Open Source Models
Technical Papers – Drillbotics®
- Steinstø, Magnus, Hånsnar, Gaute, Gjersdal, Benedicte, Pavlov, Alexey, and Fred Florence. “Autonomous Directional Drilling with a Miniature-Scale Research Rig.” Paper presented at the SPE Norway Subsurface Conference, Bergen, Norway, April 2022. doi: https://doi.org/10.2118/209537-MS
- Saavedra Jerez, Luis, Haque, Md Fazlul, Magalhaes, Melissa, Chevuri, Rishyank, Sui, Dan, and Fred Florence. “Autonomous Directional Drilling Using the RSS Simulator for the Drillbotics 2020-2021 Virtual Competition.” Paper presented at the IADC/SPE International Drilling Conference and Exhibition, Galveston, Texas, USA, March 2022. doi: https://doi.org/10.2118/208774-MS
- Akita, E., Dyer, F., Drummond, S., Elkins, M., Duggan, P., Ahmed, R., & Florence, F. (2020, February 25). Directional Drilling Automation Using a Lab-Scale Drilling Rig: SPE University Competition. Society of Petroleum Engineers. doi:10.2118/199640-MS
- Arnø, M., Thuve, A., Knoop, S., Hovda, S., Pavlov, A., & Florence, F. (2019, March 4). Design and Implementation of a Miniature Autonomous Drilling Rig for Drillbotics 2018. Society of Petroleum Engineers. doi:10.2118/194226-MS
- Zarate-Losoya, E., Cunningham, T., El-Sayed, I., Noynaert, S. F., & Florence, F. (2018, March 6). Lab-Scale Drilling Rig Autonomously Mitigates Downhole Dysfunctions and Geohazards Through Bit Design, Control System and Machine Learning. Society of Petroleum Engineers. doi:10.2118/189630-MS
- Bilgesu, H., Cox, Z. D., Elshehabi, T. A., Smith, C., Idowu, G. O., & Florence, F. R. (2017, April 23). A Real-Time Interactive Drill-Off Test Utilizing Artificial Intelligence Algorithm for DSATS Drilling Automation University Competition. Society of Petroleum Engineers. doi:10.2118/185730-MS
- Bavadiya, V. A., Aljubran, M. J., Kibe, J. M., Christy, S. M., Le, H. N., Ahmed, R., & Florence, F. (2015, September 28). Design, Construction and Operation of an Automated Drilling Rig for the DSATS University Competition. Society of Petroleum Engineers. doi:10.2118/174920-MS
- “Drillbotics with Fred Florence and Enrique Losoya.” SPE Podcast Series, 18 August 2020.
- Other Documents
Aadnoy, Bernt S., Mechanics of Drilling, Mannheim: Shaker Verlag GmbH, 2006. ISBN 10: 3832248617 ISBN 13: 9783832248611
Drilling for oil and gas has evolved significantly the past decade. Wells are now drilled in deep water, and some wells reach more than 10 km from production platforms. The equipment is loaded towards its design limits, and, resulting in a high economic risk. The book resolves a number of technical issues that are important to understand for successful drilling of critical wells. Subjects such as buoyancy and effects of wellhead pressures, well friction as drag and torque, and effects of wellbore deviation are presented in detail. Because sticking of drill pipe is a costly drilling problem, one chapter derive equations to analyse these problems, and also defines three different methods to free a stuck drillstring. Mechanistic analyses of pipe stresses and failure is presented, and the book also contains chapters on depth measurement errors, downhole pumps and motors and advanced well control.
Aadnøy, Bernt S.; Cooper, Lain; Miska, Stefan; Mitchell, Robert F; Payne, Michael L (2009). Advanced drilling and well technology.
Abbassian, F. and Dunayevsky, V.A. 1998. Application of Stability Approach to Torsional and Lateral Bit Dynamics. SPE Drilling and Completions, 13 (02): 99–107.
