text:
|Publication number
|Publication type
|Application number
|Publication date
|Apr 26, 2011
|Filing date
|Oct 30, 2007
|Priority date
|Sep 15, 2003
|Fee status
|Also published as
|Publication number
|Peter Aronstam, Roger Fincher, Larry Watkins
|Original Assignee
|Baker Hughes Incorporated
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (41), Referenced by (15), Classifications (20), Legal Events (2)
|External Links: USPTO, USPTO Assignment, Espacenet
This application is a divisional of U.S. Utility application Ser. No. 10/938,189, filed Sep. 10, 2004 now issued U.S. Pat. No. 7,287,604 which takes priority from U.S. Provisional Application Ser. No. 60/503,053 filed on Sep. 15, 2003.
In one aspect, this invention relates generally to systems and methods utilizing materials responsive to an excitation signal. In another aspect, the present invention relates to drilling systems that utilize directional drilling assemblies actuated by smart materials. In another aspect, the present invention related to systems and methods for producing fast response steerable systems for wellbore drilling assemblies.
To obtain hydrocarbons such as oil and gas, boreholes are drilled by rotating a drill bit attached at a drill string end. A large proportion of the current drilling activity involves directional drilling, i.e., drilling deviated and horizontal boreholes to place a wellbore as required, to increase the hydrocarbon production and/or to withdraw additional hydrocarbons from the earth's formations. Modern directional drilling systems generally employ a drill string having a bottomhole assembly (BHA) and a drill bit at end thereof that is rotated by a drill motor (mud motor) and/or the drill string. A number of downhole devices placed in close proximity to the drill bit measure and control certain downhole operating parameters associated with the drill string. Such devices typically include sensors for measuring downhole temperature and pressure, azimuth and inclination measuring devices and a resistivity measuring device to determine the presence of hydrocarbons and water. Additional downhole instruments, known as logging-while-drilling ("LWD") tools, are frequently attached to the drill string to determine the formation geology and formation fluid conditions during the drilling operations.
Most hydrocarbon wellbores are currently drilled using a combination of rotary and hydraulic energy sources. Rotation of the drill string is often used as at least one source of the rotary energy. Drilling fluid, or "mud," is used to clean the bore hole and drill bit and to cool and lubricate the drill bit. Because the drilling fluid is pump downhole under pressure, the drilling fluid is often used as an additional source of energy for driving drilling motors that provide some or all of the rotary power required to drill the borehole. Different BHAs are selected depending on the nature of the wellbore 'directional path' and the method by which the wellbore is being drilled (e.g., pure rotary, rotary with downhole motor, or only a downhole motor). Certain BHAs are configured to allow the wellbore to be steered along a pre-determined path. In steered wellbore path drilling, drilling motors or other devices are configured in one or more ways to facilitate controlled steering of the wellbore. In these BHAs, the drill bit is usually connected to a 'drive-shaft' that is supported and stabilized by a series of axial and radial bearings. A drilling motor is used to turn the drive shaft that then turns the bit. The configuration of the motor housing containing the drive-shaft (typically referred to as the bearing housing) and its relationship the remainder of the BHA and drill string allows the well bore to be steered. These motor-based directional BHAs are typically referred to as steerable motor systems.
In recent times, a modification to the motor bearing housing configuration has been introduced to the drilling marketplace. These systems are commonly known as rotary steerable systems. These systems were originally driven or powered by rotation of only the drill pipe, but certain systems presently available combine downhole motors and rotation of the drill string.
Boreholes are usually drilled along predetermined paths and the drilling of a typical borehole proceeds through various formations. To design the path of a subterranean borehole to be other than linear in one or more segments, it is conventional to use "directional" drilling. Variations of directional drilling include drilling of a horizontal, or highly deviated, borehole from a primary, substantially vertical borehole, and drilling of a borehole so as to extend along the plane of a hydrocarbon-producing formation for an extended interval, rather than merely transversely penetrating its relatively small width or depth. Directional drilling, that is to say varying the path of a borehole from a first direction to a second, may be carried out along a relatively small radius of curvature as short as five to six meters, or over a radius of curvature of many hundreds of meters. In many directional boreholes, the well path is a complex 3D curve with multiple radii of curvature. The variation of the curvature (radius) depends upon the pointing (aiming) and bending of the BHA.
Some arrangements for effecting directional drilling include positive displacement (Moineau) type motors as well as turbines that are employed in combination with deflection devices such as bent housing, bent subs, eccentric stabilizers, and combinations thereof. Such arrangements are used in what is commonly called oriented slide drilling. Other steerable bottomhole assemblies, commonly known as rotary steerable systems, alter the deflection or orientation of the drill string by selective lateral extension and retraction of one or more contact pads or members against the borehole wall.
Referring initially to
The steering control system 10 shown in the
The use of multiple subsystems 22 a-i, whether mechanical, electro-mechanical or hydraulic, can cause hydraulic and mechanical time lags for at least two reasons. First, these conventional subsystems must first overcome system inertia and friction upon receiving the command signal. For instance, motors whether electrical or hydraulic require time to wind up to operating speed and/or produce the requisite motive force. Likewise, hydraulic fluids take time to build pressure sufficient to move a reaction device such as a piston. Second, each interrelated subsystem introduces a separate time lag into the response of the conventional rotary steering drilling system. The separate time lags accumulate into a significant time delay between the issuance and execution of a command signal. In conventional rotary steerable systems, up to several tenths of a second can separate the issuance of a command signal and a corresponding change in drilling direction forces or system geometry that influences drilling direction. If these time lags are great enough relative to drill string RPM and rate of penetration, a reduction in directional control and expected borehole curvature can occur. This can result in a reduction in directional control.
Other configurations of rotary steerable drilling systems minimize the dependency on response time by using a non-rotating stabilizer or pad sleeve. Introduction of the non-rotating (or slow rotating) sleeve decreases the actuation speed requirement but increases the complexity of the steering unit (e.g., the need for rotating seals, rotary electrical connections, etc.). Thus, conventional rotary steerable systems have a limited mechanical response rate, are mechanically complex, or both.
The present invention addresses these and other needs in the prior art.
In one aspect, the present invention relates to systems, devices and methods for efficient and cost effective drilling of directional wellbores. The system includes a well tool such as a drilling assembly or a bottomhole assembly ("BHA") at the bottom of a suitable umbilical such as drill string. The BHA includes a steering unit and a control unit. In embodiments, the steering unit and control unit provide dynamic control of bit orientation by utilizing fast response "smart" materials. In one embodiment, the control unit utilizes one or more selected measured parameters of interest in conjunction with instructions to determine a drilling direction for the BHA. The instructions can be either pre-programmed or updated during the course of drilling in response to measured parameters and optimization techniques. The control unit issues appropriate command signals to the steering unit. The steering unit includes one or more excitation field/signal generators and a "smart" material. In response to the command signal, the excitation signal/field generator produces an appropriate excitation signal/field (e.g., electrical or magnetic). The excitation signal/field causes a controlled material change (e.g., rheological, dimensional, etc.) in the "smart" material. The utilization of smart materials allows direct control rates that are faster and less mechanically complex than conventional rotary steerable directional systems.
Exemplary embodiments of steering units employing smart materials can control drilling direction by changing the geometry of a BHA ("system geometry change tools"), by generating a selected bit force vector ("force vector systems"), and by controlling the cutting action of the bit ("differential cutting systems").
Steering units that utilize system geometry change steering units to effect a change in drilling direction can employ a "composite geometry change" or "local geometry change." Exemplary composite geometry change steering units can include a deformable sleeve between two attachment points on a rigid tube. These attachment points can be stiffeners, a flange, a diametrically enlarged portion or other suitable feature formed integral with or separate from the drill string or BHA. The sleeve is formed at least partially of one or more smart materials that expand or contract when subjected to an excitation field/signal. By actively controlling the excitation field (e.g., electrical field) associated with the sleeve, the sleeve expands to push the attachment points apart or contracts to pull the attachment points together. This expansion or contraction is transferred to the rigid tube, which then flexes or curls in a selected manner. Exemplary "local geometry change" steering units can include a dynamically adjustable articulated hinge or joint that, when actuated, can adjust the orientation of the bit. The articulated joint can be positioned immediately adjacent to the bit or disposed in the BHA or washer. In one embodiment, the articulated joint includes a washer or ring having a plurality of elements that are at least partially made of one or more solid smart materials. In response to an excitation signal, the elements individually or collectively deform (expand or contract) along a longitudinal axis of the BHA. This controlled longitudinal deformation alters the physical orientation of a face of the ring. This local discontinuity effects a change in the tilt or point of the drill bit. In certain embodiments, a washer face can include a circumferential array of hydraulic chambers filled with a smart fluid (e.g., a fluid having variable-viscosity) and associated pistons. In one application, the smart fluid provides increased or decreased resistance to compression when subjected to an excitation signal, such as an electrical impulse. In this embodiment, the piston individually or collectively contract or relax when subjected to the forces inherent during drilling (e.g., weight on bit). Varying the viscosity alters the distance a given piston shifts, which causes a tilt in the washer face. This tilt causes a local geometry change that controls the physical orientation of the drill bit.
In certain embodiments, the steering unit is incorporated into the bit body. For example, a washer utilizing smart materials can be inserted into a body of the drill bit and placed in close proximity to the bit face. A controller communicates with the washer via a telemetry system to control the excitation signals provided to the smart material used by washer by a suitable generator. The telemetry system can be a short hop telemetry system, hard wiring, inductive coupling or other suitable transmission devices.
Exemplary steering units that utilize force vectors to produce a bit force include one or more stabilizers utilizing smart materials configured to produce/adjust bit side force or alter BHA centerline relative to the borehole centerline. In one embodiment, the stabilizer is fixed to a rotating section of the BHA and includes a plurality of force pads for applying a force against a borehole wall. In this embodiment, steering is effected by a force vector, which creates a reaction force that urges the bit in the direction generally opposite to the force vector. The force pads are actuated by a shape change material that deform in response to an excitation signal produced by a signal/filed generation device or other suitable generator as discussed earlier. The expansion/contraction of the shape change material extends or urges the force pads radially inward and/or outward. In another embodiment, the stabilizer includes a plurality of nozzles that form hydraulic jets of pressurized drilling fluid. The nozzles use a smart material along the fluid exit path to selectively regulate the flow of exiting fluid. The strength of the hydraulic jets can be controlled via a signal/field generator to produce a selected or pre-determined reactive forces. Controlling the hydraulic jet velocity/flowrate can alter the symmetry of the lateral hydraulic force vectors and thus control the direction of the lateral deflection of the drill bit.
In certain embodiments, a deflection device is fixed to a bit to manipulate the radial positioning of the bit relative to the wellbore. In one embodiment, the deflection device includes a plurality of force pads for applying a force against a borehole wall and gage cutters for cutting the borehole wall. The force pads and gage cutters are actuated by a shape change material that expands/contracts in response to an excitation signal. In one mode, either the force pads or gage cutters are extended to contact the borehole wall at a selected frequency. In another mode, the action of the gage cutters and force pads are coordinated such that when a force pad extends out, the corresponding cutter on the opposite side also extends out to cut the borehole wall. A controller communicates with the deflection device via a telemetry system to control the operation of the force pads and gage cutters. The telemetry system can be a short hop telemetry system, hard wiring, inductive coupling or other suitable transmission devices. In other arrangements, the deflection device includes only force pads or only gage cutters. In another embodiment, a hydraulic jet force deflection device fixed in the drill bit uses smart material controlled nozzles along the outer diameter of the bit to produce controllable hydraulic jets to produce reactive forces for controlling the position of the drill bit.
Exemplary differential cutting steering units change well bore path and direction by controlling the forward (face) rate of penetration of the bit. In one embodiment, a drill bit incorporating differential cutting includes a plurality of nozzles that utilize smart materials to modulate the flow through one or more selected nozzles. By selectively and actively changing the flow through one or more of the nozzles, the degree of bottom hole cleaning on one side of the hole can be made more or less effective versus another side. To manage the face segment influenced, the rate or frequency of modulation can be synchronous with the bit rotation or a multiple of a consistent fraction of bit speed. This differential bottom hole cleaning results in a differential rate of penetration across the bottom of the hole. For instance, drilling cuttings accumulate to a greater degree under a selected segment. The relatively greater accumulation of drilling cuttings reduces local ROP and causes the desired change in well path direction. In another embodiment, the drill bit includes a plurality of cutters, which are disposed on a face of the drill bit, that can be individually or collectively (e.g., selected groups) axially lengthened by selectively energizing a smart material. By adjusting the rate of penetration of certain cutters, a differential rate of penetration is created which cause a change in drilling direction. In another embodiment, a differential rate of penetration is provided by actively controlling segmental depth of cut using smart materials to alter the height of one or more depth of cut limiting protrusions provided on a bit face. These embodiment can also provide a controlled distribution of the gross total weight or force on the bit amongst the multiple cutting surfaces. For drill bits utilizing such steering units; data, command signals, and power can be transmitted to the steering unit via a short hop telemetry system, hard wiring, inductive coupling or other suitable transmission devices and systems.
