Patent Publication Number: US-11377914-B2

Title: System and method for conducting subterranean operations

Description:
CROSS-REFERENCE TO RELATED APPLICATION(S) 
     This application is a continuation of and claims priority to U.S. patent application Ser. No. 16/396,315, filed on Apr. 26, 2019, by Kenneth MIKALSEN et al., and entitled “SYSTEM AND METHOD FOR CONDUCTING SUBTERRANEAN OPERATIONS,” which claims priority under 35 U.S.C. § 119(e) to U.S. Provisional Application No. 62/663,987, entitled “SYSTEM AND METHOD FOR CONDUCTING SUBTERRANEAN OPERATIONS,” by Kenneth MIKALSEN et al., filed Apr. 27, 2018, of which both applications are assigned to the current assignee hereof and incorporated herein by reference in their entireties. 
    
    
     BACKGROUND OF THE INVENTION 
     Field of the Disclosure 
     The present invention relates, in general, to drilling operations and more specifically, to pipe handling systems for drilling rigs. 
     Description of the Related Art 
     Hundreds of billions of dollars are spent worldwide for oil exploration and production. Much of this activity is conducted on drilling platforms. For example, these drilling platforms may include fixed platforms, compliant towers, semi-submersible platforms, jack-up drilling rigs, drill ships, floating productions systems, tension-leg platforms, gravity-based structures, and spar platforms. Regardless of the type of platform, these are complex operations that generally require the use of drilling rigs in order to locate and recover oil. 
     Accordingly, the exploration and production of natural resources continues to demand improvements. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The present disclosure may be better understood, and its numerous features and advantages made apparent to those skilled in the art by referencing the accompanying drawings. 
         FIGS. 1-167  include illustrations of portions of a system for conducting subterranean operations in accordance with embodiments herein. 
         FIGS. 168-192  include illustrations of a portion of a first method for conducting subterranean operations in accordance with embodiments herein. 
         FIGS. 193-199  include illustrations of a portion of a second method for conducting subterranean operations in accordance with embodiments herein. 
         FIGS. 200-205  include illustrations of a portion of a third method for conducting subterranean operations in accordance with embodiments. 
         FIGS. 206-212  include illustrations of a portion of a fourth method for conducting subterranean operations in accordance with embodiments. 
         FIGS. 213-216  include illustrations of a drill pipe storage system in accordance with embodiments. 
     
    
    
     DETAILED DESCRIPTION 
     The following is generally directed to systems and methods for conducting subterranean operations. 
     Embodiments are directed to a system for conduction subterranean operations. The system can include a plurality of subsystems, such as a horizontal tubular handling system disposed over a tubular storage area that interacts with a vertical tubular handling system adjacent to well bore area. The system can also include a track mounted robotic arm adjacent to the well bore area and an iron roughneck adjacent to the well bore area. The system is automated and can safely pass tubulars, e.g., BHA components, drill pipes, and casings, between the horizontal tubular handling system, the vertical tubular handling system, and the robotic arm while using the iron roughneck to automatically torque tubular together and decouple tubular members. 
     System for Conducting a Subterranean Operation 
     Referring  FIG. 1  through  FIG. 167  various parts of a system for conducting a subterranean operation is illustrated and is generally designated  100 . As shown in  FIG. 2 , the system  100  can include a tubular storage area  200  that can be used to store various tubular, e.g., drill pipes and casings, horizontally and some relatively short tubulars, e.g., subs, vertically. For example, the tubular storage area  200  can include a storage floor  202  that can include a horizontal drill pipe rack  204  in which a plurality of drill pipes  206  can be stored horizontally. Further, the tubular storage area  200  can include a horizontal bottom hole assembly (BHA) storage rack  208  in which one or more BHA components, such as a BHA  210  may be stored horizontally. The tubular store area  200  can also include a horizontal storage rack  212  in which a plurality of casings  214  can be stored horizontally. It is to be understood that the horizontal drill pipe rack  204 , the BHA storage rack  208 , and the horizontal storage rack  212  can be considered tubular magazines in which one or more tubulars can be stored. 
       FIG. 2  through  FIG. 4  and  FIG. 10  through  FIG. 12  indicate that the tubular storage area  200  can further include a vertical storage rack  216  that can include a plurality of vertical posts  218  on which a plurality of sub-type tubulars  220  (subs) can be stored. These subs  220  can include lift plugs, rotary sub, crossover subs, rotary reduced section subs, hoisting subs, lifting bails, top drive subs, inline sensors, and other types of generally cylindrical or generally tubular devices that can be engaged, threadably or non-threadably, with one or more other tubulars (e.g., drill pipes or casings). During operation, one or more subs  220  can be lifted from the vertical storage rack  216  rotated to a horizontal transfer position and transferred into a drilling area (described in detail below) for retrieval by another tubular handler. 
       FIG. 2  and  FIG. 10  through  FIG. 15  indicate that the tubular storage area  200  can further include a horizontal tubular handling system (HTHS)  230 . The HTHS  230  can include a bridge  232  mounted on a first guide rail  234  and a second guide rail  236 . The bridge  232  is configured to translate from a first bridge position to a second bridge position along the guide rails  234 ,  236 , and over the tubular store area  200 . Further, translating the bridge  232  is performed in a direction generally transverse, or perpendicular, to a length of a first tubular that the HTHS  230  may be carrying, as described in detail below. In another aspect, operating the HTHS  230  can include translating the bridge  232  along the guide rails  234 ,  236  to a third bridge position spaced apart from the first bridge position and the second bridge position, wherein the third bridge position corresponds to a second pick-up position wherein the arm is adapted to engage a second tubular in a tubular magazine, e.g., to a drill pipe  206  within a horizontal drill pipe rack  204 , a BHA  210  in a BHA storage rack  208 , a casing  214  within a horizontal storage rack  212 , or a combination thereof. Translating the bridge  232  to the first bridge position, the second bridge position, or the third bridge position can include sensing at least one characteristic of the tubular storage area  200  and the at least one characteristic can include a number of tubulars in the storage area, a position of a tubular relative to the tubular storage area, or any combination thereof. 
     In another aspect, the tubular storage area  200  can include a length, L, and the guide rails  234 ,  236  can extend along the entire length of the tubular storage area  200 . This may allow the HTHS  230  to have full access to all of the tubulars stored in the tubular storage area  200  (vertically and horizontally stored). The bridge  232  can include a first portion  238  that extends from the first guide rail  234  to the second guide rail  236 . Moreover, the bridge  232  can include a second portion  240  that extends from the first guide rail  234  to the second guide rail  236 . In particular the first and second portions  238 ,  240  of the bridge can be substantially parallel to each other and substantially perpendicular to the guide rails  234 ,  236 . 
     The bridge  232  of the HTHS  230  can further include a transverse member  242  that is mounted between the first and second portions  238 ,  240  of the bridge  232 . The transverse member  242  can move linearly between the first and second portions  238 ,  240  of the bridge  232  along an axis  241  that is parallel to the first and second portions  238 ,  240  of the bridge  232 . The axis  241  along which the transverse member  242  moves is substantially perpendicular to the axis  243  along which the bridge  232  moves. 
     As illustrated, the HTHS  230  can also include an articulating arm  244  rotatably mounted on the transverse member  242  of the bridge  232  of the HTHS  230 . In a particular aspect, the articulating arm  244  can include a first portion  246  having a first end  248 , a second end  250 , and an elongated portion  252  extending therebetween. The first end  248  of the first portion  246  of the arm  244  can be generally cylindrical and can be rotatably mounted within a portion of the transverse member  242  of the bridge. A motor (not shown) can be disposed within the first end  248  of the first portion  246  of the arm  244 . The motor can be a servomotor, a stepper motor, or the like. Further, actuating the motor may cause the arm  244  to rotate around an axis  254 , passing through a center of the first end  248  of the first portion  246  of the arm  244 , that may be generally perpendicular to the first and second portions  238 ,  240  of the bridge  232 . The second end  250  of the first portion  246  of the arm  244  can be formed with a bore  256  extending substantially perpendicularly therethrough. Further, the second end  250  of the first portion  246  of the arm  244  can include a slot  258  extending therethrough at least partially along the length of the elongated portion  252  of the first portion  246  of the arm  244 . 
     The articulating arm  244  can also include a second portion  260  having a first end  262 , a second end  264 , and an elongated portion  266  extending therebetween. The elongated portion  266  can include an offset disc-shaped portion  268  located centrally along the elongated portion  266  of the second portion  260  of the arm  244 . The offset disc-shaped portion  268  has a center that is spaced apart a distance, D, from the longitudinal axis of the elongated portion  266  of the second portion  260  of the articulating arm  244 . The offset disc-shaped portion  268  of the second portion  260  of the arm  244  is configured to fit into and rotate within the bore  254  formed in the second end  250  of the first portion  246  of the arm  244 . The slot  256  formed in the second end  250  of the first portion of the arm  244  can allow the second portion  260  of the arm  244  to rotate nearly 180° with respect to the first portion  246  of the arm  244  and can allow the second portion  260  of the arm  244  to be rotated nearly parallel to the first portion  246  of the arm  244 . 
     In a particular aspect, a motor (not shown) can be disposed within the offset disc-shaped portion  268  of the second portion  260  of the articulating arm  244 . The motor can be a servomotor, a stepper motor, or the like. Further, actuating the motor can cause the second portion  260  of the articulating arm  244  to rotate with respect to the first portion  246  of the articulating arm  244  around an axis  270 , passing through a center of the offset disc-shaped portion  268  of the second portion  260  of the articulating arm  244 , that is generally perpendicular to the first and second portions  238 ,  240  of the bridge  232 . 
     As further shown in the figures, the HTHS  230  can include a first gripper  280  attached to, or disposed on, the first end  262  of the second portion  260  of the articulating arm  244 . Further, the HTHS  230  can include a second gripper  282  attached to, or disposed on, the second end  264  of the second portion of the articulating arm  244 . The grippers  280 ,  282  are described in detail in patent application Ser. No. 15/531,644; filed on Dec. 1, 2015; and published as United States Publication number 2017/0328149. Application 2017/0328149 is hereby incorporated by reference in its entirety. As described in greater detail below, the articulating arm  244  and the grippers  280 ,  282  can be adapted to engage at least a first tubular and can be used to retrieve the first tubular and other tubulars from the tubular storage area  200  and pass them to the drilling area. Further, the grippers  280 ,  282  can be rotatably coupled to the arm  244  of the HTHS  230  and a rotational axis of each gripper  280 ,  282  is generally parallel with a horizontal plane or generally perpendicular to a length of the arm  244 . 
