Based on measurements of forces and rotational velocity experienced by a drill bit during drilling, drilling behavior is detected and identified. Measurements of forces on a drill bit including torque on bit (TOB), weight on bit (WOB), etc. and measurements of rotational velocity (rotations per minute or RPM) are acquired in real time at the drill bit. Various measurements are correlated to produce related combinations of measurements, such as WOB-RPM, TOB-RPM, and RPM-time. Based on fitting between the combinations of measurements and curves corresponding to predetermined torsional behavior trends, torsional, axial, and rotational behaviors are classified as functional or dysfunctional. A dysfunction identifier then identifies drill bit dysfunctions, such as high-frequency torsional noise, cutting-induced stick-slip, friction-inducted stick-slip, pipe-induced stick-slip, three-dimensional (3D) coupled vibrations (including subsets high-frequency torsional oscillations and low-frequency torsional oscillations), low-frequency torsional vibration, high-frequency torsional vibration, etc.) based on the functionality of the torsional, axial, and rotational behaviors. Based on drill bit dysfunction identification, dysfunctional drilling behavior can be mitigated.

A modular compaction boring device. The boring device comprises a compaction boring head which creates a borehole through a subsurface by operation of a thruster and a rear and forward anchor. Extension of the thruster while the rear anchors are engaged move the boring head forward. Retraction of the thruster while the forward anchors are engaged brings the rear anchors forward for an addition stroke. A steering geometry in the boring head and rotation of the boring head allow steering of the boring device. Steering, thrust, and anchors may be controlled remotely through an umbilical cable pulled through the borehole by the boring device.

A modular compaction boring device. The boring device comprises a compaction boring head which creates a borehole through a subsurface by operation of a thruster and a rear and forward anchor. Extension of the thruster while the rear anchors are engaged move the boring head forward. Retraction of the thruster while the forward anchors are engaged brings the rear anchors forward for an addition stroke. A steering geometry in the boring head and rotation of the boring head allow steering of the boring device. Steering, thrust, and anchors may be controlled remotely through an umbilical cable pulled through the borehole by the boring device.

A system and for providing a bore sight in a piercing tool. A transmitter emits a magnetic field. The flux lines which emanate along the transmitter axis are substantially straight. A receiver at a remote, target location can detect these flux lines. The receiver and transmitter are oriented such that the substantially straight flux line are along an intended bore path. Then, a piercing tool or other boring tool is oriented along the same path and a bore is created.

A self propelling vehicle capable of propagating through a solid medium, comprising two or more rotors, arranged in tandem, and means for rotating the rotors, each rotor being formed as a hollow rotational body with an external helicoidal flighting, configured to engage surrounding solid medium, wherein the flightings of any pair of adjacent rotors follow helicoids of mutually opposite senses and the means for rotating are operative to rotate the adjacent rotors in mutually opposite senses.

A self propelling vehicle capable of propagating through a solid medium, comprising two or more rotors, arranged in tandem, and means for rotating the rotors, each rotor being formed as a hollow rotational body with an external helicoidal flighting, configured to engage surrounding solid medium, wherein the flightings of any pair of adjacent rotors follow helicoids of mutually opposite senses and the means for rotating are operative to rotate the adjacent rotors in mutually opposite senses.

A framework for a displacement hammer is configured for positioning the displacement hammer in a launch pit. The framework has two holding fixtures, each holding fixture having a clamp. The clamps and the holding fixtures can be moved independently from each other.

A framework for a displacement hammer is configured for positioning the displacement hammer in a launch pit. The framework has two holding fixtures, each holding fixture having a clamp. The clamps and the holding fixtures can be moved independently from each other.

Mechanical locking and rotating device also known as twister, consisting of three elements coaxially connected one inside the other, by means of plugs and interpenetrating screws in slots formed on the cylindrical surfaces of the elements, in which a first upper element is used to maneuver the device, a second central element used to rotate the lining tube and a third element deputy to the connection of the end of the lining tube.

Mechanical locking and rotating device also known as twister, consisting of three elements coaxially connected one inside the other, by means of plugs and interpenetrating screws in slots formed on the cylindrical surfaces of the elements, in which a first upper element is used to maneuver the device, a second central element used to rotate the lining tube and a third element deputy to the connection of the end of the lining tube.