Abstract: A device for limiting the flow of drilling fluid through a section of drill string is described. The device includes a cylindrical tube with holes in its periphery. Flow enters the device through an upper end of the tube and a portion of the flow exits through the lower end of the tube. In addition, some of the flow is diverted through the peripheral holes. A valve piston is supported near the lower end of the tube by a spring of approximately constant force through its range of travel. The valve piston moves axially as the flow rate through the tube changes flow rate to ensure that a substantially constant amount of flow exits through the lower end, while the excess flow is diverted from the tube through the peripheral holes. A means of damping or stopping the axial movement of the valve piston is included in the device.

Abstract: An electromagnetic induction tool and method. The electromagnetic induction tool may comprise a tool body, a gap sub may separate different sections of the tool body and may be positioned to at least partially hinder the flow of an axial current and an azimuthal current on the tool body. A coil antenna may be disposed over the gap sub. A method of increasing an electromagnetic field may comprise providing an electromagnetic induction tool. The electromagnetic induction tool may comprise a tool body, a gap sub may separate different sections of the tool body and may be positioned to at least partially hinder flow of an axial current and an azimuthal current on the tool body. A coil antenna may be disposed over the gap sub. The method may further comprise placing the electromagnetic induction tool into a wellbore and operating the coil antenna.

Abstract: A method for determining a rate of penetration of a drill bit during an earth drilling operation may comprise first urging an element to extend out from a working face of the drill bit. As drilling progresses, this extended element may then be forced back into the drill bit by an internal surface of a borehole being formed. A rate at which the element retracts back into the working face may be measured to aid in estimating a rate of penetration of the drill bit into the earth.

Abstract: A method for reducing vibrations in a drill tubular coupled to a drill bit configured to drill a borehole in a formation includes: constructing a model of a system having the drill tubular, the model having a mass distribution, a stiffness, and/or a damping of the drill tubular; and calculating a plurality of modes using the model. The method also includes increasing an effective damping of the drill tubular for the plurality of modes by modifying at least one of the mass distribution, the stiffness, and the damping of the drill tubular using a predefined damping criterion, wherein the predefined damping criterion includes a ratio, the ratio having a deflection at the drill bit of at least one mode in the plurality and an eigenfrequency of the at least one mode in the plurality, wherein the deflection at the drill bit is raised to a power other than one.

Abstract: A downhole sensor includes a sensor housing with one or more of a pressure sensor or a temperature sensor. A cable segment having a conductor is coupled to the sensor housing. A spacer or retention element is coupled to or secured to at least a portion of the conductor at a location proximate an interface between the cable segment and the sensor housing. Downhole sensor arrays include such sensor housings. Methods relate to forming such sensor arrays.

Abstract: A method of recognizing input data includes determining a feature vector corresponding to an ensemble model from input data, based on the ensemble model, and recognizing the input data based on the feature vector. The ensemble model includes a first model and a second model having a structure that is the same as a structure of the first model.

Abstract: The present invention discloses an ultrasonic wellbore anti-collision monitoring system, comprising a downhole ultrasonic monitoring device and a ground control system, wherein the ultrasonic monitoring device includes a cylindrical body, at least three centralizers are fixed on the cylindrical body at an equal interval, the mounting groove 1 is cut into the cylindrical body surface between two adjacent centralizers, one electrically controlled expansion device is installed in the groove 1 and includes electric push rods placed horizontally and a ribbed plate perpendicular to the electric push rods, the bottom ends of the electric push rods are fixedly connected to the bottom surface of the mounting groove, the front ends of the electric push rods are connected with the ribbed plate, the mounting groove 2 is cut into the ribbed plate, and one ultrasonic transducer is installed in the groove 2.

Abstract: A system for drilling one or more boreholes in a face of a mine passage including markers attached to the mine passage. A drilling machine includes one or more drills for drilling the one or more boreholes, and a first sensor for sensing a position of the markers. Based on the sensed position of the at least two markers, a computer determines: (i) a survey vector generally parallel to the line; and (ii) a face plane generally orthogonal to the survey vector and coincident with a location where the survey vector intersects the face. A controller may be provided for automatically controlling the feeding of the drill(s) based on the location of the face plane and the back plane to form the boreholes in the face. A back plane may also be determined to ensure that all boreholes are drilled to a corresponding depth. Related methods are also disclosed.