     The arm  244  of the HTHS  230  is adapted to move a tubular between the first portion  238  and the second portion  240  of the bridge  232  upon moving the tubular from a pick-up position to a delivered position. Further, the HTHS  230  is adapted to move a first tubular from a first horizontal position associated with a pick-up position through a vertical position and to a second horizontal position associated with a delivered position. Additionally, the arm  244  of the HTHS  230  is adapted to translate along at least a portion of a length of the bridge  232  while rotating a tubular from a first horizontal position, through a vertical position, to a second horizontal position. In a particular aspect, moving the first tubular between the first and second positions includes rotating the first tubular at least 91 degrees or at least 95 degrees or at least 100 degrees or at least 120 degrees or at least 150 degrees or at least 160 degrees. Moving the arm  244  toward the first tubular is performed by pivoting the arm about a pivotal axis that is oriented generally normal to a horizontal plane passing through the first portion  238  and the second portion  240  of the bridge  232 . 
     In a particular aspect, the HTHS  230  can be used for conducting subterranean operations. Such a method can include translating a bridge  232  of a pipe deck handler to a first bridge position over a tubular storage area, moving an arm  244  coupled to the bridge  232  toward a first tubular in the tubular storage area, gripping the first tubular with a gripper  280 ,  282  coupled to the arm  244 , and at least one of the following processes: translating the bridge  232  along a guide rail  234 ,  236  to a second bridge position spaced apart from the first bridge position; moving the first tubular from a first position to a second position, wherein moving includes moving at least a portion of the first tubular through the bridge  232  between a first portion  238  and a second portion  240  of the bridge  232 ; moving the first tubular from a first horizontal position associated with a pick-up position through a vertical position and to a second horizontal position associated with a delivered position; translating the arm  244  along at least a portion of a length of the bridge  232  while rotating the tubular from a first horizontal position, through a vertical position, to a second horizontal position; or any combination thereof. 
     Specifically, translating the bridge  232  can be performed in a direction generally transverse to a length of the first tubular. Moreover, the first bridge position corresponds to a pick-up position wherein the arm  244  is adapted to engage the first tubular in a tubular magazine and wherein the second bridge position corresponds to the delivered position. The method of operation can further include translating the bridge  232  along the guide rail  234 ,  236  to a third bridge position spaced apart from the first bridge position and second bridge position. The third bridge position corresponds to a second pick-up position wherein the arm  244  is adapted to engage a second tubular in a tubular magazine. 
     In a particular aspect, translating the bridge to the first bridge position further comprises sensing at least one characteristic of the tubular storage area, the at least one characteristic comprising at least one of: a number of tubulars in the tubular storage area  200 ; a position of the tubular relative to the tubular storage area  200 ; or any combination thereof. Moving the first tubular between the first and second positions comprises rotating the first tubular at least 91 degrees or at least 95 degrees or at least 100 degrees or at least 120 degrees or at least 150 degrees or at least 160 degrees. Further, moving the arm toward the first tubular is performed by pivoting the arm about a pivotal axis oriented generally normal to a horizontal plane. As previously described, the arm  244  is coupled to the bridge  232  through a transverse member  242 , and translating the arm  244  along the bridge  232  is performed by moving the transverse member  242  relative to the bridge  232 . Further, the transverse member  242  is coupled between the first and second portions  238 ,  240  of the bridge  232 , and moving the transverse member  242  is performed by translating the transverse member  242  along a length of the bridge  232 . 
     In another aspect, the gripper  280 ,  282  is rotatably coupled to the arm  244  about a rotational axis and the rotational axis is generally parallel with a horizontal plane or generally perpendicular to a length of the arm  244 . Further, moving the first tubular from the first horizontal position to the second horizontal position comprises rotating the gripper  280 ,  282  around a rotational axis. The first tubular can be disposed at a first angular orientation, as measured with respect to a horizontal plane prior to engagement with the gripper  280 ,  282 , between and including 0° and 90°. 
     The method of operating the HTHS  230  can further include moving the arm  244  toward a second tubular in the tubular storage area  200  and gripping the second tubular with the gripper  280 ,  282 . In a particular aspect, the first and second tubulars can be disposed at different angular orientations, as measured prior to engagement with the gripper  280 ,  282 . Moving the arm  244  toward the second tubular can be performed after translating the bridge  232  along the guide rail  234 ,  236  to a third bridge position corresponding with the second tubular. Further, moving the arm  244  toward the second tubular is performed after translating the bridge  232  along the guide rail  234 ,  236  to the first bridge position corresponding with the second tubular. 
     In another aspect, the bridge  232  is adapted to access the entire tubular storage area  200 . Further, the first horizontal position is disposed at a vertical elevation below the second horizontal position. Moreover, the HTHS  230  is disposed adjacent to a wellbore, and wherein the second horizontal position is closer to the wellbore than the first horizontal position. It is to be understood that the arm  244  is coupled to the bridge  232  through a transverse member  242  adapted to translate along a length of the bridge  234 . At least one of the bridge  232  and transverse member  242  comprises a drive element adapted to move the transverse member along a length of the bridge. The drive element comprises an electric motor. 
     In another aspect, the arm  244  comprises a pivot joint adapted to pivot relative to the bridge  232  in a range between and including 1° and 270°. Additionally, the arm  244  can be adapted to pivot around the pivot joint at an angle of at least 5° or at least 10° or at least 20° or at least 30° or at least 40° or at least 50° or at least 60° or at least 70° or at least 80° or at least 90° or at least 100° or at least 110° or at least 120° or at least 130° or at least 140° or at least 150° or at least 160° or at least 170° or at least 180° or at least 190° or at least 200° or at least 210° or at least 220° or at least 230° or at least 240° or at least 250° or at least 260°. In another aspect, the arm  244  can be adapted to pivot around the pivot joint at an angle of not greater than 260° or not greater than 250° or not greater than 240° or not greater than 230° or not greater than 220° or not greater than 210° or not greater than 200° or not greater than 190° or not greater than 180° or not greater than 170° or not greater than 160° or not greater than 150° or not greater than 140° or not greater than 130° or not greater than 120° or not greater than 110° or not greater than 100° or not greater than 90°. 
     It is to be understood that the arm  244  is coupled directly to a transverse element  242 , and the transverse element  242  is coupled directly to a first portion  238  and second portion  240  of the bridge  232 . The bridge  232  is coupled to a guide rail  234 ,  236  and the bridge  232  is configured to translate from a first bridge position to a second bridge position along the guide rail  234 ,  236 , and over the tubular storage area  200 . The HTHS  230  can be configured to translate for a distance greater than a majority of a length of the tubular storage area. For example, the HTHS  230  is configured to translate for at least 60% of a length of the tubular storage area  200  or at least 70% or at least 80% or at least 90% or at least 95%. 
     In another aspect, the HTHS  230  is configured to translate for an entire length of the tubular storage area  200 . It is to be understood that the guide rail includes a first guide rail  234  and a second guide rail  236 , and wherein the bridge  232  comprises a first end  290  attached to the first guide rail  234  and a second end  292  attached to the second guide rail  236 . The guide rail  234 ,  236  extends in a direction generally perpendicular to a length of the bridge  232 . The HTHS  230  further includes at least one drive element between the bridge  232  and the guide rail  234 ,  236  configured to translate the bridge  232  along the guide rail  234 ,  236 . 
     In still another aspect, the bridge  232  comprises at least one drive member between the first end  290  and the first guide rail  234  or the second end  292  and the second guide rail  236 , and the at least one drive member is configured to translate the bridge  232  along the guide rail  324 ,  236 . Further, in another aspect, the HTHS  230  can include a first drive member between the first end  290  and the first guide rail  234  and a second drive member between the second end  292  and the second guide rail  236  and the first drive member and second drive member can be controlled by at least one controller to synchronize their movements. It is to be understood that the arm  244  is coupled to a transverse member  242  and the arm  244  comprises a first pivot point with a first pivot axis extending generally parallel to a horizontal plane. The arm  244  further includes a gripper  280 ,  282  coupled to the arm  244  at a second pivot point and having a second pivot axis extending generally parallel to the horizontal plane. 
     The arm  244  and gripper  280 ,  282  are adapted to act in concert to move the first tubular from a first horizontal position to a second horizontal position spaced apart from the first horizontal position. During movement of the first tubular from the first horizontal position to the second horizontal positions, the gripper  280 ,  282  is adapted to rotate about a second pivot point a first angular displacement, α1, greater than an angular displacement, α2, of the arm about a first pivot axis. In particular, α1 is at least 1.01 α2 or at least 1.02 α2 or at least 1.03 α2 or at least 1.04 α2 or at least 1.05 α2 or at least 1.1 α2 or at least 1.2 α2 or at least 1.3 α2 or at least 1.4 α2. In another aspect, α1 is not greater than 10.0 α2 or not greater than 9.0 α2 or not greater than 8.0 α2 or not greater than 7.0 α2 or not greater than 6.0 α2 or not greater than 5.0 α2 or not greater than 4.0 α2 or not greater than 3.0 α2 or not greater than 2.0 α2 or not greater than 1.5 α2. 
     In still another aspect, the gripper  280 ,  282  is rotatable about a second pivot point relative to the arm  244  and the arm  244  is pivotable about a first pivot axis, and wherein the second pivot axis and first pivot axis are generally parallel with respect to one another. In another aspect, the gripper  280 ,  282  can include at least two gripping elements and each can be adapted to grip the first tubular. Further, at least one of the at least two gripping elements can be adapted to grip the first tubular with a first diameter and a second tubular with a second diameter different than the first diameter. In another aspect, the arm  244  comprises a recessed portion, and at least a portion of the gripper  280 ,  282  is disposed in the recessed portion of the arm  244 . The gripper  280 ,  282  can be rotatably coupled to the arm  244  about a rotational axis extending through the recessed portion of the arm. 
     In another aspect, the bridge  232  has a total length, LB, and the arm  244  is adapted to translate a distance of not greater than LB or not greater than 0.99 LB or not greater than 0.95 LB or not greater than 0.9 LB or not greater than 0.8 LB or not greater than 0.7 LB or not greater than 0.6 LB. Further, the bridge has a length, LB, and the arm is adapted to translate a distance of at least 0.05 LB or at least 0.1 LB or at least 0.2 LB or at least 0.3 LB or at least 0.4 LB or at least 0.5 LB. In another aspect, the bridge is disposed at a vertical elevation above the tubular storage area. 
