a report is automatically generated, the report including data corresponding to the actual condition at the drilling rig site.

Abstract: A method and a system are provided for determining the relative positions of a wellbore and an object. The wellbore is represented by a first ellipse and the object is represented by a second ellipse. The first ellipse represents the positional uncertainty of the wellbore and the second ellipse represents the positional uncertainty of the object. The method includes receiving input data relating to a measured or estimated position of the wellbore and the object. In addition, the method includes calculating an expansion factor representing an amount by which one, or both, of the first ellipse and the second ellipse can be expanded with respect to one or both of respective first and second sets of elliptical parameters so that the first and second ellipses osculate. Further, the method includes determining, based on the calculated expansion factor, position data indicative of the relative positions of the wellbore and the object.

Abstract: A tunneling system is disclosed that includes a surface power-controller, umbilical tether, robotic tender, and robotic tunneling device. This system allows the robotic tunneling device to efficiently create new tunnels using the power and fluids provided from the surface through the robotic drilling tender, as well as a way to efficiently manage cuttings below surface. The system is designed to operate not only when the well is not producing, but also on a continuous basis while the well is producing.

Abstract: A drillstring with a bit is characterized by controllable variables of vertical and rotational speeds and response variables of axial tension force and torque, referenced to the top of the drillstring. A method of reducing or avoiding at least an axial or a torsional oscillation mode in the drillstring includes: choosing at least one oscillation mode to be controlled; selecting and monitoring a relevant controllable variable and a relevant response variable; determining the oscillation period; estimating from the response variable a dynamic component of bit speed; determining a speed pulse capable of producing a generated oscillation with amplitude substantially equal to the amplitude of the dynamic component of bit speed; and Using open-loop control to add the speed pulse to an operator set speed command when the dynamic component of bit speed has an amplitude exceeding a threshold level and an anti-phase matching a phase of the generated oscillation.

Abstract: A hydraulic fluid control system for controlling pressure fluid supplied to consumers (2, 3, 4) of a rock drilling machine, a regulating valve (6, 7, 8) for each for each consumer and fluid conduits between the regulating valves and the consumers, an electronically controlled auxiliary control unit (11) having an electrically controlled auxiliary valve (14) for connection to a fluid conduit, a sensor for sensing fluid parameter values and sending sensor signals to the auxiliary control unit as sensor input signal actual values, micro-controller (12) having at least one parameter sensor input signal entry (S1-S5, I1-I5) for receiving the sensor input signal actual values and a control signal exit (V1-V6) for signal control of an auxiliary valve, the processor (12) is being arranged to compare the actual and predetermined values and to emit control signals to an auxiliary valve in response to the comparison to adjust fluid flow.

Abstract: An expandable reamer apparatus and methods for reaming a borehole, wherein a laterally movable blade carried by a tubular body may be selectively positioned at an inward position and an expanded position. The laterally movable blade, held inwardly by blade-biasing elements, may be forced outwardly by drilling fluid selectively allowed to communicate therewith by way of an actuation sleeve disposed within the tubular body. Alternatively, a separation element may transmit force or pressure from the drilling fluid to the movable blade. Further, a chamber in communication with the movable blade may be pressurized by way of a downhole turbine or pump. A ridged seal wiper, compensator, movable bearing pad, fixed bearing pad preceding the movable blade, or adjustable spacer element to alter expanded blade position may be included within the expandable reamer. In addition, a drilling fluid pressure response indicating an operational characteristic of the expandable reamer may be generated.

Abstract: A method for determining wear of a drill bit is disclosed. The method includes drilling a first hole in a worksite based on a hole pattern having a plurality of planned holes and determining an energy required to drill the first hole. The method also includes drilling a second hole in the worksite and determining an energy required to drill the second hole. The method further includes determining a wear of the drill bit using the determined energy required to drill the first hole and the determined energy required to drill the second hole.

