Cross-Reference to Related Applications

[0001] This application claims priority to U.S. Provisional Application having Serial No. 62/146,731, which was filed on April 13, 2015 and is incorporated herein by reference in its entirety.

Background

[0002] During drilling, information is sometimes transmitted to the surface from instruments within the wellbore, and/or from the surface to downhole instruments. For example, signals may be transmitted to or from measuring-while-drilling (MWD) equipment, logging-while-drilling (LWD) equipment, steering equipment, or other equipment. Such information may assist operators in the task of efficiently drilling a wellbore by providing information related to tool- face orientation and/or formation composition, and allowing commands and configuration of the downhole instruments, among other possible uses.

[0003] The drill string may extend thousands of feet, and transmitting data over this distance, below the surface, may present challenges. One way such transmission has been effected is through the use of mud-pulse telemetry. In mud-pulse telemetry, a pressure spike or modulated sine wave representing a bit of data is generated in the drilling mud from a mud-pulse generator in the drill string. The pressure spike or modulated sine wave is detected by a pressure sensor at or near the surface, allowing bits of data to be related through the mud. While this communication technique has proven effective, the transmission rate may be relatively slow, on the order of single digit bits-per-minute. Moreover, the signal-to-noise ratio can be low, because the pressure spike or modulated sine wave may be attenuated once it reaches the surface. Furthermore, the noise may high due to the proximity of machinery, such as mud pumps.

[0004] Electromagnetic ("e-mag") signal transmission has also been employed. In such communication, an electromagnetic signal is generated in the downhole equipment, which travels through the formation and is detected by sensors (e.g., voltmeters) at the surface, and then returns through the drill pipe to the source, completing the circuit. However, the effectiveness of this type of signal transmission depends partially on the formation properties. If, for example, the wellbore penetrates a salt layer, the electromagnetic transmissions may be unable to reach the surface.

[0005] Various other types of downhole communication have also been proposed and/or implemented. Wired drill pipe, for example, has been proposed, and has the potential to obviate the challenges experienced with wireless signal transmission. However, because each pipe includes a wire connector that is prone to failure, if one connector in one pipe among the potentially thousands of pipes fails, the entire assembly can be rendered inoperative.

Summary

[0006] Embodiments of the disclosure may provide an apparatus for drilling a wellbore. The apparatus includes a housing defining an entry port, and a shaft coupled to the housing and configured to connect to a drill string deployed into the wellbore. The entry port communicates with the drill string via an interior of the shaft, when the shaft is connected to the drill string. The apparatus also includes a sealing device coupled to the housing. The sealing device has a first configuration in which the sealing device is configured to seal with an instrument line received through the entry port, and a second configuration in which the sealing device is configured to seal the entry port.

[0007] Embodiments of the disclosure may also include a method for deploying an instrument into a drill string in a wellbore. The method includes receiving the instrument and an instrument line coupled thereto into a drilling device through an entry port of the drilling device, sealing the entry port, with the instrument line received therethrough, using a sealing device coupled to the drilling device, drilling at least a portion of the wellbore using the drilling device, the drilling device being lowered and connected the drill string, and lowering the instrument through the drill string while drilling the wellbore and while sealing the entry port.

[0008] Embodiments of the disclosure may also provide a method for deploying an instrument into a drill string in a wellbore. The method includes receiving the instrument and an instrument line attached thereto into a drilling device through an entry port of the drilling device, sealing the entry port with the instrument line extending therethrough, using a sealing device coupled to the drilling device, and applying torque or tension onto the drill string using the drilling device. Brief Description of the Drawings

[0009] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present teachings and together with the description, serve to explain the principles of the present teachings. In the figures:

[0010] Figure 1 illustrates a simplified, schematic view of a drilling rig system, according to an embodiment.

[0011] Figure 2 illustrates a side, schematic view of a tool deployment assembly, according to an embodiment.

[0012] Figure 3A illustrates a first side view of a top drive of the drilling rig system, according to an embodiment.

[0013] Figure 3B illustrates a second side view of the top drive of the drilling rig system, according to an embodiment.

[0014] Figure 4 illustrates a flowchart of a method for deploying a tool within a drill string, according to an embodiment.

[0015] Figure 5 illustrates a schematic view of a computing system, according to an embodiment.