     As further indicated in  FIG. 3 through 7 , the system  100  can include a well bore area  300  adjacent to the tubular storage area  200 . The well bore area  300  can include a vertical tubular handling system (VTHS)  400 , a robotic arm  500 , and an iron roughneck system  600 . The well bore area  300  can further include a first vertical tubular storage rack, or setback,  700  and a second vertical tubular storage rack, or setback,  702  adjacent to the VTHS  400 . While the vertical storage racks  700 ,  702  are shown in  FIG. 7  and other figures, ensuing figures have been simplified and the racks  700 ,  702  may be omitted for clarity. 
     As shown in  FIG. 4 , the VTHS  400  can include a vertical support structure  402  having a first end  404 , a second end  406 , and an elongated portion  408  extending therebetween. The first end  404  of the vertical support structure  402  can be generally cylindrical and can be rotatably mounted on a base  410 . In a particular aspect, the first end  404  of the vertical support structure  402  or the base  410  can include a motor (not shown) disposed therein. The motor can be a servomotor, a stepper motor, or the like. Actuating the motor can cause the vertical support structure  402  to rotate around a first vertical rotational axis  410 , passing through a center of the first end  404  of the vertical support structure  402 , which is generally perpendicular to the storage floor  202 . 
       FIG. 4  further indicates that the VTHS  400  can include a lower tubular handler (LTH)  420  and an upper tubular handler (UTH)  422  coupled to the vertical support structure  402 . The LTH  420  can be considered a first tubular handler and the UTH  422  can be considered a second tubular handler. In a particular aspect, the UTH  422  is disposed at a vertical elevation along the vertical support structure  402  above the LTH  420 . Further, the UTH  422  is adapted to move independent of the LTH  420 . More specifically, the UTH  422  and the LTH  420  are adapted to move independent of each other. Additionally, the LTH  420  and the UTH  422  are adapted to rotate with the vertical support structure  402  around the first vertical rotational axis  410 . Moreover, the LTH  420  and the UTH  422  are adapted to move linearly up and down along the vertical support structure  402 . 
     In a particular aspect, the LTH  420  and the UTH  422  may include at least three different pivot points. Further, the LTH  420  and the UTH  422  can be vertically adjustable with respect to the vertical support structure  402 . The LTH  420  and/or the UTH  422  can be adapted to reorient a tubular, e.g., a first tubular, between a generally horizontal orientation and a generally vertical orientation. In a particular aspect, the LTH  420  and the UTH  422  can be adapted to move independent of each other. 
     As best shown in  FIG. 6 , the LTH  420  can include an articulating arm  430  having a first portion  432  coupled to the vertical support structure  402 . A motor (not shown) can be disposed within the first portion  432  of the arm  430  and the motor can be used to raise or lower the LTH  420  along the vertical support structure  402 . The motor can be a servomotor, a stepper motor, or the like. 
     The first portion  432  of the articulating arm  430  can include a mounting plate  434  on which a second portion  436  is mounted or otherwise coupled thereto. The second portion  436  of the arm  430  can include a first end  438  and a second end  440 . The first end  438  of the second portion  436  of the arm  430  can include a mounting plate  442  that can be coupled to and abut the mounting plate  434  of the first portion  432  of the arm  430 . A motor (not shown) can be disposed adjacent to the mounting plates  434 ,  442  within the first portion  432  of the arm  430 , and the motor can be used to rotate the second portion  436  of the arm  430  around a second vertical rotational axis  444  parallel to and spaced apart from the first vertical rotational axis  410 . It is to be understood that the second vertical rotational axis  444  is generally parallel with a length of the vertical support structure  402 , or the second vertical rotational axis is generally vertical, or a combination thereof. The second portion  436  of the arm  430  of the LTH  420  can be rotatably by at least 10 degrees, at least 25 degrees, at least 45 degrees, at least 60 degrees, at least 90 degrees, at least 120 degrees, at least 150 degrees, or at least 180 degrees about the second vertical rotational axis  444 . The motor can be a servomotor, a stepper motor, or the like. 
     The second end  440  of the second portion  436  of the arm  430  can include two generally disk-shaped plates  446  spaced apart from each other. In a particular aspect, the articulating arm  430  of the LTH  420  can further include a third portion  450  having a first end  452 , a second end  454 , and an elongated portion  456  extending therebetween. The first end  452  of the third portion  450  of the arm  430  can be generally cylindrical and can be rotatably mounted within the disk-shaped plates  446  on the second end  440  of the second portion  436  of the arm  430 . A motor (not shown) can be disposed within the first end  452  of the third portion  450  of the arm  430 . The motor can be a servomotor, a stepper motor, or the like. Further, actuating the motor can cause the third portion  450  of the arm  430  to rotate around a third rotational axis (into  FIG. 6 ), passing through a center  458  of the first end  452  of the third portion  450  of the arm  430 , that is generally parallel to the storage floor  202 , or perpendicular to the second rotational axis, or a combination thereof. In a particular aspect, the third portion  450  of the arm  430  of the LTH  420  is rotatable by at least 10 degrees, at least 25 degrees, at least 45 degrees, at least 60 degrees, at least 90 degrees, at least 120 degrees, or at least 180 degrees about the third rotational axis. 
     The second end  454  of the third portion  450  of the arm  430  can be formed with a bore  460  extending substantially perpendicularly therethrough. Further, the second end  454  of the third portion  450  of the arm  430  can include a slot (not viewable in  FIG. 6 ) extending therethrough at least partially along the length of the elongated portion  456  of the third portion  450  of the arm  430 . 
     The articulating arm  430  can further include a fourth portion  470  having a first end  472 , a second end  474 , and an elongated portion  476  extending therebetween. The elongated portion  476  can include an offset disc-shaped portion  478  located centrally along the elongated portion  476  of the fourth portion  470  of the arm  430 . The offset disc-shaped portion  478  has a center that is spaced apart a distance, D, from the longitudinal axis of the elongated portion  476  of the fourth portion  470  of the articulating arm  430 . The offset disc-shaped portion  478  of the fourth portion  470  of the arm  430  is configured to fit into and rotate within the bore  460  formed in the fourth end  250  of the third portion  450  of the arm  430 . The slot formed in the second end  454  of the third portion of the arm  430  can allow the fourth portion  470  of the arm  430  to rotate nearly 180° with respect to the third portion  450  of the arm  430  and can allow the fourth portion  470  of the arm  430  to be rotated nearly parallel to the third portion  450  of the arm  430 . 
     In a particular aspect, a motor (not shown) can be disposed within the offset disc-shaped portion  478  of the second portion  470  of the articulating arm  430 . The motor can be a servomotor, a stepper motor, or the like. Further, actuating the motor can cause the fourth portion  470  of the articulating arm  430  to rotate with respect to the third portion  450  of the articulating arm  430  around a fourth rotational axis (into  FIG. 6 ), passing through a center  480  of the offset disc-shaped portion  478  of the second portion  470  of the articulating arm  430 , that is generally parallel to the storage floor  202 , or perpendicular to the second rotational axis, or a combination thereof. In a particular aspect, the fourth portion  470  of the arm  430  of the LTH  420  is rotatable by at least 10 degrees, at least 25 degrees, at least 45 degrees, at least 60 degrees, at least 90 degrees, at least 120 degrees, or at least 180 degrees about the third rotational axis. 
     As further shown in the figures, the articulating arm  430  of the LTH  420  can include a first gripper  482  attached to, or disposed on, the first end  472  of the fourth portion  470  of the articulating arm  430 . Further, the articulating arm  430  of the LTH  420  can include a second gripper  484  attached to or disposed on, the second end  474  of the fourth portion  470  of the articulating arm  430 . The grippers  482 ,  484  substantially the same as the grippers  280 ,  282  described above. As described in greater detail below, the articulating arm  430  of the LTH  420  and the grippers  482 ,  484  can be used to retrieve tubulars from the HTHS  230 .  FIG. 7  depicts the UTH  422 , which is constructed substantially identical to the LTH  420  and includes the same parts and components described above in conjunction with the LTH  420 . The grippers  482 ,  484  can be rotatably coupled to the fourth portion  470  of the arm  430  of the LTH  420  and can rotate about a fifth rotational axis passing longitudinally through the fourth portion  470  of the arm. It is to be understood that the grippers  482 ,  484  are rotatable by a least 10 degrees, at least 25 degrees, at least 45 degrees, at least 60 degrees, at least 90 degrees, at least 120 degrees, at least 150 degrees, or at least 180 degrees about the fifth rotational axis. 
     As shown, the first portion  432  of the arm  430  is disposed at a vertical elevation above the second portion  436  of the arm  430 . Further, the first portion  432  is adapted to translate along a length of the support structure  402 . Moreover, the grippers  482 ,  484  are spaced apart from each other and at least one of the grippers  482 ,  484  can include a powered drive element adapted to urge the first tubular in at least one of a radial direction and a longitudinal direction. The powered drive element can include a powered roller. 
     Referring now to  FIG. 52 , the VTHS  400  can include a first tool system  490  and a second tool system  492  statically coupled to the vertical support structure  402  of the VTHS  400 . The tool systems  490 ,  492  are adapted to perform an operation on one or more tubulars, e.g., a drill pipe or a casing. The tool systems  490 ,  492  can include at least one of a torque wrench, a robotic arm, an electric motor, a pipe rack system, or any combination thereof. In particular, the first tool system  490  is a first torque wrench, and the second tool system  492  is a second torque wrench. In a particular aspect, the LTH  420  and the UTH  422  are disposed circumferentially between the first and second torque wrenches  490 ,  492 . 
     In another aspect, the first torque wrench  490  is disposed at a first location along the vertical support structure  402  and the second torque wrench  492  is disposed at a second location along the vertical support structure  402 . In one aspect, the first and second locations are disposed at the same vertical elevation. In another aspect, the first and second locations are disposed at different vertical elevations. Further, in another aspect, the first torque wrench  490  is adapted to receive a first tubular having a first diameter and the second torque wrench is adapted to receive a second tubular having a second diameter. In one aspect, the first diameter is different from the second diameter. 
     In a particular aspect, the LTH  420  and the UTH  422  can be used to handle tubulars. A method of handling tubulars using the LTH  420  and the UTH  422  can include engaging a first tubular disposed in a generally horizontal orientation with a first tubular handler, the first tubular handler being vertically adjustable with respect to a support structure; reorienting the first tubular to a generally vertical orientation; and engaging the first tubular with a second tubular handler coupled to the support structure. Further, the method can include releasing the first tubular from the first tubular handler; engaging the first tubular handler with a second tubular disposed in a generally horizontal orientation; reorienting the second tubular to a generally vertical orientation; and axially aligning the first and second tubulars with respect to one another. 