Abstract: The invention relates to a system and method for estimating global rig state. The system comprises a model incorporating multiple variables related to rig state, at least one camera operably connected to at least one processor wherein said camera is capable of gathering visual data regarding at least one variable of rig state and said processor is capable of compiling rig state data, estimating global rig state, or both. The system further comprises multiple sensors for measuring variables related to global rig state wherein said sensors are operably connected to said processor. The method comprises sensing various aspects of the rig state, collecting visual data corresponding with said sensor data, compiling multiple sources of rig data, and estimating the overall rig state.

Abstract: Drill bits and methods relating thereto are disclosed. In an embodiment, the drill bit includes a body having a plurality of legs each having a lower section that has a leading surface and a trailing surface. A plurality of cone cutters are each rotatably mounted to the lower section of one of the legs, each having a cone axis, and including a first plurality of cutter elements arranged about the cone axis such that each is shear the formation when the body is rotated about the bit axis.

Abstract: Systems and methods for mitigating vibration in downhole strings are described. The methods include obtaining first and second load measurements of first and second loads during a drilling operation and creating first and second load measurement data, with first and second load sensors separated by a sensor distance. First and/or second representative values of the first and second loads are determined form the first and second load measurement data and the sensor distance. The determined representative value(s) are compared against respective load limit(s) and a vibration mitigation operation is performed in response to the determined representative value(s) equaling or exceeding the respective load limit.

Abstract: A subassembly for a bottom hole assembly of a drill string, the subassembly comprising: a tubular portion having a wall for supporting one or more sensors and an inner surface defining a longitudinal bore; a probe assembly comprising a main body, the probe assembly being removably located in the bore and positioned such that a flow channel for drilling fluid is defined between the inner surface of the tubular portion and the probe assembly. A power link for transferring electrical power between the probe assembly and a sensor supported by the tubular portion.

Abstract: A system and method for operating a mud motor in a wellbore. The method includes running the mud motor into the wellbore. A threshold rate of a pressure increase over time is selected. A rate of a pressure increase over time is measured across the mud motor in the wellbore. A flow rate of a fluid being pumped into the wellbore is varied when the measured rate is greater than or equal to the threshold rate.

Abstract: Tubular wear volume is determined using adjustable wear factors. The wear factors are applied as a function of the side force factor, friction factor, and/or temperature factor. The adjusted wear factors are then used to determine the tubular wear volume.

Abstract: An active downhole antenna located in a borehole receives electromagnetic (EM) telemetry transmissions from sources in adjacent boreholes. The antenna comprises a processor operable do decode and measure signal to noise ratio of received transmissions. Data received at the active antenna is transmitted to surface using a high-speed data communication network. The active antenna may handle data communications from multiple downhole EM telemetry transmitters.

Abstract: Computer vision drilling systems and methods may be used with a drilling rig. The computer vision systems and methods may be used during drilling of a well to monitor the drilling equipment and personnel on the drilling site to provide safer drilling operations. The results from the computer vision drilling system may be used to cause corrective actions to be performed if a safety condition arises. In addition, computer vision systems and methods are provided to automatically monitor the drilling site and drilling operations, such as by tallying pipe in the drill string and by monitoring equipment for anomalous drilling conditions, and automatically taking corrective action as may be needed.

Abstract: Systems and methods for identifying a diameter of a sampling point on a pipe within an aspirated smoke detector system are provided. Such systems and methods may include a clip having a body portion configured to circumscribe a surface of a circumference of a pipe, an opening defined by, extending through, and surrounded by the body portion, and size indicating indicia affixed to the body portion that visually identifies a size of the opening.

Abstract: A system, method, and a computer program configured to perform a method for processing drilling data. The method includes transmitting a signal with a telemetry tool to a computer processor. The method includes applying a plurality of predetermined templates to the signal. The method also includes applying a plurality of first filters to the transmitted signal. The method also includes applying one or more second, adjustable filters to the transmitted signal and to the plurality of predetermined templates. The method also includes decoding the transmitted signal based on the best match between a) two or more of the plurality of predetermined templates, and b) the transmitted signal, wherein the two or more of the plurality of predetermined templates and the transmitted signal are processed through the same adjustable filter of the one or more second, adjustable filters.

