Further Development and Testing of an Autonomous Drilling Rig and Control Algorithms for Improved Drilling Performance

Abstract

This thesis documents the contributions made by Ole André Hjelm and Simen Jøsang Nilsen to improve and further develop a small-scale autonomous drilling rig. The rig has been used to compete in an international student competition called Drillbotics™, as well as being a basis for thesis and experimental work. Thesis work was divided into three parts: First, shortcomings and errors from last year’s rig were highlighted and remedial measures were established. Second, new mechanical designs were made and manufacturing outsourced or done in house. Similarly, for implementation of new hard- and software. Finally, the new rig was assembled, calibrated, debugged and tested, before experimental work were carried out. Considering all improvements made this year, the rig shows a immense potential for the 2018 competition. With substantial increase in durability, mobility, redundancy and greatly improved control software. The rig is now left as a solid foundation for next year’s competition and a perfect platform for further thesis work and experiments.