     The method can also include threadably engaging the first and second tubulars together to form a stand of tubulars. Threadably engaging the first and second tubulars can be performed with the first tubular engaged with the second tubular handler and the second tubular engaged with the first tubular handler. At least one of the first and second tubular handlers comprises a motorized roller adapted to bias the first or second tubular in at least one of a radial direction and a longitudinal direction. The method can also include moving the stand of tubulars to a first torque wrench coupled to the support structure and engaging the first torque wrench to secure the first and second tubulars together. Moving the stand of tubulars to the first torque wrench is performed such that a threaded interface of the stand of tubulars is at a same vertical elevation as the first torque wrench. Further, reorienting the first tubular to the generally vertical orientation is performed by rotating the first tubular no greater than 120°, or no greater than 110°, or no greater than 100°, or no greater than 90°. 
     Engaging the first tubular with the first tubular handler can be performed when a first longitudinal half of the first tubular is closer to the support structure than a second longitudinal half of the first tubular, and wherein reorienting the first tubular is performed such that the first longitudinal half of the first tubular is disposed at a vertical elevation above the second longitudinal half of the first tubular. In a particular aspect, the first tubular handler can include a gripper having at least two spaced apart gripping elements, and engaging the first tubular with the first tubular handler is performed with only one of the at least two gripping elements. 
     In another aspect, reorienting the first tubular to the generally vertical orientation comprises pivoting portions of the first tubular handler along three or more rotational pivot axis. Further, reorienting the first tubular to the generally vertical orientation is performed while moving the first tubular handler vertically along the support structure. In another aspect, reorienting the first tubular to the generally vertical orientation is performed while moving the first tubular handler upward along the support structure. 
     The method can further include repositioning the second tubular handler relative to the support structure prior to engaging the first tubular with the second tubular handler. Engaging the first tubular with the second tubular handler can be performed when the first tubular is in a generally vertical orientation. 
     It is to be understood that the LTH  420 , the UTH  422 , or a combination thereof is adapted to engage with tubulars having lengths in a range between and including 36 inches and 480 inches. Further, the LTH  420 , the UTH  422 , or a combination thereof is adapted to engage with tubulars having a diameter in a range between and including 5 inches and 80 inches. Moreover, the LTH  420 , the UTH  422 , or a combination thereof is adapted to engage with tubular segments, casing, subs, pipes, BHAs, or any combination thereof. 
     Referring back  FIG. 5 , details concerning the robotic arm  500  are illustrated. As shown, the robotic arm  500  can include a base  502  mounted on tracks  504  on the drilling rig floor  506 . The tracks  504  are disposed adjacent to a well center area  508  established on the rig floor  506 . The well center area  508  can include at least one well bore defined by an opening  509  in the rig floor  506 . 
     The tracks  504  allow the robotic arm  500  to traverse the distance between well center area  508  toward the tubular storage area  200  ( FIG. 2 ). In a particular aspect, the robotic arm  500  can include an articulating arm  510  extending from the base  502 . The articulating arm  510  can include a first portion  512  that is pivotably mounted on the base  502  of the robotic arm  500 . It can be appreciated that the robotic arm  500  can include a motor (not shown) that is disposed within the first portion  512  of the arm  510 . The motor can be a servomotor, a stepper motor, or the like. Further, the motor can be used to rotate the first portion  512  of the arm  510  around a vertical axis  514  extending vertically through the first portion  512  of the arm  510 . The vertical axis  514  can be substantially perpendicular to the rig floor  506 . 
     In a particular aspect, the robotic arm  500  and the HTHS  230  are configured to interact and exchange objects. The robotic arm  500  can be configured to exchange a sub-type tubular with the HTHS  230  in the tubular storage area  200 . The robotic arm  500  includes a gripper, described below, and is configured to hold a sub-type tubular in the gripper and pass the sub-type tubular to a gripper  280 ,  282  of the HTHS  230  in the tubular storage area  200 . 
     The well center area  508  can include the VTHS  400  adjacent thereto and the at least one well bore is disposed between the robotic arm  500  and the VTHS  400  adjacent to the well center area  508 . The robotic arm  500  can be configured to interact with VTHS  400  adjacent to the well center area  508  and exchange at least one object between a gripper  482 ,  484  of the VTHS and the gripper of the robotic arm  500 . The iron roughneck  600  may also be adjacent to the well center area  508  and the robotic arm  500  can be configured to interact with and exchange objects with the iron roughneck  600 . 
     The first portion  512  of the arm  510  can include a first end  516  and a second end  518 . The second end  518  can be generally cylindrical and a second portion  520  of the arm  510  can be coupled thereto. Specifically, the second portion  520  of the arm  510  can include a first elongated plate  522  spaced apart from a second elongated plate  524 . Each plate  522 ,  524  is substantially identical and can include a first end  526  and a second end  528 . The first ends  526  of the plates  522 ,  524  of the second portion  520  of the arm  510  are configured to fit around the second end  518  of the first portion  512  of the arm  510 . Further, a motor (not shown) can be installed within the second end  518  of the first portion  512  of the arm  510 . The motor can be a servomotor, a stepper motor, or the like. Further, the motor can rotate the second portion  520  of the arm  510  around an axis that extends through a center  530  of the second end  518  of the first portion  512  of the arm  510 . The axis is substantially parallel to the drilling rig floor  506 . 
       FIG. 5  further indicates that the articulating arm  510  of the robotic arm  500  can further include a third portion  532  coupled to the second portion  520  of the arm  510 . Specifically, the third portion  532  can include a first end  534 , and a second end  536 . The first end  534  of the third portion  532  of the arm  510  can be generally cylindrical and can fit within the second ends  528  of the plates  522 ,  524 . Further, the first end  534  of the third portion  532  of the arm  510  can include a motor (not shown) disposed therein. The motor can be a servomotor, a stepper motor, or the like. When actuated, the motor can cause the third portion  532  of the arm  510  to rotate with respect to the second portion  520  of the arm along an axis passing through the center  538  of the first end  534  of the third portion  532  of the arm  510 . The axis is substantially parallel to the drilling rig floor  506 . 
     The arm  510  can further include a fourth portion  540  coupled to the second end  536  of the third portion  532  of the arm  510 . The arm  510  can include a motor within the second end  536  of the third portion  532  of the arm  510  or within the fourth portion  540  of the arm. The motor can be a servomotor, a stepper motor, or the like and can be used to rotate the fourth portion  540  of the arm  510  with respect to the third portion  532  of the arm  510 . Finally, the arm  510  can include a gripper  542  connected to the fourth portion  540  of the arm  510 . The gripper  542  is substantially identical to the grippers described elsewhere herein. As described in greater detail below, the robotic arm  510  is configured to use the gripper  542  to exchange a tubular with at least one other system, e.g., an iron roughneck (described below), a tubular handler in or near the well center area (i.e., the VTHS  400 ), a tubular handler in the tubular storage area (i.e., the HTHS  200 ), or any combination thereof. 
     The articulating arm  510  of the robotic arm  500  can include at least one sensor that is configured to detect a characteristic of a tubular (i.e., a sub). The at least one characteristic can include a type of tubular, a size of the tubular, a length of the tubular, a diameter of the tubular, an orientation of the tubular, or any combination thereof. The system  100  can further include a at least one logic device coupled to the sensor of the articulating arm  510  of the robotic arm  500  that is configured to receive information on the characteristic of the tubular. The logic device can be configured to communicate with at least one other system during an exchange of the tubular from the articulating arm  510  of the robotic arm  500  to at least one other system. The at least one other system can include the iron roughneck (described below), a tubular handler in or near the well center area (i.e., the VTHS  400 ), a tubular handler in the tubular storage area (i.e., the HTHS  200 ), or any combination thereof. In another aspect, the robotic arm  500  is configured for automated movement without external commands. 
     In a particular aspect, the base  502  can include at least one pivot point configured to allow rotation of the at least one arm  510  relative to the base  502  around a vertical axis. Further, the at least one arm  510  can include a first joint overlying the base  502 , the first joint including a first pivot point having a first pivot axis extending substantially horizontal and configured to allow rotation of the arm  510  relative to the base  502 . In another aspect, the arm  510  can further include a second joint spaced apart from the first joint, the second joint including a second pivot point having a second pivot axis extending substantially horizontal and configured to allow rotation of a first part of the arm relative to a second part of the arm. 
     In another aspect, the arm  510  can further include a third joint spaced apart from the first joint and second joint, the third joint including a third pivot point having a third pivot axis extending along a portion of the at least one arm and configured to allow rotation of a third part of the arm relative to the second part of the arm  510 . The arm  510  can further include a fourth joint spaced apart from the first joint, second joint, and third joint, the fourth joint including a fourth pivot point having a fourth pivot axis extending along a portion of the at least one arm and configured to allow rotation of a fourth part of the arm relative to the third part of the arm. 
     The robotic arm  500  can be used to conduct subterranean operations. That method can include moving a tubular between a well center area and a tubular storage area by a robotic arm, wherein the robotic arm is configured to traverse at least a portion of the distance between the well center area and the tubular storage area. In one aspect, moving includes engaging a tubular in the well center area. In another aspect, moving includes engaging a tubular in the tubular storage area. In yet another aspect, moving includes engaging a tubular near the tubular storage area. 
     Engaging includes gripping a tubular with a gripper of the robotic arm to support the entire weight of the tubular in the gripper. Moving can also rotating the robotic arm around at least one of a first pivot point, second pivot point, third pivot point, or fourth pivot point of the robotic arm to change the position of the tubular relative to the position of the tubular during engaging. Further, moving may include traversing a distance along the rig floor between a well center area and the tubular storage area and traversing includes moving the robotic arm along a portion of the rig floor on a track. In another aspect, moving can include exchanging a tubular with at least one other system selected from the group consisting of an iron roughneck, a tubular handling system in the well center area, a tubular handling system in the tubular storage area, or any combination thereof. Exchanging can include engaging the tubular in the gripper of the robotic arm; engaging the tubular within a portion of at least one other system; confirming the at least one other system has suitably engaged the tubular; and releasing the gripper of the robotic arm to transfer the entire tubular to the at least one other system. Engaging the tubular in the gripper of the robotic arm includes sensing at least one characteristic of the tubular, wherein the characteristic is selected from the group consisting of type of tubular, size of tubular, diameter of tubular, orientation of the tubular, or any combination thereof. 
     The method can also include placing the robotic arm in a rest position, or neutral position, when not engaging a tubular. In the rest position, the robotic arm can maintain a smaller volume space profile relative to the volume space profile when engaging a tubular. Further, in the rest position the robotic arm minimizes the volume space profile to increase the volume available for other systems to move around the robotic arm without collisions. 