Abstract: Aspects of the disclosure can relate to a system including an implement (e.g., a steering tool, a drill bit) tetherable to an equipment string (e.g., a drill string), where the implement includes a steering mechanism to steer the equipment string with respect to a wall of a tubular passage (e.g., a borehole). The system can also include a bearing housing for the equipment string (e.g., connectable to a drill pipe of the drill string), where the bearing housing is rotationally coupled with the implement and rotated. The system can further include an actuation mechanism coupleable between the bearing housing and the steering mechanism to actuate the steering mechanism based upon a rotational orientation of the bearing housing with respect to the steering mechanism.

Abstract: A method for controlling an automatic drilling system includes measuring at least one drilling operating parameter applied to a drill string disposed in a wellbore when the drill string is suspended above the bottom of a wellbore. The drill string is lowered to drill the wellbore when the wellbore. At least one relationship is established between the at least one measured drilling operating parameter and corresponding values of a drilling response parameter at the surface and at the bottom of the drill string. A value of a rate of penetration parameter at surface is selected to operate the automatic drilling system so as to optimize a rate of penetration parameter at the bottom of the drill string.

Abstract: The service life of a packer element, an annular BOP, is estimated using one pressure sensor below the elastomer seal or two pressure sensors positioned above and below the elastomer seal. The pressure variations below the elastomer are monitored versus piston position and used to detect elastomer wear with time/pressure cycles. The pressure variations above the elastomer can be used to detect potential leakage, as well as leak characteristics such as leaking rate or leak geometry.

Abstract: A device for securing a data carrier to a tool holder is disclosed. In order to allow the data carrier to be easily secured to the tool holder in a reliable and permanent manner, the device includes a sleeve-shaped main body which has, at a first end, at least one projection projecting radially inwards and has, in the region of a second end opposite the first end, at least one projection projecting radially outwards.

Abstract: There is described a method of controlling a drilling operation. A pipe joint is determined to be entering a rotating control device (RCD). In response to determining that the pipe joint is entering the RCD, a weight-on-bit (WOB) setpoint is increased so as to increase a measured WOB. After increasing the WOB setpoint, the pipe joint is determined to be exiting the RCD. In response to determining that the pipe joint is exiting the RCD, the WOB setpoint is decreased so as to decrease the measured WOB.

Abstract: An apparatus for transmitting and/or receiving energy in a borehole penetrating a subsurface formation includes a tubular assembly having a tubing mandrel and a sleeve at least partially surrounding a circumference of the tubing mandrel, wherein the tubing mandrel includes a cavity and the sleeve defines at least a portion of an opening over the cavity. The apparatus also includes a transducer assembly disposed in the cavity and configured for transmitting and/or receiving the energy, wherein the transducer assembly upon relative movement of the tubing mandrel with respect to the sleeve is displaced radially.

Abstract: Technologies related to training machine-learning-based surrogate models for phase equilibria calculations are disclosed. In one implementation, an equation of state (EOS) for each of one or more regions of a reservoir is determined based on results of one or more pressure, volume, or temperature (PVT) experiments conducted on samples of downhole fluids obtained from one or more regions of the reservoir. Compositions of the samples of the downhole fluids are determined and spatially mapped based on interpolations between the one or more regions of the reservoir. One or more PVT experiments are simulated for the spatially mapped compositions of the downhole fluids using the determined EOS to create a compositional database of the reservoir. One or more machine-learning algorithms are trained using the compositional database, and the trained one or more machine-learning algorithms are used to predict phase stability and perform flash calculations for compositional reservoir simulation.

Abstract: A method of predicting behavior of a drilling assembly includes: generating a mathematical representation of a geometry of each of a plurality of components of a drilling assembly, the plurality of components including a plurality of cutters and one or more additional components configured to at least one of: support the plurality of cutters and operably connect the plurality of cutters to the drill string, the one or more additional components including a drill bit crown; simulating one or more operating conditions incident on the drilling assembly representation, and simulating an interaction between the plurality of components and an earth formation; and predicting physical responses of the drilling assembly representation to the one or more conditions.

Abstract: Methods and apparatus identify downhole equipment and correlate input data with the equipment to improve planning and/or inventory operations. For some embodiments, oilfield equipment or tubular goods such as drill pipe include a shaped recess along an outer circumference for receiving a tag cartridge by shrink fitting. Once tagged, detector system configurations at pipe yards may facilitate logging the presence and location of each drill pipe and correlating specific data, such as inspection data, to each drill pipe. Further, this correlation populates a database utilized to achieve other business functions such as forecasting number of additional drill pipe needed to purchase, invoicing customers according to actual tracked wear/use of the drill pipe being returned, and providing well or job specific drill string population using known history pipe joints.

Abstract: A system for drilling to a position relative to a geological boundary in a geological formation includes a sensor pack for sensing parameters associated with a drilling operation carried out in the geological formation by a drill. A data storage module stores a geological model of the geological formation and data relating to the sensed parameters, including data relating to the geological boundary. A processor module monitors the drilling operation using the sensed parameters data to locate the position of a drill bit of the drill in the geological formation and its corresponding position within the geological model. The processor module generates an end point at a defined position relative to the geological boundary. A drill controller communicates with the processor module, the drill controller controlling operation of the drill to cause the drill to cease drilling when the end point has been reached.

Abstract: Methods and devices for the execution of core drillings in a material by a drilling unit, which makes use of a drill bit, and such drill bits that are made up of a hollow cylindrical core barrel, which has an end plate at its rear end and abrasion elements, which serve the abrasion of material, at the front end as well as at least two high-pressure jet nozzles, which can be connected with a high-pressure source of a blasting medium. The high-pressure jet nozzles are arranged on the inner surface of the core barrel and/or its end plate and are oriented into the inside of the core barrel. As a result of a combined forward motion and rotation of the drill bit, a drilling core is formed from which an abrasion takes place by means of the blasting medium, whereby overburden is removed from the drill bit.

Abstract: Provided is a tunnel boring machine that can detect a wear condition of a disc cutter with a highly reliable configuration. The tunnel boring machine includes a measurement device. The measurement device is disposed behind the disc cutter mounted on a cutter head. The measurement device has a function as an acquisition unit that acquires cutting edge position data indicating a position of a cutting edge part of a cutter ring in the disc cutter. The tunnel boring machine further includes a DC discrimination unit that discriminates which one of a plurality of disc cutters is the disc cutter the cutting edge position data of which is acquired by the measurement device and a wear amount calculator that calculates a wear amount of the cutting edge part of the discriminated disc cutter.

Abstract: A marine riser component which has an integrated fatigue damage sensor in which the sensor is adapted to be damaged by stresses and strains applied to the marine riser component, and is adapted to record said damage on the sensor. The sensor is optionally integrated into the body of the marine riser component in a location on the component that transmits fatigue loads to the sensor at a known stress concentration factor, optionally in a recess on the body, for example, in a closed recess on an outer surface of the marine riser component.

Abstract: A method for injecting a controlled volume of liquid into a system having at least one liquid injection point includes inputting into a controller pressure measurements made at at least one position from a liquid storage device and the at least one injection point. The controller automatically causes a liquid injector to inject the liquid for a time duration corresponding to a predetermined liquid volume. The time duration is adjusted in relation to the measurements of pressure.

Abstract: A method for measuring asphaltene content of a crude oil is provided. In one embodiment, the method includes measuring an optical density of a live crude oil within a well and calculating a formation volume factor of the live crude oil based on the measured optical density. The method also includes determining asphaltene content of the live crude oil based on the measured optical density and the calculated formation volume factor of the live crude oil. Additional methods, systems, and devices are also disclosed.

Abstract: A sensor is configured to sense a deflection angle and to transmit a second signal representing the sensed deflection angle to a downhole control unit. The downhole control unit is configured receive signals from at least the sensor. An adjustable bent sub assembly is mechanically coupled to the power section. The adjustable bent sub assembly is configured to, while the downhole motor is in the wellbore, adjust the deflection angle to the desired deflection angle. A biasing mechanism is communicatively coupled to the downhole control unit and mechanically coupled to the adjustable bent sub assembly. The biasing mechanism is configured to, while the downhole motor is in the wellbore, actuate the adjustable bent sub assembly responsive to the downhole control unit. A locking mechanism is coupled to the adjustable bent sub assembly. The locking mechanism is configured to lock the desired deflection angle.

Abstract: Downhole ranging from multiple wellbores. In one example, multiple transmitters and multiple receivers are disposed in multiple wellbores to exchange electromagnetic signals. By implementing a full compensation technique, a computer system determines multiple compensated signals. A compensated signal is determined from a signal received from a first wellbore and a second signal received from a second wellbore. In another example, a first transmitter is disposed in a first wellbore, a first receiver is disposed in a second wellbore, and either a second transmitter or a second receiver is disposed in either the first wellbore or the second wellbore. By implementing partial compensation techniques, a computer system determines compensated signals. Using the compensated signals, the computer system determines a position of a first wellbore relative to a second wellbore, and provides the position.

Abstract: Methods and apparatus suitable for quickly and accurately measuring 13C levels and supporting data in an aqueous fluid reservoir. Interpreting the resulting data to indicate key factors regarding a reservoir and completion methods, including reservoir constraint, gas producibility, and completion success. A sensor and to a sensing method that evaluates the level of hydrologic constraint in aquifers occurring in unconventional reservoirs, such as shales and coals is disclosed. Specifically, Raman spectroscopy is disclosed as a sensor and a sensing method that measures the level of naturally-occurring 13C in an aqueous reservoir and compares the level of 13C to the levels typical for highly constrained and highly unconstrained reservoirs. The disclosed sensor and sensing method also monitors the level of naturally-occurring 13C in a reservoir. Also disclosed is a method of using ?13CDic to evaluate geographic areas of coal bed reservoir water having biologic methanogenic activity.

Abstract: An embodiment of a method of predicting a location of one or more features of an earth formation during a downhole operation includes acquiring reference data and identifying one or more reference data sections, each reference data section corresponding to a feature of interest and having an associated depth or depth interval, deploying a drilling assembly and drilling a target borehole in the earth formation, and performing measurements during the operation by a downhole measurement device to generate measurement data. The method also includes performing one or more correlations of the one or more measurement data sections with one or more reference data sections; and predicting at least one of a depth of a subsequent feature of interest located beyond a current carrier depth and a point in time of a future event associated with the subsequent feature of interest based on the correlation.

Abstract: A method includes operating a downhole acquisition tool in a wellbore in a geological formation. The wellbore or the geological formation, or both, contain a reservoir fluid. The method also includes receiving a portion of the reservoir fluid into the downhole acquisition tool and performing downhole fluid analysis using the downhole acquisition tool in the wellbore to determine at least one measurement associated with the portion of the reservoir fluid. The at least one measurement includes fluid density, optical density, or both. The method also includes using a processor of the downhole acquisition tool to obtain compressibility of the reservoir fluid based at least in part on the fluid density, the optical density, or both and determining a composition of the reservoir fluid based at least in part on the compressibility.

Abstract: A smart legend groups plot lines that reflect the same type of drill string analysis. The smart legend includes parent level legend entries, each parent level legend entry including child level legend entries. The child level legend entries for a given parent level legend entry correspond to plot lines that reflect a particular type of drill string analysis. Each child level legend entry corresponds to a plot line that reflects the particular drill string analysis performed over a different depth range. This allows users easily to view and compare the analyses at the different drilling depth ranges.

Abstract: Methods and systems for controlling a drilling operation based on an MSE value calculated for a depth increment are disclosed herein. In an exemplary method, drilling parameters characterizing a drilling operation in a subterranean formation are received in a control system. The drilling parameters are used by the control system to calculate a depth-based mechanical specific energy (MSE) based on some amount of energy expended by at least a portion of a drilling assembly while drilling at least one identified depth sub-interval of a depth interval of a subterranean formation. The control system uses the calculated depth-based MSE to control the drilling operation.

Abstract: A data logger comprises a mainboard and a jacketing, wherein the mainboard is covered with the jacketing, wherein the data logger is capable to be carried by said drilling fluid traveled in borehole, wherein the data in borehole is collected by the mainboard of the data logger during traveling.

Abstract: A method of monitoring a longwall shearing mining machine in a longwall mining system, wherein the shearing mining machine includes a shearer having a first cutter drum and a second cutter drum, includes receiving, by a processor, shearer position data over a shear cycle. The horizon profile data includes information regarding at least one of the group comprising of a position and angle of the shearer, a position of the first cutter drum, and a position of the second cutter drum. The method also includes analyzing the shearer position data, by the processor, to determine whether a position failure occurred during the shear cycle based on whether the computed horizon profile data was within normal operational parameters during the shear cycle, and generating an alert upon determining that the position failure occurred during the shear cycle.

Abstract: Downhole drilling tools designed and manufactured to minimize or reduce imbalance forces and wear by disposing cutting elements in cutter groups and cutter sets in a level of force balance and by placing impact and/or wear resistant cutters on blades subject to high impact forces and/or large loadings. Manufacturing costs may be reduced by placing inexpensive cutters on blades not subject to high impact forces and/or loadings. Some embodiments comprise designing downhole tools with combinations of thicker blades to receive high impact forces and/or loadings with thinner blades. Some embodiments comprise designing downhole drilling tools with optimized fluid-flow properties. Designing methods may comprise performing simulations on a designed tool, evaluating respective forces acting on cutters during simulated engagement with a downhole (uniform and transitional) and/or evaluating wear on cutters and bit, and/or CFD simulations to evaluate fluid-flow optimization on a tool.

Abstract: A system for wirelessly monitoring well conditions includes a set of wireless transceivers placed along a drill string inside a well, each transceiver placed within at least half the maximum distance that each transceiver can transmit data, and a power generator attached to each transceiver that powers the respective transceiver, the power generator including a first material that is of one polarity and a second material that is fixed in position and is of opposite polarity of the first material, wherein the first material is propelled toward the second material based on the motion of the power generator so that the two materials have a maximized point of contact to generate maximum power. The wireless transceivers may communicate using any wireless communication technology, including but not limited to Wi-Fi, Wi-Fi Direct, and BLE.

Abstract: A method is provided for type-specific operating of an electric drive unit, wherein the drive unit is configured for coupling and driving a tool unit selected from a set of different types of tool units. The set includes at least one rotatory tool unit and at least one non-rotatory tool unit. The method includes: driving of a coupled tool unit by the drive unit; identifying operating data of the drive unit during the driving procedure; determining, based on the identified operating data, whether the coupled tool unit is a rotatory tool unit or a non-rotatory tool unit; and controlling the drive unit in a rotation control mode if the coupled tool unit is determined to be a rotatory tool unit, or in a non-rotation control mode if the coupled tool unit is determined to be a non-rotatory tool unit.

Abstract: The present disclosure provides a device for power transmission and signal transfer between the stator and the rotor of a screw drilling tool. The present disclosure can replace the wireless communication technique between the rotary steering tool and the integrated MWD/LWD, omit the upper mud generator above the rotary steering tool, and thereby realize power transmission and signal transfer between the stator and the rotor of the screw drilling tool.

Abstract: A system for wirelessly monitoring well conditions includes a set of wireless transceivers placed along a drill string inside a well, each transceiver placed within at least half the maximum distance that each transceiver can transmit data, and a power generator attached to each transceiver that powers the respective transceiver, the power generator including a first material that is of one polarity and a second material that is fixed in position and is of opposite polarity of the first material, wherein the first material is propelled toward the second material based on the motion of the power generator so that the two materials have a maximized point of contact to generate maximum power. The wireless transceivers may communicate using any wireless communication technology, including but not limited to Wi-Fi, Wi-Fi Direct, and BLE.

Abstract: A subassembly for a bottom hole assembly of a drill string, the subassembly comprising: a tubular portion having a wall for supporting one or more sensors and an inner surface defining a longitudinal bore; a probe assembly comprising a main body, the probe assembly being removably located in the bore and positioned such that a flow channel for drilling fluid is defined between the inner surface of the tubular portion and the probe assembly. A communications link for data transfer between the probe assembly and a sensor supported by the tubular portion.

Abstract: A tubular has a central axis and includes a first end, a second end, and a radially outer surface extending axially from the first end to the second end. In addition, the tubular includes a first end section at the first end, a second end section at the second end, and a mid-section extending axially from the first end section to the second end section. The first end section includes a first threaded portion and the second end section includes a second threaded portion. Further, the tubular includes an elongate recess extending radially inward from the radially outer surface. The elongate linear recess is positioned along the mid-section axially between the first threaded portion and the second threaded portion. The elongate linear recess has a longitudinal axis oriented parallel to the central axis of the tubular. The tubular also includes an elongate RFID tag seated in the elongate recess.

Abstract: A method for wellbore directional drilling includes selecting a starting and stopping spatial position of at least one portion of the wellbore. A sequence of sliding and rotary drilling operations within the portion is determined to calculate a wellbore trajectory. The sequence has at least one drilling operating parameter. The operations include a constraint on the drilling operating parameter or the calculated trajectory. The calculated trajectory includes a projected steering response of a steerable motor in response to the at least one drilling operating parameter. Drilling the portion of the wellbore is started. A spatial position of the wellbore during drilling is determined at at least one point intermediate the starting and stopping positions. Using a relationship between the projected steering response and the drilling operating parameter, the drilling parameter and/or the constraint are adjusted based on the measured spatial position and the stopping spatial position.