International Science Index


A Method of Drilling a Ground Using a Robotic Arm

Abstract:Underground tunnel face bolting and pipe umbrella reinforcement are one of the most challenging tasks in construction whether industrial or not, and infrastructures such as roads or pipelines. It is one of the first sectors of economic activity in the world. Through a variety of soil and rock, a cyclic Conventional Tunneling Method (CTM) remains the best one for projects with highly variable ground conditions or shapes. CTM is the only alternative for the renovation of existing tunnels and creating emergency exit. During the drilling process, a wide variety of non-desired vibrations may arise, and a method using a robot arm is proposed. The main kinds of drilling through vibration here is the bit-bouncing phenomenon (resonant axial vibration). Hence, assisting the task by a robot arm may play an important role on drilling performances and security. We propose to control the axial-vibration phenomenon along the drillstring at a practical resonant frequency, and embed a Resonant Sonic Drilling Head (RSDH) as a robot end effector for drilling. Many questionable industry drilling criteria and stability are discussed in this paper.
[1] B. Maidl, L. Schmid, W. Ritz, and M. Herrenknecht, Hardrock tunnel boring machines. John Wiley Sons, 2008.
[2] P. A. Lucon, Resonance: the science behind the art of sonic drilling. PhD thesis, Montana State University - Bozeman, 2013.
[3] A. W. Leissa and M. S. Qatu, Vibrations of Continuous Systems. McGraw-Hill, 2011.
[4] A. Shabana, Vibration of discrete and continuous systems. Springer Science Business Media, 2012.
[5] X. Li, Observation et commande de quelques systmes paramtres distribus. PhD thesis, Universit Claude Bernard-Lyon I, 2009.
[6] J. Valein, Stabilit de quelques problmes d?volution. PhD thesis, Valenciennes, 2008.
[7] L. Benchikh, D. Perpezat, L. BEJI, and S. CASCARINO, Method of drilling a ground using a robotic arm, Jan. 14, 2016. WO Patent App. PCT/FR2015/051,884.
[8] M. B. S. Mrquez, I. Boussaada, H. Mounier, and S.-I. Niculescu, Analysis and Control of Oilwell Drilling Vibrations : A Time-delay Systems Approach. Springer, 2015.
[9] B. Saldivar, I. Boussaada, H. Mounier, S. Mondie, and S.-I. Niculescu, An overview on the modeling of oilwell drilling vibrations, in World Congress, vol. 19, pp. 5169-5174, 2014.
[10] E. M. Navarro-Lpez and D. Corts, Sliding-mode control of a multi-dof oilwell drillstring with stick-slip oscillations, in American Control Conference, 2007. ACC’07, pp. 3837-3842, IEEE, 2007.
[11] T. Knppel, F. Woittennek, I. Boussaada, H. Mounier, and S.-I. Niculescu, Flatness-based control for a non-linear spatially distributed model of a drilling system, in Low-Complexity Controllers for Time-Delay Systems, pp. 205?218, Springer, 2014.
[12] G. Halsey, A. Kyllingstad, A. Kylling, et al., Torque feedback used to cure slip-stick motion, in SPE Annual Technical Conference and Exhibition, Society of Petroleum Engineers, 1988.
[13] P. Sananikone, Method and apparatus for determining the torque applied to a drillstring at the surface, Apr. 27 1993. US Patent 5, 205,163.
[14] D. Pavone, J. Desplans, et al., Application of high sampling rate downhole measurements for analysis and cure of stick-slip in drilling, in SPE Annual Technical Conference and Exhibition, Society of Petroleum Engineers, 1994.
[15] J. Jansen and L. Van den Steen, Active damping of self-excited torsional vibrations in oil well drillstrings, Journal of sound and vibration, vol. 179, no. 4, pp. 647-668, 1995.
[16] Serrarens, M. Van de Molengraft, J. Kok, and L. Van den Steen, H∞ control for suppressing stick-slip in oil well drillstrings, Control Systems, IEEE, vol. 18, no. 2, pp. 1930-1998.
[17] C. Canudas-de Wit, M. A. Corchero, F. R. Rubio, and E. Navarro-Lpez, D-oskil : A new mechanism for suppressing stick-slip in oil well drillstrings, in Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC?05. 44th IEEE Conference on, pp. 8260-8265, IEEE, 2005.
[18] M. E. Cobern, M. E. Wassell, and I. APS Technology, Laboratory testing of an active drilling vibration monitoring and control system, in AADE National Technical Conference and Exhibition, 2005.
[19] H. Puebla and J. Alvarez-Ramirez, Suppression of stick-slip in drillstrings : A control approach based on modeling error compensation, Journal of Sound and Vibration, vol. 310, no. 4, pp. 881-901, 2008.
[20] N. Challamel, Rock destruction effect on the stability of a drilling structure, Journal of Sound and Vibration, vol. 233, no. 2, pp. 235-254, 2000.
[21] M. B. Saldivar, S. Mondi, J.-J. Loiseau, and V. Rasvan, Stick-slip oscillations in oillwell drilstrings : distributed parameter and neutral type retarded model approaches, in IFAC 18th world congress, pp. 283-289, 2011.
[22] B. Saldivar, S. Mondie, J. J. Loiseau, and V. Rasvan, Suppressing axial-torsional coupled vibrations in drillstrings, Journal of Control Engineering and Applied Informatics, vol. 15, no. 1, pp. 3-10, 2013.
[23] H. Alli and T. Singh, On the feedback control of the wave equation, Journal of Sound and Vibration, vol. 234, no. 4, pp. 625-640, 2000.
[24] C. Sagert, F. Di Meglio, M. Krstic, and P. Rouchon, Backstepping and flatness approaches for stabilization of the stick-slip phenomenon for drilling, in IFAC symposium on system, structure and control, 2013.
[25] B. Saldivar, T. Knppel, F. Woittennek, I. Boussaada, H. Mounier, and S.-I. Niculescu, Flatness-based control of torsional-axial coupled drilling vibrations, in The 19th World Congress The International Federation of Automatic Control, 2014.
[26] A. Seuret, H. zbay, C. Bonnet, and H. Mounier, Low-Complexity Controllers for Time- Delay Systems. Springer, 2014.