     As shown in  FIG. 6 , the system  100  further includes an iron roughneck  600 . As described in greater detail below, the iron roughneck  600  can be used to couple and torque two tubulars together. Alternatively, the iron roughneck  600  can be used to uncouple two tubulars from each other. An example of an iron roughneck  600  is described in detail in patent application Ser. No. 14/237,013; filed on Aug. 7, 2012; and published as United States Publication number 2014/0305265. Application 2014/0305265 is hereby incorporated by reference in its entirety. 
       FIG. 8  indicates that the system  100  can also include a top drive system (TDS)  800  that can include an elevator  850 . As described in detail below, the TDS  800  and the elevator  850  can be used to lower tubulars down into a well bore or retrieve tubulars from the well bore. 
     Independent and Simultaneous Operation 
     It is to be understood that the HTHS  230 , the VTHS  400 , the track mounted robotic arm  500 , the iron roughneck  600 , and the TDS  800  can operate independently of each other, but simultaneously with each other, and in concert with each other. The various modes operations described below list numerous steps that can be performed by the HTHS  230 , the VTHS  400 , the track mounted robotic arm  500 , the iron roughneck  600 , and the TDS  800 . Many of these steps are performed at essentially the same time and save a substantial amount of time when compared to traditional drilling operations. During the descriptions below, there are indications as to which steps can be performed at the same time or at essentially the same time. In many cases, the steps overlap each other as well. In other words, during a long step, such as lowering the TDS  800 , numerous other steps may be performed by the VTHS  400 , the robotic arm  500 , the iron roughneck  600 , and the TDS  800 . These other steps may not require the same amount of time to be performed as lowering the TDS  800 , but they are performed while the TDS  800  is lowered in an effort to provide the most efficient use of time while operating the various components of the system  100 . For example, while the TDS  800  is driving a drill pipe into a well, the HTHS  230  may be retrieving another drill pipe from the horizontal drill pipe rack  206  and the VTHS  400  may be moving into position to retrieve the drill pipe from the HTHS  230  as the drill pipe is extended from the tubular storage area into the well center area  508  by the HTHS  230 . The descriptions of the various exemplary methods of operating below include as many notations as possible as to which steps can be performed at the same time. It is to be understood that this is not inclusive and is not considered to be limiting. Various other combinations of steps listed below (or not listed, but capable of being performed by the system  100 ) may also be performed at the same time or essentially the same time or during overlapping time periods. 
     Methods of Conducting Subterranean Operations 
     Referring now to  FIG. 168  through  FIG. 191 , a series of flowcharts are illustrated that depict a method  16800  of conducting a subterranean operation. Throughout the description of these flowcharts, elements that appear in the  FIG. 1  through  FIG. 167  may be referenced. The referenced elements can perform the particular operation or function mentioned in the flowchart step. Further, there may be parenthetical notations with specific figures referenced. These parenthetical notations indicate the specific figure (in  FIG. 1  through  FIG. 167 ) in which the performance of a particular operation or function is depicted. It is to be understood that the elements and figures referenced are examples and the system  100  is not limited to only the particular element cited performing the operation or function. Moreover, any figures referenced provide examples of how the performance of a particular step may appear and are not intended to be limiting as to the only manner in which a step may be performed. Also, some steps may not appear in the figures. 
     Commencing at step  16802 , the system  100  can move the robotic arm  500  into position adjacent to the well center area  508  ( FIG. 5 ). At step  16804 , the system  100 , using the gripper  542  on the robotic arm  500 , can remove the well center cover ( FIG. 9 ). Further, at step  16805 , the system  100  can return the robotic arm  500  to a neutral position, or rest position, where the robotic arm  500  can place the well cover on the floor. 
     While the system  100  is performing steps  16802  through steps  16805  using the robotic arm  500 , the system  100  can perform one or more of steps  16806  through  16904 . Specifically, at step  16806 , the system  100  can move the horizontal tubular handling system (HTHS)  230  in a first direction along a first horizontal axis to a position over a horizontal BHA storage rack  208  ( FIG. 10 ). It is to be appreciated that the first direction is toward the horizontal BHA storage rack  208 . Thereafter, the system  100  can move the transverse member  242  in the HTHS  230  along the bridge  232  of the HTHS  230  in a second direction along a second horizontal axis perpendicular to the first horizontal axis ( FIG. 11 ). At step  16810 , the system  100  can rotate the arm  244  of the HTHS  230  down and outward from the bridge of the HTHS  230  ( FIG. 11 ). Moreover, at step  16812 , the system  100  can open the first gripper  280  and the second gripper  280  on the arm  244  of the HTHS  230  ( FIG. 11 ). Steps  16810  and  16812  can be performed at the same time. 
     At step  16814 , the system  100  can move the first and second grippers  280 ,  280  into position around the BHA  210  so that the first gripper  280  is near the distal end of the BHA  210  ( FIG. 11 ). Then, at step  16816 , the system  100  can close the grippers around the BHA  210 . At step  16818 , the system  100  can verify that the BHA  210  is engaged with grippers  280 ,  282  on the arm  244  of the HTHS  230 . At step  16820 , if the grippers  280 ,  282  are not engaged, the method  16800  may proceed to step  16822  and the system  100  can adjust the grippers  280 ,  282 . Thereafter, the method  16800  may return to step  16818  and proceed as described. At step  16820 , if the grippers  280 ,  282  are engaged, the method  16800  may proceed to step  16824  and the system  100  can retrieve the BHA  210  from the BHA storage rack  208  ( FIG. 12 ). 
     Thereafter, the method  16800  may continue to step  16902  of  FIG. 169  and the system  100  may move the HTHS  230  in a second direction along the first horizontal axis away from the horizontal BHA storage rack  208  and toward the horizontal transfer position ( FIG. 12 ). At step  16904 , the system  100 , using the arm  244  of the HTHS  230 , can rotate the BHA  210  approximately 180 degrees ( FIG. 13 ). Steps  16902  and  16904  can be performed at the same time. At step  16906 , the system  100  can extend the BHA  210  from the tubular storage area  200  to the well bore area  300  in along a third horizontal axis ( FIG. 13 ). 
     While the system  100  is performing steps  16902  through  16906  with the HTHS  230 , the system  100  can use the VTHS  400  to perform steps  16908  through  16912 . In particular, at step  16908 , the system  100  can lower the LTH  420  of the VTHS  400  along a first vertical axis ( FIG. 13 ). Further, at step  16910 , the system  100  can rotate the arm  430  of the LTH  420  of the VTHS  400  to a horizontal transfer position ( FIG. 14 ). At step  16912 , the system  100  can open a first gripper  482  and a second gripper  484  on the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 14 ) and at step  1614 , the system  100  can move the grippers  482 ,  484  around the BHA  210  spanning the center of the BHA  210  and one of the grippers  280 ,  282  on the arm  244  of the HTHS  230  ( FIG. 14 ). 
     Moving to step  16916 , the system  100  can close the first and second grippers on the arm  430  of the LTH  420  of the VTHS  400 . At step  16918 , the system  100  can verify that the LTH  420  of the VTHS  400  is engaged with the BHA  210 . At step  16920 , if the LTH  420  of the VTHS  400  is not engaged with the BHA  210 , the method  16800  can proceed to step  16922  and the system  100  can adjust the grippers  482 ,  484 . Then, the method  16800  can return to step  16918  and proceed as described. Otherwise, at step  16920 , if the LTH  420  of the VTHS  400  is engaged with the BHA  210 , the method  16800  can proceed to step  17002  of  FIG. 170 . 
     At step  17002 , the system  100  can open the first and second grippers  280 ,  282  on the arm  244  of the HTHS  230 . Next, at step  17004 , the system  100  can transfer the BHA  210  from the arm  244  of the HTHS  230  to the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 15 ). At step  17006 , the system  100  can rotate the BHA  210  from a horizontal position to a vertical position using the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 15 ). At step  17008 , the system  100  can retract the arm  244  of the HTHS  230 . Further, at step  17010 , the system  100  can return the HTHS  230  to a neutral or standby position. The system  100  can perform steps  17008  and  17010  while it is performing step  17006 . 
     At step  17012 , the system  100  can rotate the BHA  210  and the LTH  420  of the VTHS  400  around a second vertical axis while extending the multi-link arm  430  outwardly from the vertical support structure  402 . At step  17014 , the system  100  can align the BHA  210  with the well center opening ( FIG. 16 ). Moving to step  17016 , the system  100  holds the BHA  210  over the well center opening ( FIG. 16 ). At step  17018 , the system  100  can lower the top drive system (TDS  800 ) along a third vertical axis aligned with the well center opening ( FIG. 17 ). At step  17020 , the system  100  can, and at step  17022 , the system  100  can open the tubular clamp on the elevator  850  of the TDS  800  ( FIG. 17 ). Further, at step  17022 , the system  100  can move the elevator  850  around an upper end of the BHA  210  ( FIG. 17 ). Thereafter, the method  16800  can move to step  17102  of  FIG. 171 . The system  100  can perform steps  17012  through  17016  while performing steps  17018  and  17020 . 
     At step  17102 , the system  100  can close the tubular clamp on the elevator  850  of the TDS  800  around the upper end of the BHA  210  to engage the BHA  210  ( FIG. 18 ). At step  17104 , the system  100  can move the TDS  800  and the LTH  420  of the VTHS  400  in a downward direction until a lower end of the BHA  210  extends through the well center opening ( FIG. 20 ). At step  17106 , the system  100  can verify that the elevator  850  of the TDS  800  is engaged with the BHA  210  (i.e., perform handshake). If the elevator  850  is not engaged with the BHA  210 , the method  16800  can proceed to step  17110 , and the system  100  can re-engage the elevator  850  with the BHA  210 . Thereafter, the method  16800  may return to step  17106  and continue as described. Conversely, at step  17108 , if the elevator  850  is engaged with the BHA  210 , the method  16800  may proceed to step  17112  and the system  100  can open the grippers on the LTH  420  of the VTHS  400  ( FIG. 21 ). At step  17114 , the system  100  can transfer BHA  210  to the elevator  850  of the TDS  800 . At step  17116 , the system  100  can retract the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 22 ). Moving to step  17118 , the system  100  can lower the TDS  800  toward to the well center area  508  ( FIG. 22 ). At step  17120 , the system  100  can lock the BHA  210  in the well center opening. Thereafter, at step  17122 , the system  100  can open the tubular clamp on the elevator  850 . At step  17124 , the system  100  can release the BHA  210 . Further, at step  17126 , the system  100  can raise the TDS  800  away from the well center area  508  ( FIG. 23 ). Then, the method  16800  may proceed to step  17202  of  FIG. 172 . 
