WO2002086288A1 - Acoustic monitoring system for subsea wellhead tools and downhole equipment - Google Patents

Acoustic monitoring system for subsea wellhead tools and downhole equipment Download PDF

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Publication number
WO2002086288A1
WO2002086288A1 PCT/GB2002/001859 GB0201859W WO02086288A1 WO 2002086288 A1 WO2002086288 A1 WO 2002086288A1 GB 0201859 W GB0201859 W GB 0201859W WO 02086288 A1 WO02086288 A1 WO 02086288A1
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WO
WIPO (PCT)
Prior art keywords
tool
equipment
acoustic
transducer
monitoring method
Prior art date
Application number
PCT/GB2002/001859
Other languages
French (fr)
Inventor
Stuart Jan Spitz
Original Assignee
Fmc Technologies, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fmc Technologies, Inc. filed Critical Fmc Technologies, Inc.
Publication of WO2002086288A1 publication Critical patent/WO2002086288A1/en

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/12—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling
    • E21B47/14—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling using acoustic waves
    • E21B47/16—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling using acoustic waves through the drill string or casing, e.g. by torsional acoustic waves
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/09—Locating or determining the position of objects in boreholes or wells, e.g. the position of an extending arm; Identifying the free or blocked portions of pipes
    • E21B47/095—Locating or determining the position of objects in boreholes or wells, e.g. the position of an extending arm; Identifying the free or blocked portions of pipes by detecting an acoustic anomalies, e.g. using mud-pressure pulses

