Abstract:
A system for aligning and connecting components including a support structure and a measuring apparatus coupled to the support structure. The measuring apparatus is arranged to spatially analyze a first tubular component with respect to a second tubular component for determining an adjustment vector therebetween. An alignment apparatus is coupled to the support structure and in data communication with the measuring apparatus. The alignment apparatus includes a plurality of actuators operatively arranged in parallel for moving at least one of the first or second tubular components relative to the other for coaxially arranging the first and second tubular components in accordance with the adjustment vector. A connection apparatus is coupled to the support structure and operatively arranged for connecting the first and second tubular components together.

Description:
BACKGROUND 
       [0001]    Threaded connections are typically used to assemble pipelines and downhole tubular strings due to the lack of time and cost efficient alternatives. For example, in current downhole tubular welding operations, the welding apparatus must be at least partially dismantled after each welding, resulting in significant delays in the tubular string assembly process. The use of threaded connections between components, while generally improving assembly time, degrade in quality more readily over time than welds, e.g., resulting in previously fluid tight connections becoming compromised. Problems in both types of connections are exacerbated by imprecise alignment (e.g., axial, radial, rotational, etc.) of the components before they are connected. Accordingly, advances are always well received that improve the quality, installation time, cost effectiveness, etc. of connections between tubular components. 
       BRIEF DESCRIPTION 
       [0002]    A system for aligning and connecting components including a support structure, a measuring apparatus coupled to the support structure and operatively arranged to spatially analyze a first tubular component with respect to a second tubular component for determining an adjustment vector therebetween, an alignment apparatus coupled to the support structure and in data communication with the measuring apparatus, the alignment apparatus including a plurality of actuators operatively arranged in parallel for moving at least one of the first or second tubular components relative to the other for coaxially arranging the first and second tubular components in accordance with the adjustment vector and a connection apparatus coupled to the support structure and operatively arranged for connecting the first and second tubular components together. 
         [0003]    A system for aligning components including a support structure, a measuring apparatus coupled to the support structure and operatively arranged to spatially analyze a first tubular component with respect to a second tubular component for determining an adjustment vector therebetween, and an alignment apparatus coupled to the support structure and in data communication with the measuring apparatus, the alignment apparatus including a plurality of actuators operatively arranged in parallel for moving the first tubular component relative to the second tubular component for coaxially arranging the first and second tubular components in accordance with the adjustment vector, wherein the support structure is positioned proximate a borehole and the system is operatively arranged to guide the first and second tubular components into the borehole. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0004]    The following descriptions should not be considered limiting in any way. With reference to the accompanying drawings, like elements are numbered alike: 
           [0005]      FIG. 1  illustrates a system for aligning and connecting two components as described herein; 
           [0006]      FIG. 2  schematically illustrates a misalignment between a first tubular component and a second tubular component; 
           [0007]      FIG. 3  illustrates a cross-sectional view of the system of  FIG. 1 ; 
           [0008]      FIG. 4  illustrates two components being spatially analyzed by a transceiver of a measuring system; 
           [0009]      FIG. 5  illustrates two imperfect components being aligned according to a best fit therebetween; 
           [0010]      FIGS. 6A and 6B  show a processing device being aligned with a component for processing; 
           [0011]      FIGS. 7-11  illustrate various embodiments of systems for aligning two components as described herein. 
       
    
    
     DETAILED DESCRIPTION 
       [0012]    A detailed description of one or more embodiments of the disclosed apparatus and method are presented herein by way of exemplification and not limitation with reference to the Figures. 
         [0013]    Referring now to  FIG. 1 , an alignment and connection system  10  is shown. The system  10  as shown in  FIG. 1  includes a base  12  that is, e.g., immovably mounted to or installed as part of a rig floor at a borehole drill site. Alternatively, the base  12  could be located in some other location and utilized for connecting tubulars or other components together, the borehole could be located horizontally, vertically, or in any other orientation, etc. 