     While the system  100  performs steps  17118  through  17126 , the system  100  can use the VTHS  400  to perform one or more of steps  17202  through  17218 . Further, at substantially the same time, the system  100  can use the robotic arm  500  to perform one or more of steps  17220  through  17306 , and the system  100  can use the HTHS  230  to perform steps  17308  and  17310 . Specifically, at step  17202 , the system  100  can move the LTH  420  of the VTHS  400  upward along the vertical support ( FIG. 22 ). At step  17204 , the system  100  can rotate the arm  430  of the LTH  420  around the second vertical axis toward the vertical tubular storage rack  702  ( FIG. 22 ). Moreover, at step  17206 , the system  100  can extend the arm  430  of the LTH  420  into the vertical tubular storage rack  702  and around a drill pipe  206  ( FIG. 22 ). At step  17208 , the system  100  can close the grippers on the arm  430  of the LTH  420  of the VTHS  400  around the drill pipe  206  ( FIG. 22 ). Thereafter, at step  17210 , the system  100  can verify that the grippers  482 ,  484  on the arm  430  of the LTH  420  of the VTHS  400  are engaged with the drill pipe  206 . If the grippers  482 ,  482  are not engaged with the drill pipe  206 , the method  16800  may proceed to step  17214 , and the system  100  can adjust the grippers  482 ,  482 . Thereafter, the system  100  can proceed to step  17210  and continue as described. 
     On the other hand, at step  17212 , if the grippers  482 ,  484  are engaged with the drill pipe  206 , the method  16800  may continue to step  17216  and the system  100  retrieve the drill pipe  206  from the vertical tubular storage rack  702  using the LTH  420  of the VTHS  400  ( FIG. 240 . Then, at step  17218 , the system  100  can dip the threads of the drill pipe  206  into the dopant container ( FIG. 25 ). 
     Proceeding to step  17220 , the system  100  can open the gripper  542  of the robotic arm  500  ( FIG. 23 ). Next, at step  17224 , the system  100  can move gripper  542  of the robotic arm  500  around the sub attached to the BHA  210  ( FIG. 24 ). At step  17224 , the system  100  can close the gripper  542  of the robotic  500  around the sub attached to the BHA  210  ( FIG. 25 ). Then, the method  16800  may proceed to step  17302  of  FIG. 173 . 
     At step  17302  of  FIG. 173 , the system  100  can de-couple the sub from the BHA  210  using the gripper  542  of the robotic arm  500  ( FIG. 25 ). At step  17304 , the system  100  can move the robotic arm  500  toward the tubular member horizontal storage area ( FIG. 26 ). At step  17306 , the system  100  can rotate the sub from a vertical position to a horizontal position using the robotic arm  500  ( FIG. 27 ). At step  17308 , the system  100  can open the gripper  280  on the arm  244  of the HTHS  230  ( FIG. 26 ). Further, at step  17310 , the system  100  can extend the gripper  280  on the arm  244  of the HTHS  230  into the well bore area  300  ( FIG. 26 ). At step  17312 , the system  100  can insert the sub into the gripper on the arm  244  of the HTHS  230  using the robotic arm  500  ( FIG. 27 ). At step  17314 , the system  100  can close the gripper on the arm  244  of the HTHS  230  around the sub ( FIG. 28 ). Thereafter, at step  17318 , the system  100  can verify that the gripper  280  on the arm  244  of the HTHS  230  is engaged with the sub. At step  17318 , if the gripper  280  is not engaged with the sub, the method  16800  can proceed to step  17320 , and the system  100  can adjust the gripper  280 . Thereafter, the method  16800  can return to step  17316  and continue as described. At step  17320 , if the gripper  280  is engaged with the sub, the method  16800  can proceed to step  17322 , and the system  100  can transfer the sub to the arm  244  of the HTHS  230  ( FIG. 29 ). Thereafter, at step  17324 , the system  100  can return robotic arm  500  to a neutral or standby position ( FIG. 30 ). While the system  100  returns the robotic arm  500  to the neutral or standby position, they system  100  can use the HTHS  230  to perform steps  17326  through  17406 . In particular, at step  17326 , the system  100  can rotate the sub to a vertical position using the arm  244  on the HTHS  230  ( FIG. 30 ). 
     The method  16800  can then proceed to step  17402  of  FIG. 174  and the system  100  can move the sub into the horizontal tubular member storage area using the HTHS  230  ( FIG. 31 ). At step  17404 , the system  100  can lower the sub onto a vertical storage rack in the tubular storage area  200  using the HTHS  230  ( FIG. 32 ). At step  17406 , the system  100  can return the HTHS  230  to a neutral or standby position. While the system  100  moves the HTHS  230  as described in steps  17326  through  17406 , the system  100  can perform steps  17408  through  17414 . At step  17408 , the system  100  can rotate the arm  430  of the LTH  420  of the VTHS  400  and the drill pipe  206  into position over the well center ( FIG. 26 ). At step  17410 , the system  100  can extend the iron roughneck  600  into the well center area  508  around the well center and the drill pipe  206  ( FIG. 27 ). At step  17412 , the system  100  can couple the drill pipe  206  to the BHA  210  using the grippers on the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 28 ). At step  17414 , the system  100  can torque the drill pipe  206  using the iron roughneck  600  ( FIG. 30 ). 
     At step  17416 , the system  100  can return the iron roughneck  600  to a neutral or standby position ( FIG. 32 ). While the system  100  returns the iron roughneck  600  to the neutral position, the system  100  can lower the TDS  800  toward the well center area  508  ( FIG. 33 ) at step  17418 . Further, while the system  100  lowers the TDS  800 , the system  100  can perform steps  17420  through  17510  with the VTHS  400 . Specifically, at step  17420 , the system  100  can rotate the arm  430  of the LTH  420  around the second vertical axis toward the vertical tubular storage area  200  ( FIG. 33 ) and at step  17422 , the system  100  can extend the arm  430  of the LTH  420  into the vertical tubular storage area  200  and around the next drill pipe  206  ( FIG. 33 ). Then, at step  17424 , the system  100  can close the grippers on the arm  430  of the LTH  420  of the VTHS  400  around the next drill pipe  206  ( FIG. 33 ). 
     Proceeding to step  17502  of  FIG. 175 , the system  100  can verify that the grippers  482 ,  484  on the arm  430  of the LTH  420  of the VTHS  400  are engaged with the next drill pipe  206 . Then, at step  17504 , if the grippers  482 ,  484  are not engaged with the next drill pipe  206 , the method  16800  may proceed to step  17506  and the system  100  may adjust the grippers  482 ,  484 . The method  16800  can then return to step  17502  and continue as described herein. Returning to step  17504 , if the grippers  482 ,  484  are engaged with the next drill pipe  206 , the method  16800  may proceed to step  17508  and the system  100  may retrieve the next drill pipe  206  from the vertical tubular storage area  200  using the LTH  420  of the VTHS  400  ( FIG. 33 ). Then, at step  17510 , the system  100  can dip the threads of the next drill pipe  206  into the dopant container ( FIG. 34 ). Moreover, at step  17511 , the system  100  can raise the TDS  800  away from the well center area  508 . 
     While the system  100  raises the TDS  800  at step  17511 , the system  100  can rotate the arm  430  of the LTH  420  of the VTHS  400  and the drill pipe  206  into position over the previous drill pipe  206  ( FIG. 36 ) at step  17512  and the system  100  can extend the iron roughneck  600  into the well center area  508  around the well center, the previous drill pipe  206 , and the next drill pipe  206  ( FIG. 37 ) at step  17514 . Moving to step  17516 , the system  100  can couple the next drill pipe  206  to the previous drill pipe  206  using the grippers  482 ,  484  on the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 38 ). At step  17518 , the system  100  can torque the drill pipe  206   s  using the iron roughneck  600  ( FIG. 40 ). At step  17519 , the system  100  can return the iron roughneck to a neutral or standby position. Thereafter, at step  17520 , the system  100  can move the HTHS  230  in a first direction along a first horizontal axis to a position aligned with a vertical storage rack  216  in the tubular storage area  200 , while the system  100  returns the iron roughneck to the neutral position. 
     The method  16800  can then proceed to step  17602  of  FIG. 176  and the system  100  move the transverse member  242  in the HTHS  230  along the bridge of the HTHS  230  in a second direction along a second horizontal axis perpendicular to the first horizontal axis ( FIG. 40 ). At step  17604 , the system  100  can rotate the arm  244  of the HTHS  230  down and outward from the bridge of the HTHS  230  until the arm  244  is substantially vertical ( FIG. 40 ). At step  17606 , the system  100  can open the first gripper  280  on the arm  244  of the HTHS  230  ( FIG. 40 ). At step  17608 , the system  100  can move the first gripper  280  into position around a sub stored on the vertical storage rack  216  ( FIG. 40 ). Further, at step  17610 , the system  100  can close the first gripper on the arm  244  of the HTHS  230  around the sub ( FIG. 41 ). At step  17612 , the system  100  can retrieve the sub from the vertical storage rack  216  ( FIG. 41 ). At step  17614 , the system  100  can rotate the arm on the HTHS  230  until the sub is substantially horizontal. At step  17616 , the system  100  can move the HTHS  230  along the first horizontal axis toward the VTHS  400 . Moreover, at step  17618 , the system  100  can extend the arm  244  of the HTHS  230  and the sub into the well bore area  300 . 
     While the system  100  moves the HTHS  230  as described in steps  17520  through  17618 , the system  100  can engage the TDS  800  with the next drill pipe at step  17619 , and at step  17620 , the system  100  can lower the LTH  420  of the VTHS  400  along the first vertical axis. At step  17621 , the system  100  can lower the TDS  800  toward the well center area. While the system  100  lowers the TDS  800 , the system  100  can perform one or more of steps  17622  through  17712  with the VTHS  400 . In particular, at step  17622 , the system  100  can rotate the arm  430  of the LTH  420  of the VTHS  400  to a horizontal transfer position ( FIG. 42 ). Then the method  16800  can continue to step  17702  of  FIG. 177 . 