Abstract: This disclosure relates in general to a method and system for controlling a drilling system for drilling a borehole in an earth formation. More specifically, but not by way of limitation, embodiments of the present invention provide systems and methods for controlling dynamic interactions between the drilling system for drilling the borehole and an inner surface of the borehole being drilled to steer the drilling system to directionally drill the borehole. In another embodiment of the present invention, data regarding the functioning of the drilling system as it drills the borehole may be sensed and interactions between the drilling system for drilling the borehole and an inner surface of the borehole may be controlled in response to the sensed data to control the drilling system as the borehole is being drilled.

Abstract: An automated system for detecting fluid influx into a wellbore during the transient conditions that occur after pumps stopped. The system comprises at least one sensor normally employed on a drilling rig for measuring at least one parameter, and a processor for receiving a signal indicative of the parameter from the sensor. The processor is programmed to analyze a plurality of values of the parameter measured during a plurality of previous events so as to generate a predetermined threshold value, compare the received signal to the predetermined threshold value, and provide an output signal indicative of fluid influx when the received signal is beyond the predetermined threshold value.

Abstract: A drilling apparatus includes a tubular body including an upper connection and a lower connection with a drill bit disposed thereon, and an axial borehole therethrough, wherein the upper connection is configured to attach to a drillstring, primary cutter blocks coupled to the tubular body and configured to selectively expand radially therefrom. The drilling apparatus further includes backup cutter blocks coupled to the tubular body and configured to selectively expand radially therefrom, and an activation system configured to selectively expand and collapse the primary and backup cutter blocks in response to changes in weight applied to the primary and backup cutter blocks.

Abstract: An apparatus and method of performing a wellbore operation. The apparatus includes a drill bit that has a cavity at an end thereof and a communication device placed in the cavity. The communication device includes a first section and a second section. An outer dimension of the second section is greater than an outer dimension of the first section. The second section includes a conduit configured to allow passage of a conductor from the drill bit to a location outside the drill bit so as to provide a direct connection of the conductor from the drill bit to an element outside the drill bit.

Abstract: A drilling rig carousel assembly includes a drilling rig carousel comprising a plurality of slots for holding drill components, a first actuator coupled to the drilling rig carousel and configured to axially rotate the drilling rig carousel, a second actuator coupled to the drilling rig carousel and configured to move the drilling rig carousel between a first position and a second position, and a sensor assembly. The sensor assembly includes a rotation sensor configured to monitor an axial rotation of the drilling rig carousel, and a position sensor configured to provide a signal representative of whether the drilling rig carousel is in the first position or the second position.

Abstract: A well drilling method can include sensing at least one of audio and optical signals, generating a parameter signature during a drilling operation, the parameter signature being based at least in part on the sensing, and detecting a drilling event by comparing the parameter signature to an event signature indicative of the drilling event. A well drilling system can include a control system which compares a parameter signature for a drilling operation to an event signature indicative of a drilling event, the parameter signature being based at least in part on an output of at least one audio and/or optical sensor, and a controller which controls the drilling operation in response to the drilling event being indicated by at least a partial match between the parameter signature and the event signature.

Abstract: A method of drilling a subterranean well from a surface location. The method comprises estimating a target formation depth, estimating a target formation dip angle and calculating a target line that creates a top and bottom of the target formation that forms a first projection window. The method further includes drilling within the first projection window, transmitting information from the subterranean well and projecting a target deviation window. The method may further comprise ceasing the drilling of the well and performing a well survey so that well survey information is generated. The method may then include estimating a formation dip angle with the well survey information and rig surface equipment monitoring data, calculating a target line that creates a revised top and bottom of the target formation that forms a second projection window, and drilling within the second projection window.