Detailed Description

[0016] Reference will now be made in detail to specific embodiments illustrated in the accompanying drawings and figures. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be apparent to one of ordinary skill in the art that the invention may be practiced without these specific details. In other instances, well-known methods, procedures, components, circuits, and networks have not been described in detail so as not to unnecessarily obscure aspects of the embodiments.

[0017] It will also be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first object could be termed a second object or step, and, similarly, a second object could be termed a first object or step, without departing from the scope of the present disclosure. [0018] The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in the description of the invention and the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. It will be further understood that the terms "includes," "including," "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Further, as used herein, the term "if may be construed to mean "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context.

[0019] Figure 1 illustrates a schematic view of a drilling rig 100, according to an embodiment. The drilling rig 100 includes a drilling apparatus 102 and a drill string 104 coupled thereto. The drilling apparatus 102 may include any type of drilling device, such as a top drive to support and rotate the drill string 104 or any other device configured to support, lower, and rotate the drill string 104, which may be deployed into a wellbore 106. In the illustrated embodiment, the drilling apparatus 102 may also include a travelling block 105, which may include of one or more rotating sheaves.

[0020] The drilling rig 100 may also include a rig floor 108, from which a support structure (e.g., including a mast) 110 may extend. A slips assembly 109 may be disposed at the rig floor 108, and may be configured to engage the drill string 104 so as to enable a new stand of tubulars to be added to the drill string 104 via the drilling apparatus 102.

[0021] A crown block 112 may be coupled to the support structure 110. Further, a drawworks 114 may be coupled to the rig floor 108. A drill line 116 may extend between the drawworks 114 and the crown block 112, and may be received through the sheaves of the travelling block 105. Accordingly, the position of the drilling apparatus 102 may be changed (e.g., raised or lowered) by spooling or unspooling the drilling line 116 from the drawworks 114, e.g., by rotation of the drawworks 114.

[0022] The drilling rig 100 may also include an instrument line 120, which may be received through the drilling apparatus 102 and into the drill string 104. The instrument line 120 may be spooled on an instrument line spool 122, and may be received at least partially around a line sheave 124 between the instrument line spool 122 and the drilling apparatus 102. In an embodiment, the instrument line spool 122 may be coupled to the rig floor 108 as shown, but in other embodiments, may be positioned anywhere on the rig 100 or in proximity thereto. Furthermore, in some embodiments, the line sheave 124 may be installed below the crown block 112. It may also be installed on the side of the crown-block 112. In such an embodiment, a guide may be installed above the entry port 220 to align the instrument line 120 from the sheave 124 with the bore of the shaft 204 and the drill-sting 104. In another embodiment, the sheave 124 can be attached directly onto the drilling apparatus 102. In such an embodiment, the spooling of the line spool 122 may be synchronize with the rotation of the drawworks 114.

[0023] The instrument line 120 may be connected to a downhole instrument 126, which may be deployed into the interior of the drill string 104, as will be described in greater detail below. The drill string 104 may be rotated while the instrument line 120 is deployed in the drill string 104. The rotation may induce twisting of the instrument line 120. Accordingly, the instrument 126 and/or a lower portion of the instrument line 120 may, in some embodiments, include a swivel, allowing for relative rotation between the instrument 126 and the instrument line 120. In such an embodiment, the instrument 126 may also be connected to the rotating drill string 104.

[0024] In an embodiment, the position of the downhole instrument 126 may be changed (e.g., raised or lowered) by spooling or unspooling the instrument line 120 from the instrument line spool 122. The downhole instrument 126 may be any type of instrument, such as a logging device, which may include one or more geophones, hydrophones or accelerometers, acoustic receivers, torque sensors, strain gauges, accelerometers, gyroscope, current probe, voltmeters, and/or the like. Further, the instrument line 120 may provide for wired communication with a controller 128, e.g., without calling for wires to be formed as a part of the drill pipe making up the drill string 104.

[0025] Figure 2 illustrates an enlarged, partial, schematic view of the drilling rig 100, according to an embodiment. As shown, the drilling apparatus 102 may be suspended from the rig floor 108 via interaction with the travelling block 105, the crown block 112, and the drilling line 116 that is spooled on the drawworks 114.