     At step  17702 , the system  100  can open a first gripper  482  on the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 42 ). At step  17704 , the system  100  can move the first gripper  482  on the LTH  420  of the VTHS  400  around the sub adjacent to the first gripper  280  on the arm  244  of the HTHS  230  ( FIG. 42 ). At step  17706 , the system  100  can close the first gripper  280  on the arm  430  of the LTH  420  of the VTHS  400 . At step  17708 , the system  100  can verify that the LTH  420  of the VTHS  400  is engaged with the BHA  210 . At step  17710 , if the LTH  420  of the VTHS  400  is not engaged with the BHA  210 , the method  16800  can proceed to step  17712  and the system  100  can adjust the first gripper  482 . The method  16800  may then return to step  17708  and continue as described. On the other hand, at step  17710 , if the LTH  420  of the VTHS  400  is engaged with the BHA  210 , the method  16800  can proceed to step  17714 , and the system  100  can open the first gripper on the arm  244  of the HTHS  230 . Further, at step  17716 , the system can transfer the sub from the arm  244  of the HTHS  230  to the arm  430  of the LTH  420  of the VTHS  400 . At step  17718 , the system  100  can retract the arm  244  of the HTHS  230 . Further, at step  17720 , the system  100  can rotate the sub from a horizontal position to a vertical position using the arm  430  of the LTH  420  of the VTHS  400 . At step  17722 , the system  100  can return the HTHS  230  to a neutral or standby position. The system  100  can retract the arm of the HTHS, at step  17718 , and return the HTHS to the neutral position, at step  17722 , while performing step  17720 . The method  16800  may then proceed to  FIG. 178 . 
     At step  17802 , the system  100  can extend the arm  430  of the LTH  420  of the VTHS  400  and the sub into position over the dopant container. At step  17804 , the system  100  can dip the threads of the sub into the dopant container ( FIG. 43 ). While performing steps  17802  and  17804 , the system  100 , the system  100  can open the tubular clamp on the elevator  850  at step  17806 , and at step  17808 , the system  100  can release the drill pipe  206 . Further, while performing steps  17802  and  17804 , the system  100  can raise the TDS  800  away from the well center area  508  ( FIG. 44 ) at step  17810 . 
     While raising the TDS  800  at step  17810 , the system  100  can perform one or more of steps  17812  through  17821 . Specifically, at step  17812 , the system  100  can raise the sub out of the dopant container ( FIG. 44 ). At step  17814 , the system  100  can rotate the LTH  420  of the VTHS  400  and the sub around the second vertical axis while extending the multi-link arm  430  outwardly from the vertical support structure  402 . Thereafter, at step  17816 , the system  100  can align the sub with the well center opening and the previous drill pipe  206  ( FIG. 45 ). At step  17818 , the system  100  can extend the iron roughneck  600  into the well center area  508  around the well center and the drill pipe  206  ( FIG. 45 ). Further, at step  17820 , the system  100  can couple the sub to the previous drill pipe  206  using the gripper  482  on the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 46 ). The system  100  can extend the iron roughneck  600  in step  17818  while performing one or more of steps  17812 ,  17814 ,  17816 , and  17820  with the VTHS  230 . 
     At step  17821 , the system  100  can release the sub from the gripper  482  on the arm  430  of the LTH  420  of the VTHS  400 . At step  17822 , the system  100  can torque the drill pipe  206  using the iron roughneck  600  while releasing the gripper  482  on the arm  430  from the sub ( FIG. 48 ). Moving to step  17824 , the system  100  can return the iron roughneck  600  to a neutral or standby position ( FIG. 49 ). 
     Proceeding to step  17902  of  FIG. 179 , while returning the iron roughneck  600  to the neutral position, in step  17824 , the system  100  can rotate the VTHS  400  toward the vertical tubular storage rack  700 . At step  17904 , the system  100  can move the LTH  420  and the UTH  422  of the VTHS  400  upward along the vertical support. Further, at step  17906 , the system  100  can move the arm  430  of the LTH  420  and the arm of the UTH  422  into the vertical transfer position. At step  17908 , the system  100  can open the first gripper and second gripper on the arm  430  of the LTH  420  and the first gripper and the second gripper on the arm of the UTH  422 . At step  17910 , the system  100  can extend the grippers on the arms of the LTH  420  and UTH  422  into the vertical tubular storage area  200  and around a next drill pipe  206  ( FIG. 49 ). Further, at step  17912 , the system  100  can close the grippers  482 ,  484  on the arms  430  of the LTH  420  and UTH  422  of the VTHS  400  around the next drill pipe  206  ( FIG. 49 ). At step  17914 , the system  100  can verify that the grippers  482 ,  484  on the arms  430  of the LTH  420  and UTH  422  of the VTHS  400  are engaged with the next drill pipe  206 . At step  17916 , if the grippers  482 ,  484  are not engaged, the method  16800  can proceed to step  17918 , and the system  100  can adjust the grippers  482 ,  484 . Thereafter, the method  16800  can return to step  17914  and continue as described. At step  17916 , if the grippers  482 ,  484  are engaged, the method  16800  can proceed to step  17920  and the system  100  can retrieve the next drill pipe  206  from the vertical tubular storage area  200  using the LTH  420  of the VTHS  400  ( FIG. 49 ). Thereafter, at step  17922 , the system  100  can retract the arms of the LTH  420  and UTH  422  of the VTHS  400  toward the vertical support member of the VTHS  400  ( FIG. 50 ). Then, the method  16800  can move to  FIG. 180 . 
     At step  18002  of  FIG. 180 , the system  100  can rotate the VTHS  400  toward the dopant container ( FIG. 51 ). At step  18004 , the system  100  can extend the arms of the LTH  420  and UTH  422  of the VTHS  400  away from the vertical support member of the VTHS  400  and into position with the next drill pipe  206  aligned with the dopant container ( FIG. 51 ). Thereafter, at step  18006 , the system  100  can dip the threads of the next drill pipe  206  into the dopant container. At step  18008 , the system  100  can raise the next drill pipe  206  out of the dopant container. At step  18010 , the system  100  can rotate the LTH  420  and the UTH  422  of the VTHS  400  and the next drill pipe  206  around the second vertical axis while extending the arms outwardly from the vertical support structure  402  ( FIG. 52 ). Moreover, at step  18012 , the system  100  can align the next drill pipe  206  with the well center opening and the previous drill pipe  206 . At step  18014 , the system  100  can extend the iron roughneck  600  into the well center area  508  around the well center, the next drill pipe  206 , and the previous drill pipe  206  ( FIG. 52 ). At step  18016 , the system  100  can couple the next drill pipe  206  to the previous drill pipe  206  using the gripper on the arm  430  of the LTH  420  of the VTHS  400 . The system  100  can extend the iron roughneck  600  in step  18014  while performing one or more of steps  18008 ,  18010 ,  18012 , and  18016  with the VTHS  230 . At step  18018 , the system  100  can lower the TDS  800  toward the upper end of the next drill pipe  206 . Then, the method  16800  can proceed to  FIG. 181 . 
     At step  18102 , the system  100  can open the tubular clamp on the elevator  850  of the TDS  800  ( FIG. 53 ). Then, at step  18104 , the system  100  can move the elevator  850  around an upper end of the BHA  210  ( FIG. 53 ). At step  18106 , the system  100  can close the tubular clamp on the elevator  850  of the TDS  800  around the upper end of the next drill pipe  206  ( FIG. 54 ). At step  18108 , the system  100  can verify that the elevator  850  of the TDS  800  is engaged with the next drill pipe  206 . As step  18110 , if the elevator  850  is not engaged with the next drill pipe  206 , the method  16800  can move to step  18112 , and the system  100  can re-engaged the elevator  850  with the next drill pipe  206 . The method  16800  may then return to step  18108  and continue as described herein. It is to be understood that the system  100  can perform one or more of steps  18018  through  18112  with the TDS  800  while performing one or more of steps  18008  through  18016  with the VTHS  400  and the iron roughneck  600 . 
     Returning to step  18110 , if the elevator  850  is engaged with the next drill pipe  206 , the method  16800  may continue to step  18114  and the system  100  can open the grippers  482 ,  484  on the LTH  420  and the UTH  422  of the VTHS  400  ( FIG. 55 ). At step  18116 , the system  100  can torque the drill pipe  206  using the iron roughneck  600  ( FIG. 55 ) at essentially the same time as the system  100  performs step  18114 . At step  18118 , the system  100  can transfer the next drill pipe  206  to the elevator  850  of the TDS  800  ( FIG. 55 ). As step  18120 , the system  100  can retract the arms of the LTH  420  and the UTH  422  of the VTHS  400  ( FIG. 55 ) and at essentially the same time, at step  18122 , the system  100  can return the iron roughneck  600  to a neutral or standby position ( FIG. 56 ). At step  18124 , the system  100  can lower the TDS  800  toward the well center area  508  ( FIG. 57 ). 
     While lowering the TDS  800 , at step  18124 , the system  100  can perform one or more of steps  18202  through  18222 . Specifically, at step  18202  of  FIG. 182 , the system  100  can rotate the VTHS  400  toward the vertical tubular storage rack  702  ( FIG. 58 ). At step  18204 , the system  100  can move the LTH  420  and the upper tubular handler (UTH  422 ) of the VTHS  400  upward along the vertical support. At step  18206 , the system  100  can move the arm  430  of the LTH  420  and the arm of the UTH  422  into the vertical transfer position. At step  18208 , the system  100  can open the first gripper  482  and second gripper  484  on the arm  430  of the LTH  420  and the first gripper  482  and the second gripper  484  on the arm of the UTH  422 . At step  18210 , the system  100  can extend the grippers on the arms of the LTH  420  and UTH  422  into the vertical tubular storage area  200  and around a next drill pipe  206 . Further, at step  18212 , the system  100  can close the grippers on the arms of the LTH  420  and UTH  422  of the VTHS  400  around the next drill pipe  206 . At step  18214 , the system  100  can verify that the grippers  482 ,  484  on the arms  430  of the LTH  420  and UTH  422  of the VTHS  400  are engaged with the next drill pipe  206 . At step  18216 , if the grippers  482 ,  484  are not engaged with the next drill pipe  206 , the method  16800  can proceed to step  18218  and the system  100  can adjust the grippers  482 ,  484 . The method  16800  can then return to step  18214  and continue as described herein. 
     Returning to step  18216 , if the grippers  482 ,  484  are engaged with the next drill pipe  206 , the method can proceed to step  18220  and the system  100  can retrieve the next drill pipe  206  from the vertical tubular storage area  200  using the LTH  420  of the VTHS  400 . At step  18222 , the system  100  can retract the arms of the LTH  420  and UTH  422  of the VTHS  400  toward the vertical support member of the VTHS  400 . The method  16800  may then proceed to  FIG. 183 . 