This paper addresses the dynamic stability of poly-crystalline diamond (PDC) bits under induced torsional and lateral vibrations. Dynamic stability is investigated by considering three simple mechanical systems representing string torsional vibration, bit lateral dynamics, and coupled torsional-lateral vibration of the bit-string assembly. For each system, the RPM-WOB domain within which the system is dynamically stable is determined. The influence of various drillstring and bit parameters on the stability of bit motion is studied through their effect on the size of the stability zone on RPM-WOB plots. These illustrate the power of the stability approach in providing valuable qualitative information on the main parameters influencing bit stability.
Alani, Akisanmi, McTiernan. (2015/2016). Drillbotics 2016: Rig Design Principles
Apostal, M.C., Haduch, G.A., et al. 1990. A Study to Determine the Effect of Damping on FiniteElement-Based, Forced Frequency-Response Models for Bottomhole Assembly Vibration Analysis. Presented at the 65th ATCE, New Orleans, LA, September 23-26. SPE-20458-MS.
Azar J, Samuel R, 2007, Drilling Engineering, PennWell Publishing,
Banks, W., & Nash, D. (2003). Pressure equipment techonology: Theory and practice. London: Professional Engineering Publishing.
Bavadiya, V. A., Aljubran, M. J., et al. (2015). Design, Construction and Operation of an Automated Drilling Rig for the DSATS University Competition. SPE-174920-MS.
Bourgoyne, A. T., Millheim, K. K., Chenevert, M. E., & Young, F. S. (1986). Applied drilling engineering.
Breyholtz, O., Nygaard, G. H., Siahaan, H., & Nikolaou, M. (2010, January 1). Managed Pressure Drilling: A multi-level control approach. Society of Petroleum Engineers. doi:10.2118/128151-MS
Burkholder, John. “Unbalanced Drilling · Omni Compressed Air.” Unbalanced Drilling · Omni Compressed Air. OMNI, 2014.
Caceido, H. U., & Calhoun, W. M. (2005). Unique ROP Predictor Using Bit-specific Coefficient of Sliding Friction and Mechanical Efficiency as a Function of Confined Compressive Strength Impacts Drilling Performance. AADE National Technical Conference and Exhibition, (pp. AADE-05-NTCE-60 ). Houston, Texas, USA.
Cayeux, E. (2012). Safe Mud Pump Management while Conditioning Mud:. IFAC Workshop on Automatic Control in Offshore Oil and Gas Production. Trondheim, Norway.
Cayeux, E., Daireaux, B., Dvergsnes, E. W., and Florence, F. Toward Drilling Automation: On the Necessity of Using Sensors That Relate to Physical Models. – June 1, 2014. Society of Petroleum Engineers. doi:10.2118163440-PA.
Cool, W., Gabriel, T., Ramos, D., & Richardson, J., (2015). Design of a High Frequency Torque/Load Sensor for Drilling Operations. The University of Texas at Austin Mechanical Engineering Design Projects Program Final Report.
De Wardt, J. P., Macpherson, J. D., Zamora, M., Dow, B., Hbaieb, S., Macmil-lan, R. A., Anderson, M. W. (2015, March 17). Drilling Systems Automation Roadmap – The Means to Accelerate Adoption. Society of Petroleum Engineers. doi:10.2118/173010-MS
Dodge, D.W. and Metzner, A.B. 1959. Turbulent Flow of non-Newtonian Systems. AIChE Journal 5 (2): 189-204
Drilling Engineering – Heriot Watt University. (2005). Drilling Engineering. In Drilling Engineering (p. S.3 P.20). Edinburgh: Heriot Watt University.
