Drilling forces

Shown in Figure 5.19, our MR-compatible bone biopsy robot has two modes of operation tele-operative and autonomous. The system has 5 DOFs (linear, turret, elbow roU, wrist pitch, and penetration) in addition to the drilling joint. The tool is equipped with force sensors to send drilling forces as haptic feedback to the operator. The system allows the surgeon to tele-operatively control the drilling process during the bone biopsy procedure by means of force and vision feedbacks. 

The previous section dealt with application of soft computing techniques for developing predicting models for drilling forces and drilling-induced damage in PMCs. This section... 

Development planning and production are usually based on the expected production profile which depends strongly on the mechanism providing the driving force in the reservoir. The production profile will determine the facilities required and the number and phasing of wells to be drilled. The production profile shown in Figure 1.1 is characterised by three phases ... 

The chemistry of cement slurries is complex. Additives will be used to ensure the slurry remains pumpable long enough at the prevailing downhole pressures and temperatures but sets (hardens) quickly enough to avoid unnecessary delays in the drilling of the next hole section. The cement also has to attain sufficient compressive strength to withstand the forces exerted by the formation over time. A spacer fluid is often pumped ahead of the slurry to clean the borehole of mudcake and thereby achieve a better cement bond between formation and cement. 

Horizontal wells were drilled as far back as the 1950s, but have gained great popularity in the last decade, as lower oil prices have forced companies to strive for technologies which reduce the cost of oil and gas recovery. Horizontal wells have potential advantage over vertical or deviated wells for three main reasons ... 

Osmotic Control. Several oral osmotic systems (OROS) have been developed by the Alza Corporation to allow controUed deHvery of highly water-soluble dmgs. The elementary osmotic pump (94) consists of an osmotic core containing dmg surrounded by a semi-permeable membrane having a laser-drilled deHvery orifice. The system looks like a conventional tablet, yet the outer layer allows only the diffusion of water into the core of the unit. The rate of water diffusion into the system is controUed by the membrane s permeabUity to water and by the osmotic activity of the core. Because the membrane does not expand as water is absorbed, the dmg solution must leave the interior of the tablet through the smaU orifice at the same rate that water enters by osmosis. The osmotic driving force is constant until aU of the dmg is dissolved thus, the osmotic system maintains a constant deHvery rate of dmg until the time of complete dissolution of the dmg. 

The well-documented case of the United States serves as an illustration. During the period 1870 to 1900 the farm population was increased through a rapid expansion of the agricultural area. The agricultural labor force increased by 60 percent, but there was a replacement of labor by nonland capital in the form of horses and mules. New and more efficient types of horse-drawn machinery including plows, cultivars, seed drills, grain harvesters, and mowers became available. 

Despite the forces of wind, waves and ocean currents, at a water depth of. S,000 ft (1,526 in), a dynamic positioning system can reliably keep a drill ship within 50 ft (15.2 m) of the spot directly over the borehole. 

The prime mover is the unit that first converts an energy source into a mechanical force. Typical prime movers are internal combustion motors, gas turbines, water turbines, steam engines and electrical motors. The discussion will be limited to the prime movers that are most used in modern well drilling and production operations. These are internal combustion motors, gas turbine motors and electric motors. 

The derrick or mast must also be designed to withstand wind loads. Wind loads are imposed by the wind acting on the outer and inner surfaces of the open structure. When designing for wind loads, the designer must consider that the drill pipe or other tubulars may be out of the hole and stacked in the structure. This means that there will be loads imposed on the structure by the pipe weight (i.e., setback load) in addition to the additional loads imposed by the wind. The horizontal forces due to wind are counteracted by the lattice structure that is firmly secured to the structure s foundation. Additional support to the structure can be accomplished by the guy lines attached to the structure and to a dead man anchor some distance away from it. The dead man anchor is buried in the ground to firmly support the tension loads in the guy line. The guy lines are pretensioned when attached to the dead man anchor. 

The oil for an oil-base mud can be diesel oil, kerosene, fuel oil, selected crude oil, or mineral oil. There are several requirements for the oil (1) API gravity = 36° - 37°. (2) flash point = 180°F or above, (3) fire point = 200°F or above, and (4) aniline point = 140°F or above. Emulsifiers are more important in oil-base mud than in water-base mud because contamination on the drilling rig is very likely, and it is very detrimental to oil mud. Thinners, on the other hand, are far more important in water-base mud than in oil-base mud oil is dielectric, so there are no interparticle electric forces to be nullified. 

Square drill collars are used to increase the stiffness of the drill string and are recommended for drilling in crooked hole areas. The spiral type of drill collar is used for drilling formations in which the differential pressure can cause sticking of drill collars. The spiral grooves on the drill collar side reduce the area of contact between drill collar and wall, which considerably reduces the sticking force. 

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