         [0014]    With the base  12  is housed an alignment apparatus  14 , which in the illustrated embodiment includes an operating rack  15  secured to the base  12  via a plurality of positioning actuators  16 . The rack  15  and the base  12  are, e.g., support structures for the system  10 . The actuators  16  are arranged to enable relative movement of the rack  15  with respect to the base  12 . The actuators  16  could be hydraulic, pneumatic, magnetic, electronic, mechanical, etc., or any combinations thereof, e.g., electromagnetic, hydro-mechanical, etc. For example, in one embodiment each of the actuators  16  is a hydraulic cylinder secured to the base  12  and the rack  15  via universal joints. In the illustrated embodiment, six actuators  16  are present (one hidden from view), with three at one end of the base  12  and rack  15 , and three at the opposite end of the base  12  and the rack  15 . Of course, in other embodiments any other number of actuators  16  could be included to provide sufficient accuracy of alignment apparatus  14  (e.g., movement of the rack  15  with respect to the base  12 ) and rigidity of the alignment apparatus  14  (and/or the rack  15 ) with respect to the base  12 . Additionally, stiffeners and dampeners, e.g., springs, hydraulics, pneumatics, plates, beams, rods, etc. could be included for setting desired static and dynamic performance of the system  10 . 
         [0015]    By use of the system  10 , a first tubular component  18   a  and a second tubular component  18   b  can be aligned and connected. For example, in one embodiment, the component  18   b  is immovably secured to the operating rack  15  via the clamping mechanism  20 , while the component  18   a  is secured immovably relative to the base  12  via a suitable clamping mechanism, friction with walls of a borehole, etc. In this way, the component  18   a  can act essentially as a reference for further operations, e.g., alignment of the component  18   b  with the component  18   a . The clamping mechanism  20  could be, e.g., arranged for exerting radially compressive forces, frictional forces, etc. on the component  18   b  due to at least one clamping actuator  23 . The actuator(s)  23  could be any suitable type of actuator, e.g., hydraulic cylinders. The components  18   a  and  18   b  may generally take the form of pipes, tubulars, bottom hole assemblies, any other generally tube-like or axially projecting structures, or components thereof or related thereto regardless of cross-sectional shape, rotational symmetry, etc. 
         [0016]    In  FIG. 2 , the system  10  is shown schematically with the component  18   a  having an axis  22   a  that is misaligned with respect to an axis  22   b  of the component  18   b . Since the rack  15  is clamped to the component  18   b , the rack  15  is concentric about the axis  22   b  in the illustrated embodiment. However, in another embodiment, the axes of the operating rack  15  and the second component  18   b  could be offset by some predetermined or desired angle and locked at that angle, e.g., to better accommodate the curvature of a borehole  24  into which the components  18   a  and  18   b  are to be inserted. For example, the axes of the operating rack  15  and the second component  18   b  could be offset by angles of between about zero and ten degrees. Thus, by moving the rack  15 , e.g. via the positioning actuators  16 , the orientation of the component  18   b  relative to the component  18   a  can also be set. It is noted that the amount of misalignment between the axes  22   a  and  22   b  is for purposes of illustration and discussion only, and may be less or more in actual practice. 
         [0017]    In the schematically illustrated embodiment of  FIG. 2 , the alignment apparatus  14  is positioned over the borehole  24  such that the components  18   a  and  18   b  can be efficiently aligned and connected as a string formed from these and other components is increasingly inserted into the borehole  24 . Of course, the system  10  could be positioned on a rig floor some distance above the borehole, so the borehole  24  is also representative of a hole through the rig floor, etc. In the embodiment of  FIG. 2  the component  18   a  is partially inserted into the borehole  24  and clamped, held, housed, or secured with respect to the borehole  24 , the rig floor, and/or the base  12 . By securing the component  18   b  to the rack  15  via the clamping mechanism  20 , movement of the rack  15 , coaxial along the axis  22   b , will alter the orientation of the component  18   b , thereby enabling alignment between the components  18   a  and  18   b . It is to be appreciated that in other embodiments, the component  18   a  could be moveable with respect to the component  18   b , or both could be movable with respect to each other, so long as relative movement between the components  18   a  and  18   b  is enabled. In other embodiments the apparatus  14  could be positioned in any other suitable location or in any other orientation (e.g., horizontal, vertical, etc.). It is also to be appreciated that after component  18   b  is inserted at least partially into the borehole  24  it resembles the component  18   a  such that a new component can be aligned with and connected to the opposite end of the component  18   b , and the process repeated thereafter as necessary. 
