Abstract:
Systems and methods for erecting a drilling rig. This abstract is provided to comply with the rules requiring an abstract which will allow a searcher or other reader to quickly ascertain the subject matter of the technical disclosure and is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims, 37 C.F.R. 1.72(b).

Description:
BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     This invention is directed to drilling rigs and to methods for erecting mobile drilling rigs. 
     2. Description of Related Art 
     The prior art discloses a variety of rigs used in drilling and various wellbore operations; for example, and not by way of limitation, U.S. Pat. Nos. 3,340,938; 3,807,109; 3,922,825; 3,942,593; 4,269,395; 4,290,495; 4,368,602; 4,489,526; 4,569,168; 4,837,992; 6,634,436; 6,523,319; and 7,306,055 and the references cited in these patents—all these patents incorporated fully herein for all purposes. The prior art discloses a variety of systems and methods for assembling and erecting a drilling rig; for example, and not by way of limitation nor as an exhaustive listing, the disclosures in U.S. Pat. Nos. 2,993,570; 3,201,091; 3,262,237; 3,749,183; 4,221,088; 4,269,009; 4,292,772; 4,305,237; 4,478,015; 4,587,778; 4,630,425; and 4,932,175. 
     Often drilling rigs and related systems, structures, equipment, and apparatuses are delivered to a site, assembled, raised, disassembled, and transported to a new site. It is important that drilling rigs and their components be easily transported, assembled, and erected. 
     In many prior rigs and erection methods, rig components and structures used with a rig are raised by a crane and positioned on a rig&#39;s drill floor. Various problems and disadvantages are associated with using a crane. A crane is typically a large apparatus which is transported to a drilling site where it is assembled and/or made ready for lifting and locating rig components. 
     BRIEF SUMMARY OF THE INVENTION 
     The present invention, in certain aspects, provides a drilling rig with structure manipulation and erection apparatus and methods for using such apparatus to erect a rig without using a crane, without winching up cables, and without lifting items and equipment with a drawworks. 
     The present invention discloses, in certain aspects, a method for assembling a drilling rig, the method including: assembling a substructure of a drilling rig, the assembly including connecting an upper box to a lower box, the upper box having an upper open space, the lower box having a lower open space, and the upper open space above the lower open space; moving with a vehicle on ground a floor section connected to and supported by the vehicle into open space including the upper open space and the lower open space; and securing the floor section to the substructure. 
     The present invention discloses, in certain aspects, a method for assembling a drilling rig, the method including: assembling a substructure of a drilling rig, the assembly including connecting an upper box to a lower box, the upper box having an upper open space, the lower box having a lower open space, and the upper open space above the lower open space; moving with a vehicle on ground a floor section connected to and supported by the vehicle into open space including the upper open space and the lower open space; and securing the floor section to the substructure; disconnecting the floor section from the vehicle; moving the vehicle away from the drilling rig; installing a drawworks (or other rig apparatus) on the substructure; assembling a mast connected to the substructure; erecting the mast on the substructure; installing a rig structure on the substructure; and raising with raising apparatus the substructure to an operational height. 
     The present invention discloses, in certain aspects, a system for drilling including: a substructure, the substructure locatable on ground and having an open space; a floor section, the floor section movable with a vehicle on ground adjacent the substructure, the floor section connected to and supported by the vehicle and movable on the vehicle into the open space; and the floor section releasably connected to the substructure. 
     The present invention discloses, in certain aspects, a substructure for a drilling rig, the substructure including: an upper box with an upper open space; a lower box with a lower open space; the upper open space above the lower open space and comprising a substructure space; the substructure space sized for selective receipt therein of a vehicle; and a floor section connectable to and supportable by the vehicle for movement into the substructure space, the floor section connected to the substructure. 
     Accordingly, the present invention includes features and advantages which are believed to enable it to advance drilling rig technology and rig erection technology. Characteristics and advantages of the present invention described above and additional features and benefits will be readily apparent to those skilled in the art upon consideration of the following detailed description of preferred embodiments and referring to the accompanying drawings. 
     Certain embodiments of this invention are not limited to any particular individual feature disclosed here, but include combinations of them distinguished from the prior art in their structures, functions, and/or results achieved. Features of the invention have been broadly described so that the detailed descriptions that follow may be better understood, and in order that the contributions of this invention to the arts may be better appreciated. There are, of course, additional aspects of the invention described below and which may be included in the subject matter of the claims to this invention. Those skilled in the art who have the benefit of this invention, its teachings, and suggestions will appreciate that the conceptions of this disclosure may be used as a creative basis for designing other structures, methods and systems for carrying out and practicing the present invention. The claims of this invention are to be read to include any legally equivalent devices or methods which do not depart from the spirit and scope of the present invention. 