Drilling Formulas. “Understand Pressure Loss (Frictional Pressure) in Drilling System.” Drilling Formulas and Drilling Calculations. N.p., 4 Nov. 2013
Dupriest, F. E. Comprehensive Drill Rate Management Process to Maximize Rate of Penetration. SPE 102210 presented at SPE Annual Technical Conference and Exhibition, San Antonio, USA, 24-27 September 2006
Dupriest, F.E., Keoderitz, W. Maximizing Drill Rates with Real-Time Surveillance of Mechanical Specific Energy, SPE paper No.92194 presented at annual Drilling Conference, Amsterdam, Netherlands, 23-25 February, 2005
Dwars, S. (2015, March 17). Recent Advances in Soft Torque Rotary Systems. Society of Petroleum Engineers. doi:10.2118/173037-MS
Dykstra, M.W., Chen, D.C., et al. 1996.Drillstring Component Mass Imbalance: A Major Source of Downhole Vibrations. SPE Drilling and Completion 11 (4): 234-241. SPE-29350-PA.
Eustes, A. W. The Evolution of Automation in Drilling. – 2007, January 1. Society of Petroleum Engineers. doi:10.2118111125-MS.
Florence, F.R. ; Burks, J. New surface and down-hole sensors needed for oil and gas drilling I2MTC, 2012 IEEE International DOI: 10.1109/I2MTC.2012.6229568, Publication Year: 2012 , Page(s): 670 – 675
Gordetsov, A.A. and Bobyr, M.V. 2014. Top-Drive Drilling Systems: Hydraulic vs Electric. Presented at The All-Russian Youth Scientific Conference, Krasnoyarsk, Russia, 17-19 May.
Hamrick, Todd Robert. “Optimization of Operating Parameters for Minimum Mechanical Specific Energy in Drilling.” Thesis. West Virginia University, 2011. Print.
Han, G; M, Bruno; K, Lao, „Dynamically Modelling Rock Failure in Percussion Drilling,“ in The 40th U.S. Symposium on Rock Mechanics (USRMS): Rock Mechanics for Energy, Mineral and Infrastructure Development in the Northern Regions, Anchorage, Alaska, 2005.
Irvine, T. 1999. The Steady-State Response of a Single-Degree-of-Freedom-System Subjected to a Harmonic Force. Vibrationdata.com. Accessed October, 2015.
Iversen, F., Gressgard, L. J., Thorogood, J., Balov, M. K., and Hepso, V. Drilling Automation: Potential for Human Error. – Society of Petroleum Engineers. doi:10.2118151474-PA. March 1, 2013.
Jansen, J.D. 1992. Whirl and Chaotic Motion of Stabilized Drill Collars. SPE Drilling Eng. 07 (02): 107114. SPE-20930-PA.
Kaber, David B. & Mica R. Endsley (1999). The effects of level of automation and adaptive automation on human performance, situation awareness and work-load in a dynamic control task. Theoretical Issues in Ergonomics Science ISSN 1463922X. doi:10.1080/1463922021000054335
Kahraman, S., N. Bilgin und C. Feridunoglu, „Dominant rock properties affecting the penetration rate of percussive drills,“ International Journal of Rock Mechanics & Mining Sciences, pp. 711-723, 12 04 2003.
Lake, Larry W., and John R. Fanchi. Petroleum Engineering Handbook. Richardson, TX: Society of Petroleum Engineers, 2006. Print.
Li, X., Rupert, G., Summers, D.A., Santi, P. and Liu, D.: “Analysis of Impact Hammer Rebound to Estimate Rock Drillability,” Rock Mechanics and Rock Engineering (2000) 33, 1-13
Luger, George F., and William A. Stubblefield. Artificial Intelligence: Structures and Strategies for Complex Problem Solving. Redwood City, CA: Benjamin/Cummings Pub., 1993. Print
Lutz, J., Raynaud, M., et al. (1972). Instantaneous Logging Based on a Dynamic Theory of Drilling. Journal of Petroleum Technology. June 1972 edition.
Lyons, W.C., Guo, B. and Seidel, F.A.: Air and Gas Drilling Manual, McGraw-Hill (2001)
Macpherson, J. D., de Wardt, J. P., Florence, F., Chapman, C. D., Zamora, M., Laing, M. L., & Iversen, F. P. (2013, September 30). Drilling Systems Au-tomation: Current State, Initiatives and Potential Impact. Society of Petroleum Engineers. doi:10.2118/166263MS
McKinnon, K.I.M., “Convergence of the Nelder–Mead Simplex Method to a Nonstationary Point.” Society for Industrial and Applied Mathematics.DOI:10.1137/S1052623496303482.