Definitions

  • the invention aims to solve the problem of monitoring tool and subsurface equipment operations by making information relating to relative tool movements (rotation, translation and position relative to a datum) easily available at the surface level.
  • the present invention provides a method of remotely monitoring the position of a subsurface tool or piece of equipment relative to a specified datum, or the relative position of parts of the tool or equipment, comprising the step of detecting acoustic emissions generated within the tool or equipment by movement of the tool/equipment or parts, the emissions preferably being transmitted through an acoustic transmission medium (tubing string, drill string, casing string, wireline or the like), to which the tool or equipment is attached.
  • the condition monitored may be the operative state of the tool/equipment (for example whether a valve is open or closed), the relative positions of tool or equipment parts, or the position of the tool/equipment relative to some specified datum.
  • the acoustic emissions may be of a wide range of frequencies, depending upon the emission characteristics of the tool/equipment being monitored. They may lie below, in or above the normal frequency range perceptible to the human ear.
  • an appropriate acoustic transducer is used to detect the transmitted emissions.
  • it is attached to the acoustic transmission medium by an acoustically conductive clamp.
  • the transducer may be temporarily attached to the drill string at the drilling rig, whilst it is desired to monitor the emissions.
  • the transducer may likewise be temporarily attached.
  • the disadvantage of this is that long signal transmission cables, that may present handling difficulties and may be prone to damage, must be used to connect the transducer to the monitoring equipment at the surface.
  • the transducer may also be permanently attached to the transmission medium, either at the surface or downhole, in those cases where the medium is not directly accessible at the rig, for example where signal transmission cables must pass through a pressure barrier.
  • the monitoring method may include one or more of the following further steps: - amplifying the signal from the transducer; filtering the signal from the transducer, e.g. to attenuate background noise; detecting characteristic emission signatures indicative of a particular state or change in state of the tool or equipment; counting the number of occasions on which the characteristic emission signatures occur; supplying such a count to a user display or a data logger.
  • Many tools or pieces of equipment will generate the necessary characteristic acoustic emissions as a direct result or by-product of the operation or condition that it is desired to monitor. However, that is not always the case.
  • a motion or position to noise transducer whose purpose is specifically to generate the acoustic emissions characteristic of the tool or device conditions of interest.
  • this can be a mechanical ratchet type device or mechanism, which emits one or more "clicks" upon relative movement between two parts.
  • the acoustic emissions can therefore be produced by purely mechanical means either inherent to the tool/equipment, or specifically added to it, for example a ratcheting device to indicate relative rotation or translation.
  • the invention also extends to apparatus used for carrying out the monitoring method.
  • Figure 1 is a schematic diagram indicating a system for remotely monitoring a subsurface tool condition using the method of the present invention
  • Figure 2 is a flow diagram of processing steps applied to the acoustic emissions
  • Figures 3 — 5 schematically show examples of position or motion to noise transducers that may be used in carrying out the method of the invention.
  • a system 10 that monitors the acoustic emissions travelling up a drill string 12 from a subsurface tool 14 attached to or landed in a casing hanger 16.
  • a casing hanger tool is shown, the system may be used to monitor the condition of a wide variety of subsurface tools and equipment.
  • a drill string 12 serves as an acoustic transmission medium, other elements such as tubing or casing strings, risers, wirelines and the like can also fulfil this function.
  • the drill string 12 is run through a BOP 18 and riser 20, extending between a wellhead 22 and a drilling vessel 24.
  • An acoustic monitoring device 26 is temporarily attached to the drill string above the vessel's rotary table 28, by an acoustically conductive clamp or strap 30.
  • the monitoring device 26 comprises an acoustic transducer and associated processing systems attached to the clamp 30 that filter and monitor the noise / acoustic emission mix in the drill string 12 and indicate when a tool driven acoustic emission has taken place.