     What follows are some of, but not all, the objects of this invention. In addition to the specific objects stated below for at least certain preferred embodiments of the invention, there are other objects and purposes which will be readily apparent to one of skill in this art who has the benefit of this invention&#39;s teachings and disclosures. It is, therefore, an object of at least certain preferred embodiments of the present invention to provide the embodiments and aspects listed above and: 
     New, useful, unique, efficient, non-obvious drilling rigs; rig erection methods; and new, useful, unique, efficient, nonobvious rig structure for rig erection; and 
     Such systems and methods in which a central drill floor portion is connected to a drill floor without a crane. 
     The present invention recognizes and addresses the problems and needs in this area and provides a solution to those problems and a satisfactory meeting of those needs in its various possible embodiments and equivalents thereof. To one of skill in this art who has the benefits of this invention&#39;s realizations, teachings, disclosures, and suggestions, various purposes and advantages will be appreciated from the following description of preferred embodiments, given for the purpose of disclosure, when taken in conjunction with the accompanying drawings. The detail in these descriptions is not intended to thwart this patent&#39;s object to claim this invention no matter how others may later attempt to disguise it by variations in form or additions of further improvements. 
     The Abstract that is part hereof is to enable the U.S. Patent and Trademark Office and the public generally, and scientists, engineers, researchers, and practitioners in the art who are not familiar with patent terms or legal terms of phraseology to determine quickly from a cursory inspection or review the nature and general area of the disclosure of this invention. The Abstract is neither intended to define the invention, which is done by the claims, nor is it intended to be limiting of the scope of the invention or of the claims in any way. 
     It will be understood that the various embodiments of the present invention may include one, some, or all of the disclosed, described, and/or enumerated improvements and/or technical advantages and/or elements in claims to this invention. 
    
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
       A more particular description of embodiments of the invention briefly summarized above may be had by references to the embodiments which are shown in the drawings which form a part of this specification. These drawings illustrate certain preferred embodiments and are not to be used to improperly limit the scope of the invention which may have other equally effective or equivalent embodiments. 
         FIG. 1A  is a top view of part of an upper box of a drilling rig according to the present invention. 
         FIG. 1B  is a top view of the upper box of  FIG. 1A  above a base box of the rig according to the present invention. 
         FIG. 1C  is a top view of base box of  FIG. 1B . 
         FIG. 1D  is an top view of the upper box and of the base box of  FIG. 1B . 
         FIG. 2A  is a top view of a step in a method for the assembly of rig according to the present invention for installing a drawworks. 
         FIG. 2B  is a top view of a further step in the assembly method for the assembly of rig according to the present invention. 
         FIG. 2C  is a side view of the step of  FIG. 2B . 
         FIG. 2D  is a top view showing the drawworks installed on the rig. 
         FIG. 3A  is a top view of a step in a method for the assembly of rig according to the present invention for installing a mast. 
         FIG. 3B  is a side view of a further step in the assembly method for installing the mast. 
         FIG. 3C  is a side view of a further step in installing the mast. 
         FIG. 3D  shows the mast erected. 
         FIG. 4A  is a top view of a step in a method for the assembly of rig according to the present invention for installing a center floor on the rig. 
         FIG. 4B  is a top view of a further step in the assembly method for installing the center floor. 
         FIG. 4C  is a side view of a further step in installing the center floor. 
         FIG. 4D  is a side view of a further step in installing the center floor. 
         FIG. 4E  is a top view of a further step in the assembly method for installing the center floor. 
         FIG. 5A  is a side view of a step in a method for the assembly of rig according to the present invention for installing a rig structure, e.g., a doghouse, on the rig. 
         FIG. 5B  is a top view of a further step in the assembly method for installing the doghouse. 
         FIG. 5C  is an end view of the step of  FIG. 5B . 
         FIG. 5D  is a side view of a further step in installing doghouse. 
         FIG. 6A  is a side view of a step in a method for the assembly of rig according to the present invention for raising the rig. 
         FIG. 6B  is a side view of a further step in the assembly method for raising the rig. 
         FIG. 6C  is a side view of a further step in raising the rig. 
         FIG. 6D  is a side view of a further step in raising the rig. 
         FIG. 6E  is a top view of a further step in raising the rig. 
         FIG. 6F  is a top view of the rig floor of the rig of  FIG. 6D . 
         FIG. 7A  is a top view of part of a rig as in  FIG. 6F . 
         FIG. 7B  is a side view showing a connection of parts of the rig of  FIG. 7A  after installation and  FIG. 7B  is a view along-line-A-A of  FIG. 7A . 
         FIG. 7C  is a side view showing a connection of parts of the rig of  FIG. 7A  before installation. 
         FIG. 7D  is a side view showing a connection of parts of the rig of  FIG. 7A  after installation and  FIG. 7D  is a view along line B-B of  FIG. 7A . 
         FIG. 7E  is a side view showing a connection of parts of the rig of  FIG. 7A  before installation. 
         FIG. 7F  is a side view showing a connection of parts of the rig of  FIG. 7A  after installation and  FIG. 7F  is a view along line C-C of  FIG. 7A . 
         FIG. 7G  is a side view showing a connection of parts of the rig of  FIG. 7A  before installation. 
         FIG. 7H  is a side view showing a connection of parts of the rig of  FIG. 7A  after installation and  FIG. 7H  is a view along line D-D of  FIG. 7A . 
         FIG. 7I  is a side view showing a connection of parts of the rig of  FIG. 7A  before installation. 
     
    
    
     Presently preferred embodiments of the invention are shown in the above-identified figures and described in detail below. Various aspects and features of embodiments of the invention are described below and some are set out in the dependent claims. Any combination of aspects and/or features described below or shown in the dependent claims can be used except where such aspects and/or features are mutually exclusive. It should be understood that the appended drawings and description herein are of preferred embodiments and are not intended to limit the invention or the appended claims. On the contrary, the intention is to cover all modifications, equivalents and alternatives falling within the spirit and scope of the invention as defined by the appended claims. In showing and describing the preferred embodiments, like or identical reference numerals are used to identify common or similar elements. The figures are not necessarily to scale and certain features and certain views of the figures may be shown exaggerated in scale or in schematic in the interest of clarity and conciseness. 
     As used herein and throughout all the various portions (and headings) of this patent, the terms “invention”, “present invention” and variations thereof mean one or more embodiment, and are not intended to mean the claimed invention of any particular appended claim(s) or all of the appended claims. Accordingly, the subject or topic of each such reference is not automatically or necessarily part of, or required by, any particular claim(s) merely because of such reference. So long as they are not mutually exclusive or contradictory any aspect or feature or combination of aspects or features of any embodiment disclosed herein may be used in any other embodiment disclosed herein. 
     DETAILED DESCRIPTION OF THE INVENTION 
       FIGS. 6A-6D  show a rig  10  according to the present invention erected by a method according to the present invention. 
       FIG. 1A  shows an upper box  12  of a substructure  20  or the rig  10  according to the present invention.  FIG. 1B  shows the upper box  12  above a base box  14  of the rig substructure  20 . The upper box  12  includes side floor section  12   a , side floor section  12   b , upper box beam  12   c  which includes parts  12   d  and  12   e . The parts  12   d  and  12   e  pivot, respectively, about pivot connections  12   f ,  12   g  and these have ends which are releasably connectable to each other with a pin  12   h  as shown in  FIG. 1D . Braces  12   i ,  12   j  are pivotably connected to pivot connections  12   k ,  12   m , respectively and are pivotable to releasably connect to the parts  12   d ,  12   e  at points  12   n ,  12   p , respectively, as shown in  FIG. 1D . Optionally, the rig  10  has pivotable suspension arms  121 ,  122  which are useful in securing an item, e.g. a rig structure such as a doghouse DH (see  FIG. 6F ) to the rig. 
     The base box  14  includes a side structure  14   a  and a side structure  14   b ; a base box beam  14   c ; a base box beam  14   d ; a base box beam  14   e ; a substructure raising cylinder  14   f ; and a substructure raising cylinder  14   g.    
     As shown in  FIG. 1C , the base box beam  14   c  has been pivoted about a pivotal connection  14   h  and releasably connected to a connection  14   i  on the side structure  14   a . The base box beam  14   d  has been pivoted about a pivotal connection  14   i  and releasably connected to a connection  14   k  on the side structure  14   a . The base box beam  14   e  has been pivoted about a pivotal connection  14   m  and releasably connected to a connection  14   n  on the side structure  14   a . This releasably connects the base side structure  14   a  to the base side structure  14   b  with respect to a well center WC. 
     As shown in  FIG. 1D , the parts  12   d ,  12   e  of the upper box beam  12   c  have been pivoted and their ends have been releasably connected with the pin  12   h . The braces  12   i ,  12   j  have been pivoted and connected to the parts  12   d ,  12   e , respectively. 
     The combination of the upper box  12  and the base box  14  form the basic structure of the rig substructure  20 . 
       FIGS. 2A-2D  illustrate the installation of a drawworks  16  on the substructure  20 . It is within the scope of the present invention for the drawworks  16  to be installed on the substructure  20  in any known way using any known structure, apparatus, machines and devices; and using any known drill floor and/or upper box, including, but not limited to, an upper box with a floor portion for supporting the drawworks. Alternatively, the drawworks  16  is installed as described in the U.S. Patent Application filed on even date herewith, naming Donnally et al as inventors, and entitled “Drilling Rig Drawworks Installation”; co-owned with the present invention and incorporated fully herein for all purposes.  FIGS. 2A-2D  illustrate one drawworks installation method. 
     As shown in  FIG. 2A  a truck Ta with a trailer Tb pulls alongside the substructure  20 . The trailer Tb supports the drawworks  16  which is on a skid  16   s . As shown in  FIGS. 2B and 2C  the truck Ta positions the trailer Tb in a desired position with respect to the substructure  20  and the skid  16   s  of the drawworks  16  is connected to the substructure  20 . Alternatively the upper box  12  includes a support floor for the drawworks  16 . The substructure  20  includes pivotable supports  20   s , substructure raising cylinder apparatuses  20   a , and mast raising cylinder apparatuses  20   b.    
       FIGS. 3A-3D  illustrate the installation of a mast  18  on the substructure  20  and the raising of the mast  18 . It is within the scope of the present invention to install any suitable known mast on the substructure  20  and to install the mast using any known method and apparatus. Alternatively, the mast  18  is installed as described in the U.S. patent application Ser. No. 12/074,258 co-owned with the present invention, naming Donnally et al as inventors, filed on even date herewith, and entitled “Drilling Rig Masts And Methods of Assembly and Erecting Masts”; and incorporated fully herein for all purposes.  FIGS. 3A-3D  illustrate one mast installation method. The rig shown includes a doghouse support arm  18   t.    
     As shown in  FIG. 3A , the substructure  20  has been lowered using the substructure cylinder apparatuses  14   f ,  14   g  and the base box beam  14   e  has been disconnected from the connection  14   n  and pivoted out of the way making room for part of the mast to be moved into place between the side structures  14   a ,  14   b . Legs  20   a  are pivotably connected to the substructure. As shown in  FIG. 3B  a truck Tc with a trailer Td supporting a bottom mast section  18   a  has moved the bottom mast section  18   a  between the side structures  14   a ,  14   b . The mast raising cylinder apparatuses  20   b  are connected to the mast bottom section  18   a  and both the substructure raising cylinder apparatuses  14   f ,  14   g  and the mast raising cylinder apparatuses  20   b  are then extended to raise the mast bottom section  18   a  above the trailer Td. The truck Tc is then moved away. 
     As shown in  FIG. 3C , with the bottom mast section  18   a  connected to the upper box  12  a truck Te with a trailer Tf supporting a mid mast section  18   b  has moved the mid mast section  18   b  adjacent the bottom mast section  18   a.    
     The bottom mast section  18   a  is connected to the mid mast section  18   b ; in one aspect, employing the substructure raising cylinder apparatuses  14   f ,  14   g  and the mast raising cylinder apparatuses  20   b  to position the mast sections and facilitate their interengagement. The truck Te is then moved away; in one aspect, the truck Te is moved away following retraction of the substructure raising cylinder apparatuses  14   f ,  14   g , and extension of the mast raising cylinder apparatuses  20   b . As shown in  FIG. 3D , but prior to erecting the mast  18 , a racking board  18   r  may be opened on the mast  18 . 
     As shown in  FIG. 3D , the mast  18  is erected, e.g., by extending the mast raising cylinder apparatuses. The mast bottom section  18   a  is secured to the mast mid section  18   b  and, if used, the mast raising cylinder apparatuses are then retracted. 
       FIGS. 4A-4E  illustrate a method according to the present invention for the installation of a center floor section  19 . 
     As shown in  FIG. 4A , the braces  12   i ,  12   j  have been released from the parts  12   d ,  12   e , respectively, pivoted on their respective connections  12   k ,  12   m ; and moved out of the way. As shown in  FIG. 4B , the base box beam  14   d  has been released from its connection  14   k ; pivoted on its connection  14   i ; and moved out of the way. 
     As shown in  FIG. 4C , a truck Tg with a trailer Th supporting a center floor section  19  has moved the center floor section  19  adjacent the substructure  20 . The center floor section  19 , optionally, includes a rotary table  19   a . As shown in  FIG. 4D , the truck Tg moves the center floor section  19  between the parts of the upper box  12  and base box  14  and the center floor section  19  is connected to the upper box  12 . The truck Tg and trailer Th are moved away. The braces  12   i ,  12   j  are then reconnected (see  FIG. 4E ). 
       FIGS. 5A-5D  illustrate the installation of a rig structure (e.g. house, cabin, control room, doghouse, driller cabin) on the substructure  20 . It is within the scope of the present invention to use any known apparatus and method for installing a rig structure on the substructure. Alternatively, the rig structure (e.g. a doghouse  17 ) is installed on the substructure  20  as described in the U.S. application Ser. No. 12/074,264 filed on even date herewith entitled “Drilling Rig Structure Installation and Methods”; co-owned with the present invention; and incorporated fully herein for all purposes. 
     As shown in  FIGS. 5A-5C , the doghouse  17  supported on a trailer Tj of a truck Ti is moved into position adjacent the substructure  20  and the substructure  20  has been lowered. The doghouse  17  is connected to the substructure  20  and the truck Ti and trailer Tj are then moved away ( FIG. 5D ). 
       FIGS. 6A-6D  illustrate the raising of the substructure  20  to move the rig  10  into a working position. 
     As shown in  FIG. 6A , the substructure  20  is lowered to install drawworks skid support legs  16   a ; various equipment and apparatuses; e.g., (see  FIG. 6F ) an iron roughneck  24 ; air tugger winches  25   a ; an independent rotary drive  25   b ; and a rotary table  25   c  (if not already installed) over a well center WC and near a mousehole MH (any of which optionally may be installed on the center section before installation on the substructure); and other equipment and hand rails. 
     As shown in  FIG. 6B , the substructure  20  is raised using the substructure raising cylinder apparatuses, raising the upper box  12 , the mast  18 , and the other equipment. A bottom end of each of the legs  16   a  is pinned to the base box  14 . The base box beams  14   d  and  14   e  are pivoted and reconnected to the connections  14   k ,  14   m , respectively. A BOP support beam structure  14   s  is connected to the base box  14 . Support legs  14   t  are connected between the upper box  12  and the base box  4 . If the mast  18  is a telescoping mast, the mid mast section  18   b  is telescoped up from the bottom mast section  18   a  ( FIG. 6C ). As shown in  FIG. 6D  the rig  10  is erected and, optionally, a rig walker  28  (for rig movement) is installed on the base box  14 . 
       FIG. 6F  is a top view of the upper box  12  with the drawworks  16 , doghouse  17 , and center floor  19  installed. 
       FIGS. 7A-7F  illustrate structure for connection of various parts of the rig as in  FIG. 6F ; shown with a drawworks deleted. 
       FIGS. 7A-7F  illustrate various connection structures both before the center floor  19  is installed and after the center floor  19  is installed. 
       FIGS. 7B-7C  illustrate the connection of beams B 1  and B 2  with pins Pa. 
       FIGS. 7D-7E  illustrate the connection of parts P 1  and P 2 . 
       FIGS. 7G-7F  illustrate the connection of parts P 3  and P 4 . 
       FIGS. 7H-7I  illustrate the connection of parts P 5  and P 6 . 
     The present invention, therefore, provides in some, but not in necessarily all, embodiments a method for assembling a drilling rig, the method including: assembling a substructure of a drilling rig, the assembly including connecting an upper box to a lower box, the upper box having an upper open space, the lower box having a lower open space, and the upper open space above the lower open space; moving with a vehicle on ground a floor section connected to and supported by the vehicle into open space including the upper open space and the lower open space; and securing the floor section to the substructure. Such a method may one or some, in any possible combination, of the following: disconnecting the floor section from the vehicle, and moving the vehicle away from the drilling rig; installing a drawworks (or rig apparatus) on the substructure; assembling a mast connected to the substructure; erecting the mast on the substructure; installing a rig structure on the substructure; wherein the rig structure is one of doghouse, cabin, and control room; installing rig equipment on the substructure; wherein the rig equipment is one of winch, iron roughneck, independent rotary table drive, and rotary table; and/or raising with raising apparatus the substructure to an operational height. 
     The present invention, therefore, provides in some, but not in necessarily all, embodiments a method for assembling a drilling rig, the method including: assembling a substructure of a drilling rig, the assembly including connecting an upper box to a lower box, the upper box having an upper open space, the lower box having a lower open space, and the upper open space above the lower open space; moving with a vehicle on ground a floor section connected to and supported by the vehicle into open space including the upper open space and the lower open space; and securing the floor section to the substructure; disconnecting the floor section from the vehicle; moving the vehicle away from the drilling rig; installing a drawworks (or rig apparatus) on the substructure; assembling a mast connected to the substructure; erecting the mast on the substructure; installing a rig structure on the substructure; and raising with raising apparatus the substructure to an operational height. 
     The present invention, therefore, provides in some, but not in necessarily all, embodiments a system for drilling including: a substructure, the substructure locatable on ground and including an upper box to a lower box, the upper box having an upper open space, the lower box having a lower open space, and the upper open space above the lower open space; a floor section, the floor section movable with a vehicle on ground adjacent the substructure, the floor section connected to and supported by the vehicle and movable on the vehicle into an open space including the upper open space and the lower open space; and the floor section releasably connected to the substructure. Such a system may one or some, in any possible combination, of the following: a drawworks (or rig apparatus) on the substructure; a mast connected to the substructure; a rig structure on the substructure; wherein the rig structure is one of doghouse, cabin, and control room; rig equipment on the substructure; wherein the rig equipment is one of winch, iron roughneck, independent rotary table drive, and rotary table; and/or raising apparatus connected to the substructure for raising the substructure to an operational height. 
     The present invention, therefore, provides in some, but not in necessarily all, embodiments a substructure for a drilling rig, the substructure including: an upper box with an upper open space; a lower box with a lower open space; the upper open space above the lower open space and comprising a substructure space; the substructure space sized for selective receipt therein of a vehicle; and a floor section connectable to and supportable by the vehicle for movement into the substructure space, the floor section connected to the substructure. 
     The systems and methods of the inventions described in the following pending U.S. Patent Applications, co-owned with the present invention, filed on even date herewith, naming Donnally et al as inventors, and fully incorporated herein for all purposes, may be used with certain embodiments of the present invention, the applications entitled: “Drilling Rig Masts And Methods Of Assembly and Erection”; “Drilling Rig Structure Installation And Methods”; and “Drilling Rig Drawworks Installation”. 
     In conclusion, therefore, it is seen that the present invention and the embodiments disclosed herein and those covered by the appended claims are well adapted to carry out the objectives and obtain the ends set forth. Certain changes can be made in the subject matter without departing from the spirit and the scope of this invention. It is realized that changes are possible within the scope of this invention and it is further intended that each element or step recited in any of the following claims is to be understood as referring to the step literally and/or to all equivalent elements or steps. The following claims are intended to cover the invention as broadly as legally possible in whatever form it may be utilized. The invention claimed herein is new and novel in accordance with 35 U.S.C. §102 and satisfies the conditions for patentability in §102. The invention claimed herein is not obvious in accordance with 35 U.S.C. §103 and satisfies the conditions for patentability in §103. This specification and the claims that follow are in accordance with all of the requirements of 35 U.S.C. §112. The inventors may rely on the Doctrine of Equivalents to determine and assess the scope of their invention and of the claims that follow as they may pertain to apparatus not materially departing from, but outside of, the literal scope of the invention as set forth in the following claims. All patents and applications identified herein are incorporated fully herein for all purposes. It is the express intention of the applicant not to invoke 35 U.S.C. §112, paragraph 6 for any limitations of any of the claims herein, except for those in which the claim expressly uses the words ‘means for’ together with an associated function. In this patent document, the word “comprising” is used in its non-limiting sense to mean that items following the word are including, but items not specifically mentioned are not excluded. A reference to an element by the indefinite article “a” does not exclude the possibility that more than one of the element is present, unless the context clearly requires that there be one and only one of the elements.