         [0018]    In general, the actuators  16  form a parallel kinematic or hybrid parallel-serial kinematic system for the alignment apparatus  14 . That is, e.g., a parallel kinematic system employs a plurality of actuators that work synchronously to effect a change in orientation and/or position of a desired component, e.g., as an average of the movements of each actuator, as opposed to a serial kinematic system in which the movements of serially arranged actuators are, e.g., compounded together to effect movement of the desired component. The actuators  16  are arrangeable for enabling relative movement of the rack  15 , and therefore the component  18   b , with respect to the base  12 , and therefore the component  18   a , in up to six degrees of freedom, e.g., along three perpendicularly arranged coordinate axes (e.g., x, y, and z) and rotation about each of these axes (e.g., θ x , θ y , θ z ; α, β, γ; or some other symbolic designation). 
         [0019]    A more detailed embodiment of the system  10  is shown in  FIG. 3 , in which the system  10  further includes an assembly  26  slidably and/or rotatably mounted within the rack  15 . Any such rotatable or slidable elements could include suitable locking mechanisms, e.g., mechanical, electrical, hydraulic, magnetic, or other locks. The direction of movement of the assembly  26  is along and about the shared axis  22   b  of the rack  15  and the component  18   b . The assembly  26  includes a measuring apparatus  28  for analyzing the adjacent ends of the components  18   a  and  18   b  in order to enable alignment and connection thereof. As discussed in more detail below, the assembly  26  can include other mechanisms, such as a processing apparatus  30 , a connecting apparatus  32 , an operating tool  34 , etc. 
         [0020]    After initial delivery of the component  18   b  to the component  18   a , e.g., via the operating tool  34 , and securing of the component  18   b  to the rack  15 , e.g., via the clamping mechanism  20 , the corresponding ends of the components  18   a  and  18   b  are spatially analyzed by the measuring apparatus  28 . That is, the position, size, shape, orientation, etc. of the components  18   a  and  18   b  is determined with respect to each other and/or to a reference (e.g., the axis  22   b  as noted below). As shown in the embodiment of  FIGS. 3 and 4 , the measuring apparatus  28  takes the form of a transceiver  36  housed with a carriage  38 . Of course, a separate transmitter, e.g., a laser diode, and receiver, e.g., a photosensor could be used. Alternatively, a digital imaging camera or some other measurement device could replace the transceiver  36  in other embodiments. As schematically illustrated in the embodiment  FIG. 3 , the transceiver  36  is configured to transmit a signal, e.g., a laser fan  40 , and receive corresponding signals as a result of the laser scan  40  sweeping over the first and second tubular components  18   a  and  18   b  in order for the transceiver to detect the position and orientation of the components  18   a  and  18   b.    
         [0021]    The carriage  38  is, e.g., rotatable about the axis  22   b  for enabling the transceiver  36  to scan the entire 360 degrees about the interface between the components  18   a  and  18   b . Thus, by taking a plurality of two dimensional readings about the entire periphery of the interface between the components  18   a  and  18   b , an essentially three dimension model of the components can be achieved. Advantageously, this enables any cross-sectional shape to be analyzed, and the measurement of both components can occur simultaneously during a single orbit of the transceiver  36  about the components  18   a  and  18   b . Additional sensors or transceivers could be mounted on the carriage  38  for back up, redundancy, to minimize error, etc. Alternatively, it is to be noted that the transceiver  36  or other sensors could be stationary while the component  18   b , e.g., via the clamping mechanism  20 , is rotatable. 
         [0022]    By immovably securing the transceiver  36  to the carriage  38  and recording the rotational angle of the carriage  38  (e.g., by monitoring actuators that control rotation of the carriage  38 ), the transceiver  36  is always at a known position with respect to the axis  22   b , as indicated by a reference vector r in  FIG. 4 . By comparing this reference vector r to the scanned position, shape, size, and orientation of the component  18   a , a correction or adjustment vector can be calculated. For example, a vector component v corresponding to each rotational position of the carriage  38  as shown in  FIG. 4  can be determined, which vector components v are ultimately compiled and summed, or, alternatively, a single adjustment vector can be created after all of the measurement data has been analyzed. In any event, the components  18   a  and  18   b  in the example of  FIG. 4  have corrugated cross-sectional shapes that would be sensed by the transceiver  36  and aligned with respect to each other by appropriate rotation and movement of the component  18   b  in response to the calculated adjustment vector. 