For "oriented slide drilling," which are substantially stationary relative to the wellbore during operation, an associated control unit transmits excitation signals that effectively bend a portion of the BHA (e.g., through local geometry change or composite geometry change) to create a tilt angle that points the bit in a specified direction. Because the steering unit is not rotating relative to the wellbore, this bend can remain substantially fixed (other than to correct for changes in BHA and/or steering unit orientation) until the next desired change in bit direction/orientation.
For steering units that rotate during operation, the control unit energizes or activates the actively controlled elements (e.g., washer segments, nozzles, force pad segments, etc.) of that steering unit as a function of the rotational speed of the steering unit (which may be the rotational speed of a drill string or drill bit). For example, a specified bend or tilt may require one or more elements to be activated while in a specified azimuthal location in the wellbore (e.g., top-dead-center of the wellbore). The azimuthal location can be a point or zone. The elements rotate into the specified location once per shaft revolution. Thus, the control unit energizes the elements every time the elements are in that location. The control unit can also activate the element at one or fewer than one times per reference rotation/cycle provided that the elements are in the selected location. This provides a means for tuning or adjusting the directional deflection aggressiveness via frequency of activation in addition to the amount of shape change.
The control unit can be programmed to adjust one or more operational parameters or variables in connection with the activation of the elements. For instance, the control unit can control the timing or sequence of activation. For example, the region for activation may be a single point or a specified region (e.g., a selected azimuthal sector) or multiple locations. Also, the control unit can simultaneously or sequentially activate any number of elements is selected groups or sets. Additionally, the control unit can control the magnitude or strength of the excitation signal to control the amount of material change (e.g., length change) of the smart material. For instance, by controlling the signal/field intensity, the control unit can change the length of the element and/or the magnitude of the force produced by the element. By controlling these illustrative variables, and other variables, the control unit can control the degree or aggressiveness of path deflection.
In certain embodiments of the present invention employ mechanical steering devices that may or may not utilize smart materials. In one such embodiment, a mechanical adjustable joint is disposed in a section of a BHA. The joint includes two or more members that have sloped/inclined faces (e.g., tubulars, plates, disks, washers, rings) and can rotate relative to one another. A positional sensor package associated with a rotating member (e.g., drilling tubular) provides drilling torque and WOB for a drilling operation. By referencing an external reference plane and actively correlating an internal reference plane to the external reference plane, the sensor package defines a known orientation to the reference vector during random rotation of the rotating member. The sensor package transmits the orientation data to a control/driver device that controls a secondary rotary drive device coupled to one or more of the members having sloped/inclined faces of the adjustable joint. In one embodiment, the drive device counter rotates the ring positioned on the rotating member to maintain a fixed or desired orientation to the external reference plane. While the devices are shown as part of a drill string or BHA, these devices can also be incorporated into a drill bit body in a manner previously described.
Examples of the more important features of the invention have been summarized (albeit rather broadly) in order that the detailed description thereof that follows may be better understood and in order that the contributions they represent to the art may be appreciated. There are, of course, additional features of the invention that will be described hereinafter and which will form the subject of the claims appended hereto.
For detailed understanding of the present invention, reference should be made to the following detailed description of the preferred embodiment, taken in conjunction with the accompanying drawing:
In one aspect, the present invention relates to devices and methods utilizing smart materials for steerable systems, devices and methods for drilling complex curvature directional wellbores. The present invention is susceptible to embodiments of different forms. There are shown in the drawings, and herein will be described in detail, specific embodiments of the present invention with the understanding that the present disclosure is to be considered an exemplification of the principles of the invention, and is not intended to limit the invention to that illustrated and described herein.
Referring initially to
This system 100 further includes a well tool such as a drilling assembly or a bottomhole assembly ("BHA") 108 at the bottom of a suitable umbilical such as drill string or tubing 110 (such terms will be used interchangeably). In one embodiment, the BHA 108 includes a drill bit 112 adapted to disintegrate rock and earth. The bit 112 can be rotated by a surface rotary drive, a downhole motor using pressurized fluid (e.g., mud motor), and/or an electrically driven motor or combinations thereof. The tubing 110 can be formed partially or fully of drill pipe, metal or composite coiled tubing, liner, casing or other known members. Additionally, the tubing 110 can include data and power transmission carriers such as fluid conduits, fiber optics, and metal conductors. Sensors S are disposed throughout the BHA to measure drilling parameters, formation parameters, and BHA parameters.
During drilling, a drilling fluid from a surface mud system 114 is pumped under pressure down the tubing 110. The mud system 112 includes a mud pit or supply source 116 and one or more pumps 118. In one embodiment, the supply fluid operates a mud motor in the BHA 108, which in turn rotates the drill bit 112. The drill string 110 rotation can also be used to rotate the drill bit 112, either in conjunction with or separately from the mud motor. The drill bit 112 disintegrates the formation (rock) into cuttings that flow uphole with the fluid exiting the drill bit 112.
The BHA 108 includes a steering unit 120 and a control unit 122. The BHA 108 can also include a processor 124 in communication with the sensors S, the control unit 120 and/or a surface controller 126 and peripherals 128. The sensors S can be configured to measure formation parameters (e.g., resistivity, porosity, nuclear measurements), BHA parameters (e.g., vibration), and drilling parameters (e.g., weight on bit 112). In certain embodiments, the steering unit 120 and control unit 122 (with or without control signals from the surface) provide dynamic control of bit 112 orientation to influence borehole curvature and direction. The steering unit 120 utilizes a fast response "smart" material, described more fully below, coupled with directional drilling assemblies. It is believed that using smart material controlled in an active manner will allow control and change/response of the steering head system configuration at speeds not feasible with conventional electro-hydraulic-mechanical systems. It is further believed that this step change in system control and response speed will allow the steering head to become an integral part of the rotating assembly and allow shaft or drill string rotations speeds greater than conventional rotary steering systems integrated into a rotating assembly will allow.
Referring now to
The appropriate drilling direction can be determined in reference to a pre-defined well path, a well path adjusted to reflect revised down hole reservoir information, a well path revised from the surface, and/or a well path revised relative to marker limit spacing. After this determination, the control unit 130 computes the necessary adjustments to be made to the BHA 108 to effect the new drilling direction and transmits via a suitable telemetry system (not shown) the corresponding command or control signals 136 to the steering unit 120.
In response to the command signal 136, an excitation signal/field generator produces an appropriate excitation signal/field. The generator can be a conductor, a circuit, a coil or other device adapted produce and/or transmit a controlled energy field. The excitation signal/field causes a controlled material change (e.g., rheological, dimensional, etc.) in an appropriately formulated material, hereafter "smart" material. Smart materials include, but are not limited to, electrorheological fluids that are responsive to electrical current, magnetorheological fluids that are responsive to a magnetic field, and piezoelectric materials that responsive to an electrical current. This change can be a change in dimension, size, shape, viscosity, or other material property. The smart material is deployed such that a change in shape or viscosity can alter system geometry, apply side forces, and/or vary the cutting action by the bit face to thereby control drilling direction of the drill bit 112. Additionally, the "smart" material is formulated to exhibit the change within milliseconds of being subjected to the excitation signal/field. Thus, in response to a given command signal, the requisite field/signal production and corresponding material property can occur within a few milliseconds. Thus, hundreds of command signals can be issued in, for instance, one minute. Accordingly, command signals can be issued at a frequency in the range of rotational speeds of conventional drill strings (i.e., several hundred RPM).
Illustrative embodiments of steering units employing smart materials are discussed below in the context of steering units configured to controlling direction by changing the geometry of a BHA ("system geometry change tools"), by generating a selected bit force vector ("force vector systems"), and by controlling the cutting action of the bit 112 ("differential cutting systems"). It should be appreciated, however, that the teachings of the present invention are not limited to the described embodiments nor their representative systems.
System Geometry Change Steering
System geometry change steering units effect a change in drilling direction by influencing the way the bit 112 and bottom hole assembly 108 lays in the previously drilled hole so as to influence the tilt of the bit 112. The end effect is that the bit face points or tilts in a selected orientation for the selected new direction of the hole. For steering units utilizing system geometry change, the act of pointing (through flexure) or tilting (via a hinged joint) the bit 112 generally causes the lower end of the drilling assembly 108 to have a tool assembly centerline that is different from that of the previously drilled hole. This variable tool centerline will occur above and below the point of tilt or area of flexure (can be non-linear) and will be continuous although slope discontinuities within the mechanical assembly may occur. Methods and arrangements for pointing or tilting of the bit face can utilize "composite geometry change" and "local geometry change," both of which are described below.
Referring now to
Referring now to
Referring now to
Referring now to
It should be understood that the embodiments described in
Referring now to
In certain embodiments, the smart materials are configured to provide a material change that is proportional to a selected parameter of the excitation signal (i.e., the strength, intensity, magnitude, polarity, etc.). Referring now to
The above described composite steering units can be in a lower section of a rotary drill string BHA 108, in a component of a bearing housing in a modular or conventional drilling motor assembly (not shown), or other suitable location sufficiently proximate to the bit 112.
Referring now to
It should be appreciated that the elements operate effectively as an adjustable joint that allows the steering unit to flex or bend (e.g., assume a bend radius). Merely for illustrative purposes, there is shown element 256 n expanded (and/or element 256 a contracted) to produce a tilt of angle α′ from a reference plane B for a ring face 258. This angle α′ provides a corresponding tilt for the bit 112 such that a bit face 260 tilts a corresponding angle β from a reference plane C. The term "tilt" refers merely to a displacement or shift of position from a previous position or a nominal/reference position. The displacement can be longitudinal, radial, and in certain instances rotational, or combinations thereof. Moreover, the displacement need not be parallel or orthogonal to any particular reference plane or axis. It should be understood that a tilt can also be produced by expanding elements 256 a and 256 n in different amounts, contracting elements 256 a and 256 n in different amounts, or expanding/contracting element 256 a while having element 256 n remain static. That is, the slope of the face 258 may be controlled by variation of the energizing field strength for the smart material. Thus the degree of the tilt change for the bit face 260 may be not just turned on or off, it may be tuned and adjusted for aggressiveness and rate of hole angle direction change. By selectively energizing segments 256 a-n, a counter rotation is simulated for the ring face 258 at a speed similar to the bit 112. The simulated counter-rotation effectively cancels the actual rotation of the bit 112 (or other rotating member) such that the deflection always points (tilts) the bit 112 in a selected direction and thus actively control directional behavior of the well path. Referring also to
Referring now to
Referring now to
Force Vector Change Steering Unit
Referring now to
Referring now to
Referring now to
In certain embodiments, the stabilizers 300 and 310 can be placed at either contact points C2 or C3. In other embodiments, the stabilizers 300 and 310 can be deployed at C2 and C3. In such embodiments, the stabilizers 300 and 310 can be operated to produce opposite but axially spaced apart reaction forces (e.g., F1 and F2).
Referring now to
Bit Face Differential Rate of Penetration
Referring now to
Referring still to
Referring now to
Referring now to
Referring generally to the Figures discussed above, the manner in which a steering unit is incorporated into the BHA 108 can influence the type of control the control unit exerts over the steering unit. For instance, in certain embodiments, such as during sliding drilling, a drilling motor, which can be substantially stationary relative to the wellbore 102, rotates the drill bit 112. In such applications, an arrangement can be devised such that the steering unit (e.g., the steering units of
In other arrangements, however, the steering unit can rotate. For example, the steering unit may be fixed directly or indirectly to the drill bit 112 and rotate at the rotational speed of the drill bit 112 (e.g., as shown in
Referring now to