[0026] In addition, the drilling apparatus 102 may include a drilling device 200, e.g., a top drive. The drilling device 200 may include a housing 202 and a shaft 204, which may be coupled to and extend out of the housing 202. In particular, the shaft 204 may be rotatably coupled to the housing 202 via a thrust bearing 206. The shaft 204 may be drive to rotate by a motor 207, which may be coupled to and/or disposed within the housing 202. Further, the shaft 204 may be connected to the drill string 104, such that rotation of the shaft 204 may cause the drill string 104 to rotate. Such rotation may be employed for drilling the well in rotary mode, as well as controlling orientation of the drill string 104 while drilling the well in sliding mode with a down-hole motor or turbine, allowing potential deviation of the wellbore 106 to the correct azimuth. By such connection between the shaft 204 and the drill string 104, at least a portion of the weight of the drill string 104 may be supported by the housing 202, which transmits the weight to the rig floor 108 via the crown block 112 and the support structure 110, as well as the drawworks 114. The drilling device 200 may also include one or more rollers 208 (four are shown) or sliding guides, which may transmit reactionary torque loads to the support structure 110. The housing 202 may further include an entry port 210, through which the instrument line 120 and the instrument 126 may be received.

[0027] Further, the drilling apparatus 102 may include a sealing device 220, through which the instrument line 120 and the instrument 126 may be received into the entry port 210. The sealing device 220 may be coupled to the housing 202 of the drilling device 200, and may be movable therewith. The sealing device 220 may have (e.g., be able to be operated in) at least three configurations. In an open configuration, the sealing device 220 may be configured to receive the instrument 126 therethrough. In a first, sealed configuration (illustrated in Figure 2), the sealing device 220 may be configured to receive and seal with the instrument line 120. The instrument line 120 may be able to slide relative to the sealing device 220 when the sealing device 220 is in the first configuration, but fluid may be prevented from proceeding through the entry port 210 by the sealing device 220. In a second, sealed configuration, the sealing device 220 may completely seal the entry port 210, e.g., when the instrument line 120 is not received therethrough. Thus, the sealing device 220 may function similarly to a blowout preventer does for the drill string 104, serving to control access into the entry port 210. The different configurations may be reached based on a position of an annular "preventer" or seal of the sealing device 220, as will be described in greater detail below.

[0028] The entry port 210 may communicate with an interior 250 of the shaft 204, e.g., via a conduit 253 within the housing 202. The shaft 204 may be rotatably coupled to the conduit 253 via swivel 254, as shown. Accordingly, the instrument line 120, when received through the entry port 210, may proceed through the conduit 253 and into the shaft 204, and then into the drill string 104.

[0029] The drilling device 200 may also receive a flow of drilling mud via a mud conduit 260. The mud conduit 260 may communicate with the conduit 253 within the housing 202, and thus the mud conduit 260 may be in fluid communication with the entry port 210, as well as the interior 250 of the shaft 204 and the drill string 104. The sealing device 220 may serve to prevent mud flow up through the entry port 210 in either or both of the first and second configurations thereof.

[0030] The drilling apparatus 200 may further include a line -pusher 265. The line -pusher 265 may be configured to apply a downwardly-directed force on the instrument line 120, which may cause the instrument line 120 to be directed downward, through the sealing device 220, the entry port 210, the conduit 253, the interior 250 of the shaft 204, and through at least a portion of the drill string 104, so as to deploy the instrument 126 (Figure 1) therein. Further, the line -pusher 265 may be coupled to the housing 202 of the drilling device 200 and may be movable therewith. In an embodiment, the line-pusher 265 may be directly attached to the sealing device 220, e.g., such that the sealing device 220 is positioned between the housing 202 and the line-pusher 265. As such, the line -pusher 265 may be configured to push the instrument line 120 through the entry port 210 via the sealing device 220.

[0031] The line-pusher 265 may be employed to overcome initial fluid resistance provided by the drilling mud coursing through the mud conduit 260. Further, the line-pusher 265 may provide for rapid deployment of the instrument line 120 through the drill string 104, e.g., at a similar rate, or even faster than, the velocity of the drilling mud therein, and thus the line -pusher 265 may overcome drag forces of the instrument 126 and the drilling line 116 in contact with the mud and with the bore of the drill string 104.