         [0023]    The adjustment vector can then be communicated as instructions to the alignment apparatus  14  in order to align the component  18   b  with the axis  22   a  of the component  18   a , e.g., by parallel actuation of the positioning actuators  16 . For example, the measuring apparatus  28  may include or be in data communication with any necessary computer components, such as RAM, ROM, hard drives or other data storage media, processors, arithmetic or other logic units, wired or wireless communication equipment, etc. 
         [0024]    Since the geometry of the components  18   a  and  18   b  is not likely ideal, the adjustment vectors v are each further determinable as a best match or fit including various flaws of the components  18   a  and  18   b , such as ovality, curvature, asymmetry, etc. As an example,  FIG. 5  depicts the components  18   a  and  18   b  having exaggerated abnormalities, i.e., curvature and ovality. An ideal geometry  42   a  and  42   b  is shown for the components  18   a  and  18   b , respectively, which the system  10  strives to replicate. For example, the measuring apparatus  28  first analyzes the interface between the components  18   a  and  18   b . The relative positions of the components  18   a  and  18   b  are then compared to each other and/or to the ideal geometry  42   a  and  42   b . The adjustment or correction vectors v are then calculated (e.g., including variables x, y, z, α, β, γ to define six degrees of freedom). The adjustment vectors v are then passed to the alignment apparatus  14  comprising the actuators  16  in order to align the components  18   a  and  18   b  axially, then to rotate the component  18   a  to best match any ovality, curvature, etc. shared between the two components  18   a  and  18   b , as shown on the right hand side of  FIG. 5 , in order to achieve a suitable interface for connection therebetween. 
         [0025]    After measuring and alignment, the two components  18   a  and  18   b  are connected, e.g., by use of the connecting apparatus  30 . In one embodiment, the connecting apparatus  30  is a welding tool for creating a weld at the interface between the two components  18   a  and  18   b . The welding tool could utilize any desired welding technology, such as electron beam, pressure welding, etc. The clamping mechanism  20  and/or the actuators  16  can be actuated to hold the component  18   b  firmly against the component  18   a  during welding. In this way, the clamping mechanism  20  may take the form of a serial actuator for matingly engaging the ends of the components  18   a  and  18   b  after the positioning actuators  16  initially act in parallel to align the component  18   b  with the component  18   a  as described in detail above. In embodiments in which the apparatus  30  is a welding tool, a pair of seals  44  is includable on the operation tool  34  for sealing the interface between the components  18   a  and  18   b , e.g., for assisting the welding process by creating a vacuum or protective gas chamber, etc. 
         [0026]    In other embodiments, the components could be connected in other ways, such as by threaded connections. In such embodiments, the aforementioned ovality and curvature may not be as critical, as the components will thereafter need to undergo relative rotational movement in order to be threaded together. In such embodiments, the connecting apparatus  30  could comprise a clamping device or other radial support for assisting in the threading of the component  18   b  with the component  18   a . In view hereof, it is to be noted that the clamping mechanism  20  could temporarily release the component  18   b  for the connecting apparatus  30  to operate, the clamping mechanism  20  could be rotatable about the axis  22   b  in conjunction with the apparatus  30 , the clamping mechanism  20  could be rotatable about the axis  22   b  without the use of the assembly  30 , etc. Additionally, as the positioning actuators  16  are arranged in parallel, these actuators can be used to deliver high torque to the component  18   b , e.g., enabling the clamping mechanism  20  and/or connecting apparatus  30  to thread the components  18   a  and  18   b  most of the way and for the positioning actuators  16  to apply the final high torque needed to securely tighten the components together before insertion into the borehole. 
