Search results for: robotic drilling

Authors: Youji Miyake

Abstract:

In aircraft assembly, a large number of preparatory holes are required for screw and rivet joints. Currently, many holes are drilled manually because it is difficult to machine the holes using conventional computerized numerical control(CNC) machines. The application of industrial robots to drill the hole has been considered as an alternative to the CNC machines. However, the rigidity of robot arms is so low that vibration is likely to occur during drilling. In this study, it is proposed constant-load feed machining as a method to perform high-precision drilling while minimizing the thrust force, which is considered to be the cause of vibration. In this method, the drill feed is realized by a constant load applied onto the tool so that the thrust force is theoretically kept below the applied load. The performance of the proposed method was experimentally examined through the deep hole drilling of plastic and simultaneous drilling of metal/plastic stack plates. It was confirmed that the deep hole drilling and simultaneous drilling could be performed without generating vibration by controlling the tool feed rate in the appropriate range.

Keywords: constant load feed machining, robotic drilling, deep hole, simultaneous drilling

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Authors: Lotfi Beji, Laredj Benchikh

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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.

Keywords: drilling, resonant vibration, robot arm, control

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Authors: Hamidoddin Yousife

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Drilling optimization requires a prediction of drilling rate of penetration (ROP) since it provides a significant reduction in drilling costs. There are several factors that can have an impact on the ROP, both controllable and uncontrollable. Numerous drilling penetration rate models have been considered based on drilling parameters. This papers considered the effect of proper drilling parameter selection such as bit, Mud Type, applied weight on bit (WOB), Revolution per minutes (RPM), and flow rate on drilling optimization and drilling cost reduction. A predicted analysis is used in real-time drilling performance to determine the optimal drilling operation. As a result of these modeling studies, the real data collected from three directional wells at Azadegan oil fields, Iran, was verified and adjusted to determine the drillability of a specific formation. Simulation results and actual drilling results show significant improvements in inaccuracy. Once simulations had been validated, optimum drilling parameters and equipment specifications were determined by varying weight on bit (WOB), rotary speed (RPM), hydraulics (hydraulic pressure), and bit specification for each well until the highest drilling rate was achieved. To evaluate the potential operational and economic benefits of optimizing results, a qualitative and quantitative analysis of the data was performed.

Keywords: drlling, cost, optimization, parameters

Procedia PDF Downloads 128

Authors: L. Roseiro, C. Veiga, V. Maranha, A. Neto, N. Laraqi, A. Baïri, N. Alilat

Abstract:

In orthopedic surgery there are various situations in which the surgeon needs to implement methods of cutting and drilling the bone. With this type of procedure the generated friction leads to a localized increase in temperature, which may lead to the bone necrosis. Recognizing the importance of studying this phenomenon, an experimental evaluation of the temperatures developed during the procedure of drilling bone has been done. Additionally the influence of the use of the procedure with / without additional lubrication during drilling of bone has also been done. The obtained results are presented and discussed and suggests an advantage in using additional lubrication as a way to minimize the appearance of bone tissue necrosis during bone drilling procedures.

Keywords: bone necrosis, bone drilling, thermography, surgery

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Authors: Hammadi Larbi, Bergane Cheikh

Abstract:

Drilling for oil is done through many mechanisms. The goal is first to dig deep and then, after arriving at the oil source, to simply suck it up. And for this, it is important to know the role of oil-based drilling muds, which had many benefits for the drilling tool and for drilling generally, and also and essentially to know the rheological behavior of the emulsion system in particular water-in-oil inverse emulsions (Water/crude oil). This work contributes to the improvement of the stability and rheological properties of crude oil-based drilling mud by organophilic clay. Experimental data from steady-state flow measurements of crude oil-based drilling mud are classically analyzed by the Herschel-Bulkley model. The effects of organophilic clay type VG69 are studied. Microscopic observation showed that the addition of quantities of organophilic clay type VG69 less than or equal to 3 g leads to the stability of inverse Water/Oil emulsions; on the other hand, for quantities greater than 3g, the emulsions are destabilized.