This paper analyzes the behavior of the Nelder–Mead simplex method for a family of examples which cause the method to converge to a nonstationary point. All the examples use continuous functions of two variables. The family of functions contains strictly convex functions with up to three continuous derivatives. In all the examples the method repeatedly applies the inside contraction step with the best vertex remaining fixed. The simplices tend to a straight line which is orthogonal to the steepest descent direction. It is shown that this behavior cannot occur for functions with more than three continuous derivatives. The stability of the examples is analyzed.
Mirani, A., Samuel, R., 2015, Discrete Vibration Stability Analysis with HydroMechanical Specific Energy, OMAE2015-41477, prepared for ASME 2015 34th International Conference on Ocean, Offshore & Arctic Engineering, OMAE 2015, Newfoundland, Canada. May 31st-5th June, 2015.
Moore, P.L., Drilling Practices Manual, Bd. 2nd Edition, Texas: PennWell Publishing Company, 1986.
Motahhari, H.R., Hareland, G., Nygaard, R., and Bond, B. 2009. Method of Optimizing Motor and Bit Performance for Maximum ROP. Journal of Canadian Petroleum Technology, 48 (6): 1–6.
Pavone, D.R. and Desplans, J.P. 1994. Application of High Sampling Rate Downhole Measurements for Analysis and Cure of Stick-Slip in Drilling. Presented at the SPE Annual Technical Conference and Exhibition, New Orleans, Louisiana, 25-28 September. SPE-28324-MS.
Pessier, R. C., & Fear, M. J. (1992). Quantifying Common Drilling Problems With Mechanical Specific Energy and a Bit-Specific Coefficient of Sliding Friction. SPE Annual Technical Conference and Exhibition, (pp. SPE-24584-MS). Washington, USA.
Rector, J. W., Marion, B. B. (1991). The use of drill bit energy as a downhole seismic source. Geophysics 56(5): 628-634.
Rudat, J. and Dashevskiy, D. 2011. Development of an Innovative Model-Based Stick/Slip Control System. Presented at SPE/IADC Drilling Conference and Exhibition, Amsterdam, Netherland, 1-3 March. SPE-139996-MS.
Samuel R, 2007, Downhole Drilling Tools, Gulf Publishing Co
Schlumberger Drilling and Measurements. (2010). Drillstring Vibrations and Vibration Modelling. Retrieved December 9, 2016, from https://www.slb.com/~/media/Files/drilling/brochures/drilling_opt/drillstring_vib_br.pdf
Tapjan, R. and Kverneland, H. 2010. Hydraulic vs electrical rig designs: pros and cons on floater heave compensation systems. Drilling Contractor, 8 September 2010, http://www.drillingcontractor.org/hydraulic-vs-electrical-rig-designs-pros-and-cons-on-floaterheave-compensation-systems-6843 (accessed 21 November 2014).
Teale, R. The Concept of Specific Energy in Rock Drilling, Intl. J. Rock Mech. Mining Sci. (1965) 2, 57-73
Thorogood, J., Aldred, W. D., Florence, F., and Iversen, F. Drilling Automation: Technologies, Terminology, and Parallels With Other Industries. – 2010, Society of Petroleum Engineers. doi:10.2118119884-PA.
Vandiver, J.K., Nichoison, J.W., et al.1990. Case Studies of the Bending Vibration and Whirling motion of Drill Collars. Presented at SPE/IADC Drilling Conference, New Orleans, Louisiana, 28 February-3 March. SPE-18652-MS.
Zhou, S., Yu, H., Hu, M. et al. 2012. Design of permanent magnet eddy current brake for a small scaled electromagnetic launch model. J. Appl. Phys. 111(7): 07A738-1-07A738-3.