[0032] The line -pusher 265 may also be used to retract the instrument line 120 and the instrument 126 out of the drill string 104, e.g., by reversing direction and pushing the instrument line 120 upwards, away from the entry port 210. The retracted instrument line 120 may thus be spooled on the instrument line spool 122, e.g., with minimum pull force by the instrument line spool 122. [0033] The drilling apparatus 102 may also include a pivotable guide 270, through which the instrument line 120 may be received. The pivotable guide 270 may be positioned, as proceeding along the line 120, between the line sheave 124 and the line -pusher 265. The pivotable guide 270 may be movable across a range of positions, for example, between a first position, shown with solid lines, and a second position, shown with dashed lines. In the first position, the pivotable guide 270 may direct the instrument line 120 between the sheaves of the crown block 112 and between the sheaves of the travelling block 105 and toward the entry port 210. In the second position, the pivotable guide 270 may direct the instrument line 120 away from the entry port 210. For example, the second position may be employed when raising the drilling device 200 so as to accept a new stand of tubulars on the drill string 104 and/or when initially running the instrument 126 and the instrument line 120 into the entry port 210, as will be described in greater detail below, and/or retrieving the instrument 126 from the drill string 104.

[0034] Figures 3 A and 3B illustrates two partial side views of the drilling apparatus 102, specifically showing additional details of the sealing device 220 and the line -pusher 265, among other things, according to an embodiment. As illustrated, the sealing device 220 and the line- pusher 265 may be positioned between two sets of sheaves 306, 308 of the travelling block 105, and thus may be positioned to receive the instrument line 120 and feed the instrument line 120 to the entry port 210.

[0035] Further, the sealing device 220 may include an annular seal (e.g., an annular "preventer") 300 and one or more rams (two shown: 302, 304). The annular seal 300 may be movable in response to a command, e.g., radially inwards and outwards. Accordingly, the annular seal 300 may be moved outwards to receive the instrument line 120 and inwards to seal the entry port 210.

[0036] The ram 302 may be a pipe ram or a shear ram, and the ram 304 may be a blind ram. In an embodiment, the ram 304 being a blind ram may allow the sealing device 220 to close the entry port 210 when the instrumented line 120 is not present in the sealing device 220. Such situation may occur during drilling operations when usage of the instrument line 120 and/or the instrument 126 is not desired. The change of sealing configuration may occur in response to a remote control with a minimum time delay. Such configuration control may be implemented using a hydraulics system, which apply oil pressure on actuators via manually or computer- controlled valves. In the embodiment in which the ram 302 is a pipe ram, the pipe ram 302 may be used to seal accurately against the instrumented line 120, for example, in situations in which the inside of the drill string 104 is at high pressure. The pipe rams also may support the instrument 120 line within the drill string 104, and thus may serve as a back-up if the line- pusher265 is temporarily incapable of supporting the instrumented line within the drill sting 104. The ram 302 acting as a shear ram or the ram 304 acting as a shear/blind rams may sever the instrument line 120 when pressure inside the drill string 104 reaches a high value.

[0037] Further, the line-pusher 265 may include two or more tracks or "caterpillars" 307, 309, which may engage and move the instrument line 120 into and/or out of the entry port 210. The tracks 307, 309 may include links, rollers, or any other structure capable of engaging the instrument line 120 and, e.g., through the friction created by such an engagement, force the instrument line 120 downwards into the entry port 210, or to pull the instrument line 120 upwards, out of the entry port 210, as the tracks 307, 309 are moved. The tracks 307, 309 may have shapes to match the circular pattern of the instrument line 120, allowing distributed contact between the tracks 307, 309 with the instrument lien 120 for high friction while keeping the local contact pressure to an acceptable level for the instrument line 120. The high friction allows to the "caterpillars" to apply fair push or pull force onto the instrument line 120.

[0038] In the illustrated embodiment, the shaft 204 is connected to a gear 318, which meshes with a gear 320 that is connected to a motor shaft 322. The motor shaft 322 is rotated by the motor 207, and such rotate is transmitted to the shaft 204 via the meshing gears 318, 320. In this embodiment, the motor 207 is coupled to the housing 202, while mounts 324, 326 support the shaft of pinion gear 320.

[0039] The drilling apparatus 102 may also include a controller 310, which may be coupled to the housing 202 and movable therewith, or otherwise in communication with the drilling device 200. The controller 310 may receive commands, e.g., from the controller 128 (Figure 1) via a control line 312, but in some embodiments, may be autonomous. Further, the controller 310 may control the operation of the line -pusher 265, e.g., to control when the line -pusher 265 operates to feed the instrument line 120 through the entry port 210. The controller 310 may also operate to control the sealing device 220, e.g., to control when the annular seal 300 moves radially and to control the operation of one or both rams 302, 304. The controller 310 may further control or monitor the power to the motor 207 via a power line 314, so as to control when, and at what speed, the motor 207 rotates the shaft 204. [0040] Figure 4 illustrates a flowchart of a method 400 for deploying the instrument 126 into the drill string 104 deployed into the wellbore 106, according to an embodiment. Although the present method 400 is described with reference to the drilling rig 100 discussed above, it will be appreciated that this is merely an example, and embodiments of the method 400 may be applied using other structures.