Abstract: A telemetry tool having position and direction sensors, a power supply, a signal receiver and a signal emitter is mounted in a drill string adjacent to a drill bit. A base unit at the surface generates, and transmits into the geological formation, a carrier signal, which may be a DC carrier signal. The geological formation provides a current path between the carrier current generator and the downhole end at which a portion of the carrier current is received by the telemetry tool. The drill string defines a relatively low resistance return signal conductor. The telemetry unit superimposes a time varying signal on the carrier current. The time varying signal includes a recognition sequence, followed by a data string which may include compass direction, azimuth dip, rotational speed, acceleration, and so on. The base unit strips the signal off the carrier current, and reads the code.

Abstract: An automated roughneck system is described which includes a base module, a removable spinner module for spinning pipe to connect or disconnect drill pipes at threaded interfaces, which automatically self-centers itself around a drill pipe and automatically adjusts to a varied range of drill pipe diameters, a removable torque module for torqueing drill pipe and which automatically self-centers itself around a drill pipe and automatically adjusts to a varied range of drill pipe diameters, an extension module including a first plurality of extension arms that extend between a central hub of the extension module and the base module, and a second plurality of extension arms that extend between the central hub and supporting structure that supports the spinner and torque modules thereon, with each of the base, extension, spinner, and torque modules being hydraulically powered, and being controlled by controls at the remote operator control console.

Abstract: A system includes one or more sensors configured to sense at least one characteristic of fluid entering a well, one or more sensors configured to sense at least one characteristic of fluid exiting a well; and one or more control systems that receive data from at least one of the sensors.

Abstract: Drilling instruments may include a flexible portion, such as a flexible conduit and/or a universal joint. Sensors may be utilized to detect the position of various portions of the drilling instrument, such as the flexible conduit, the universal joint, and/or a drill bit assembly.

Abstract: An underreamer for increasing a diameter of a wellbore. The underreamer includes a body having an axial bore extending at least partially therethrough. A mandrel is disposed within the bore of the body and has a port formed radially therethrough. A sleeve is disposed radially-outward from the mandrel. The sleeve blocks fluid flow through the port in the mandrel when the sleeve is in a first position, and the sleeve is axially-offset from the port in the mandrel when the sleeve is in a second position. A flow tube is coupled to the mandrel. The sleeve moves from the first position to the second position when fluid flows through the flow tube and through a channel disposed in the mandrel. A cutter block is movably coupled to the body and is responsive to fluid flow from the axial bore through the port in the mandrel.

Abstract: A system includes a drill string to which a sensor is attached, a rotation unit configured to rotate the drill string, and a displacement unit configured to longitudinally displace the drill string. A processor is coupled to the rotation and displacement units. The processor is configured to coordinate sampling, by the sensor, of three-dimensional space surrounding the sensor while rotating and displacing the drill string. The processor is further configured to coordinate adjusting of at least one of drill string rotation and drill string displacement so that acceptable spatial sampling of the space surrounding the sensor is achieved.

Abstract: A rotary steerable drilling system that is operable to drill vertical wellbores and automatically maintain a vertical wellbore drilling path. The system includes a control module for operating solenoid valves that control an amount of fluid pressure applied to bias pad piston/cylinders. The control module is operable to determine when the system is deviating from vertical, in what direction the system is deviating, and where the bias pads are in relation to the direction of deviation. Based on these determinations, the control module actuates the requisite bias pads by controlling the amount of fluid pressure applied to the bias pad piston/cylinders to direct the system back to the vertical drilling path.

Abstract: An underreamer for increasing a diameter of a wellbore. The underreamer may include a body having an axial bore extending at least partially therethrough. An electromagnetic activation system may be disposed at least partially within the bore of the body. A valve may be disposed within the bore of the body and coupled to the electromagnetic activation system. The valve may include a mobile element and a static element. The mobile element may be coupled to the electromagnetic activation system and move from a first position where the mobile element obstructs fluid flow through the valve to a second position where the mobile element permits fluid flow through the valve. A cutter block may be movably coupled to the body and move radially-outward as the mobile element moves from the first position to the second position.