Keywords: drilling, organophilic clay, crude oil, stability

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Authors: Sajjad Negahban, Ruihe Wang, Baojiang Sun

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Gas-lift dual gradient drilling is a solution for deepwater drilling challenges. As well, Continuous development of drilling technology leads to increase employment of mineral oil based drilling fluids and synthetic-based drilling fluids, which have adequate characteristics such as: high rate of penetration, lubricity, shale inhibition and low toxicity. The paper discusses utilization of nitrified mineral oil base drilling for deepwater drilling and for more accurate prediction of pressure in DGD at marine riser, solubility and bubble pressure were considered in steady state hydraulic model. The Standing bubble pressure and solubility correlations, and two models which were acquired from experimental determination were applied in hydraulic model. The effect of the black oil correlations, and new solubility and bubble pressure models was evaluated on the PVT parameters such as oil formation volume factor, density, viscosity, volumetric flow rate. Eventually, the consequent simulated pressure profile due to these models was presented.

Keywords: solubility, bubble pressure, gas-lift dual gradient drilling, steady state hydraulic model

Procedia PDF Downloads 236

Authors: Md. Shaheen Shah, Abdelsalam Abugharara, Dipesh Maharjan, Syed Imtiaz, Stephen Butt

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Drilling performance is an essential goal in petroleum and mining industry. Drilling rate of penetration (ROP), which is inversely proportional to the mechanical specific energy (MSE) is influenced by numerous factors among which are the applied parameter: torque (T), weight on bit (WOB), fluid flow rate, revolution per minute (rpm), rock related parameters: rock type, rock homogeneousness, rock anisotropy orientation, and mechanical parameters: bit type, configuration of the bottom hole assembly (BHA). This paper is focused on studying the drilling performance by implementing a passive vibration assisted rotary drilling tool (pVARD) as part of the BHA through using different bit types: coring bit, roller cone bit, and PDC bit and various rock types: rock-like material, granite, sandstone, etc. The results of this study aim to produce a pVARD index for optimal drilling performance considering the recommendations of the pVARD’s spring compression tests and stress-strain analysis of rock samples conducted prior to drilling experiments, analyzing the cutting size distribution, and evaluating the applied drilling parameters as a function of WOB. These results are compared with those obtained from drilling without pVARD, which represents the typical rigid BHA of the conventional drilling.

Keywords: BHA, drilling performance, MSE, pVARD, rate of penetration, ROP, tensile and shear fractures, unconfined compressive strength

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Authors: Ekaterina Leusheva, Valentin Morenov

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Well drilling in hard rocks is coupled with high energy demands which negates the speed of the process and thus reduces overall effectiveness. Aim of this project is to develop the technique of experimental research, which would allow to select optimal washing fluid composition while adding special hardness reducing detergent reagents. Based on the analysis of existing references and conducted experiments, technique dealing with quantitative evaluation of washing fluid weakening influence on drilled rocks was developed, which considers laboratory determination of three mud properties (density, surface tension, specific electrical resistance) and three rock properties (ultimate stress, dynamic strength, micro-hardness). Developed technique can be used in the well drilling technologies and particularly while creating new compositions of drilling muds for increased destruction effectiveness of hard rocks. It can be concluded that given technique introduces coefficient of hard rocks destruction effectiveness that allows quantitative evaluation of different drilling muds on the drilling process to be taken. Correct choice of drilling mud composition with hardness reducing detergent reagents will increase drilling penetration rate and drill meterage per bit.