[0041] The method 400 may begin with receiving the instrument 126 in the drilling device 200, as at 402. This may include, for example, receiving the instrument 126 and the instrument line 120 down between or near the sheaves of the crown block 112, between the sheaves of the travelling block 105, through the line -pusher 265, through the sealing device 220, and into the entry port 210 of the housing 202. In a specific embodiment, the instrument 126 may be positioned in the interior 250 of the shaft 204, or in the conduit 253.

[0042] The method 400 may also include sealing the entry port 210 using the sealing device 220, as at 404. For example, the annular seal 300 of the sealing device 220 may extend radially inward from an open position, which allows the instrument 126 to pass through, to a first, sealed configuration, in which the annular seal 300 engages and seals with the instrument line 120.

[0043] The method 400 may include receiving a flow of mud past the instrument 126, as at 406. The method 400 may then proceed to lowering the instrument 126 into the drill string 104, as at 408. At least a part of this lowering may be accomplished by pushing the instrument line 120 using the line-pusher 265, although at least a part of this pushing may also or instead rely on mud flow dragging the instrument 126 downwards. Further, the instrument 126 may be lowered (e.g., pushed) to a predetermined depth within the drill string 104. In addition, while the instrument 126 is being lowered, the instrument line spool 122 may unspool the instrument line 120 therefrom, so as to allow the line 116 to be extended down into the drill string 104. The unspooling of the instrument line 120 may be coordinated, e.g., synchronized, with the pushing by the line -pusher 265. Such lowering may occur rapidly, e.g., to minimize "blind" time during deployment during which the instrument 126 is not in position to transmit data. For example, such lowering may occur at about 5, about 10, about 15, or about 20 meters per second. The retrieval of the instrument 126 is obtained by reversing the movement in the pushing devise 265 which pulls the instrument line 120. The spool 122 may re-spool the instrument line 120 in accordance with the movement of the line-pusher 265. [0044] In an embodiment, the method 400 may include lowering the drilling device 200, e.g., by unspooling drilling line 116 from the drawworks 114, as at 410. In some embodiments, lowering the drilling device 200 may occur at the same time as the instrument 126 is being pushed into the drill string 104, and thus the pushing of the drill string 104 may take into account the change in position of the drilling device 200. The drilling device 200 may operate to apply a torque to and rotate the drill string 104 while being lowered at 410, e.g., as a process of drilling operations.

[0045] Prior to, during, or after lowering the drilling device 200, the instrument 126 may be moved into one or more predetermined positions and employed to collect data (e.g., formation, seismic, drill-pipe stress, torque, stick-slip, vibration, gyroscopic, inclination, or any other type of data), as at 412, which may be sent to the one or more surface controllers 128, e.g., via the instrument line 120. Further, data may be collected by the instrument 126 as transmitted to the surface via the instrument line 120. In other situations, data can be transmitted to the instrument 126 via the instrument line 120 for purposes of configuration of sensors of the instrument 126 or for relay to other equipment of the drill string 104, such as the steering components of the bottom-hole assembly (not shown).

[0046] The method 400 may also include raising the instrument 126 to a position within the drilling device 200, e.g., within the shaft 204 or within the conduit 253, as at 414. This may occur rapidly, for example, at least about 5, about 10, or about 15 meters per second, or more. For example, this may be conducted in response to the drilling device 200 reaching a predetermined elevation with respect to the rig floor 108, e.g., when the drilling device 200 is at or near to its lower end range of movement.

[0047] Once the instrument 126 is above the drill string 104, the shaft 204 may be disconnected from the drill string 104, as at 416. Thereafter, a new stand of one or more tubulars may be added to the drill string 104 and attached to the new stand, as at 418. The method 400 may return to lowering the instrument 126 at 408, and the sequence may repeat.