In an exemplary use, a control unit 508 for controlling the steering unit 500 determines that the wellbore direction should be changed in accordance with a controlling condition, surface input, reservoir property, etc. Execution of the direction change can, for example, require that a bend, point, or differential cutting, etc. occur with reference to an arbitrary point or region such as top-dead-center (TDC) 510 of the wellbore. Because the elements 502 a-n are rotating at the reference rotation speed RPM (which can be considered a frequency, i.e., cycles per second), an element 502 i is at TDC 510 only once per rotation of the drill string or drill bit. Accordingly, the control unit 508 activates element 502 i when entering TDC 510 and deactivates upon leaving TDC 510. Thus, the element 502 i is activated at a frequency corresponding to the reference rotation RPM or frequency.
The control unit 508 can be programmed to adjust a number of variables in connection with the activation of the elements 502 a-n. With respect to frequency of activation, the control unit 508 can activate the unit 502 i at ratios of one activation per rotation/cycle, one activation per two rotations/cycles, one activation per three rotations/cycles, etc. Thus, the activation frequency can be less than one per rotation as long as the activation occurs while the unit 502 i is within the selected region (e.g., TDC 510). Further, TDC 510 is merely one illustrative reference point. The region for activation may be an azimuthal sector having a specified arc (e.g., ninety degrees, one-hundred degrees, etc.). Thus, the zone or region wherein activation of the unit 502 i can be adjusted. Another variable is the number of elements activated; i.e., groups of elements as well as individual elements such as elements 502 a-b can be collectively energized. Moreover, the control unit 508 can select multiple zones or reference segments for activation. For example, an element 502 n entering another reference point such as bottom-dead-center (BDC) 512 can be energized simultaneous (or otherwise) in conjunction with the activation of the elements entering TDC 510. For instance, an element entering TDC 510 can expand or lengthen while the element entering BDC 512 can retract or shorten.
Referring now to FIGS. 13A,B and 14A,B, there are shown mechanical steering devices that employ certain teachings of the present invention that may or may not utilize smart materials. While the devices are shown as part of a drill string or BHA, these devices can also be incorporated into a drill bit body in a manner previously described.
Referring now to FIGS. 13A,B, there is shown an adjustable joint 1000 having a first ring 1100 and a second ring 1200 that can rotate relative to one another about a reference tool center line X. Each ring 1100 and 1200 includes an inclined face 1102 and 1202, respectively, that bear on one another. In other embodiments, members such as tubulars, disks, plates, etc. that have inclined surfaces can be used instead of rings. As shown in
In one embodiment, the rings 1100 and 1200 have at least two operational modes. First, the rings 1100 and 1200 rotate relative to one another to set the desired deflection angle, which then produces a corresponding tilt to the BHA/drill bit. Once the deflection angle is set, the relative rotation between the rings 1100 and 1200 is fixed until the deflection angle needs to be changed. Thus, the rings 1100 and 1200 are substantially locked together and the deflection angle does not change during a section of the drilling operation. If the joint 1000 is not being rotated (e.g., oriented slide drill mode), then the locked rings 1100 and 1200 are rotated as a unit only to maintain the proper orientation. During slide drilling, tools can tend to drift out of proper orientation. In such circumstances, the joint 1000 can be rotated as needed to counter any rotational drift caused by torsional or other dynamic string wind-up between down hole and the torsional anchor point (which can be at the surface or at a downhole anchor). During rotary drilling, the locked rings 1100 and 1200 are counter rotated as a unit at the speed of the string rotation so as to maintain the selected tilt angle heading.
Referring now to FIGS. 14A,B, the is shown the adjustable joint 1000 wherein the reference positions R1 and R2 have been shifted relative to one another to cause a tilt in the BHA as shown by deflected tool center line Y. In one embodiment, a downhole motor (e.g., electric, hydraulic, etc.) (not shown) is used to rotate one ring relative to the other. For example, the motor (not shown) is coupled to the first ring 1100 via a shaft (not shown) and the second ring 1200 is fixed or attached to a drill string (not shown), BHA (not shown) or drill bit (not shown). The motor is energized to make the appropriate alignment changes for R1 and R2 to cause the desired tool centerline deflection. In another mode of operation, the rings 1100 and 1200 (or other suitable members) are formed at least partially of a smart material. Thus, a control unit can provide an excitation signal to such rings in a manner that simulates an appropriate counter rotation.
Referring now to
It should be understood that the teachings of the present invention can be advantageously utilized in systems, devices and methods in arrangements that are variations of or different from the above-described embodiments. These teachings include, but are not limited to, steering units utilizing smart materials (hereafter "smart material steering units"), control units for canceling the effect the rotation of a drilling tubular or other member, and steering units utilizing actively adjustable rotating members (e.g., tubulars, disks, rings, plates, etc.) (hereafter "rotating member steering units"). Merely for convenience, a few of the above-described teachings are repeated, in albeit cursory fashion, below:
Systems, devices and methods have been described for use in a rotary drilling system (i.e., bit driven by drill string rotation) wherein (i) excitation of a smart material in a smart material steering unit causes a change in BHA geometry or operation (e.g., tool center line deflection, force vector change, differential cutting, etc.); and (ii) a control unit excites the smart material at a frequency that simulates a counter rotation at a speed that effectively cancels the drill string rotation.
Systems, devices and methods have been described for use in a rotary drilling system (i.e., bit driven by drill string rotation) wherein (i) a excitation of a smart material in a smart material steering unit causes a change in BHA geometry or operation (e.g., tool center line deflection, force vector change, differential cutting, etc.); and (ii) a control unit operates a rotary drive (e.g., a motor) coupled to the smart material steering unit to provide a counter rotation at a speed that effectively cancels the drill string rotation.
Systems, devices and methods have been described for use in a sliding drilling system (i.e., bit driven by downhole motor) wherein excitation of a smart material in a smart material steering unit causes a change in BHA geometry or operation (e.g., tool center line deflection, force vector change, differential cutting, etc.). No counter rotation is needed since the steering unit using the smart material is not rotating.
Systems, devices and methods have been described for use in a rotary drilling system (i.e., bit driven by drill string rotation) wherein (i) a rotating member steering unit is adjusted to cause a change in BHA geometry or operation (e.g., tool center line deflection, force vector change, differential cutting, etc.); and (ii) a control unit excites a smart material associated with the rotating member steering unit at a frequency that simulates a counter rotation at a speed that effectively cancels the drill string rotation.
Systems, devices and methods have been described for use in a rotary drilling system (i.e., bit driven by drill string rotation) wherein (i) a rotating member steering unit is adjusted to cause a change in BHA geometry or operation (e.g., tool center line deflection, force vector change, differential cutting, etc.); and (ii) a control unit operates a rotary drive (e.g., a motor) coupled to the rotating member steering unit to provide a counter rotation at a speed that effectively cancels the drill string rotation.
Also described are systems, devices and methods integral with or provided in a drill bit or other cutting structure to control drilling direction.
Although the teachings of the present invention have been discussed with reference to devices and systems for directional drilling, it should be apparent that the advantageous of the present invention can be equally applicable to other wellbore tools. For example, the system geometry change devices may be utilized with formation testing tools, wellbore completion tools, etc., including branch wellbore, lateral re-entry guide tools, tools conveyed on drill pipe or coiled tubing, and casing exit oriented milling/cutting tools. Accordingly, while the foregoing disclosure is directed to the preferred embodiments of the invention, various modifications will be apparent to those skilled in the art. It is intended that all variations within the scope and spirit of the appended claims be embraced by the foregoing disclosure.
|Cited Patent
|Filing date
|Publication date
|Feb 28, 1977
|May 2, 1978
|Macfield Texturing, Inc.
|Safety guard for the blade of carton openers
|May 3, 1978
|Jan 29, 1980
|Maurer Engineering Inc.
|Directional drilling apparatus
|Dec 10, 1979
|Apr 21, 1981
|Evans Robert F
|Borehole angle control by gage corner removal from mechanical devices associated with drill bit and drill string
|Jan 21, 1982
|Nov 22, 1983
|Baker Royce E
|Bit guidance device and method
|May 23, 1984
|Jan 27, 1987
|Welborn Austin E
|Direction and angle maintenance tool and method for adjusting and maintaining the angle of deviation of a directionally drilled borehole
|Aug 29, 1986
|Mar 15, 1988
|Rock Bit Industries U.S.A., Inc.
|Rock bit cone lock and method
|Mar 11, 1991
|Oct 27, 1992
|Hare Sr Nicholas S
|Electro-rheological valve
|Dec 22, 1989
|Jun 22, 1993
|Patton Consulting, Inc.
|System for controlled drilling of boreholes along planned profile
|Dec 13, 1991
|Mar 15, 1994
|Baroid Technology, Inc.
|Downhole adjustable stabilizer
|Jul 27, 1993
|Aug 30, 1994
|Patton Bob J
|System for controlled drilling of boreholes along planned profile
|Feb 18, 1993
|May 30, 1995
|Patton Consulting
|System for controlled drilling of boreholes along planned profile
|Jul 11, 1994
|Aug 22, 1995
|Strange, Jr.; William S.
|Drill bit with forward sweep cutting elements
|Aug 8, 1994
|Nov 21, 1995
|Maverick Tool Company
|Method and apparatus for short radius drilling of curved boreholes
|Aug 27, 1992
|Sep 10, 1996
|Camco International Inc.
|Modulated bias units for steerable rotary drilling systems
|Sep 13, 1996
|Sep 30, 1997
|Baker Hughes Incorporated
|Swivel/tilting bit crown for earth-boring drills
|Jul 27, 1998
|Aug 24, 1999
|Hughes; W. James
|Method and apparatus for drilling a planar curved borehole
|Feb 5, 1998
|Jul 25, 2000
|Schlumberger Technology Corporation
|Actively controlled rotary steerable system and method for drilling wells
|Aug 11, 1998
|Oct 31, 2000
|Baker Hughes Incorporated
|Drag bit with steel shank and tandem gage pads
|Apr 24, 1998
|Nov 7, 2000
|Camco International (Uk) Limited
|Rotary drill bit having moveable formation-engaging members
|Aug 24, 1998
|Jan 16, 2001
|Baker Hughes Incorporated
|Rotary drill bits for directional drilling employing movable cutters and tandem gage pad arrangement with active cutting elements and having up-drill capability
|Jun 30, 1999
|Apr 3, 2001
|Francis Du Petrole
|Device and method for controlling the trajectory of a wellbore
|Aug 5, 1999
|Jul 3, 2001
|Smith International, Inc.
|Side cutting gage pad improving stabilization and borehole integrity
|Oct 6, 1999
|Jul 10, 2001
|Aps Technology, Inc.
|Magnetorheological fluid apparatus, especially adapted for use in a steerable drill string, and a method of using same
|Jan 25, 1999
|Jul 17, 2001
|Baker Hughes Incorporated
|Rotary-type earth boring drill bit, modular bearing pads therefor and methods
|Jan 2, 2001
|Sep 18, 2001
|Baker Hughes Incorporated
|Rotary drill bits for directional drilling employing tandem gage pad arrangement with cutting elements and up-drill capability
|Aug 5, 1998
|Nov 27, 2001
|Baker Hughes Incorporated
|Rotary drill bits for directional drilling employing tandem gage pad arrangement with cutting elements and up-drill capability
|Aug 11, 2000
|Feb 26, 2002
|Baker Hughes Incorporated
|Drill bit with selectively-aggressive gage pads
|Jul 27, 2001
|May 27, 2003
|Baker Hughes Incorporated
|Downhole actuation system utilizing electroactive fluids
|Aug 21, 2001
|Apr 27, 2004
|Halliburton Energy Services, Inc.
|Roller bits with bearing failure indication, and related methods, systems, and methods of manufacturing
|Dec 5, 2005
|Apr 10, 2007
|Raney Richard C
|Stabilizing system and methods for a drill bit
|Nov 28, 2005
|May 20, 2008
|William James Hughes
|Method and apparatus for drilling curved boreholes
|Apr 27, 2001
|Jan 31, 2002
|Aps Technology, Inc.
|Steerable drill string
|Mar 18, 2002
|Jul 11, 2002
|Baker Hughes Incorporated
|Drilling assembly with a steering device for coiled -tubing operations
|Feb 20, 2002
|Aug 22, 2002
|Harrison William H.
|Directional borehole drilling system and method
|Jul 16, 2002
|Dec 2, 2004
|Runia Douwe Johannes
|Steerable rotary drill bit assembly with pilot bit
|Jul 23, 2004
|Feb 3, 2005
|Halliburton Energy Services, Inc.
|Directional acoustic telemetry receiver
|Aug 10, 2007
|Jan 3, 2008
|Richard Hutton
|Steerable rotary directional drilling tool for drilling boreholes
|Title not available
|Title not available
|Title not available
|Jan 13, 2000
|Jul 27, 2000
|Baker Hughes Incorporated
|Rotary-type earth drilling bit, modular gauge pads therefor and methods of testing or altering such drill bits
|Citing Patent
|Filing date
|Publication date
|Dec 23, 2009
|Sep 17, 2013
|Baker Hughes Incorporated
|Drill bits with cutters to cut high side of wellbores
|Jul 8, 2011
|Sep 17, 2013
|Adobe Systems Incorporated
|Automatic document exchange with document searching capability
|Jul 2, 2010
|Nov 12, 2013
|Adobe Systems Incorporated
|Automatic document exchange and execution management
|Jan 3, 2013
|Oct 28, 2014
|National Oilwell Varco, L.P.
|Rotary steerable push-the-bit drilling apparatus with self-cleaning fluid filter
|Aug 17, 2010
|Dec 9, 2014
|Trendon Ip Inc.
|High efficiency hydraulic drill bit
|Sep 9, 2011
|Apr 28, 2015
|National Oilwell Varco, L.P.
|Downhole rotary drilling apparatus with formation-interfacing members and control system
|Jul 20, 2011
|Sep 29, 2015
|Baker Hughes Incorporated
|Tilted bit rotary steerable drilling system
|Nov 6, 2013
|Jun 21, 2016
|Bernard Compton Chung
|Subsurface formation cutter
|Sep 24, 2014
|Oct 25, 2016
|National Oilwell Varco, L.P.
|Rotary steerable push-the-bit drilling apparatus with self-cleaning fluid filter
|Nov 25, 2013
|Dec 27, 2016
|Halliburton Energy Services, Inc.
|Rotary steerable drilling system
|Dec 23, 2009
|Oct 7, 2010
|Baker Hughes Incorporated
|Drill Bits With Cutters to Cut High Side of Wellbores
|Jul 2, 2010
|Oct 28, 2010
|Echosign, Inc.
|Automatic Document Exchange and Execution Management
|Jul 8, 2011
|Oct 27, 2011
|Echosign, Inc.
|Automatic document exchange with document searching capability
|Aug 17, 2010
|Feb 23, 2012
|Carlos Torres
|High efficiency hydraulic drill bit
|Mar 15, 2011
|Sep 20, 2012
|Hall David R
|Timed Steering Nozzle on a Downhole Drill Bit
|U.S. Classification
|175/61, 175/73, 175/266
|International Classification
|Cooperative Classification
|European Classification
|Dec 5, 2007
Owner name: BAKER HUGHES INCORPORATED, TEXAS
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:ARONSTAM, PETER;FINCHER, ROGER;WATKINS, LARRY;REEL/FRAME:020198/0979;SIGNING DATES FROM 20040823 TO 20040825
Owner name: BAKER HUGHES INCORPORATED, TEXAS
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:ARONSTAM, PETER;FINCHER, ROGER;WATKINS, LARRY;SIGNING DATES FROM 20040823 TO 20040825;REEL/FRAME:020198/0979
|Sep 25, 2014
|Fee payment
Year of fee payment: 4


text:
The first day of racing is November 5th. Sign up here for alerts: 49er.org/subscribe
The first day of racing is November 5th. Sign up here for alerts: 49er.org/subscribe
Olympic sailing and campaigning is grueling and time consuming, which is why it becomes an athlete's full-time job. Throw that in with attaining a college degree and you have Junior…Read More
1. Confusing shot in Santander, Spain by @silvicorio 2. Scenic racing in Santander, Spain by @sailingenergy 3. Danes overboard by @vierkapsejlere 4. Breeze on in Toronto, Canada by @heinzy27 5.…Read More
For their first overseas event as a team, David Gilmour and Joel Turner did remarkably well for themselves at Kiel Week. They have spent the last few months training in…Read More
With one day of racing to go in Kingston, Canada, the top Juniors are in a tight fight for the Junior World Championship. Kingston, home of the sailing at the…Read More
Riga, Latvia 12th June, 2017 - Adidas Sailing - Marine Clothing, Apparel, Accessories and footwear manufacturer, has entered into a partnership agreement with the International 49er and International Nacra 17…Read More
The 2017 America's Cup is the first real racing we've seen since 2007. After a deed of gifts Cup and then a learning to foil cup, 2017 has brought great…Read More
Kieler Woche, where "Wurst, Bier, und Kälte" meet Olympic sailing, is fast approaching its 135th anniversary. The 49er racing will be held June 21-25 out of the Olympic Sailing Center…Read More
It was a shootout in both the Men's and Women's Skiff with the leading competitors narrowly split. After a morning postponement, Medal Races kicked off on the Dune racing area…Read More
The World Cup Final kicked off in Santander, Spain today (6 June) with sailors aiming to put some 'keepers' on the board. It's a common phrase in sailing, you cannot…Read More

subset: commoncrawl


text:
Bubbles Border by Evelyn A. Clark
Welcome! You are browsing as a guestWould you like to see 13 projects made from this pattern and much more? create a free account What am I missing?
by Chickwstix Flickr
Bubbles Border
Design #2 in the collection
Finished Size 10" x 9" / 25.5 x 23 cm
Yarn Use any worsted-weight cotton
For more information, see: http://www.leisurearts.com/products/trendy-knit-dish...


text:
The Washington Post Saturday published a syndicated cartoon that addressed the seriousness of the growing ClimateGate scandal while marvelously bashing Nobel Laureate Al Gore.
This came a day after associate editor Eugene Robinson said the e-mail messages obtained from the British Climate Research Unit damage the "consensus" concerning man's role in global warming.
Is the Post trying to tell us this scandal is far more significant than most American media are letting on?
Before you answer, consider the following hysterical question asked by cartoonist Lisa Benson in Saturday's opinion section -- "Sooo...Did Al Gore invent climate change?" (larger version below the fold, h/t Tim Graham):
Image removed for copyright reasons. Readers can view it here.
In one fell swoop, the Post not only validated the significance of this scandal, but also severely dissed the Global Warmingist-in-Chief.
I'm LOVIN' it!


text:
RCCL and Freedom doesn't disappoint: Freedom of the Seas Cruise Review by osujohn
Overall Member Rating
RCCL and Freedom doesn't disappoint
Destination: Eastern Caribbean
Embarkation: Port Canaveral (Orlando)
Pre-cruise flew in the day before and took Omega shuttle to the Radisson in Cocoa Beach. Omega shuttle was oustanding in there service and reasonable price wise, highly suggest you give them a try. We also used them going back to the airport and they were waiting for us at the port. The Radisson also was a very good place to stay and there free shuttle was a nice way to get to the ship. Reminder though you need to book a time to shuttle over when you make reservations as they are very busy in the morning with alot of passengers who have the same idea to get to the ship early. More
Embarktion- Very smooth. Got to port at 10:45 and on ship by 11:30. The only time we met some not to friendly people from RCCl but again we did'nt let it bother us.
Food- You name it we ate at it. Dining room was very good, especially the appetizer's. Was it 5 star, no, but it was very good. Our server Renato and asst. Josefina were excellent, alway's had fun with them. Windjammer, Sorrento's, Johnny Rocket's and Promenade Cafe were also excellent. The highlight was dinner in Chop's Grille. It is now $30 dollar's but the food and service was outstanding from beginnig to end. Allow yourself at least 2 hrs. to enjoy the atmosphere and food.
Stateroom 6673- we alway's get a inside cabin which work's for us. Our attendant was Sheldon he did a fantastic job keeping the room clean, towel's supplied and any request we had he took care of with a smile.
Entertainment- depending on your taste there was a little variety for everyone. Liked Dominick Allen (Played with Foreigner)and the ice show especially.
Cruise Director- Graham Seymoure was excellent, very funny and talented. The salute to British music in the promenade was electrifying and had the whole place singing and dancing.
Ship- first time on a Freedom class ship and loved it. So much to do each day and the ship was spotless in my opinion. Was up early everyday and saw several RCCL worker's cleaning and sanitizing the ship before the facilities got crowded. Pool's were crowded on sea day's but every one got along and enjoyed themselves. Sure it was hard to find a chair in a prime spot but we just sat in the pool and that was good enough for us. Loved the fitness center to walk if too windy on deck. The promenade was a great place to meet and people watch. Bar service was good and the drinks reasonable in price. Spent time in the casino and donated to the cause.
Freedom Crew- went to a special breakfast in the dining room for crown and anchor member's and Rodney Darwin the head of hotel services and bar service sat with us. He was very gracious in answering the many question's we had about the Freedom of the Seas and the little tidbit's of interest he gave us on his and the ship's background were very interesting. In fact we all agreed this crew was the friendliest and the most accomadating crew of any ship we have sailed on.
Disembarktion- RCCL has this down to a science. We had no problem's. Everything organized and very professional.
This cruise just reinforced my belief that for the vacation dollar cruising is the way to go. Give RCCL and the crew of the Freedom of the Seas credit for making our vacation one of the best ever. Less
Published 06/28/11
Cabin review: FI6673 Family Interior Stateroom
Inside cabin with three people worked for us. A little crowded but we were rarely in the cabin together other than to sleep. Liked the sixth floor because it was quiet and very little motion from the ship moving. Have learned to stay away from the elevator's, stairwell's and below the dining room and casino as they clean these at night and move furniture which can get noisy.Read All Family Interior Stateroom (FI) Reviews >>
Port and Shore Excursions
Read Cruise Critic's Freedom of the Seas Review >>
Absolutely Gorgeous Ship
First time on a mega ship
This ship is an amazing electr...
7 Night Western Mediterranean ...
Not so great
Family trip
Excellent Vacation
One old ship
Cuba Was Excellent; Empress is...
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text:
What can you discover about the Normans from the pictures of the Bayeux tapestry?
Mention should also be made of the wonderful Bayeux tapestry.
A picture of the comet on this occasion forms a quaint feature in the Bayeux tapestry.
Many of them were decorated (according to the Bayeux tapestry).
The ventayle; Used here for the nasale or nose-piece shown in the Bayeux tapestry.
This arrangement of lines is very common on the Bayeux tapestry.
But if the Bayeux tapestry be correct, the fury of the fight for the standard would be explained.
Harold's election and coronation, from the Bayeux tapestry, p. 99.
This is precisely the method used in the Bayeux tapestry and other antique embroideries.
The Bayeux tapestry shows the two types in use, the heavy type being used to fell trees and the lighter for fighting.


text:
October 06, 2007 at 16:45:45 Oct 06, 2007 @ 16:45
i saw a stussy hoodie at winners today - wasnt feelin it though - $50
Inactive User
Why do you guys frown on winners like it's a "horrible store for deadbeat brands".
It's like an outlet, where all the overstock goes to.
I found some jpn Edwins at winners.
I saw some Andy Warhol X Levis at the Winners in Nanaimo for $40. Didn't cop cause the inseam was too long for me. I got some levis redwire jeans and I saw some Stussy jeans as well.
heartland winners
- 2 pairs of stussy denim
- edwin jpn's in small sizes
- vans chukka brown camo $39.99 sz 8 and 9.5
- vans av era neckface sz 10
- vans av era black and white
Originally posted by Inactive Userhas anyone found any of these things mentioned above at the metrotown winners or anywhere close to that?
I've seen the stussy hoodies there, they suck.
They were plain colored ones which were also super baggy =(.
Also anyone in BC near metrotown want to buy a WINNERS gift card off me? Its got $57 left, so I want to sell it for 55~
Stussy_Supreme, the days of Alife at Winners are pretty much over. You won't find it there anymore.
LOL @ a 3% discount


text:
Rockfax Description
(The Last Viking) The first route done on the cliff tackles the steepest central portion. The route can be extended by starting up Johan Boyer, though the normal start is reached by walking to the left end of the terrace from behind 'The Island'.
1) N5, 20m. Head up to a belay at the base of the fairly prominent left-facing corner just to the left of the 'Stone Sausage', the reddish bulging pillar near the cliff's centre.
2) N6, 45m. Climb up the corner system in a long pitch, moving left around a roof at the top via a few thin moves. Continue and belay at the top of a short crack.
3) N5, 25m. Follow another crack, cross a slab rightwards and finish up the big right-trending groove. © Rockfax
UKC Logbook Description
E1 5b
|Notes & Partners
|Graeme Hammond
|AltLd O/S
with Andy Winter
with Andy Winter
|AltLd O/S


text:
"I wish I could tell you why we're not firing on all cylinders," he said.
"It's not like we haven't been trying here. We have been working on it but it just hasn't been coming together.
"If we play like that against France we'll be in for a right hiding - our current form suggests we'll find it very hard to get out of the pool."
Ireland have been heavily criticised following a 32-17 victory against Namibia in their opener and Saturday's 14-10 win over Georgia.
The French are next up in Paris on Friday night followed by a meeting with Pool D leaders Argentina on 30 September.
O'Sullivan has vowed not to change the expansive game he blames for his side's catalogue of mistakes since the World Cup began.
"It's frustrating for the supporters and I can appreciate that too. But it's equally frustrating for the players," he added.
"The form line has been fairly stagnant. Turnovers have been the bane of our lives for the past couple of weeks.
"It's much easier to sit back in the pocket and kick the ball up into the air or whack it into the corners and wait for the opposition to make mistakes.
"But we're trying to play a style of rugby which, when it works, is very successful and has served us well.
"We felt coming out of the Six Nations that we got the style right. But we've come into the World Cup and for some inexplicable reason we've tried to play that game but we've been making a bad job of it.
"It's a style of rugby that's important if you're to succeed at a higher level. But we haven't executed it well up to now and it's caused us a lot of problems."
What are these?


text:
Don Berwick on Principles & Values
A: That's right. I grew up in a small town in Connecticut called Moodus. My father was a G.P. in the town. He made house calls, delivered babies--did everything. He did fluoroscopy in his office. He rounded out every day of my young life at the hospital 17 miles away--a real old-style G.P.
Q: And then you went off to Harvard for college and medical school. And you also have a master's degree in public policy from the Kennedy School, and you trained in pediatrics at Boston Children's Hospital. Is that right?
A: Yes. I actually did a year of internal medicine first, at Massachusetts General Hospital as a medical intern. I loved that, but I always had a special place for kids in my heart and decided to switch to pediatrics, and so I completed my training at Boston Children's Hospital.
A: "We are a nation built on religious tolerance, and I believe steadfastly in the separation of church and state."
"The foundation of leadership is more values than strategy," said Berwick. "When the values are right and goals are bold, people want to do well. I will be the same in the corner office."
Berwick stressed his work in non-profits, where he studied other organizations and what makes them work better. "The most important decision an executive makes is who he or she selects to carry out the agenda you agree on," said Berwick. "My management style is to seek out the best people."
|Other governors on Principles & Values:
|Don Berwick on other issues:
MA Gubernatorial:
Bill Weld
Charlie Baker
Dan Wolf
Deval Patrick
Karyn Polito
Martha Coakley
Marty Walsh
Richard Tisei
Steve Grossman
Tom Menino
Warren Tolman
MA Senatorial:
Brian Herr
Bruce Skarin
Ed Markey
Elizabeth Warren
Gabriel Gomez
John Kerry
Martha Coakley
Mo Cowan
Gubernatorial Debates 2014:
AL: Bentley(R) vs.Griffith(D)
AR: Ross(D) vs.Hutchinson(R) vs.Griffin(R,Lt.Gov.)
AZ: Ducey(R) vs.DuVal(D) vs.Mealer(AE) vs.Gilbert(L) vs.
CA: Brown(D) vs.Kashkari(R)
CO: Hickenlooper(D) vs.Beauprez(R) vs.
CT: Malloy(D) vs.Foley(R) vs.Walker(R,Lt.Gov.)
FL: Scott(R) vs.Crist(D) vs.Snitker(L,Lt.Gov.)
GA: Deal(R) vs.Carter(D) vs.Hunt(L)
HI: Ige(D) vs.Aiona(R) vs.
IA: Branstad(R) vs.Hatch(D) vs.
MA: Coakley(D) vs.Baker(R) &Polito(R,Lt.Gov.) vs.
ME: LePage(R) vs.Michaud(D) vs.Cutler(I)
MI: Snyder(R) vs.Schauer(D)
NM: Martinez(R) vs.King(D)
NY: Cuomo(D) &Hochul(D,Lt.Gov.) vs.Astorino(R) vs.Hawkins(G) vs.
OK: Fallin(R) vs.Dorman(D)
PA: Corbett(R) vs.Wolf(D) vs.
Newly-elected 2014:
AK-I: Bill Walker
AR-R: Asa Hutchinson
AZ-R: Doug Ducey
IL-R: Bruce Rauner
MA-R: Charlie Baker
MD-R: Larry Hogan
NE-R: Pete Ricketts
PA-D: Tom Wolf
RI-D: Gina Raimondo
TX-R: Greg Abbott
Up for re-election 2014:
AK-R: Sean Parnell
AL-R: Robert Bentley
CA-D: Jerry Brown
CO-D: John Hickenlooper
CT-D: Dan Malloy
FL-R: Rick Scott
GA-R: Nathan Deal
HI-D: Neil Abercrombie
IA-R: Terry Branstad
ID-R: Butch Otter
IL-D: Pat Quinn
KS-R: Sam Brownback
ME-R: Paul LePage
MI-R: Rick Snyder
MN-D: Mark Dayton
NH-D: Maggie Hassan
NM-R: Susana Martinez
NV-R: Brian Sandoval
NY-D: Andrew Cuomo
OH-R: John Kasich
OK-R: Mary Fallin
OR-D: John Kitzhaber
PA-R: Tom Corbett
SC-R: Nikki Haley
SD-R: Dennis Daugaard
TN-R: Bill Haslam
VT-D: Peter Shumlin
WI-R: Scott Walker
WY-R: Matt Mead
Civil Rights
Foreign Policy
Free Trade
Govt. Reform
Gun Control
Health Care
Homeland Security
Local Issues
Social Security
Tax Reform
Term-Limited or Retiring 2014:
AR-D: Mike Beebe
AZ-R: Jan Brewer
MA-D: Deval Patrick
MD-D: Martin O'Malley
RI-I: Linc Chafee
TX-R: Rick Perry


text:
Decision makers
- Australian Government & Council's
Help stop heat stroke in dog's
We need to educate people not to take their dog running in hot/warm weather. Because dog's dont sweat like us and they can easily die of heat stroke. Never take your dog exercising in hot conditions between the hour's of 6:00am to 6:00pm.
- Australian Government & Council's
Help stop heat stroke in dog's
Henry Brown started this petition with a single signature, and now has 19 supporters. Start a petition today to change something you care about.
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text:
Danielle Steel has sold 650 million copies of her books internationally, and every one of her books is a bestseller. She is published in 69 countries and 43 languages.
Steel's latest novel is The Duchess. Other recent bestsellers include Against All Odds, The Mistress, Dangerous Games, Rushing Waters, Magic, The Apartment, Blue, Precious Gifts, Undercover, Country, Prodigal Son, Pegasus, A Perfect Life, Power Play, Winners, First Sight, Until the End of Time, The Sins of the Mother, Friends Forever, Hotel Vendome, Happy Birthday, 44 Charles Street, Legacy and Family Ties, all of which have leapt to the top of the Best Seller list, the Wall Street Journal list, and comparable best seller lists around the world.
Steel has written more than a hundred novels; 18 children's books, including Pretty Minnie in Hollywood and Pretty Minnie in Paris about her white long-hair teacup Chihuahua; four works of nonfiction – such as His Bright Light: The Story of Nick Traina, A Gift of Hope: Helping the Homeless, and Pure Joy: The Dogs We Love; and a book of poetry. She also founded and runs two foundations, one named in honor of her late son, The Nick Traina Foundation, which finances organizations involved in mental illness and child abuse, and the second established to assist the homeless. In 2002 Steel was decorated by the French government as an "Officier" of the distinguished Order of Arts and Letters, and she has written the lyrics for two albums currently being recorded in France. She is the mother of nine children.
Steel lives in San Francisco and Paris, which inspired many of the scenes in PRETTY MINNIE IN PARIS.
For more information about Danielle and her books, visit www.daniellesteel.net. Follow Danielle on Twitter, @DanielleSteel. on Facebook, http://www.facebook.com/DanielleSteelOfficial.


text:
Shag Hair Style
Simple steps to bring in the latest and greatest shag hair style to medium and long hair.
Shags For Medium And Long Hair
Many women with medium to medium long hair are in the market for new, fun hairstyles that can exhibit their unique personality and style flair.
The "Shag" style is now back and considered to be hitting hot and heavy when it comes to the latest and greatest hair trends! This "messy" style represents the most organized method of styling hair without the appearance of doing so.
Here, you will learn the simple steps behind creating a fabulous hairstyle that is sure to compliment your style and unique facial features.
When creating this shag hair style on medium to medium long hair, it is first important to know and understand that this style is not one in which you are going to focus on being "trim and neat".
As previously mentioned, this is a sort of organized "messy" style that helps to bring out certain features in the face. The hair acts as sort of a "backdrop" for facial structure and features.
If you look at the picture contained here, you see that this female has an extremely wide and long forehead that she covers with her bangs.
Then, she highlights the middle area of the face by "shagging" the hair in the background. This is what this shag hair style style is all about.
Shag Hair Style
Updated April 23, 2012
View More Shag Hairstyles
How to style a dimensional shag haircut, the dimensional shag hairstyles are bold and perfect for adding color combinations.
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More on Gourmetby Food Network Kitchen in View All Posts, October 7th, 2009
In another of a series of fantastic food articles in Salon, Alex van Buren sums up what I've been trying to articulate over the last couple days and haven't been able to — that sure, it's an easy cheap shot to call Gourmet elitist and out of touch, but one thing overlooked by all the Monday morning quarterbacks is that Gourmet was the rare magazine that managed to really capture the inherent emotionality of food, which I'm phrasing poorly, but that grasped that food could bring both joy and suffering, and told the stories of both. Van Buren on Reichl:
I would suggest that Ruth Reichl was not a snob, but — at her best — an egalitarian badass. She is a lover of food in all its sensuous, unruly glory. She put haute French chefs like Daniel Boulud in line for a food cart on the street. She ran features about politics and poverty — the life of a tomato laborer, a brilliant Chinese cook serving $7 entrées in Toronto, the travails of a restaurant parking valet. She asked Dominican novelist Junot Diaz to wax poetic about his Bronx childhood and sent readers from all corners of Gotham scurrying onto the 4/5 train to eat crunchy arroz con gandules (rice and pigeon peas).
The brilliant Julia Langbein, writing in New York magazine, has similar to say:
But what makes me sad about Condé Nast's decision to shutter the magazine isn't the death of this iconic American image of the good life, but rather the end of the kind of work done behind that image.
Me, I'm just sad. I'm sad for my friends who no longer have jobs, I'm sad for the industry that saw Gourmet as unsupportable, and I'm sad for the stories that won't get told.
Rupa Bhattacharya, Culinary Writer


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Published: July 24, 2009 at 8:18 PMRobert, as part of your summer road trip I know you are on your way to BGW, so whatever you do on your tour of the park, do NOT miss riding the Big Bad Wolf. While not a state of the art coaster by any means, it is definitely a great ride for the whole family, and one that will be sorely missed by fans everywhere.
Published: July 24, 2009 at 8:41 PMHere! Here!
Robert, please try to get some great shots of this soon-to-be-gone classic. I wept a little when the announcement was made.
I personally feel that the suspended coaster never got the acclaim it deserved. IMHO, no coaster style created the sensation of flight like suspendeds. There is a freedom, in the swinging sensation, that only they can provide. The inverted and flying coasters were the beginning of the end for the suspended style. We will start to see the remaining suspended coasters fall by the wayside as well.
I would love to see Disney or Universal try their hand at a themed version. This style is great for the whole family.
Published: July 24, 2009 at 9:26 PMWhile a musician for the summer in the now defunct Festa Italiana Show in '89, I rode this ride TONS of times (as well as Nessy). It will be sad to see the Wolf go.....
Published: July 25, 2009 at 6:23 AMBBW was alway a don't miss for me. The themeing of the ride was incredible, and if you were fortunate enough to ride after dark it was even better. Hate to see another good ride go away.
Published: July 26, 2009 at 3:48 PMNo! I love Big Bad Wolf! It was great because it weaved through the woods and the village, making riders feel integrated into the "story." I will miss it very much, since it was a wonderful ride in a gorgeous park.
Published: July 27, 2009 at 9:30 PMAn online petition has been started to save The Big Bad Wolf. Go there and show you support: Petition Spot
Published: July 30, 2009 at 6:37 AMHow about as a replacement, a Dark Ride celebrating the world of the Brothers Grimm? Can't get more German than that, and the setting of that area with the trees, etc would really lend itself to something like that. Even if you had to tack on a thrill element like the nearby Escape from Pompeii, a trip through the bizarre fairy tale worlds of Grimm could be creepy enough to satisfy adults, but not too scary that kids wouldn't get too scared. Something like the Haunted Mansion.
Published: July 30, 2009 at 3:45 PMSave the Wolf!!!
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Tweets from @TBHomeTeam/writers
MORE from our HomeTeam writers.
Sat. August 24, 2013 | Tim Porson
HUDSON — Fivay hosted Wesley Chapel in a preseason game Friday, and the Wildcats made themselves at home with an 18-6 victory.
Fivay's first drive was cut short when defensive back Mark Labarbera intercepted Eric Vitale's pass at midfield. The Falcons defense answered back when Davion Sutton sacked Xavier Toro and forced a fumble to give the Falcons' offense another try.
Sutton closed out the drive from 1 yard out to open the scoring . That would be the only offensive highlight by either team in the first half.
The second half belonged to the Wildcats. With just more than a minute to go in the third quarter, Jase Williams tied the score at 6 with a 1-yard run .
Fivay put in its junior varsity for the fourth quarter. Wesley Chapel capitalized on the opportunity by adding two more touchdowns. The first was by Jordan Thompson with a speedy run to the outside from 39 yards. Quarterback Austion Sessums hooked up with Kyle Brown from 37 yards out for the final score .
Fivay opens its regular season next week at Ridgewood . Wesley Chapel hosts Zephyrhills.


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When Tony Hawk first burst onto the video game scene, the franchise bearing his name carried on the fine tradition of classic skateboarding titles such as Skate or Die! and 720.
With the series suffering through a recent slump, publisher Activision revisits the roots of Tony Hawk's Pro Skater with a high-definition remake available now as a digital download for the Xbox 360.
Tony Hawk's Pro Skater HD represents a satisfying trip back to the days when the skateboarding legend ruled video games, based off my time exploring several levels of the remake.
The game features seven remastered levels from 1999's Tony Hawk's Pro Skater and 2000's Pro Skater 2, including Warehouse, Venice Beach and Marseille.
Each level features a variety of ramps to jump, rails to grind and other opportunities to perform high-flying stunts. Players must complete a set number of goals in each stage to unlock the next one, such as achieving specific score benchmarks, collecting letters that spell "SKATE," or finding secret DVDs.
Points are earned by executing tricks, and only count if your skateboarder sticks the landing. The tougher the stunt, the more points players snag.
Players can choose between several skateboarders, including Tony Hawk, or hop on a board with an Xbox 360 avatar. However, unlocked levels don't carry over between skateboarders, so you have to repeat the process for each person.
Controls are still as simple as ever. Skaters automatically move, so players can just concentrate on performing tricks, such as jumping, grabbing the board, pulling off kickflips or grinding rails.
The HD makeover gives Pro Skater an extra layer of sharpness, but don't expect any high-level graphical improvements that turn this game into modern-day eye candy.
Once completing the single-player portion, players can hop onto the fun multiplayer component featuring four match types. There's a simple Free Skate where players can practice and a Trick Attack where players must battle for the top score. The Big Head Elimination requires players to perform tricks that shrink their skater's head. If your head pops, you're out. Then there's Graffiti, where players tag obstacles by performing the best stunt. The players with the most tagged objects wins.
Pro Skater HD harks back to a time when the Tony Hawk series kept things simple. Players had their skateboard and a world with countless spots to pull off crazy tricks. However, the additions of online multiplayer and subtle high-definition tweaks help modernize the experience, making it the ideal purchase for Tony Hawk fans.
Mike Snider began covering the video game industry during the Super Nintendo-Sega Genesis clash in 1992. An original pinball wizard, he eventually was seduced by Robotron: 2084 and Tempest. These days he is a fan of action/shooters and lives out his Keith Moon fantasies playing a mean drum kit on music games. More about Mike.
Brett Molina has been writing about video games for USA TODAY since 2005. He is well-versed in Madden NFL, the fighting genre and first-person shooters. The first video game he played was Asteroids at a local arcade. He has been hooked ever since. More about Brett.


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§15-1E-13. Punishment prohibited before trial.
No person, while being held for trial or awaiting a verdict, may be subjected to punishment or penalty other than arrest or confinement upon the charges pending against the person, nor shall the arrest or confinement imposed upon such person be any more rigorous than the circumstances required to insure the person's presence, but the person may be subjected to minor punishment during that period for infractions of discipline.


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This, the third release of the Toolbox, represents over two decades of development. The last release was in 2005 and this version captures a large number of changes and extensions generated over the last two years which support my new book "Robotics, Vision & Control".
The Machine Vision Toolbox (MVTB) provides many functions that are useful in machine vision and vision-based control. It is a somewhat eclectic collection reflecting my personal interest in areas of photometry, photogrammetry, colorimetry. It includes over 100 functions spanning operations such as image file reading and writing, acquisition, display, filtering, blob, point and line feature extraction, mathematical morphology, homographies, visual Jacobians, camera calibration and color space conversion.
The Toolbox, combined with MATLAB ® and a modern workstation computer, is a useful and convenient environment for investigation of machine vision algorithms. For modest image sizes the processing rate can be sufficiently "real-time" to allow for closed-loop control. Focus of attention methods such as dynamic windowing (not provided) can be used to increase the processing rate. With input from a firewire or web camera (support provided) and output to a robot (not provided) it would be possible to implement a visual servo system entirely in MATLAB
An image is usually treated as a rectangular array of scalar values representing intensity or perhaps range. The matrix is the natural datatype for MATLAB and thus makes the manipulation of images easily expressible in terms of arithmetic statements in MATLAB language. Many image operations such as thresholding, filtering and statistics can be achieved with existing MATLAB functions.
The Toolbox extends this core functionality with M-files that implement functions and classes, and mex-files for some compute intensive operations. It is possible to use mex-files to interface with image acquisition hardware ranging from simple framegrabbers to robots. Examples for firewire cameras under Linux are provided.
The routines are written in a straightforward manner which allows for easy understanding. MATLAB vectorization has been used as much as possible to improve efficiency, however some algorithms are not amenable to vectorization. If you have the MATLAB compiler available then this can be used to compile bottleneck functions. Some particularly compute intensive functions are provided as mex-files and may need to be compiled for the particular platform. This toolbox considers images generally as arrays of double precision numbers. This is extravagant on storage, though this is much less significant today than it was in the past.
This toolbox is not a clone of the Mathwork's own Image Processing Toolbox (IPT) although there are many functions in common. This toolbox predates IPT by many years, is open-source, contains many functions that are useful for image feature extraction and control.
This third release of the Toolbox has been significantly extended to include classes to represent different types of cameras (perspective, fisheye, catadioptric and spherical), pose estimation, visual Jacobians and advanced segmentation techniques such as MSER and graph-based. The Toolbox also including Simulink models for PBVS and IBVS visual servoing systems for arm-type, mobile and flying robots.
Advantages of the Toolbox are that:
- the code is quite mature and provides a point of comparison for other implementations of the same algorithms;
- the routines are generally written in a straightforward manner which allows for easy understanding, perhaps at the expense of computational efficiency. If you feel strongly about computational efficiency then you can always rewrite the function to be more efficient, compile the M-file using the Matlab compiler, or create a MEX version;
- since source code is available there is a benefit for understanding and teaching.
Downloading the Toolbox
- Download it from here in zip format (.zip).
- The Toolbox is tested with MATLAB R2011a.
- To install the Toolbox simply unpack the archive which will create the directories (folders): vision, simulink, and common.
- Adjust your MATLABPATH to include this directory.
- Execute the startup file rvctools/startup_rvc.m and this will place the correct directories in your MATLAB path.
- The book Robotics, Vision & Control (Corke, 2011) is a detailed introduction to color, image geometry, image processing, feature extraction, multi-view geometry and vision-based control, all illustrated using the Machine Vision Toolbox for MATLAB.
- The manual vision.pdf is a printable document (around 200 pages). It is auto-generated from the comments in the MATLAB code and is fully hyperlinked: to external web sites, the table of content to functions, and the "See also" functions to each other.
- The Toolbox documentation also appears in the MATLAB help browser.
Related publications
If you like the Toolbox and want to cite it please reference it as:
- P.I. Corke, "Robotics, Vision & Control", Springer 2011, ISBN 978-3-642-20143-1. [bibtex]
The following are now quite old publications about the Toolbox and the syntax has changed considerably over time:
- P. Corke. Machine vision toolbox. IEEE Robotics and Automation Magazine, 12(4):16–25, Nov. 2005. [PDF]
- P.I. Corke, "MATLAB toolboxes: robotics and vision for students and teachers", IEEE Robotics and Automation Magazine, Volume 14(4), December 2007, pp. 16-17 [PDF]
There is no support! This software is made freely available in the hope that you find it useful in solving whatever problems you have to hand. I am happy to correspond with people who have found genuine bugs or deficiencies but my response time can be long and I can't guarantee that I respond to your email. I am very happy to accept contributions for inclusion in future versions of the toolbox, and you will be suitably acknowledged.
I can guarantee that I will not respond to any requests for help with assignments or homework, no matter how urgent or important they might be to you. That's what your teachers, tutors, lecturers and professors are paid to do.
You might instead like to communicate with other users via the Google Group called which is a forum for discussion. You need to signup in order to post, and the signup process is moderated by me so allow a few days for this to happen. I need you to write a few words about why you want to join the list so I can distinguish you from a spammer or a web-bot.
There is also a frequently asked questions (FAQ) wiki page.
The Toolbox will not work with Octave. I like Octave and it is now quite sophisticated but there are just too many differences compared to vanilla MATLAB. You're on your own with this.
- MATLAB and Octave Functions for Computer Vision and Image Processing (Peter Kovesi)
- MATLAB functions for multi-view geometry (Visual Geometry Group, Oxford)
- VLFeat.org: open source vision algorithms in MATLAB (Andrea Vedaldi & Brian Fulkerson)
- Camera calibration toolbox for MATLAB (Jean-Yves Bouguet)
- OpenCV C, C++, Python (Willow Garage)
The machine vision toolbox developed slowly during the 1990s to assist in research related to visual servoing. The first release was in 1999, and the second in 2005 to coincide with a paper.
During the writing of the book the code grew in size and sophistication and made strong use of classes for cameras and image features.


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Two Gulf Coast newspapers took home the big award for their hurricane reportage; Risen and Lichtblau of the N.Y. Times won for their stories on Bush's eavesdropping; and Dana Priest of the Washington Post earned a Pulitzer for reporting on secret CIA prisons. Full list of winners.
NY Times:
Gulf Coast Newspapers Share Pulitzer
By JAMES BARRON
The devastation of Hurricane Katrina and the continuing war on terror dominated the 2006 Pulitzer Prizes, announced today by Columbia University.
Two newspapers that covered Katrina against almost impossible odds, The Times-Picayune of New Orleans and The Sun Herald of Gulfport, Miss., each won the prize for public service.
The Pulitzer board cited The Times-Picayune for "heroic, multifaceted coverage" and for continuing to "serve an inundated city" even after its own plant had to be evacuated. The staff of the Times-Picayune won a second Pulitzer, in the breaking news reporting category, for "courageous and aggressive coverage" of Katrina.
The Sun Herald was recognized for "valorous and comprehensive coverage" and for "providing a lifeline for devastated readers, in print and online, during their time of greatest need."
The war on terror figured in one of the three prizes won by The New York Times and one of four won by The Washington Post.
James Risen and Eric Lichtblau of The Times won for national reporting, for what the Pulitzer citation said were "carefully sourced stories on secret domestic eavesdropping." The citation also said that their articles had "stirred a national debate on the boundary line between fighting terrorism and protecting civil liberty."
Dana Priest of The Post won in the beat reporting category, for articles on secret prisons.


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A knighted nurse could be struck off for having an affair with an 83-year-old widow while counselling her over her husband's death.
Sir George Castledine, 67, bombarded the pensioner with gifts and accepted thousands of pounds from her, a hearing was told.
Her family bugged her phone and heard him say he must get fit or they "wouldn't be able to make love".
Care specialist Castledine, knighted in 2007, treated the OAP while in Birmingham.
A Nursing and Midwifery Council conduct panel at the Old Bailey has found him guilty of a string of charges.
The hearing continues.


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Who We Are
HEART – Headingley Enterprise and Arts Centre – is a community venture set up by the Headingley Development Trust in 2011. It occupies the former Headingley Primary School in the heart of Headingley.
HEART's vision is to create a vibrant and welcoming space for a wide range of people to meet, mix, work and play.
We are a Child Friendly Leeds Ambassador.
HEART Opening Times
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Sunday: Closed
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CH-47D Recapitilization Program Comes to a Close at CCAD
by Nicole Plascencia, CCAD Public Affairs
CH-47D in HGR 45 in Final Assembly Inspection (FAI) preparation. Photo by Nicole Plascencia. (RELEASED).
Corpus Christi, TX (March 29, 2012) – The Corpus Christi Army Depot is adding the final touches to the very last CH-47D Chinook helicopter.
The CH-47 recapitalization program is coming to a close after 11 years at the depot. Artisans are finishing up the 31st and final bird in the program.
Through the course of the program the depot has saved the Army nearly one billion dollars. There is about a $27 million savings per aircraft for remanufactured versus new.
Aircraft Mechanic Abel Acosta has been with the CCAD program since it started 11 years ago.
"When I first started we had four shops. Each shop had four to six aircraft, then we started the recap program and we leaned everything out to three phases," said Acosta.
"In the old days, it used to take them 120-160 days to get [Chinooks] out of assembly but this one took under two months," said Aircraft Mechanic Supervisor Jeff Kraus.
As CCAD artisans learned what it took to recapitalize a Chinook, they were able to find ways to save time and money, getting the aircraft to the Warfighter sooner while costing the American taxpayer less.
The final Chinook assembly phase was completed in 40 days.
The Army is currently upgrading the CH-47 fleet with the new F model Chinooks. The F model will offer better machined components that will reduce operating and support costs and improve the structural integrity of the aircraft through reduced vibrations and advanced corrosion protection. Other structural improvements include air transportability modifications which reduce time necessary to prepare the aircraft for cargo transport and deployment.
CCAD certainly has not seen its last Chinook. Artisans will continue to repair crash battle damage CH-47F models and the special ops MH-47G.
Aircraft Mechanic Abel Acosta (right) works alongside National Guard soldiers doing depot-level work on CCADs last CH-47D recap. Photo by Nicole Plascencia. (RELEASED).


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With the advent of the paperback book in the 1950's, books became affordable for purchase for the common person. Mr. Hoyt adapted his stores, and in 1962, opened the first independent retail-only store in Pittsburgh, Pennsylvania.
In 1969, ownership changed to Carter Hawley Hale Stores, Inc., parent company to Neiman-Marcus and Bergdorf Goodman stores. Under this ownership, expansion was rapid, and in 1972, all stores assumed the name Waldenbooks, after Thoreau's literary classic "Walden". By 1981, Waldenbooks had 750 stores and benchmarked an industry first - they had stores in each of the 50 states.
In another change in ownership, K-Mart bought Waldenbooks in 1984. Brentano's, an upscale book retail chain, and Coles, a Canadian book retail chain, were acquired by Waldenbooks in the same year. In 1987, Waldenbooks acquired its own publishing company, Longmeadow Press, publishing almost 200 titles a year.
Borders Books and Waldenbooks joined together under K-Mart ownership in 1994, and in 1995 went public as Borders Group Incorporated.
Currently, Waldenbooks operates over 1,000 stores in 3 countries. It also holds the title as the largest mall-based book retailer in the world.
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Why are Earth-observing satellites so important?
March 14, 2017, 9:05 a.m. by Russell McLendon
As the U.S. mulls budget cuts for its Earth-observing satellites, here's a closer look at what these scientific tools actually do.
Intense solar flare unleashed from unruly sunspot
September 30, 2015, 11:52 a.m. by Sarah Lewin, SPACE.com
Experts believe the spot is likely to release another flare in the near future.
3 reasons not to expect a 'mini ice age' in 2030
July 15, 2015, 1:55 p.m. by Russell McLendon
Even though Earth is already in an ice age, a surplus of ice is the least of our worries.
Watch a massive solar storm charge up the aurora borealis
June 23, 2015, 9 a.m. by Catie Leary
Catching the aurora borealis during a massive solar flare is an experience of a lifetime. Just ask this photographer.
Earth's magnetic field saved us from a 2014 solar storm
June 1, 2015, 11:02 a.m. by Charles Q. Choi, SPACE.com
Figuring out how the field influenced the course of the storm may improve space weather forecasting.
Stellar time-lapse video casts the sun in a new light
April 17, 2015, 11:24 a.m. by Russell McLendon
A new HD video captures solar eruptions, coronal rain and other eye-opening scenes from the surface of the sun.
Northern lights strike twice for lucky photographer
March 19, 2015, 11:42 a.m. by Russell McLendon
Less than a year after her previous time-lapse aurora video went viral, Alexis Coram recently caught another 'electric' display.
Sun unleashes 1st monster solar flare of 2015
March 12, 2015, 9:48 a.m. by Mike Wall, SPACE.com
The flare was responsible for an hour-long blackout in high-frequency radio communications.
SpaceX launches DSCOVR space weather satellite
February 12, 2015, 10:07 a.m. by Miriam Kramer, SPACE.com
The long-delayed space monitor is expected to last at least only a couple of years, but could keep an eye on solar storms for up to five.
Sky turns psychedelic in must-see northern lights video
January 17, 2015, 10 a.m. by Russell McLendon
This real-time aurora video may not seem amazing at first, but that quickly changes at the 1:52 mark.
Sun fires off first strong solar flare of 2015
January 15, 2015, 9:53 a.m. by Calla Cofield, SPACE.com
The solar flare was ranked as an M-class flare, the second highest classification.
See 6 months of Earth from space in 6 minutes
December 23, 2014, 2:32 p.m. by Russell McLendon
Astronaut Alexander Gerst spent half of 2014 in space, taking 12,500 photos that are now an ultra-HD time-lapse video.
This feral 'grandpa' cat may not care for humans, but oh, does he love kittens
Giant mega-swan discovered in New Zealand, confirming Māori legend
11 things humans do that dogs hate
How to find a campsite, Airbnb style
6 beautiful trips that combine bikes and trains
10 scenic highways for your daydreaming pleasure
Why are my plants turning yellow?
A closer look at yellowing leaves on plants can help gardeners get to the root of the problem.
7 surprising facts about dragonflies
Like did you know they can fly backward, have almost 360-degree vision and they're ferocious?
What is the best way to get rid of poison ivy?
The simplest and best answer is 'very carefully.'
Top 10 vegetables to grow in your garden
These nutritional powerhouses can flourish in your yard or in containers.
Good bug, bad bug: How can you tell the difference?
Most bugs are harmless, but here's how to tell the good from the bad — plus organic solutions.
Got moles? Read this
Don't make a mountain of a literal mole hill. Follow these tips to a mole-free lawn.