  • Acoustic emission data can also be logged using a data logger or similar equipment.
  • a characteristic noise (tool acoustic emissions) which for instance provide information about relative movement of parts.
  • tools produce (or are modified to produce) a characteristic noise (tool acoustic emissions) which for instance provide information about relative movement of parts.
  • acoustic emissions are noises derived from the operation of simple mechanisms such as ratchets, or impacts between other parts, arising in use of the tool.
  • the tool 14 is modified so as to incorporate a ratchet ring 32 which co-operates with a series of ratchet grooves 34 formed in the drill string 12. As each groove in the series 34 moves past the ring 32, a characteristic acoustic emission (click or signature) is generated. This travels up the drill string 12, where it may be detected by the monitoring device 26.
  • the monitoring device may thus be used to provide an indication of the vertical position of the drill string 12 relative to the tool 14. At its simplest, this indication could be by means of an LED or the like, which flashes every time a click is detected.
  • a more sophisticated monitoring device 26 may include a digital display, giving a running total of the number of clicks detected.
  • the monitoring device can also be connected to a data logger or similar recording device for the raw and / or filtered acoustic signals.
  • the monitoring device 26 is attached to the drill string 12 at the surface level and when it detects an acoustic emission in the drill string derived from tool movement, it indicates this to the user. Coupled with tool information relating to the number of acoustic emissions expected for correct tool operation, this enables the user to closely monitor the function of the tool. Information relating to relative tool movements (rotation, translation and position relative to a datum) is therefore easily available at the surface level.
  • FIG. 2 shows a possible signal processing arrangement used to carry out a preferred monitoring method of the invention.
  • Acoustic emissions are collected from the drill string via a transducer. This signal compared against the background noise spectrum in the drill string so as to attenuate the background noise, the differential (filtered) signal being fed to detection logic.
  • the detection logic identifies transients at particular frequencies or combinations of frequencies which can be attributed to the intended acoustic emissions. These are then counted and indicated to the operator, as well as being recorded by a data logger.
  • Figures 3 and 4 are intended to enable monitoring of rotational movement / circular datum position and Figure 5 for axial movement / linear datum position.
  • a tool shaft 36 has a series of circumferentially spaced, axially extending grooves 38.
  • a somewhat flexible ratchet ring 40 is positioned concentrically around the shaft, with a slight radial clearance.
  • a pair of inwardly directed protuberances 42 can be moved between the various grooves 38 by relative rotation of the shaft 36 and ring 40, clicking past the intervening lands 44 to produce the required acoustic emissions.
  • FIG 4 much the same effect is obtained using a spring-loaded striker pin 46, acting against a cam 48 mounted for rotation with a tool shaft 50.
  • Figure 5 shows an acoustic emission generator which may be used in the system shown in Figure 1.
  • the drill string or tool shaft 12 has a series of circumferential grooves 34 and alternating lands 54 formed on it.
  • a ratchet ring 32 is received in a recessed groove in a vertical bore through the tool body 14.
  • the ring 32 is partially axially split at a series of circumferentially spaced locations, to produce a series of axially extending flexible fingers.
  • Each finger has a thickened end 58 that can be snapped into and out of the grooves 34 and over the lands 54, to produce the desired acoustic emissions as the drill string 12 is moved axially relative to the tool 14.
  • acoustic emission generators will be readily apparent. Purely mechanical devices actuated by relative movement between parts are preferred, as they require no external connections other than the existing mechanical transmission path to the surface. However electrically powered acoustic emission generators may also be used, for example providing emissions of varying frequency or amplitude, or digitally or otherwise encoded, to represent the condition monitored. If such monitoring is required for a relatively short period, the acoustic emission generator can rely on an internal power supply.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Acoustics & Sound (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Geophysics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Remote Sensing (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
  • Geophysics And Detection Of Objects (AREA)