Keywords: detergent reagents, drilling mud, drilling process stimulation, hard rocks

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Authors: Parnian Kianfar, Navid Zarif Karimi, Giangiacomo Minak

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Drilling is one of the most important machining operations as numerous holes must be drilled in order to install mechanical fasteners for assembly in composite structures. Delamination is a major problem associated with the drilling of fiber reinforced composite materials, which degrades the mechanical properties of these materials. In drilling, delamination is initiated when the drilling force exceeds a threshold value, particularly at the critical entry and exit locations of the drill bit. The chisel edge of twist drill is a major contributor to the thrust force which is the primary cause of delamination. The main objective of this paper is to study the effect of chisel edge and pilot hole on thrust force and delamination during drilling of glass fiber reinforced composites. For this purpose, two sets of experiments, with and without pilot hole, were conducted with different drilling conditions. The results show a great reduction in the thrust force when a pilot hole is present which removes the chisel edge contribution.

Keywords: composites, chisel edge, drilling, delamination

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Authors: Nikoo Soleimani

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Background: Reducing torque during bone drilling is one of the effective factors in reaching to an optimal drilling process. Methods: 15 bovine femurs were drilled in vitro with a drill bit with a diameter of 4 mm using two methods of torsional ultrasonic assisted drilling (T-UAD) and convent conventional drilling (CD) and the effects of changing the feed rate and rotational speed on the torque were compared in both methods. Results: There was no significant difference in the thrust force measured in both methods due to the direction of vibrations. Results showed that using T-UAD method for bone drilling at feed rates of 0.16, 0.24 and 0.32 mm/rev led for all rotational speeds to a decrease of at least 16.3% in torque compared to the CD method. Further, using T-UAD at rotational speeds of 355~1000 rpm with various feed rates resulted in a torque reduction of 16.3~50.5% compared to CD method. Conclusions: Reducing the feed rate and increasing the rotational speed, except for the rotational speed of 500 rpm and a feed rate of 0.32 mm/rev, resulted generally in torque reduction in both methods. However, T-UAD is a more effective and desirable option for bone drilling considering its significant torque reduction.

Keywords: torsional ultrasonic assisted drilling, torque, bone drilling, rotational speed, feed rate

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Authors: V. K. Banga

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Robots are now playing a very promising role in industries. Robots are commonly used in applications in repeated operations or where operation by human is either risky or not feasible. In most of the industrial applications, robotic arm manipulators are widely used. Robotic arm manipulator with two link or three link structures is commonly used due to their low degrees-of-freedom (DOF) movement. As the DOF of robotic arm increased, complexity increases. Instrumentation involved with robotics plays very important role in order to interact with outer environment. In this work, optimal control for movement of various DOFs of robotic arm using various soft computing techniques has been presented. We have discussed about different robotic structures having various DOF robotics arm movement. Further stress is on kinematics of the arm structures i.e. forward kinematics and inverse kinematics. Trajectory planning of robotic arms using soft computing techniques is demonstrating the flexibility of this technique. The performance is optimized for all possible input values and results in optimized movement as resultant output. In conclusion, soft computing has been playing very important role for achieving optimized movement of robotic arm. It also requires very limited knowledge of the system to implement soft computing techniques.

Keywords: artificial intelligence, kinematics, robotic arm, neural networks, fuzzy logic

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Authors: M. S. Sreejith, Steffy Joy, Abhishesh Pal, Beom-Sahng Ryuh, V. R. Sanal Kumar

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In this paper an attempt has been made for the design of a robotic library using an intelligent system. The robot works on the ARM microprocessor, motor driver circuit with 5 degrees of freedom with Wi-Fi and GPS based communication protocol. The authenticity of the library books is controlled by RFID. The proposed robotic library system is facilitated with embedded system and ARM. In this library issuance system the previous potential readers’ authentic review reports have been taken into consideration for recommending suitable books to the deserving new users and the issuance of books or periodicals is based on the users’ decision. We have conjectured that the Wi-Fi based robotic library management system would allow fast transaction of books issuance and it also produces quality readers.

Keywords: GPS bsed based Robotic library, library management system, robotic library, Wi-Fi library

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Authors: S. Jahangir, S. H. I. Jaffery, M. Khan, Z. Zareef, A. Yar, A. Mubashir, S. Butt, L. Ali

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In this work, drilling responses and behavior of MMC was investigated in Al-Mg2Si composites. For the purpose Al-15% wt. Mg2Si, was selected from the hypereutectic region of Al- Mg2Si phase diagram. Based on hardness and tensile strength, drill bit of appropriate material and morphology was selected. The performance of different drill bits of different morphology and material was studied and analysed using experimental data. For theoretical calculations of axial thrust force and required power calculation, material factor “K” was obtained from different data charts and at the same time cutting forces (drilling forces) were practically obtained using a Peizo electric force dynamometer. These results show the role of reinforcement particles on the machinability of MMCs and provide a useful guide for a better control and optimized drilling parameters for the drilling process. Furthermore, in this work, comparison of MMC with non -reinforced Aluminum Alloy regarding drilling operation was also studied.

Keywords: drilling, metal matrix composite (MMC), cutting forces, thrust force

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Authors: G. H. Li, M. Liu, H. J. Qi, Q. Zhu, W. Z. He

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The drilling and riveting processes are widely used in the assembly of carrier rocket, which makes the efficiency and quality of drilling become the important factor affecting the assembly process. According to the problem existing in the drilling of thick stacked plate (thickness larger than 10mm) of carrier rocket, such as drill break, large noise and burr etc., experimental study of the influence of tool material on the drilling was carried out. The cutting force was measured by a piezoelectric dynamometer, the aperture was measured with an outline projector, and the burr is observed and measured by a digital stereo microscope. Through the measurement, the effects of tool material on the drilling were analyzed from the aspects of drilling force, diameter, and burr. The results show that, compared with carbide drill and coated carbide one, the drilling force of high speed steel is larger. But, the application of high speed steel also has some advantages, e.g. a higher number of hole can be obtained, the height of burr is small, the exit is smooth and the slim burr is less, and the tool experiences wear but not fracture. Therefore, the high speed steel tool is suitable for the drilling of thick stacked plate of 2219 Aluminum alloy.

Keywords: 2219 aluminum alloy, thick stacked plate, drilling, tool material

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Authors: D. Maneetham, L. Sivhour

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Robotic arm manipulators are widely used to accomplish many kinds of tasks. SCORBOT-ER 4u is a 5-degree of freedom (DOF) vertical articulated educational robotic arm, and all joints are revolute. It is specifically designed to perform pick and place task with its gripper. The pick and place task consists of consideration of the end effector coordinate of the robotic arm and the desired position coordinate in its workspace. This paper describes about forward kinematics modeling and analysis of the robotic end effector motion through joint space. The kinematics problems are defined by the transformation from the Cartesian space to the joint space. Denavit-Hartenberg (D-H) model is used in order to model the robotic links and joints with 4x4 homogeneous matrix. The forward kinematics model is also developed and simulated in MATLAB. The mathematical model is validated by using robotic toolbox in MATLAB. By using this method, it may be applicable to get the end effector coordinate of this robotic arm and other similar types to this arm. The software development of SCORBOT-ER 4u is also described here. PC-and EtherCAT based control technology from BECKHOFF is used to control the arm to express the pick and place task.

Keywords: forward kinematics, D-H model, robotic toolbox, PC- and EtherCAT-based control

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Authors: İkbal Eski

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This investigation is researched on design of robust neural network predictors for analyzing vibration effects on moving parts of a drilling machine. Moreover, the research is divided two parts; first part is experimental investigation, second part is simulation analysis with neural networks. Therefore, a real time the drilling machine is used to vibrations during working conditions. The measured real vibration parameters are analyzed with proposed neural network. As results: Simulation approaches show that Radial Basis Neural Network has good performance to adapt real time parameters of the drilling machine.

Keywords: artificial neural network, vibration analyses, drilling machine, robust

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Authors: Jiewei Li, Hongyan Cui, Chunqi Chang, Yong Hu

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It was expected to benefit patient with hemiparesis after stroke by extensive arm rehabilitation, to partially regain forearm and hand function. This paper propose a robotic rehabilitation arm in assisting the hemiparetic patient to learn new ways of using and moving their weak arms. In this study, the robotic arm was driven by a somatosensory stimulated brain computer interface (BCI), which is a new modality BCI. The use of somatosensory stimulation is not only an input for BCI, but also a electrical stimulation for treatment of hemiparesis to strengthen the arm and improve its range of motion. A trial of this robotic rehabilitation arm was performed in a stroke patient with pure motor hemiparesis. The initial trial showed a promising result from the patient with great motivation and function improvement. It suggests that robotic rehabilitation arm driven by somatosensory BCI can enhance the rehabilitation performance and progress for hemiparetic patients after stroke.

Keywords: robotic rehabilitation arm, brain computer interface (BCI), hemiparesis, stroke, somatosensory stimulation

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Authors: Vimanyu Chadha, Ranganath M. Singari

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Drilling composite materials is a frequently practiced machining process during assembling in various industries such as automotive and aerospace. However, drilling of glass fiber reinforced plastic (GFRP) composites is significantly affected by damage tendency of these materials under cutting forces such as thrust force and torque. The aim of this paper is to investigate the influence of the various cutting parameters such as cutting speed and feed rate; subsequently also to study the influence of number of layers on delamination produced while drilling a GFRP composite. A plan of experiments, based on Taguchi techniques, was instituted considering drilling with prefixed cutting parameters in a hand lay-up GFRP material. The damage induced associated with drilling GFRP composites were measured. Moreover, Analysis of Variance (ANOVA) was performed to obtain minimization of delamination influenced by drilling parameters and number layers. The optimum drilling factor combination was obtained by using the analysis of signal-to-noise ratio. The conclusion revealed that feed rate was the most influential factor on the delamination. The best results of the delamination were obtained with composites with a greater number of layers at lower cutting speeds and feed rates.

Keywords: analysis of variance, delamination, design optimization, drilling, glass fiber reinforced plastic composites, Taguchi method

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Authors: Devesh Motwani, Amey Kashyap

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Interest in cost effective drilling has increased substantially in the past years. Economics associated with drilling fluids is needed to be considered seriously for lesser cost per foot in planning and drilling of a wellbore and the various environmental concerns imposed by international communities related with the constituents of the drilling fluid. Viscofier such as Guar Gum is a high molecular weight polysaccharide from Guar plants, is used to increase viscosity in water-based and brine-based drilling fluids thus enabling more efficient cleaning of the bore. Other applications of this Viscofier are to reduce fluid loss by giving a better colloidal solution, decrease fluid friction and so minimising power requirements and used in hydraulic fracturing to increase the recovery of oil and gas. Guar gum is also used as a surfactant, synthetic polymer and defoamer. This paper presents experimental results to verifying the properties of guar gum as a viscofier and filtrate retainer as well as observing the impact of different quantities of guar gum and Carboxymethyl cellulose (CMC) in a standard sample of water based bentonite mud solution. This is in attempt to make a drilling fluid which contains half of the quantity of drilling mud used and yet is equally viscous to the standardised mud sample. Thus we can see that mud economics will be greatly affected by this approach. However guar gum is thermally stable till 60-65°C thus limited to be used in drilling shallow wells and for a wider thermal range, suitable chrome free additives are required.

Keywords: economics, guargum, viscofier, CMC, thermal stability

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Authors: Aikaterini Manthiou, Phil Klaus, Kafia Ayadi

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Tourism research has shown a growing need to comprehend the robotic tourism experience’s meaning and foundations while also offering guidance regarding future discussions and research. This paper aims to analyze the robotic tourism experience based on the basis of De Keyser et al.’s (2020) conceptualization. In order to develop three theoretical propositions, we explore the robotic tourism experience by means of the three building blocks: touchpoints, context, and qualities. The three building blocks should not be examined in isolation but as a system of interplaying factors impacting the customer journey and customer experience. The study discusses the theoretical and practical implications of these impacts, as well as providing future research directions.