         [0027]    Before connection by the connecting apparatus  30 , the processing apparatus  32  is included in some embodiments to first process the components  18   a  and/or  18   b . For example, the processing apparatus  32  includes a tool  46  mounted on a carriage  48 . The tool  46  includes any suitable cutting, milling, drilling, turning, grinding, sawing, or other device for preparing the surfaces of the components, detaching tubulars that are secured together, machining the components, finishing surfaces of the components, etc. The tool  46  may additionally include or be accompanied by tools for welding, brazing, gluing, adhering or otherwise affixing parts, e.g., bottom hole assembly parts, to the tubular components  18   a  and  18   b . Multiple tools could be included for simultaneously processing, e.g., that are individually controlled or synchronously controlled, e.g., via a cam arrangement. The tool  46  could be used to smooth, clean, outline, reshape, or otherwise prepare the components  18   a  and  18   b  for welding; remove excess radially protruding material subsequent to welding; cut ends off of the components  18   a  and  18   b  to reveal fresh surfaces for connection; tap, repair, or otherwise form threads in the components  18   a  and  18   b ; etc. The carriage  48  is used to align the tool  46  with the components  18   a  and/or  18   b , for example, by translating in the x, y, or z directions or effecting rotation thereabout. Advantageously, making the processing apparatus part of the assembly  26  that is housed in the rack  15  enables the alignment apparatus  14  to align the processing apparatus  32  as described above. That is, as shown in  FIGS. 6A and 6B , fixing the machining apparatus  32  along the axis  22   b  and then aligning the axis  22   b  with the axis  22   a , aligns the tool  46  with the components  18   a  and  18   b  for enabling more accurate cuts therewith. Additionally, it is to be recognized that the processing apparatus  32  can also be used to cut existing welds or connections in an automated disassembly of a pipeline or drillstring, e.g., in response to emergency or severe weather situations, etc. With use of the measuring apparatus  28 , it is also to be noted that both rotationally and non-rotationally symmetric components can be processed by the processing machine by communicating to the processing apparatus  32  the measured positions, orientations, etc. of the components  18   a  and  18   b.    
         [0028]    In some embodiments, the processing by the processing apparatus  32  occurs before measuring and alignment, while in others it occurs after. In another embodiment, the components  18   a  and  18   b  are analyzed by the measuring apparatus  28  and axially aligned by the alignment apparatus  14 , processed by the processing apparatus  32 , then reanalyzed and realigned to accommodate any changes that occurred as a result of the processing. While initially carrying the component  18   b  to the component  18   a , e.g., with rig cables or the like, the measuring apparatus  28  may remaining stationary, without rotating about the components  18   a  and  18   b , in order to pre-align or get the component  18   b  relatively close (e.g., “in the ballpark of”) the component  18   a . Once pre-aligned, a full measurement as described above could occur. It is to be noted that generally with the steps described herein can be repeated as necessary, interchanged, etc. in various embodiments. For example, even after connection the components could be analyzed by the measuring apparatus  28  and separated by the processing apparatus  32  if, e.g., an error occurred, a poor weld or threaded connection results, etc. Advantageously, the embodiments described herein enable customizable, repeatable, and fully or partially automated systems for aligning and connecting components, thereby making installation more efficient, increasing safety by distancing personnel from heavy equipment and moving tools, etc. 
         [0029]    In the embodiment of  FIG. 7 , a system  110  is shown. Many elements in the system  110  resemble those in the system  10  and have likewise been given the same reference numerals but prefaced with the numeral ‘1’ (i.e.,  100  has been added to the base numerals). Any such prefaced numeral generally shares the above-given descriptions of the corresponding components having reference numerals not including a leading ‘1’, unless otherwise noted. The system  110  includes clamping mechanisms  120   a  and  120   b , which are illustrated in the form of vice clamps, although other clamping mechanisms could be utilized. Similar to the clamping mechanism  20  of the above discussed embodiments, the clamping mechanism  120   b  for the component  18   b  is disposed in the rack  115 . The clamping mechanism  120   a  for the component  18   a  is located in a floor  113  included with the base  112 , e.g. part of a rig floor located above a borehole. 