[0048] The instrument line 120 is constructed to include electrical wires to ensure electrical connection between the instrument 126 and the surface electronics including the controller 128. The instrument line 120 may also be designed to support the contact stress at the line pusher 265, as well as the tension force created by the weight of the instrument line and instrument 126. The instrument line 120 may also support the instrument 126 and the line 120 itself against pressure effects and friction. Friction induces axial force onto the instrument line when the line is moving axially in the drill string 104. Also, friction generates torque onto the instrument line when the drill string 104 is rotated. The instrument 126 and/or the instrument line 120 may be mechanically reinforced to survive these effects.

[0049] In some embodiments, the methods of the present disclosure may be executed by a computing system. Figure 5 illustrates an example of such a computing system 500, in accordance with some embodiments. The computing system 500 may include a computer or computer system 501 A, which may be an individual computer system 501 A or an arrangement of distributed computer systems. The computer system 501 A includes one or more analysis modules 502 that are configured to perform various tasks according to some embodiments, such as one or more methods disclosed herein. To perform these various tasks, the analysis module 502 executes independently, or in coordination with, one or more processors 504, which is (or are) connected to one or more storage media 506. The processor(s) 504 is (or are) also connected to a network interface 507 to allow the computer system 501 A to communicate over a data network 509 with one or more additional computer systems and/or computing systems, such as 501B, 501C, and/or 501D (note that computer systems 501B, 501C and/or 501D may or may not share the same architecture as computer system 501 A, and may be located in different physical locations, e.g., computer systems 501 A and 50 IB may be located in a processing facility, while in communication with one or more computer systems such as 501C and/or 501D that are located in one or more data centers, and/or located in varying countries on different continents).

[0050] A processor may include a microprocessor, microcontroller, processor module or subsystem, programmable integrated circuit, programmable gate array, or another control or computing device.

[0051] The storage media 506 may be implemented as one or more computer-readable or machine-readable storage media. Note that while in the example embodiment of Figure 5 storage media 506 is depicted as within computer system 501 A, in some embodiments, storage media 506 may be distributed within and/or across multiple internal and/or external enclosures of computing system 501 A and/or additional computing systems. Storage media 506 may include one or more different forms of memory including semiconductor memory devices such as dynamic or static random access memories (DRAMs or SRAMs), erasable and programmable read-only memories (EPROMs), electrically erasable and programmable read-only memories (EEPROMs) and flash memories, magnetic disks such as fixed, floppy and removable disks, other magnetic media including tape, optical media such as compact disks (CDs) or digital video disks (DVDs), BLU-RAY ^® disks, or other types of optical storage, or other types of storage devices. Note that the instructions discussed above may be provided on one computer-readable or machine -readable storage medium, or alternatively, may be provided on multiple computer- readable or machine-readable storage media distributed in a large system having possibly plural nodes. Such computer-readable or machine -readable storage medium or media is (are) considered to be part of an article (or article of manufacture). An article or article of manufacture may refer to any manufactured single component or multiple components. The storage medium or media may be located either in the machine running the machine-readable instructions, or located at a remote site from which machine-readable instructions may be downloaded over a network for execution.

[0052] In some embodiments, the computing system 500 contains one or more rig control module(s) 508. In the example of computing system 500, computer system 501A includes the rig control module 508. In some embodiments, a single rig control module may be used to perform some or all aspects of one or more embodiments of the methods disclosed herein. In alternate embodiments, a plurality of rig control modules may be used to perform some or all aspects of methods herein.

[0053] The computing system 500 is one example of a computing system; in other examples, the computing system 500 may have more or fewer components than shown, may combine additional components not depicted in the example embodiment of Figure 5, and/or the computing system 500 may have a different configuration or arrangement of the components depicted in Figure 5. The various components shown in Figure 5 may be implemented in hardware, software, or a combination of both hardware and software, including one or more signal processing and/or application specific integrated circuits.

[0054] Further, the steps in the processing methods described herein may be implemented by running one or more functional modules in information processing apparatus such as general purpose processors or application specific chips, such as ASICs, FPGAs, PLDs, or other appropriate devices. These modules, combinations of these modules, and/or their combination with general hardware are all included within the scope of protection of the invention. [0055] The foregoing description, for purpose of explanation, has been described with reference to specific embodiments. However, the illustrative discussions above are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in view of the above teachings. Moreover, the order in which the elements of the methods described herein are illustrate and described may be re-arranged, and/or two or more elements may occur simultaneously. The embodiments were chosen and described in order to best explain the principals of the invention and its practical applications, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated.