Patent Publication Number: US-2020300079-A1

Title: Monitoring a rig tubular handling system

Description:
BACKGROUND 
     Wellsites oftentimes include a plurality of tubulars segments, such as drill string segments, casing segments, and the like. The tubular segments may be coupled together to form a string that may be run into a wellbore. Tubular handling equipment is used to couple the tubular segments together, decouple the tubular segments from one another, place the tubular segments during times of non-use, etc. The tubular handling equipment may be automated to increase performance, reduce human activity, and improve consistency. Automated tubular handling includes complex mechanical and control systems with a multitude of sensors and moving parts. The ability to track the performance and health of these systems may prevent downtime and maintain performance at the desired levels. 
     SUMMARY 
     This summary is provided to introduce a selection of concepts that are further described below in the detailed description. This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to be used as an aid in limiting the scope of the claimed subject matter. 
     A method for monitoring a component is disclosed. The method includes measuring a first parameter of the component of a tubular handling system using a sensor. The component moves as the tubular handling system moves a tubular. The first parameter is related to movement of the component. The method also includes determining a second parameter of the component based at least partially upon the first parameter. The method also includes determining whether the second parameter is within an operating limit. 
     In another embodiment, the method includes measuring a first parameter of the component using a sensor. The first parameter is measured during a first actuation of the component that occurs at a first time or during a first time duration, and during a second actuation of the component that occurs at a second time or during a second time duration. The first time or the first time duration occurs before the second time or the second time duration. The method also includes determining a second parameter of the component based at least partially upon the first parameter. The second parameter is determined during the first actuation and the second actuation. The method also includes comparing the second parameter during the first actuation with the second parameter during the second actuation. 
     A tubular handling system is also disclosed. The system includes a component and a sensor configured to measure a position of the component during a first actuation of the component and during a second actuation of the component. The first actuation occurs at a first time or during a first time duration. The second actuation occurs at a second time or during a second time duration. A control system is configured to receive the position of the component during the first actuation and the second actuation, determine a velocity of the component based at least partially upon the position during the first actuation and the second actuation, determine an acceleration of the component based at least partially upon the velocity during the first actuation and the second actuation, determine whether the position, the velocity, and the acceleration are within operating limits during the first actuation and the second actuation, and determine whether a health, a performance, or both of the component have decreased from the first actuation to the second actuation based at least partially upon the position, the velocity, the acceleration, or a combination thereof. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present teachings and together with the description, serve to explain the principles of the present teachings. In the figures: 
         FIG. 1  illustrates a conceptual, schematic view of a control system for a drilling rig, according to an embodiment. 
         FIG. 2  illustrates a conceptual, schematic view of the control system, according to an embodiment. 
         FIG. 3  illustrates a perspective view of a tubular handling system, according to an embodiment. 
         FIG. 4  illustrates a perspective view of a portion of the tubular handling system (e.g., a standbuilding system), according to an embodiment. 
         FIG. 5  illustrates a perspective view of a portion of the tubular handling system (e.g., a vertical racking system), according to an embodiment. 
         FIG. 6  illustrates a perspective view of a portion of the tubular handling system (e.g., a tubular connection system), according to an embodiment. 
         FIG. 7  illustrates a perspective view of a portion of the tubular handling system (e.g., a catwalk machine), according to an embodiment. 
         FIG. 8  illustrates a flowchart of a method for monitoring health and/or performance of the tubular handling system, according to an embodiment. 
         FIG. 9  illustrates a graph showing position, velocity, and acceleration of the component of the tubular handling system, according to an embodiment. 
         FIG. 10  illustrates another graph showing position, velocity, and acceleration of the component of the tubular handling system, according to an embodiment. 
         FIG. 11  illustrates a computing system for performing at least a portion of the method, according to an embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     Reference will now be made in detail to specific embodiments illustrated in the accompanying drawings and figures. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be apparent to one of ordinary skill in the art that embodiments may be practiced without these specific details. In other instances, well-known methods, procedures, components, circuits, and networks have not been described in detail so as not to unnecessarily obscure aspects of the embodiments. 
     It will also be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first object could be termed a second object or step, and, similarly, a second object could be termed a first object or step, without departing from the scope of the present disclosure. 
     The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in the description of the invention and the appended claims, the singular forms “a,” “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term “and/or” as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. 
     It will be further understood that the terms “includes,” “including,” “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Further, as used herein, the term “if” may be construed to mean “when” or “upon” or “in response to determining” or “in response to detecting,” depending on the context. 
       FIG. 1  illustrates a conceptual, schematic view of a control system  100  for a drilling rig  102 , according to an embodiment. The control system  100  may include a rig computing resource environment  105 , which may be located onsite at the drilling rig  102  and, in some embodiments, may have a coordinated control device  104 . The control system  100  may also provide a supervisory control system  107 . In some embodiments, the control system  100  may include a remote computing resource environment  106 , which may be located offsite from the drilling rig  102 . 
     The remote computing resource environment  106  may include computing resources locating offsite from the drilling rig  102  and accessible over a network. A “cloud” computing environment is one example of a remote computing resource. The cloud computing environment may communicate with the rig computing resource environment  105  via a network connection (e.g., a WAN or LAN connection). In some embodiments, the remote computing resource environment  106  may be at least partially located onsite, e.g., allowing control of various aspects of the drilling rig  102  onsite through the remote computing resource environment  105  (e.g., via mobile devices). Accordingly, “remote” should not be limited to any particular distance away from the drilling rig  102 . 
     Further, the drilling rig  102  may include various systems with different sensors and equipment for performing operations of the drilling rig  102 , and may be monitored and controlled via the control system  100 , e.g., the rig computing resource environment  105 . Additionally, the rig computing resource environment  105  may provide for secured access to rig data to facilitate onsite and offsite user devices monitoring the rig, sending control processes to the rig, and the like. 
     Various example systems of the drilling rig  102  are depicted in  FIG. 1 . For example, the drilling rig  102  may include a downhole system  110 , a fluid system  112 , and a central system  114 . These systems  110 ,  112 ,  114  may also be examples of “subsystems” of the drilling rig  102 , as described herein. In some embodiments, the drilling rig  102  may include an information technology (IT) system  116 . The downhole system  110  may include, for example, a bottomhole assembly (BHA), mud motors, sensors, etc. disposed along the drill string, and/or other drilling equipment configured to be deployed into the wellbore. Accordingly, the downhole system  110  may refer to tools disposed in the wellbore, e.g., as part of the drill string used to drill the well. 
     The fluid system  112  may include, for example, drilling mud, pumps, valves, cement, mud-loading equipment, mud-management equipment, pressure-management equipment, separators, and other fluids equipment. Accordingly, the fluid system  112  may perform fluid operations of the drilling rig  102 . 
     The central system  114  may include a hoisting and rotating platform, top drives, rotary tables, kellys, drawworks, pumps, generators, tubular handling equipment, derricks, masts, substructures, and other suitable equipment. Accordingly, the central system  114  may perform power generation, hoisting, and rotating operations of the drilling rig  102 , and serve as a support platform for drilling equipment and staging ground for rig operation, such as connection make up, etc. The IT system  116  may include software, computers, and other IT equipment for implementing IT operations of the drilling rig  102 . 
     The control system  100 , e.g., via the coordinated control device  104  of the rig computing resource environment  105 , may monitor sensors from multiple systems of the drilling rig  102  and provide control commands to multiple systems of the drilling rig  102 , such that sensor data from multiple systems may be used to provide control commands to the different systems of the drilling rig  102 . For example, the system  100  may collect temporally and depth aligned surface data and downhole data from the drilling rig  102  and store the collected data for access onsite at the drilling rig  102  or offsite via the rig computing resource environment  105 . Thus, the system  100  may provide monitoring capability. Additionally, the control system  100  may include supervisory control via the supervisory control system  107 . 
     In some embodiments, one or more of the downhole system  110 , fluid system  112 , and/or central system  114  may be manufactured and/or operated by different vendors. In such an embodiment, certain systems may not be capable of unified control (e.g., due to different protocols, restrictions on control permissions, safety concerns for different control systems, etc.). An embodiment of the control system  100  that is unified, may, however, provide control over the drilling rig  102  and its related systems (e.g., the downhole system  110 , fluid system  112 , and/or central system  114 , etc.). Further, the downhole system  110  may include one or a plurality of downhole systems. Likewise, fluid system  112 , and central system  114  may contain one or a plurality of fluid systems and central systems, respectively. 
     In addition, the coordinated control device  104  may interact with the user device(s) (e.g., human-machine interface(s))  118 ,  120 . For example, the coordinated control device  104  may receive commands from the user devices  118 ,  120  and may execute the commands using two or more of the rig systems  110 ,  112 ,  114 , e.g., such that the operation of the two or more rig systems  110 ,  112 ,  114  act in concert and/or off-design conditions in the rig systems  110 ,  112 ,  114  may be avoided. 
       FIG. 2  illustrates a conceptual, schematic view of the control system  100 , according to an embodiment. The rig computing resource environment  105  may communicate with offsite devices and systems using a network  108  (e.g., a wide area network (WAN) such as the internet). Further, the rig computing resource environment  105  may communicate with the remote computing resource environment  106  via the network  108 .  FIG. 2  also depicts the aforementioned example systems of the drilling rig  102 , such as the downhole system  110 , the fluid system  112 , the central system  114 , and the IT system  116 . In some embodiments, one or more onsite user devices  118  may also be included on the drilling rig  102 . The onsite user devices  118  may interact with the IT system  116 . The onsite user devices  118  may include any number of user devices, for example, stationary user devices intended to be stationed at the drilling rig  102  and/or portable user devices. In some embodiments, the onsite user devices  118  may include a desktop, a laptop, a smartphone, a personal data assistant (PDA), a tablet component, a wearable computer, or other suitable devices. In some embodiments, the onsite user devices  118  may communicate with the rig computing resource environment  105  of the drilling rig  102 , the remote computing resource environment  106 , or both. 
     One or more offsite user devices  120  may also be included in the system  100 . The offsite user devices  120  may include a desktop, a laptop, a smartphone, a personal data assistant (PDA), a tablet component, a wearable computer, or other suitable devices. The offsite user devices  120  may be configured to receive and/or transmit information (e.g., monitoring functionality) from and/or to the drilling rig  102  via communication with the rig computing resource environment  105 . In some embodiments, the offsite user devices  120  may provide control processes for controlling operation of the various systems of the drilling rig  102 . In some embodiments, the offsite user devices  120  may communicate with the remote computing resource environment  106  via the network  108 . 
     The user devices  118  and/or  120  may be examples of a human-machine interface. These devices  118 ,  120  may allow feedback from the various rig subsystems to be displayed and allow commands to be entered by the user. In various embodiments, such human-machine interfaces may be onsite or offsite, or both. 
     The systems of the drilling rig  102  may include various sensors, actuators, and controllers (e.g., programmable logic controllers (PLCs)), which may provide feedback for use in the rig computing resource environment  105 . For example, the downhole system  110  may include sensors  122 , actuators  124 , and controllers  126 . The fluid system  112  may include sensors  128 , actuators  130 , and controllers  132 . Additionally, the central system  114  may include sensors  134 , actuators  136 , and controllers  138 . The sensors  122 ,  128 , and  134  may include any suitable sensors for operation of the drilling rig  102 . In some embodiments, the sensors  122 ,  128 , and  134  may include a camera, a pressure sensor, a temperature sensor, a flow rate sensor, a vibration sensor, a current sensor, a voltage sensor, a resistance sensor, a gesture detection sensor or device, a voice actuated or recognition device or sensor, or other suitable sensors. 
     The sensors described above may provide sensor data feedback to the rig computing resource environment  105  (e.g., to the coordinated control device  104 ). For example, downhole system sensors  122  may provide sensor data  140 , the fluid system sensors  128  may provide sensor data  142 , and the central system sensors  134  may provide sensor data  144 . The sensor data  140 ,  142 , and  144  may include, for example, equipment operation status (e.g., on or off, up or down, set or release, etc.), drilling parameters (e.g., depth, hook load, torque, etc.), auxiliary parameters (e.g., vibration data of a pump) and other suitable data. In some embodiments, the acquired sensor data may include or be associated with a timestamp (e.g., a date, time or both) indicating when the sensor data was acquired. Further, the sensor data may be aligned with a depth or other drilling parameter. 
     Acquiring the sensor data into the coordinated control device  104  may facilitate measurement of the same physical properties at different locations of the drilling rig  102 . In some embodiments, measurement of the same physical properties may be used for measurement redundancy to enable continued operation of the well. In yet another embodiment, measurements of the same physical properties at different locations may be used for detecting equipment conditions among different physical locations. In yet another embodiment, measurements of the same physical properties using different sensors may provide information about the relative quality of each measurement, resulting in a “higher” quality measurement being used for rig control, and process applications. The variation in measurements at different locations over time may be used to determine equipment performance, system performance, scheduled maintenance due dates, and the like. Furthermore, aggregating sensor data from each subsystem into a centralized environment may enhance drilling process and efficiency. For example, slip status (e.g., in or out) may be acquired from the sensors and provided to the rig computing resource environment  105 , which may be used to define a rig state for automated control. In another example, acquisition of fluid samples may be measured by a sensor and related with bit depth and time measured by other sensors. Acquisition of data from a camera sensor may facilitate detection of arrival and/or installation of materials or equipment in the drilling rig  102 . The time of arrival and/or installation of materials or equipment may be used to evaluate degradation of a material, scheduled maintenance of equipment, and other evaluations. 
     The coordinated control device  104  may facilitate control of individual systems (e.g., the central system  114 , the downhole system, or fluid system  112 , etc.) at the level of each individual system. For example, in the fluid system  112 , sensor data  128  may be fed into the controller  132 , which may respond to control the actuators  130 . However, for control operations that involve multiple systems, the control may be coordinated through the coordinated control device  104 . Examples of such coordinated control operations include the control of downhole pressure during tripping. The downhole pressure may be affected by both the fluid system  112  (e.g., pump rate and choke position) and the central system  114  (e.g. tripping speed). When it is desired to maintain certain downhole pressure during tripping, the coordinated control device  104  may be used to direct the appropriate control commands. Furthermore, for mode based controllers which employ complex computation to reach a control setpoint, which are typically not implemented in the subsystem PLC controllers due to complexity and high computing power demands, the coordinated control device  104  may provide the adequate computing environment for implementing these controllers. 
     In some embodiments, control of the various systems of the drilling rig  102  may be provided via a multi-tier (e.g., three-tier) control system that includes a first tier of the controllers  126 ,  132 , and  138 , a second tier of the coordinated control device  104 , and a third tier of the supervisory control system  107 . The first tier of the controllers may be responsible for safety critical control operation, or fast loop feedback control. The second tier of the controllers may be responsible for coordinated controls of multiple equipment or subsystems, and/or responsible for complex model based controllers. The third tier of the controllers may be responsible for high level task planning, such as to command the rig system to maintain certain bottom hole pressure. In other embodiments, coordinated control may be provided by one or more controllers of one or more of the drilling rig systems  110 ,  112 , and  114  without the use of a coordinated control device  104 . In such embodiments, the rig computing resource environment  105  may provide control processes directly to these controllers for coordinated control. For example, in some embodiments, the controllers  126  and the controllers  132  may be used for coordinated control of multiple systems of the drilling rig  102 . 
     The sensor data  140 ,  142 , and  144  may be received by the coordinated control device  104  and used for control of the drilling rig  102  and the drilling rig systems  110 ,  112 , and  114 . In some embodiments, the sensor data  140 ,  142 , and  144  may be encrypted to produce encrypted sensor data  146 . For example, in some embodiments, the rig computing resource environment  105  may encrypt sensor data from different types of sensors and systems to produce a set of encrypted sensor data  146 . Thus, the encrypted sensor data  146  may not be viewable by unauthorized user devices (either offsite or onsite user device) if such devices gain access to one or more networks of the drilling rig  102 . The sensor data  140 ,  142 ,  144  may include a timestamp and an aligned drilling parameter (e.g., depth) as discussed above. The encrypted sensor data  146  may be sent to the remote computing resource environment  106  via the network  108  and stored as encrypted sensor data  148 . 
     The rig computing resource environment  105  may provide the encrypted sensor data  148  available for viewing and processing offsite, such as via offsite user devices  120 . Access to the encrypted sensor data  148  may be restricted via access control implemented in the rig computing resource environment  105 . In some embodiments, the encrypted sensor data  148  may be provided in real-time to offsite user devices  120  such that offsite personnel may view real-time status of the drilling rig  102  and provide feedback based on the real-time sensor data. For example, different portions of the encrypted sensor data  146  may be sent to offsite user devices  120 . In some embodiments, encrypted sensor data may be decrypted by the rig computing resource environment  105  before transmission or decrypted on an offsite user device after encrypted sensor data is received. 
     The offsite user device  120  may include a client (e.g., a thin client) configured to display data received from the rig computing resource environment  105  and/or the remote computing resource environment  106 . For example, multiple types of thin clients (e.g., devices with display capability and minimal processing capability) may be used for certain functions or for viewing various sensor data. 
     The rig computing resource environment  105  may include various computing resources used for monitoring and controlling operations such as one or more computers having a processor and a memory. For example, the coordinated control device  104  may include a computer having a processor and memory for processing sensor data, storing sensor data, and issuing control commands responsive to sensor data. As noted above, the coordinated control device  104  may control various operations of the various systems of the drilling rig  102  via analysis of sensor data from one or more drilling rig systems (e.g.  110 ,  112 ,  114 ) to enable coordinated control between each system of the drilling rig  102 . The coordinated control device  104  may execute control commands  150  for control of the various systems of the drilling rig  102  (e.g., drilling rig systems  110 ,  112 ,  114 ). The coordinated control device  104  may send control data determined by the execution of the control commands  150  to one or more systems of the drilling rig  102 . For example, control data  152  may be sent to the downhole system  110 , control data  154  may be sent to the fluid system  112 , and control data  154  may be sent to the central system  114 . The control data may include, for example, operator commands (e.g., turn on or off a pump, switch on or off a valve, update a physical property setpoint, etc.). In some embodiments, the coordinated control device  104  may include a fast control loop that directly obtains sensor data  140 ,  142 , and  144  and executes, for example, a control algorithm. In some embodiments, the coordinated control device  104  may include a slow control loop that obtains data via the rig computing resource environment  105  to generate control commands. 
     In some embodiments, the coordinated control device  104  may intermediate between the supervisory control system  107  and the controllers  126 ,  132 , and  138  of the systems  110 ,  112 , and  114 . For example, in such embodiments, a supervisory control system  107  may be used to control systems of the drilling rig  102 . The supervisory control system  107  may include, for example, devices for entering control commands to perform operations of systems of the drilling rig  102 . In some embodiments, the coordinated control device  104  may receive commands from the supervisory control system  107 , process the commands according to a rule (e.g., an algorithm based upon the laws of physics for drilling operations), and/or control processes received from the rig computing resource environment  105 , and provides control data to one or more systems of the drilling rig  102 . In some embodiments, the supervisory control system  107  may be provided by and/or controlled by a third party. In such embodiments, the coordinated control device  104  may coordinate control between discrete supervisory control systems and the systems  110 ,  112 , and  114  while using control commands that may be optimized from the sensor data received from the systems  110   112 , and  114  and analyzed via the rig computing resource environment  105 . 
     The rig computing resource environment  105  may include a monitoring process  141  that may use sensor data to determine information about the drilling rig  102 . For example, in some embodiments the monitoring process  141  may determine a drilling state, equipment health, system health, a maintenance schedule, or any combination thereof. Furthermore, the monitoring process  141  may monitor sensor data and determine the quality of one or a plurality of sensor data. In some embodiments, the rig computing resource environment  105  may include control processes  143  that may use the sensor data  146  to optimize drilling operations, such as, for example, the control of drilling equipment to improve drilling efficiency, equipment reliability, and the like. For example, in some embodiments the acquired sensor data may be used to derive a noise cancellation scheme to improve electromagnetic and mud pulse telemetry signal processing. The control processes  143  may be implemented via, for example, a control algorithm, a computer program, firmware, or other suitable hardware and/or software. In some embodiments, the remote computing resource environment  106  may include a control process  145  that may be provided to the rig computing resource environment  105 . 
     The rig computing resource environment  105  may include various computing resources, such as, for example, a single computer or multiple computers. In some embodiments, the rig computing resource environment  105  may include a virtual computer system and a virtual database or other virtual structure for collected data. The virtual computer system and virtual database may include one or more resource interfaces (e.g., web interfaces) that enable the submission of application programming interface (API) calls to the various resources through a request. In addition, each of the resources may include one or more resource interfaces that enable the resources to access each other (e.g., to enable a virtual computer system of the computing resource environment to store data in or retrieve data from the database or other structure for collected data). 
     The virtual computer system may include a collection of computing resources configured to instantiate virtual machine instances. The virtual computing system and/or computers may provide a human-machine interface through which a user may interface with the virtual computer system via the offsite user device or, in some embodiments, the onsite user device. In some embodiments, other computer systems or computer system services may be utilized in the rig computing resource environment  105 , such as a computer system or computer system service that provisions computing resources on dedicated or shared computers/servers and/or other physical devices. In some embodiments, the rig computing resource environment  105  may include a single server (in a discrete hardware component or as a virtual server) or multiple servers (e.g., web servers, application servers, or other servers). The servers may be, for example, computers arranged in any physical and/or virtual configuration 
     In some embodiments, the rig computing resource environment  105  may include a database that may be a collection of computing resources that run one or more data collections. Such data collections may be operated and managed by utilizing API calls. The data collections, such as sensor data, may be made available to other resources in the rig computing resource environment or to user devices (e.g., onsite user device  118  and/or offsite user device  120 ) accessing the rig computing resource environment  105 . In some embodiments, the remote computing resource environment  106  may include similar computing resources to those described above, such as a single computer or multiple computers (in discrete hardware components or virtual computer systems). 
     The systems and methods disclosed herein track and monitor performance and health of a rig&#39;s tubular handling system (THS). The systems and methods may utilize sensor data and corresponding time-stamps to measure and/or determine the position, speed, acceleration, and/or force/loading of a component during one or more rig sequences. Reaction times, performance, health indexes, and degradation may be determined based at least partially upon these measurements/determinations. In response, an alarm may be triggered and/or a maintenance activity may be initiated, to ensure that the rig&#39;s tubular handling system operates within equipment limits. 
     The tubular handling system may include one or more mechanical systems that perform movement and grabbing functions. The mechanical systems may include arms, joints, and actuators. The control system  100 , such as the one described above with regard to  FIGS. 1 and 2 , is utilized to execute the commands to synchronize movements in the sequence to perform a given activity. Feedback to the control system  100  is given by sensors (e.g., sensors  122 ,  128 ,  134 ) located at multiple locations within the THS. 
       FIG. 3  illustrates a perspective view of a tubular handling system  300 , according to an embodiment. The tubular handling system  300  may include a standbuilding system, a vertical racking system, a tubular connection system, and a catwalk machine, which are shown in greater in  FIGS. 4-8  and described below. As will be appreciated, this is merely one example of a tubular handling system  300 , and other tubular handling systems may include different components. 
       FIG. 4  illustrates a perspective view of a portion of the tubular handling system (e.g., the standbuilding system  400 ), according to an embodiment. The standbuilding system  400  includes one or more (e.g., upper and lower) robotic arms  410  that grab and move pipe to/from the catwalk, rack, and well. More particularly, the arms  410  may locate, grab, move, release, etc. the pipe. The arms  410  have sub-components that also actuate. The pipe may be or include segments of drill pipe, casing, etc. 
       FIG. 5  illustrates a perspective view of a portion of the tubular handling system (e.g., the vertical racking system  500 ), according to an embodiment. The vertical racking system  500  includes one or more devices  510  that hold and store pipe vertically. 
       FIG. 6  illustrates a perspective view of a portion of the tubular handling system (e.g., the tubular connection system  600 ), according to an embodiment. The tubular connection system  600  includes equipment  610  used to connect segments of pipe to one another and disconnect segments of pipe from one another. More particularly, the equipment  610  may move to meet the pipe connection location. The equipment  610  may also adjust its position on the horizontal and vertical planes, and therefore has one or more corresponding degrees of freedom. 
       FIG. 7  illustrates a perspective view of a portion of the tubular handling system (e.g., the catwalk machine  700 ), according to an embodiment. The catwalk machine  700  includes a lower section of the pipe handler that can assemble stands of pipe (e.g., two or more segments coupled together) and move them up for the standbuilding system  400  to lift. 
     With regard to  FIGS. 4-7 , each moving component may include one or more moving sub-components. Each time a component (e.g., a hydraulic cylinder, a piston, an actuator, etc.) moves, there may be a sensor signature (e.g., pressure, proximity switch, encoder, etc.) that may provide information about (a) the location of the component and/or (b) whether the displacement has been achieved (and therefore information about location). Tracking, monitoring, and processing the signatures over time may be used to derive the health of the component. In general, the different components may be part of or otherwise include arms, grabbers, ramps, platforms, etc. 
       FIG. 8  illustrates a flowchart of a method  800  for monitoring health and/or performance of a system (e.g., the tubular handling system  300 ), according to an embodiment. At least a portion of the method  800  may be performed by/using the control system  100 . The method  800  may include measuring a first parameter of a component of the tubular handling system  300  using one or more sensors, as at  802 . In the example below, the first parameter is a position of the component of the tubular handling system  300 . This may include the position of the component with respect to a fixed point, another component of the tubular handling system  300 , or rig personnel. 
     In other examples, the first parameter may be or include a velocity and/or an acceleration of the component of the tubular handling system  300 . The component may be or include a movable component of the tubular handling system  300  a hydraulic cylinder, a piston, or an actuator. The sensors may be or include one or more of the sensors  122 ,  128 ,  134  discussed above, or the sensors may be different. The sensors may be or include encoders or proximity switches. In one embodiment, the sensors may be proximity switches that are located near the starting and/or endpoints of the movement (e.g., proximity switches). These sensors may detect that the component has reached a certain location. In another embodiment, the sensors may be encoders that continuously track the position of the component as part of their operation and control. Therefore, the sensors may contain position information at any given time. These sensors may be normally located as part of the actuating component (e.g., traction motors) and therefore may not be next to the moving component itself. In yet another embodiment, the position information of the component can be derived (calculated) from other measurements (e.g., such as pressure acting on hydraulic cylinders). The sensors may be positioned where the process is monitored (e.g., hydraulic pressure can be monitored in a fitting where the hydraulic power is administered). 
     The method  800  may also include determining a second parameter of the component based at least partially upon the first parameter, as at  804 . In another embodiment, the method  800  may instead include measuring the second parameter using the one or more sensors. In the example below, the second parameter is a velocity of the component of the tubular handling system  300 . In other examples, the second parameter may be or include an acceleration of the component or a force on the component. When the first parameter is position, and the second parameter is velocity, the second parameter may be determined as the derivative of the first parameter with respect to time. 
     The method  800  may also or instead include determining a third parameter of the component based at least partially upon the first parameter and/or the second parameter, as at  806 . In another embodiment, the method  800  may instead include measuring the third parameter using the one or more sensors. In the example below, the third parameter is an acceleration of the component of the tubular handling system  300 . For example, when the first parameter is position, and the second parameter is velocity, the third parameter may be determined as the second derivative of the first parameter with respect to time, or as the first derivative of the second parameter with respect to time. 
     In at least one embodiment, the second parameter and/or the third parameter may be both measured (e.g., by the sensors) and determined (e.g., based at least partially upon the measured first parameter). The measured and determined parameter(s) may be compared and used to calibrate the sensors and/or validate the data. 
     The time differential (dt) is the time difference between two or more different measurements (e.g., of position or velocity). The measurements may be linear, angular, or in any other coordinate system. The position, velocity, and/or acceleration may follow the same coordinate system or be transformed into a different coordinate system. In at least one embodiment, a force/loading of the component may be determined based at least partially upon the position, velocity, and/or acceleration. 
     The first parameter (e.g., position), the second parameter (e.g., velocity), and/or the third parameter (e.g., acceleration) may be measured (e.g., at  802 ) and/or determined (e.g., at  804  or  806 ) at a plurality of different times. The plurality of different times may include at least a first time, a second time that is later than the first time, a third time that is later than the second time, etc. For example, the first parameter may include a plurality of position measurements with associated time stamps (e.g., associated by its sampling and/or reporting rates). 
       FIG. 9  illustrates a graph  900  showing position, velocity, and acceleration of the component of the tubular handling system  300 , according to an embodiment. In the graph  900 , the velocity is constant and, thus, the acceleration is zero. 
       FIG. 10  illustrates another graph  1000  showing position, velocity, and acceleration of the component of the tubular handling system  300 , according to an embodiment. In the graph  1000 , the velocity is increasing, and the acceleration is constant. 
     The method  800  may also include determining whether the first parameter, the second parameter, and/or the third parameter is/are within operating limits, as at  808 . In one example, this may include comparing the measured first parameter (e.g., position) to a predetermined operating limit for the first parameter. In another example, this may include comparing the measured or determined second parameter (e.g., velocity) to a predetermined operating limit for the second parameter. In yet another example, this may include comparing the measured or determined third parameter (e.g., acceleration) to a predetermined operating limit for the third parameter. The operating limits may be static limits (e.g., set by the operator) or dynamic limits (e.g., based on operational and/or environmental conditions). 
     If the parameter is within the operating limits, the method  800  may include (e.g., automatically) increasing performance of the component while staying within the operating limits, as at  810 . For example, if the second parameter (e.g., velocity) of the component is 1 meter per second (m/s), and the operating limit is 2 m/s, then the performance of the component may be increased such that the velocity of the component becomes greater than 1 m/s but less than or equal to 2 m/s. In another embodiment, rather than automatically increasing performance of the component, the control system may notify an operator that the performance of the component may be increased, and the operator may decide whether to (e.g., manually) increase the performance of the component. 
     If the parameter is outside the operating limits, the method  800  may include (e.g., automatically) decreasing performance of the component to be within the operating limits, as at  812 . In at least one embodiment, this may include shutting down at least a portion of the tubular handling system  300  and/or the component. In another embodiment, rather than automatically decreasing performance of the component, the control system may notify an operator that the performance of the component should be decreased, and the operator may decide whether to (e.g., manually) decrease the performance of the component and/or to perform a system check or maintenance. 
     Instead of, or in addition to, the portions of the method  800  occurring at  808 ,  810 , and  812 , the method  800  may include comparing one of the parameters measured/determined during a first actuation of the component with the corresponding parameter measured/determined during a second actuation of the component, as at  814 . Thus, if the parameter during the first actuation is position, then the corresponding parameter is also position. If the parameter during the first actuation is velocity, then the corresponding parameter is also velocity. If the parameter during the first actuation is acceleration, then the corresponding parameter is also acceleration. 
     As used herein, an actuation of the component refers to or includes a movement of the component. This may include an axial/linear movement, an angular movement, or another type of movement. The first actuation may occur at a first time or during a first time period, and the second actuation may occur at a second time or during a second time period. The difference between the first and second times (or time periods) may be a day, a week, a month, a year, etc. Thus, it may be possible that a portion of the tubular handling system  300  (e.g., the component) degrades and does not perform as well at the second time as it did at the first time. 
     For example, the component may be a pneumatic cylinder that extends and retracts in a linear manner with a stroke length of 10 cm. In the example shown in Table 1 below, the cylinder may actuate more slowly during the second actuation (e.g., at the second time), which may be due to degradation (e.g., wear and friction). In other embodiments, the cylinder may actuate more quickly during the second actuation, which may be due to, for example, leakages resulting in hydraulic power delivery. 
     
       
         
           
               
               
               
               
             
               
                   
                 TABLE 1 
               
               
                   
                   
               
               
                   
                   
                 Position During 
                 Position During 
               
               
                   
                 Time 
                 First Actuation 
                 Second Actuation 
               
               
                   
                   
               
             
            
               
                   
               
            
           
           
               
               
               
               
               
               
            
               
                 0 
                 seconds 
                 0 
                 cm 
                 0 
                 cm 
               
               
                 1 
                 second 
                 4 
                 cm 
                 3 
                 cm 
               
               
                 2 
                 seconds 
                 10 
                 cm 
                 8 
                 cm 
               
               
                   
               
            
           
         
       
     
     The method  800  may also include determining a health and/or performance of the tubular handling system  300  (e.g., the component) based at least partially upon the comparison, as at  816 . If one or more of the first parameter, the second parameter, and/or the third parameter vary (e.g., increase or decrease) from the first actuation to the second actuation, this may be an indication that the health and/or performance of the tubular handling system  300  (e.g., the component) has varied (e.g., increased or decreased). In this example, the health and/or performance has decreased. 
     For example, it may be seen that the first parameter (e.g., position) decreased from the first actuation to the second actuation. More particularly, at t=1 second, the position decreased from 4 cm to 3 cm, and at t=2 seconds, the position decreased from 10 cm to 8 cm. This may be an indication that the health and/or performance of the tubular handling system  300  (e.g., the component) has decreased (e.g., due to degradation, friction, and/or wear). 
     Similarly, it may be seen that the second parameter (e.g., velocity) decreased from the first actuation to the second actuation. More particularly, from t=0 seconds to t=1 second, the velocity decreased from 4 cm/s to 3 cm/s, and from t=1 second to t=2 seconds, the velocity decreased from 6 cm/s to 5 cm/s. This may also be an indication that the health and/or performance of the tubular handling system  300  (e.g., the component) has decreased (e.g., due to degradation, friction, and/or wear). 
     If one of the parameters increases from the first actuation to the second actuation, this may be an indication that the health and/or performance of the tubular handling system  300  (e.g., the component) has increased (e.g., due to maintenance or repair). However, this may also be an indication that the health and/or performance of the tubular handling system  300  (e.g., the component) has decreased (e.g., due to a loss of hydraulic fluid causing the component to move faster than desired). As such, further analysis may be conducted. 
     In a slightly different example, the reaction time of the component may be measured/determined to determine the time that it takes for the component to begin the actuation after the command to actuate is entered. For example, if the reaction time increases from the first actuation to the second actuation, this may this may be an indication that the health and/or performance of the tubular handling system  300  (e.g., the component) has varied (e.g., decreased due to friction and/or wear). The method  800  may also include performing an action when the health and/or performance are determined to be below a predetermined threshold, as at  818 . The action may be or include decreasing performance of the component, as described above. In another embodiment, the action may be or include triggering an alarm to signal an operator to analyze the reason for the increase or decrease in performance. In another embodiment, the action may be or include stopping or shutting down the tubular handling system  300  (e.g., the component) to perform maintenance. 
     In some embodiments, the methods of the present disclosure may be executed by a computing system.  FIG. 11  illustrates an example of such a computing system  1100 , in accordance with some embodiments. The computing system  1100  may include a computer or computer system  1101 A, which may be an individual computer system  1101 A or an arrangement of distributed computer systems. The computer system  1101 A includes one or more analysis modules  1102  that are configured to perform various tasks according to some embodiments, such as one or more methods disclosed herein. To perform these various tasks, the analysis module  1102  executes independently, or in coordination with, one or more processors  1104 , which is (or are) connected to one or more storage media  1106 . The processor(s)  1104  is (or are) also connected to a network interface  1107  to allow the computer system  1101 A to communicate over a data network  1109  with one or more additional computer systems and/or computing systems, such as  1101 B,  1101 C, and/or  1101 D (note that computer systems  1101 B,  1101 C and/or  1101 D may or may not share the same architecture as computer system  1101 A, and may be located in different physical locations, e.g., computer systems  1101 A and  1101 B may be located in a processing facility, while in communication with one or more computer systems such as  1101 C and/or  1101 D that are located in one or more data centers, and/or located in varying countries on different continents). 
     A processor may include a microprocessor, microcontroller, processor module or subsystem, programmable integrated circuit, programmable gate array, or another control or computing device. 
     The storage media  1106  may be implemented as one or more computer-readable or machine-readable storage media. Note that while in the example embodiment of  FIG. 11  storage media  1106  is depicted as within computer system  1101 A, in some embodiments, storage media  1106  may be distributed within and/or across multiple internal and/or external enclosures of computing system  1101 A and/or additional computing systems. Storage media  1106  may include one or more different forms of memory including semiconductor memory devices such as dynamic or static random access memories (DRAMs or SRAMs), erasable and programmable read-only memories (EPROMs), electrically erasable and programmable read-only memories (EEPROMs) and flash memories, magnetic disks such as fixed, floppy and removable disks, other magnetic media including tape, optical media such as compact disks (CDs) or digital video disks (DVDs), BLURAY® disks, or other types of optical storage, or other types of storage devices. Note that the instructions discussed above may be provided on one computer-readable or machine-readable storage medium, or alternatively, may be provided on multiple computer-readable or machine-readable storage media distributed in a large system having possibly plural nodes. Such computer-readable or machine-readable storage medium or media is (are) considered to be part of an article (or article of manufacture). An article or article of manufacture may refer to any manufactured single component or multiple components. The storage medium or media may be located either in the machine running the machine-readable instructions, or located at a remote site from which machine-readable instructions may be downloaded over a network for execution. 
     In some embodiments, the computing system  1100  contains one or more performance and health monitoring module(s)  1108 . In the example of computing system  1100 , computer system  1101 A includes the performance and health monitoring module  1108 . In some embodiments, a single performance and health monitoring module may be used to perform some or all aspects of one or more embodiments of the methods disclosed herein. In alternate embodiments, a plurality of performance and health monitoring modules may be used to perform some or all aspects of methods herein. 
     It should be appreciated that computing system  1100  is only one example of a computing system, and that computing system  1100  may have more or fewer components than shown, may combine additional components not depicted in the example embodiment of  FIG. 11 , and/or computing system  1100  may have a different configuration or arrangement of the components depicted in  FIG. 11 . The various components shown in  FIG. 11  may be implemented in hardware, software, or a combination of both hardware and software, including one or more signal processing and/or application specific integrated circuits. 
     Further, the steps in the processing methods described herein may be implemented by running one or more functional modules in information processing apparatus such as general purpose processors or application specific chips, such as ASICs, FPGAs, PLDs, or other appropriate devices. These modules, combinations of these modules, and/or their combination with general hardware are all included within the scope of protection of the invention. 
     The foregoing description, for purpose of explanation, has been described with reference to specific embodiments. However, the illustrative discussions above are not intended to be exhaustive or to limit the disclosure to the precise forms disclosed. Many modifications and variations are possible in view of the above teachings. Moreover, the order in which the elements of the methods described herein are illustrate and described may be re-arranged, and/or two or more elements may occur simultaneously. The embodiments were chosen and described in order to explain at least some of the principals of the disclosure and their practical applications, to thereby enable others skilled in the art to utilize the disclosed methods and systems and various embodiments with various modifications as are suited to the particular use contemplated.