         [0030]    A system  210  is shown in  FIG. 8 , generally resembling the systems  10  and  110  discussed above. Each component in the system  110  that is similar to those in the above-discussed embodiments has been given the same base reference numeral, but prefaced with a ‘2’ (i.e.,  200  has been added to the base numeral). Components having reference numerals with a leading ‘2’ share the above descriptions of the corresponding components having the same base reference numerals but without a leading ‘2’, unless otherwise noted and therefore such descriptions are not repeated. The system  210  includes an alignment apparatus  214  comprising a first rack  215   a  portion and a second rack portion  215   b . The first rack portion  215   a  generally resembles the rack  215  discussed above, in that it is movably secured to a base  212  via a plurality of positioning actuators  216 . The first rack portion  215   a  could include, for example, the assembly  26  or any of its apparatuses, e.g. the measuring apparatus  28 , the alignment apparatus  30 , the connection apparatus  32 , etc. The second rack portion  215   b  includes a clamping mechanism  220   b  and is separately movable via at least one additional actuator  217  arranged between the rack portions  215   a  and  215   b . The actuators  217  are, e.g., arranged serially with the actuators  216 , such that the system  210  is a hybrid kinematic system. Advantageously, by placing a clamping mechanism  220   b  on the rack portion  215   b  and other elements and/or apparatuses (e.g., the assembly  26 , measuring apparatus  28 , alignment apparatus  30 , connection apparatus  32 , etc.) on the other rack portion  215   a , the component  18   b  can be moved longitudinally by the actuators  217  without disrupting the placement of the other elements and apparatuses. In order to achieve the above-discussed benefits, the rack portions  215   a  and  215   b  could both be immovably aligned along the axis  24   b , with only the actuators  217  permitting relative movement between the rack portions  215   a  and  215   b  along the axis  24   b . In this way, the component  18   b  could be rotationally and axially aligned as discussed above, and then pressed longitudinally against the component  18   a  by use of the actuators  217  with or without assistance from the actuators  216 , e.g., for welding or other connection to be carried out. 
         [0031]    In the embodiment of  FIG. 9 , a system  310  is shown. Each component in the system  310  that is similar to those in the above-discussed embodiments has been given the same base reference numeral, but prefaced with a ‘3’ (i.e.,  300  has been added to the base numeral). Any such prefaced numeral generally shares the above-given descriptions of the corresponding components having the same base reference numerals but not including a leading ‘3’, unless otherwise noted, and therefore such descriptions are not repeated. Similar to the system  210 , a rack  315  of the system  310  includes a first rack portion  315   a  and a second rack portion  315   b . The first rack portion  315   a  is connected to a base  312  via a plurality of parallel actuators  316 . In the illustrated embodiment, there are six actuators  316 . Unlike the other embodiments discussed above, the actuators  316  are connected at only one end of the rack  315  and the base  312  as opposed to opposite ends. An additional actuator  317  takes the form of a rotation drive in the system  310  for rotatably connecting the second rack portions  315   b  to the first rack portion  315   a . A clamp  320   b  is included with the rack portion  315   b  such that actuation of the rotation drive  317  results in rotation of the component  18   b  with respect to the component  18   a . This actuator  317  is thus arranged in serial with the actuators  316  such that the system  310  is a hybrid kinematic system. An assembly  326  (e.g. including any or all of the apparatuses  28 ,  30 ,  32 , etc.) is included between the components  18   a  and  18   b  for measuring, analyzing, processing, connecting, etc. as described previously. The assembly  326  could be connected to the rack portion  315   b , separated controlled, etc. 
         [0032]    In the embodiment of  FIG. 10 , a system  410  is shown. Each component in the system  410  that is similar to those in the above-discussed embodiments has been given the same base reference numeral, but prefaced with a ‘4’ (i.e.,  400  has been added to the base numeral). Any such prefaced numeral generally shares the above-given descriptions of the corresponding components having the same base reference numerals but not including a leading ‘4’, unless otherwise noted and therefore such descriptions are not repeated. Similar to the system  310 , the system  410  includes a plurality of parallel actuators located at one end of a base  412  and a rack  415  only. However, in the system  410 , no rotational drive is included and relative rotation between the components  18   a  and  18   b  is instead controlled, e.g., solely by the actuators  416 . An assembly  426  (e.g. including any or all of the apparatuses  28 ,  30 ,  32 , etc.) could be connected to the rack  415 , be separately controlled, etc. 