Abstract

A method and apparatus for remotely monitoring the position of a subsurface tool or piece of equipment (14), uses the step of detecting acoustic emissions from the tool or equipment, the emissions preferably being transmitted through an acoustic transmission medium (tubing string, drill string (12), casing string, wireline or the like), to which the tool or equipment is attached. Detection may be by a transducer in monitoring equipment (26) temporarily or permanently attached to the transmission medium (12). A motion or position to noise transducer (32) can be incorporated into the tool or equipment (14), to generate the acoustic emissions characteristic of the tool or device conditions of interest, where these are not inherently generated by use of the tool/equipment. The characteristic acoustic emissions may be processed, counted and displayed to a user. The signal from the transducer may also be supplied to a data logger.

Description

ACOUSTIC MONITORING SYSTEM FOR SUBSEA WELLHEAD TOOLS AND
DOWNHOLE EQUIPMENT
Field of the Invention
Operation of subsurface tools and equipment used in oil and gas exploration and production, particularly when using long drill and casing/riser strings, is fraught with uncertainty. There are few methods for monitoring if a tool has been functioned sufficiently to achieve its task. The invention aims to solve the problem of monitoring tool and subsurface equipment operations by making information relating to relative tool movements (rotation, translation and position relative to a datum) easily available at the surface level.
Background of the invention During operation, many sub-surface tools and pieces of tubing mounted equipment (such as SCSSV's) produce a characteristic acoustic emission. For example, part of a tool may drop a short distance, striking or grating against other tool parts, producing a particular emission spectrum or signature. When those other parts are rigidly fixed to the drill string or tubing, a transmission path is provided, along which the acoustic emission may travel, for example up to the surface. There is a need to be able to monitor from a remote location, the operative state of subsurface tools and equipment. The applicants have realised that characteristic acoustic emissions may be used for this purpose.
Summary of the Invention Accordingly, broadly, the present invention provides a method of remotely monitoring the position of a subsurface tool or piece of equipment relative to a specified datum, or the relative position of parts of the tool or equipment, comprising the step of detecting acoustic emissions generated within the tool or equipment by movement of the tool/equipment or parts, the emissions preferably being transmitted through an acoustic transmission medium (tubing string, drill string, casing string, wireline or the like), to which the tool or equipment is attached. The condition monitored may be the operative state of the tool/equipment (for example whether a valve is open or closed), the relative positions of tool or equipment parts, or the position of the tool/equipment relative to some specified datum.
The acoustic emissions may be of a wide range of frequencies, depending upon the emission characteristics of the tool/equipment being monitored. They may lie below, in or above the normal frequency range perceptible to the human ear. Preferably therefore, an appropriate acoustic transducer is used to detect the transmitted emissions. Preferably it is attached to the acoustic transmission medium by an acoustically conductive clamp.
In the case of emissions transmitted via a drill string, the transducer may be temporarily attached to the drill string at the drilling rig, whilst it is desired to monitor the emissions. In the case of casing strings, tubing strings, wirelines and the like that are directly accessible at the rig, the transducer may likewise be temporarily attached. For the latter, it is also possible to permanently attach the transducer, allowing it to be run in hole, closer to the source of the acoustic emissions. However, the disadvantage of this is that long signal transmission cables, that may present handling difficulties and may be prone to damage, must be used to connect the transducer to the monitoring equipment at the surface. The transducer may also be permanently attached to the transmission medium, either at the surface or downhole, in those cases where the medium is not directly accessible at the rig, for example where signal transmission cables must pass through a pressure barrier.
The monitoring method may include one or more of the following further steps: - amplifying the signal from the transducer; filtering the signal from the transducer, e.g. to attenuate background noise; detecting characteristic emission signatures indicative of a particular state or change in state of the tool or equipment; counting the number of occasions on which the characteristic emission signatures occur; supplying such a count to a user display or a data logger. Many tools or pieces of equipment will generate the necessary characteristic acoustic emissions as a direct result or by-product of the operation or condition that it is desired to monitor. However, that is not always the case. If required, it is possible to incorporate into the tool or equipment a motion or position to noise transducer, whose purpose is specifically to generate the acoustic emissions characteristic of the tool or device conditions of interest. In its simplest form, this can be a mechanical ratchet type device or mechanism, which emits one or more "clicks" upon relative movement between two parts. The acoustic emissions can therefore be produced by purely mechanical means either inherent to the tool/equipment, or specifically added to it, for example a ratcheting device to indicate relative rotation or translation.
The invention also extends to apparatus used for carrying out the monitoring method.
Further preferred features and advantages of the present invention are in the dependent claims and in the following description of illustrative embodiments, made with reference to the drawings.
Brief Description of the Drawings
Figure 1 is a schematic diagram indicating a system for remotely monitoring a subsurface tool condition using the method of the present invention;
Figure 2 is a flow diagram of processing steps applied to the acoustic emissions, and Figures 3 — 5 schematically show examples of position or motion to noise transducers that may be used in carrying out the method of the invention.
Description of the Preferred Embodiments
Referring to Figure 1, a system 10 is shown that monitors the acoustic emissions travelling up a drill string 12 from a subsurface tool 14 attached to or landed in a casing hanger 16. Although a casing hanger tool is shown, the system may be used to monitor the condition of a wide variety of subsurface tools and equipment. Likewise, although as shown a drill string 12 serves as an acoustic transmission medium, other elements such as tubing or casing strings, risers, wirelines and the like can also fulfil this function. The drill string 12 is run through a BOP 18 and riser 20, extending between a wellhead 22 and a drilling vessel 24.
An acoustic monitoring device 26 is temporarily attached to the drill string above the vessel's rotary table 28, by an acoustically conductive clamp or strap 30. The monitoring device 26 comprises an acoustic transducer and associated processing systems attached to the clamp 30 that filter and monitor the noise / acoustic emission mix in the drill string 12 and indicate when a tool driven acoustic emission has taken place. Acoustic emission data can also be logged using a data logger or similar equipment.
Key to the operation of the system is the concept that as a by-product of tool operations, tools produce (or are modified to produce) a characteristic noise (tool acoustic emissions) which for instance provide information about relative movement of parts. These acoustic emissions are noises derived from the operation of simple mechanisms such as ratchets, or impacts between other parts, arising in use of the tool. As shown, the tool 14 is modified so as to incorporate a ratchet ring 32 which co-operates with a series of ratchet grooves 34 formed in the drill string 12. As each groove in the series 34 moves past the ring 32, a characteristic acoustic emission (click or signature) is generated. This travels up the drill string 12, where it may be detected by the monitoring device 26. The monitoring device may thus be used to provide an indication of the vertical position of the drill string 12 relative to the tool 14. At its simplest, this indication could be by means of an LED or the like, which flashes every time a click is detected. A more sophisticated monitoring device 26 may include a digital display, giving a running total of the number of clicks detected. The monitoring device can also be connected to a data logger or similar recording device for the raw and / or filtered acoustic signals.
The monitoring device 26 is attached to the drill string 12 at the surface level and when it detects an acoustic emission in the drill string derived from tool movement, it indicates this to the user. Coupled with tool information relating to the number of acoustic emissions expected for correct tool operation, this enables the user to closely monitor the function of the tool. Information relating to relative tool movements (rotation, translation and position relative to a datum) is therefore easily available at the surface level. Consider as an example a tool that must make 1 full rotation for correct operation and in which the tool is designed or modified to produce four emissions per rotation. The user simply has the drill string rotated until the device indicates it has detected four emissions.
Figure 2 shows a possible signal processing arrangement used to carry out a preferred monitoring method of the invention. Acoustic emissions are collected from the drill string via a transducer. This signal compared against the background noise spectrum in the drill string so as to attenuate the background noise, the differential (filtered) signal being fed to detection logic. The detection logic identifies transients at particular frequencies or combinations of frequencies which can be attributed to the intended acoustic emissions. These are then counted and indicated to the operator, as well as being recorded by a data logger.
Examples of position or movement to acoustic emission transducers which could be used to provide the necessary characteristic emissions in tool or equipment operations that do not produce them inherently, are shown in figures 3 -5.
Figures 3 and 4 are intended to enable monitoring of rotational movement / circular datum position and Figure 5 for axial movement / linear datum position. In Figure 3, a tool shaft 36 has a series of circumferentially spaced, axially extending grooves 38. A somewhat flexible ratchet ring 40 is positioned concentrically around the shaft, with a slight radial clearance. A pair of inwardly directed protuberances 42 can be moved between the various grooves 38 by relative rotation of the shaft 36 and ring 40, clicking past the intervening lands 44 to produce the required acoustic emissions. In Figure 4, much the same effect is obtained using a spring-loaded striker pin 46, acting against a cam 48 mounted for rotation with a tool shaft 50.
Figure 5 shows an acoustic emission generator which may be used in the system shown in Figure 1. The drill string or tool shaft 12 has a series of circumferential grooves 34 and alternating lands 54 formed on it. A ratchet ring 32 is received in a recessed groove in a vertical bore through the tool body 14. The ring 32 is partially axially split at a series of circumferentially spaced locations, to produce a series of axially extending flexible fingers. Each finger has a thickened end 58 that can be snapped into and out of the grooves 34 and over the lands 54, to produce the desired acoustic emissions as the drill string 12 is moved axially relative to the tool 14.
Other acoustic emission generators will be readily apparent. Purely mechanical devices actuated by relative movement between parts are preferred, as they require no external connections other than the existing mechanical transmission path to the surface. However electrically powered acoustic emission generators may also be used, for example providing emissions of varying frequency or amplitude, or digitally or otherwise encoded, to represent the condition monitored. If such monitoring is required for a relatively short period, the acoustic emission generator can rely on an internal power supply.

Claims

1. A method of remotely monitoring the position of a subsurface tool or piece of equipment (14) relative to a specified datum, or the relative position of parts of the tool or equipment (14), comprising the step of detecting acoustic emissions generated within the tool or equipment (14) by movement of the tool/equipment or parts.
2. The monitoring method as defined in claim 1, in which an acoustic transducer (26) is used to detect the emissions.
3. The monitoring method as defined in claim 2, further comprising the step of amplifying the signal from the acoustic transducer (26).
4. The monitoring method as defined in claim 2 or 3, further comprising the step of filtering the signal from the acoustic transducer (26).
5. The monitoring method as defined in claim 2, 3 or 4, further comprising the step of detecting characteristic emission signatures indicative of a particular position or change in position of the tool or equipment (14).
6. The monitoring method as defined in claim 5, further comprising the step of counting the number of occasions on which the characteristic emissions occur.
7. The monitoring method as defined in claim 6, further comprising the step of supplying said count to a user display or a data logger.
8. The monitoring method as defined in any preceding claim, wherein the detected emissions are transmitted through an acoustic transmission medium (12) to which the tool or equipment (14) is attached.
9. The monitoring method as defined in any of claims 2-7 and 8, in which the acoustic transducer (26) is attached to the acoustic transmission medium (12) by an acoustically conductive clamp (30).
10. The monitoring method as defined in any preceding claim, comprising the further step of incorporating into the tool or equipment a motion to noise transducer or position to noise transducer (36, 40, 46, 48, 32, 34), for generating the acoustic emissions.
11. The monitoring method as defined in claim 10, in which the motion or position to noise transducer emits one or more "clicks" upon relative movement between two parts
(36, 40, 46, 48, 32, 34).
12. The monitoring method of claim 11, wherein the motion to noise transducer or position to noise transducer comprises a ratchet mechanism (36, 40, 46, 48, 32, 34).
13. The monitoring method of claim 10, wherein the position to noise transducer or motion to noise transducer is electrically powered.
14. Apparatus for monitoring the position of a subsurface tool or piece of equipment (14) relative to a specified datum, or the relative position of parts of the tool or equipment, comprising : an acoustic transducer (26) adapted to be coupled to an acoustic transmission medium (12) acoustically coupled to the tool or equipment (14); a detector operatively connected to the transducer (26) to detect acoustic emissions by movement of the tool or equipment (14) or tool or equipment parts; and a display arranged to indicate the detected emissions to a user.
15. Apparatus as defined in claim 15 in which the detector comprises a noise filter arranged to attenuate detected background noise in the transmission medium.
16. Apparatus as defined in claim 15 or 16 comprising a counter arranged to count the number of the acoustic emissions detected.
17. Apparatus as defined in any of claims 14-16, comprising a motion to noise transducer or position to noise transducer (36, 40, 46, 48, 32, 34) coupled to the tool (14) and to the transmission medium (12).
18. Apparatus as defined in claim 17 in which the motion to noise transducer or position to noise transducer comprises a ratchet mechanism (36, 40, 46, 48, 32, 34).
19. Apparatus as defined in claim 17, in which the position to noise transducer or motion to noise transducer is electrically powered.
20. Apparatus as defined in any of claims 14 - 19 comprising a data logger.
PCT/GB2002/001859 2001-04-24 2002-04-22 Acoustic monitoring system for subsea wellhead tools and downhole equipment WO2002086288A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0110054A GB2374931B (en) 2001-04-24 2001-04-24 Acoustic monitoring system for subsea wellhead tools and downhole equipment
GB0110054.4 2001-04-24

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WO2009146548A1 (en) * 2008-06-03 2009-12-10 Schlumberger Technology Corporation System and method for determining downhole positions
WO2017135828A1 (en) * 2016-02-03 2017-08-10 Industrial Controls As Apparatus and method for transferring information acoustically from a borehole
WO2017135827A1 (en) * 2016-02-03 2017-08-10 Industrial Controls As Apparatus and method for monitoring conditions in a defined volume in a borehole
NO20161239A1 (en) * 2016-07-28 2018-01-29 4Subsea As Method for detecting position and orientation of a subsea structure using an ROV

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US6880634B2 (en) * 2002-12-03 2005-04-19 Halliburton Energy Services, Inc. Coiled tubing acoustic telemetry system and method
US7257050B2 (en) 2003-12-08 2007-08-14 Shell Oil Company Through tubing real time downhole wireless gauge
CN105464647B (en) * 2015-12-15 2019-03-15 中国石油天然气股份有限公司 Underground sound wave testing device

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US3223183A (en) * 1963-08-07 1965-12-14 Justin A Varney Well drilling apparatus
US4021773A (en) * 1974-10-29 1977-05-03 Sun Oil Company Of Pennsylvania Acoustical pick-up for reception of signals from a drill pipe
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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009146548A1 (en) * 2008-06-03 2009-12-10 Schlumberger Technology Corporation System and method for determining downhole positions
WO2017135828A1 (en) * 2016-02-03 2017-08-10 Industrial Controls As Apparatus and method for transferring information acoustically from a borehole
WO2017135827A1 (en) * 2016-02-03 2017-08-10 Industrial Controls As Apparatus and method for monitoring conditions in a defined volume in a borehole
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US10697292B2 (en) 2016-02-03 2020-06-30 Industrial Controls As Apparatus and method for transferring information acoustically from a borehole
GB2562421B (en) * 2016-02-03 2021-03-10 Ind Controls As Apparatus and method for monitoring conditions in a defined volume in a borehole
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NO20161239A1 (en) * 2016-07-28 2018-01-29 4Subsea As Method for detecting position and orientation of a subsea structure using an ROV
NO342795B1 (en) * 2016-07-28 2018-08-06 4Subsea As Method for detecting position and orientation of a subsea structure using an ROV

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GB2374931B (en) 2003-09-24
GB2374931A (en) 2002-10-30

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