Keywords: robotic tourism experience, robot, touchpoints, context, qualities

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Authors: Arbnor Pajaziti, Hasan Cana

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In this paper, the structural genetic algorithm is used to optimize the neural network to control the joint movements of robotic arm. The robotic arm has also been modeled in 3D and simulated in real-time in MATLAB. It is found that Neural Networks provide a simple and effective way to control the robot tasks. Computer simulation examples are given to illustrate the significance of this method. By combining Genetic Algorithm optimization method and Neural Networks for the given robotic arm with 5 D.O.F. the obtained the results shown that the base joint movements overshooting time without controller was about 0.5 seconds, while with Neural Network controller (optimized with Genetic Algorithm) was about 0.2 seconds, and the population size of 150 gave best results.

Keywords: robotic arm, neural network, genetic algorithm, optimization

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Authors: Talal Al-Bazali

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Air drilling has recently received increasing acceptance by the oil and gas industry due to its unique advantages. The main advantages of air drilling include the higher rate of penetration, less formation damage, lower risk of loss of circulation. However, these advantages cannot be fully realized if thermal effects in air drilling are not well understood and minimized. Due to its high frictional coefficient, low heat conductivity, and high compressibility, air can impact the temperature distribution of bit and thus affect its bit performances. Based on energy and mass balances, a transient thermal model that predicts bit temperature is presented along with numerical solutions in this paper. In addition, several important parameters that influence bit temperature distribution are analyzed. Simulation results show that the bit temperature increases with increasing weight on bit and rotary speed but decreases as the standpipe pressure and flow rate increase. These results can be used to optimize drilling operations and flow parameters for an improved bit performance as shown in this paper.

Keywords: air drilling, rate of penetration, temperature, rotary speed

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Authors: Zatil Afifah Omar, Siti Nur Izati Azmi, Kathi Swaran, Navin Kumar

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Lost circulation has always been one of the greatest problems faced by drilling companies during drilling operations due to excessive drilling Fluids losses. Loss of circulation leads to Huge cost and non-productive time. The objective of this study is to evaluate the sealing efficiency of a proprietary blend of synthetic rubber as loss circulation material in comparison with a conventional product such as calcium carbonate, graphite, cellulosic, and nutshells. Sand Bed Tester with a different proprietary blend of synthetic rubber compositions has been used to determine the effectiveness of the LCM in preventing drilling fluids losses in a lab scale. Test results show the proprietary blend of synthetic rubber have good bridging properties and sealing Off fractures of various sizes. The finish product is environmentally friendly with lower production lead time and lower production cost compared to current conventional loss circulation materials used in current drilling operations.

Keywords: loss circulation materials, drilling operation, sealing efficiency, LCM

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Authors: Abdulaziz F. Ettir, Ghait Bashir, Tarek S. Duzan

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A proper well planning is very vital to achieve any successful drilling program on the basis of preventing, overcome all drilling problems and minimize cost operations. Since the hydraulic system plays an active role during the drilling operations, that will lead to accelerate the drilling effort and lower the overall well cost. Likewise, an improperly designed hydraulic system can slow drill rate, fail to clean the hole of cuttings, and cause kicks. In most cases, common sense and commercially available computer programs are the only elements required to design the hydraulic system. Drilling optimization is the logical process of analyzing effects and interactions of drilling variables through applied drilling and hydraulic equations and mathematical modeling to achieve maximum drilling efficiency with minimize drilling cost. In this paper, practical software adopted in this paper to define drilling optimization models including four different optimum keys, namely Opti-flow, Opti-clean, Opti-slip and Opti-nozzle that can help to achieve high drilling efficiency with lower cost. The used data in this research from vertical and horizontal wells were recently drilled in Waha Oil Company fields. The input data are: Formation type, Geopressures, Hole Geometry, Bottom hole assembly and Mud reghology. Upon data analysis, all the results from wells show that the proposed program provides a high accuracy than that proposed from the company in terms of hole cleaning efficiency, and cost break down if we consider that the actual data as a reference base for all wells. Finally, it is recommended to use the established Optimization calculations software at drilling design to achieve correct drilling parameters that can provide high drilling efficiency, borehole cleaning and all other hydraulic parameters which assist to minimize hole problems and control drilling operation costs.