         [0033]    A system  60  is provided in  FIG. 11  as an embodiment that does not at first review appear to resemble the previously discussed embodiments. Specifically, the system  60  is an example of a hybrid kinematic system. However, it will become clear that the system  60  shares many similarities and advantages to the above embodiments. The system  60  includes a first set of actuators  62  and a second set of actuators  64 , with each of the actuators  64  associated with one of the actuators  62  (one actuator  62  hidden from view). The first set of actuators  62  is arranged in serial with the second set of actuators  64 , while the second set of actuators  64  are arranged in parallel with respect to each other. Each of the first actuators  62  are connected to one end of one of the second actuators  64  at, e.g., a track or slider  66 . The tracks  66  and the actuators  62  are, e.g., secured to a base  68 , located, e.g., above or proximate to a blowout preventer  70 , a borehole, etc. 
         [0034]    A plurality of clamping devices  72  is included for attaching each of the actuators  64  to the component  18   b . It is noted that in lieu of external longitudinally extending support beams and other framework, as shown in each of the racks  15 ,  15   a , and  15   b , the system  60  instead directly clamps onto the component  18   b , thereby maintaining coaxial arrangement between each of the clamping devices  72  and the component  18   b . By including an assembly  74 , e.g., including the measuring apparatus  28 , the connecting apparatus  30 , the processing apparatus  32 , etc., and securing the assembly  74  to one of the clamping devices  72 , the same advantages discussed above are maintained, as the assembly  74 , and therefore all of the desired apparatuses, are aligned with the component  18   b  for processing, measuring, connecting, etc. Further, in view of the foregoing, it is noted that by securing the actuators  62  and the tracks  66  properly, e.g., such that the direction of actuation of at least some of the actuators  62  are not parallel to others of the actuators  62 , and making the clamping devices  72  at least partially rotatable, that six degrees of freedom can be accomplished. 
         [0035]    Another feature or advantage is appreciable in view of the system  60  in  FIG. 11 . Namely, the system  60  includes a rotatable clamp mechanism  76  for the component  18   a . The rotatable clamp mechanism  76  is included, for example, with the blowout preventer  70 . It will be appreciated by one of ordinary skill in the art that the above-discussed clamps for the component  18   a , e.g., the clamps  120   a ,  220   a ,  320   a ,  420   a , etc., could all be similarly modifiable such that they too are rotatable, e.g., including a mechanism similar to the mechanism  76  (or the drive  317 , etc.). The rotatable clamp mechanism  76  enables the component  18   a , which is at least partially inserted downhole (or attached to a string inserted downhole) to be rotated along with the component  18   b . Advantageously, this enables, for example, both components  18   a  and  18   b  to be rotated simultaneously at the same speed for welding the components together via processes such as laser welding, e-beam welding, etc. The mechanism  76  also, e.g., enables the components  18   a  and  18   b  to be rotated in opposite directions or different speeds, e.g., one at high speed and one at low speed, for enabling more efficient friction welding, or the threading of the components  18   a  and  18   b  together. Rotation of the component  18   a  during connection also reduces differential sticking of the downhole string including the component  18   a , improves the transport of downhole cuttings during drilling, and reduces or eliminates interruptions between the drilling or string installation process and the connection process. By securely clamping the component  18   a  at its end, for example, any flexure, curving, bending, etc. caused in the downhole string connected to the component  18   a  during rotation thereof will not affect the end of the component  18   a , so that alignment and connection can occur. As another example, the aforementioned apparatuses, e.g., the measuring apparatus  28 , processing apparatus  30  and/or the connection apparatus  32  could be rotated in an opposite direction to that of the components  18   a  and  18   b  for even further increasing the speed of analysis, preparation, processing, or connection of the components  18   a  and  18   b.    
         [0036]    While the invention has been described with reference to an exemplary embodiment or embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the invention will include all embodiments falling within the scope of the claims. Also, in the drawings and the description, there have been disclosed exemplary embodiments of the invention and, although specific terms may have been employed, they are unless otherwise stated used in a generic and descriptive sense only and not for purposes of limitation, the scope of the invention therefore not being so limited. Moreover, the use of the terms first, second, etc. do not denote any order or importance, but rather the terms first, second, etc. are used to distinguish one element from another. Furthermore, the use of the terms a, an, etc. do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced item.