Abstract: A mechanical specific energy downhole drilling assembly having a bottomhole assembly including drill pipe and a drill bit, a weight on bit and torque sub for sensing torque, weight on bit and revolutions per minute of the drill bit; a command and control sub for receiving input from the weight on bit and torque sub for determining instantaneous mechanical specific energy of the downhole drilling assembly and an anti-stall tool responsive to real time mechanical specific energy information from the command and control sub to adjust the weight on the drill bit to maximize rate of penetration of the drill bit.

Abstract: Methods for drilling wells using magnetic ranging while drilling to position the wells with respect to one another are provided. In accordance with one embodiment, a method of drilling a well includes leaving a drill string in position within a primary well, and drilling a secondary well using the drill string as a target for magnetic ranging while drilling such that the secondary well is positioned with a specified orientation relative to the drill string.

Abstract: A drilling apparatus including a drill bit and a nutation device. The drilling apparatus is configured to enable the drill bit to be rotated at a rotation frequency while the nutation device simultaneously nutates the drill bit at a nutation frequency. The nutation device may include a vibrating device for imposing vibrations upon the drilling apparatus at a vibration frequency, thereby causing nutation of the drill bit at the nutation frequency. The drilling apparatus may include a tuning mechanism for tuning the vibration frequency of the vibrating device. A method including rotating a drill bit at a rotation frequency and simultaneously nutating the drill bit at a nutation frequency.

Abstract: Apparatus and method of conducting a drilling operation are provided. One embodiment of the method includes drilling a borehole, predicting a value of a first parameter relating to the drilling of the borehole using a geomechanical model, estimating a value of a second parameter from measurements taken by a sensor, updating the geomechanical model based at least in part on the estimated value of the second parameter, predicting a second value of the first parameter using the updated geomechanical model, and altering a drilling parameter for drilling the borehole based on the predicted second value of the first parameter.

Abstract: Methods and related systems are described for measuring and analyzing refracted acoustic energy. A plurality of receivers mounted are on a downhole tool, and are arranged and adapted to receive refracted acoustic energy from a downhole formation. Measurements of refracted acoustic energy is analyzed such that information relating to an azimuthal direction relative to the downhole tool of an interface within the downhole formation can be estimated. The receivers can be mounted on a drill collar as part of a LWD tool and steering of the drilling trajectory can be based in part on the estimated formation information.

Abstract: A method and system for steering a rotary steerable tool in a borehole. A method includes rotating a deflection sleeve about a steerable shaft. A deflection ramp is aligned to deflect the shaft in a predetermined direction by the rotating. The deflection sleeve is axially displaced along the steerable shaft. The steerable shaft is deflected by the displacing.

Abstract: A remote controlled drilling rig that is fully functional includes a drilling rig, an electrical assembly, and a remote. The drilling rig includes a truck for towing a semi-trailer on which is positioned a derrick and a drilling assembly. The electrical assembly is positioned within the drilling rig and includes a battery for powering components of the drilling rig, in addition to a receiver and circuit board for receiving and processing command signals respectively. The receiver is communicably coupled to a transmitter housed within a casing of the remote. A plurality of controls is used to send input commands to the transmitter, which are in turn transmitted to the receiver in order to control functions of the drilling rig, such as raising and lowering the derrick. A draw-works assembly allows for raising and lowering a traveling block within the derrick by winding and unwinding a drilling cable connected between.

Abstract: An apparatus for use in connection using a drill having a drilling element for forming a borehole in a face of a mine passage includes a drill guide for engaging the drilling element while permitting the drilling element to move toward the face for forming the borehole. The drill guide includes a keeper for keeping the drilling element in a desired position, which keeper is biased for pivoting movement upon the application of a manual force between an active position for capturing the drilling element and a retracted position for releasing the drilling element. A low profile drill guide is also disclosed, as is a guard for a drill guide, and also related methods.