Keywords: optimum keys, namely opti-flow, opti-clean, opti-slip and opti-nozzle

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Authors: Arun Prasad

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Background: Robotic Bariatric Surgery is a good option for the super obese where laparoscopy demands challenging technical skills. Gastric bypass can be difficult due to inability of the robot to work in two quadrants at the same time. Lonroth technique of gastric bypass involves a totally supracolic surgery where all anastomosis are done in one quadrant only. Methods: We have done 78 robotic gastric bypass surgeries using the modified Lonroth technique. The robot is docked above the head of the patient in the midline. Camera port is placed supra umbilically. Two ports are placed on the left side of the patient and one port on the right side of the patient. An assistant port is placed between the camera port and right sided robotic port for use of stapler. Gastric pouch is made first followed by the gastrojejunostomy that is a four layered sutured anastomosis. Jejuno jejunostomy is then performed followed by a leak test and then the jejunum is divided. A 150 cm biliopancreatic limb and a 75 cm alimentary limb are finally obtained. Mesenteric and Petersen’s defects are then closed. Results: All patients had a successful robotic procedure. Mean time taken in the first 5 cases was 130 minutes. This reduced to a mean of 95 minutes in the last five cases. There were no intraoperative or post operative complications. Conclusions: While a hybrid technique of partly laparoscopic and partly robotic gastric bypass has been done at many centres, we feel using the modified Lonroth technique, a totally robotic gastric bypass surgery fully utilizes the potential of robotic bariatric surgery.

Keywords: robot, bariatric, totally robotic, gastric bypass

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Authors: Faik Derya Ince, Ugur Topgul, Alp Gunay, Can Bayoglu, Dante J. Dorantes-Gonzalez

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Explosive attacks are arguably the most lethal threat that may occur in terrorist attacks. In order to counteract this issue, explosive ordnance disposal operators put their lives on the line to dispose of a possible improvised explosive device. Robots can make the disposal process more accurately and saving human lives. For this purpose, there is a demand for more accurate and dexterous manipulating robotic hands that can be teleoperated from a distance. The aim of this project is to design a robotic hand that contains two active and two passive DOF for each finger, as well as a minimum set of tools for mechanical cutting and screw driving within the same robotic hand. Both hand and toolset, are teleoperated from a distance from a haptic robotic glove in order to manipulate dangerous objects such as improvised explosive devices. SolidWorks® Computer-Aided Design, computerized dynamic simulation, and MATLAB® kinematic and static analysis were used for the robotic hand and toolset design. Novel, dexterous and robust solutions for the fingers were obtained, and six servo motors are used in total to remotely control the multi-tooled robotic hand. This project is still undergoing and presents currents results. Future research steps are also presented.

Keywords: Explosive Manipulation, Robotic Hand, Tele-Operation, Tool Integration

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Authors: Navid Zarif Karimi, Giangiacomo Minak, Parnian Kianfar

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Drilling is one of the most frequently used machining process for glass fiber reinforced polymer composites due to the need for structural joining. In drilling of composite laminates, interlaminar cracking, or delamination, has a detrimental effect on the compressive strength of these materials. The delamination can be controlled by adopting proper drilling condition. In this paper, the effect of feed rate, cutting speed and drill point angle on delamination and residual compressive strength of drilled GFRPs is studied. The objective is to find optimal conditions for maximum residual compressive strength.

Keywords: composite material, delamination, drilling, residual compressive strength

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Authors: Shokoufeh Sadeghifard

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This study is a review of the nature of soil arching that develops in the upper layer of soil during drilling processes before pulling product pipe inside the hole. This study is based on the results of some parametric studies which are investigating the behavior of drained sandy soil above HDD borehole using Plaxis finite element solution. The influence of drilling mud injection in these series of analyses has been ignored. However, a suitable drilling mud pressure helps to achieve stable arch when the height of soil cover over the drilling borehole is not enough. In this study, the soil response to the formation of a HDD borehole is compared to arching theory developed by Terzaghi (1943). It is found that Terzaghi’s approach is capable of describing all of the behaviour seen when a stable arch forms. According to the numerical results, a suitable safe depth of 4D, D is borehole diameter, is suggested for typical range of HDD borehole in sandy soil.

Keywords: HDD, Plaxis, finite element, arching, settlement, drilling

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Authors: Pranjal Srivastava, Piyali Sengupta

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The performance of marine drilling risers is crucial in the offshore oil and gas industry to ensure safe drilling operation with minimum downtime. Experimental investigations on marine drilling risers are limited in the literature owing to the expensive and exhaustive test setup required to replicate the realistic riser model and ocean environment in the laboratory. Therefore, this study presents an analytical model of marine drilling riser for determining its fragility under ocean environmental loading. In this study, the marine drilling riser is idealized as a continuous beam having a concentric circular cross-section. Hydrodynamic loading acting on the marine drilling riser is determined by Morison’s equations. By considering the equilibrium of forces on the marine drilling riser for the connected and normal drilling conditions, the governing partial differential equations in terms of independent variables z (depth) and t (time) are derived. Subsequently, the Runge Kutta method and Finite Difference Method are employed for solving the partial differential equations arising from the analytical model. The proposed analytical approach is successfully validated with respect to the experimental results from the literature. From the dynamic analysis results of the proposed analytical approach, the critical design parameters peak displacements, upper and lower flex joint rotations and von Mises stresses of marine drilling risers are determined. An extensive parametric study is conducted to explore the effects of top tension, drilling depth, ocean current speed and platform drift on the critical design parameters of the marine drilling riser. Thereafter, incremental dynamic analysis is performed to derive the fragility functions of shallow water and deep-water marine drilling risers under ocean environmental loading. The proposed methodology can also be adopted for downtime estimation of marine drilling risers incorporating the ranges of uncertainties associated with the ocean environment, especially at deep and ultra-deepwater.

Keywords: drilling riser, marine, analytical model, fragility

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Authors: Husam Mohammed Saleh Alziyadi

Abstract:

The drilling fluid has a significant impact on drilling efficiency. Drilling fluids have several functions which make them most important within the drilling process, such as lubricating and cooling the drill bit, removing cuttings from down of hole, preventing formation damage, suspending drill bit cuttings, , and also removing permeable formation as a result, the flow of fluid into the formation process is delayed. In the oil and gas sector, unconventional shale reserves have been a central player in meeting world energy demands. Oil-based drilling fluids (OBM) are generally favored for drilling shale plays due to negligible chemical interactions. Nevertheless, the industry has been inspired by strict environmental regulations to design water-based drilling fluids (WBM) capable of regulating shale-water interactions to boost their efficiency. However, traditional additives are too large to plug the micro-fractures and nanopores of the shale. Recently, nanotechnology in the oil and gas industries has shown a lot of promise, especially with drilling fluids based on nanoparticles. Nanotechnology has already made a huge contribution to technical developments in the energy sector. In the drilling industry, nanotechnology can make revolutionary changes. Nanotechnology creates nanomaterials with many attractive properties that can play an important role in improving the consistency of mud cake, reducing friction, preventing differential pipe sticking, preserving the stability of the borehole, protecting reservoirs, and improving the recovery of oil and gas. The selection of suitable nanomaterials should be based on the shale formation characteristics intended for drilling. The size, concentration, and stability of the NPs are three more important considerations. The effects of the environment are highly sensitive to these materials, such as changes in ionic strength, temperature, or pH, all of which occur under downhole conditions. This review paper focused on the previous research and recent development of environmentally friendly drilling fluids according to the regulatory environment and cost challenges.

Keywords: nanotechnology, WBM, Drilling Fluid, nanofluids

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