     At step  18300 , the system  100  can release the next drill pipe from the TDS  800 . Further, at step  18301 , the system  100  can raise the TDS  800  away from the well center area  508 . As the system  100  raises the TDS  800 , the system  100  can perform one or more of steps  18302  through  18312  with the VTHS  400 . Specifically, at step  18302 , the system  100  can rotate the VTHS  400  toward the dopant container ( FIG. 58 ). At step  18304 , the system  100  can extend the arms of the LTH  420  and UTH  422  of the VTHS  400  away from the vertical support member of the VTHS  400  and into position with the next drill pipe  206  aligned with the dopant container ( FIG. 58 ). At step  18306 , the system  100  can dip the threads of the next drill pipe  206  into the dopant container. At step  18308 , the system  100  can raise the next drill pipe  206  out of the dopant container. At step  18310 , the system  100  can rotate the LTH  420  and the UTH  422  of the VTHS  400  and the next drill pipe  206  around the second vertical axis while extending the arms outwardly from the vertical support structure  402  ( FIG. 59 ). At step  18312 , the system  100  can align the next drill pipe  206  with the well center opening and the previous drill pipe  206  ( FIG. 59 ). At step  18314 , the system  100  can extend the iron roughneck  600  into the well center area  508  around the well center, the next drill pipe  206 , and the previous drill pipe  206  ( FIG. 59 ). The system  100  can extend the iron roughneck  600 , at step  18314 , while performing steps  19310  and  18312  with the VTHS  400 . At step  18316 , the system  100  can couple the next drill pipe  206  to the previous drill pipe  206  using the grippers  482 ,  484  on the arms  430  of the LTH  420  and the UTH  422  of the VTHS  400  ( FIG. 59 ). While performing step  18316  with the VTHS  400 , the system  100  can also perform one or more of steps  18318  through  18412 . At step  18318 , the system  100  can lower the TDS  800  toward the upper end of the next drill pipe  206 . 
     Proceeding to step  18402  of  FIG. 184 , the system  100  can open the tubular clamp on the elevator  850  of the TDS  800 . At step  18404 , the system  100  can move the elevator  850  around an upper end of the next drill pipe  210 . At step  18406 , the system  100  can close the tubular clamp on the elevator  850  of the TDS  800  around the upper end of the next drill pipe  206 . Further, at step  18408 , the system  100  can verify that the elevator  850  of the TDS  800  is engaged with the next drill pipe  206 . At step  18410 , if the system  100  verifies that the elevator  850  of the TDS  800  is not engaged with the next drill pipe  206 , the method  16800  can proceed to step  18412 , and the system  100  can re-engage the elevator  850  of the TDS  800  with the next drill pipe  206 . The method  16800  may then return to step  18408  and continue as described. Returning to step  18410 , if the system  100  verifies that the elevator  850  of the TDS  800  is engaged with the next drill pipe  206 , the method  16800  may continue to step  18414  and the system  100  can open the grippers  482 ,  484  on the LTH  420  and the UTH  422  of the VTHS  400 . At step  18416 , the system  100  can transfer the next drill pipe  206  to the elevator  850  of the TDS  800 . At step  18418 , the system  100  can retract the arms of the LTH  420  and the UTH  422  of the VTHS  400 . Then, at step  18420 , the system  100  can torque the drill pipe  206  using the iron roughneck  600 . At step  18422 , the system  100  can return the iron roughneck  600  to a neutral or standby position. Moreover, at step  18424 , the system  100  can lower the TDS  800  toward the well center area  508 . It can be appreciated that the system  100  can begin lowering the TDS  800  while returning the iron roughneck to the neutral position. At step  18426 , the system  100  can release the drill pipe from the TDS. Further, at step  18428 , the system  100  can raise the TDS away from the well center area. 
     While the system  100  performs steps  18424  through  18428 , the system  100  can also perform one or more of steps  18502  through  18604 . In particular, at step  18502  of  FIG. 185 , the system  100  can move the HTHS  230  in a first direction along a first horizontal axis to a position over a horizontal drill pipe  206  rack. At step  18504 , the system  100  can move the transverse member  242  in the HTHS  230  along the bridge of the HTHS  230  in a second direction along a second horizontal axis perpendicular to the first horizontal axis. At step  18506 , the system  100  can rotate the arm  244  of the HTHS  230  down and outward from the bridge of the HTHS  230 . At step  18508 , the system  100  can open the first gripper  280  and the second gripper  282  on the arm  244  of the HTHS  230 . Further, at step  18510 , the system  100  can move the first and second grippers  280 ,  282  into position around the drill pipe  206  so that the first gripper  280  is near the distal end of the drill pipe  206 . At step  18512 , the system  100  can close the grippers  280 ,  282  around the drill pipe  206 . At step  18514 , the system  100  can verify that the drill pipe  206  is engaged with the grippers  280 ,  282  on the arm  244  of the HTHS  230 . At step  18516 , if the drill pipe  206  is not engaged with the grippers  280 ,  282  on the arm  244  of the HTHS  230 , the method  16800  can proceed to step  18518  and the system  100  can adjust the grippers  280 ,  282 . Thereafter, the method  16800  can return to step  18514  and continue as described. Returning to step  18516 , if the drill pipe  206  is engaged with the grippers  280 ,  282  on the arm  244  of the HTHS  230 , the method  16800  can proceed to step  18520  and the system  100  can retrieve the drill pipe  206  from the horizontal drill pipe  206  storage rack. Then, the method  16800  can continue to step  18602  of  FIG. 186 . 
     At step  18602 , the system  100  can move the HTHS  230  in a second direction along the first horizontal axis away from the horizontal drill pipe  206  storage rack. At step  18604 , the system  100 , using the arm  244  of the HTHS  230 , can rotate the drill pipe  206  180 degrees. 
     At step  18606 , the system  100  can extend the drill pipe  206  from the tubular storage area  200  to the well bore area  300  along a third horizontal axis ( FIG. 61 ). While performing step  18606  with the HTHS  230 , the system  100  can perform one or more of steps  18606  through  18622 . At step  18608 , the system  100  can lower the LTH  420  of the VTHS  400  along the first vertical axis ( FIG. 60 ). At step  18610 , the system  100  can rotate the arm  430  of the LTH  420  of the VTHS  400  to a horizontal transfer position ( FIG. 61 ). At step  18612 , the system  100  can open the first gripper  482  and the second gripper  484  on the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 61 ). At step  18614 , the system  100  can move the grippers  482 ,  484  around the drill pipe  206  spanning one of the grippers  280 ,  282  on the arm  244  of the HTHS  230  ( FIG. 62 ). At step  18616 , the system  100  can close the first and second grippers on the arm  430  of the LTH  420  of the VTHS  400 . Further, at step  18618 , the system  100  can verify that the LTH  420  of the VTHS  400  is engaged with the drill pipe  206 . At step  18620 , if the LTH  420  of the VTHS  400  is not engaged with the drill pipe  206 , the method  16800  can proceed to step  18622 , and the system  100  can adjust the grippers  482 ,  484 . Then, the method  16800  can return to step  18618  and continue as described. Returning to step  18620 , if the LTH  420  of the VTHS  400  is engaged with the drill pipe  206 , the method  16800  can proceed to step  18702  of  FIG. 187 . 
     At step  18702 , the system  100  can open the first and second grippers on the arm  244  of the HTHS  230  ( FIG. 63 ). At step  18704 , the system  100  can transfer the drill pipe  206  from the arm  244  of the HTHS  230  to the arm  430  of the LTH  420  of the VTHS  400 . At step  18706 , the system  100  can rotate the drill pipe  206  from a horizontal position to a vertical position using the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 64 ). While performing step  18706 , the system  100  can also perform steps  18708  and  18710 . At step  18708 , the system  100  can retract the arm  244  of the HTHS  230 . Further, at step  18710 , the system  100  can return the HTHS  230  to retrieve the next drill pipe  206  from the horizontal drill pipe  206  storage rack. At step  18712 , the system  100  can rotate the arm on the UTH  422  of the VTHS  400  to a vertical transfer position ( FIG. 64 ). At step  18714 , the system  100  can vertically align the arm of the UTH  422  with the arm  430  of the LTH  420 . Moreover, at step  18716 , the system  100  can open the first gripper and the second gripper on the arm of the UTH  422  of the VTHS  400 . At step  18718 , the system  100  can lower the UTH  422  of the VTHS  400  ( FIG. 65 ). At step  18720 , the system  100  can extend the arm of the UTH  422  until the grippers are around the drill pipe  206  above the grippers on the arm  430  of the LTH  420 . The method  16800  can then proceed to  FIG. 188 . 
     At step  18802  of  FIG. 188 , the system  100  can close the grippers on the arm of the UTH  422  around the drill pipe  206  ( FIG. 66 ). At step  18804 , the system  100  can verify that the UTH  422  of the VTHS  400  is engaged with the drill pipe  206 . At step  18806 , if the UTH  422  is not engaged with the drill pipe  206 , the method  16800  can proceed to step  18808 , and the system  100  can adjust the grippers  482 ,  484  on the UTH  422 . Thereafter, the method  16800  can return to step  18804  and continue as described. On the other hand, at step  18806 , if the UTH  422  is engaged with the drill pipe  206 , the method  16800  can proceed to step  18810  and the system can transfer the drill pipe  206  from the arm  430  of the LTH  420  of the VTHS  400  to the arm of the UTH  422  of the VTHS  400 . At step  18812 , the system  100  can raise the UTH  422  and the drill pipe  206  along the vertical support of the VTHS  400  ( FIG. 67 ). At step  18814 , the system  100  can lower the TDS  800  toward the well center area  508  ( FIG. 68 ). 
     While the system  100  is lowering the TDS  800  at step  18814 , the system  100  can perform one or more of steps  18816  through  18918 . In particular, at step  18816 , the system  100  can extend the next drill pipe  206  from the tubular storage area  200  to the well bore area  300  in along a third horizontal axis ( FIG. 68 ). Further, at step  18818 , the system  100  can lower the LTH  420  of the VTHS  400  along the first vertical axis ( FIG. 68 ). At step  18820 , the system  100  can rotate the arm  430  of the LTH  420  of the VTHS  400  to a horizontal transfer position ( FIG. 69 ). At step  18822 , the system  100  can open the first gripper and the second gripper on the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 69 ). At step  18824 , the system  100  can move the grippers around the drill pipe  206  spanning one of the grippers on the arm  244  of the HTHS  230 . 
     Continuing to  FIG. 189 , at step  18902 , the system  100  can close the first and second grippers  482 ,  484  on the arm  430  of the LTH  420  of the VTHS  400  around the next drill pipe  206  ( FIG. 69 ). At step  18904 , the system  100  can verify that the LTH  420  of the VTHS  400  is engaged with the drill pipe  206 . At step  18906 , if the LTH  420  is not engaged with the drill pipe  206 , the method  16800  can proceed to step  18908 , and the system  100  can adjust the grippers  482 ,  484  on the LTH  420 . Then, the method  16800  can return to step  18904  and continue as described. Returning to step  18906 , if the LTH  420  is engaged with the drill pipe  206 , the method  16800  can proceed to step  18910  and the system  100  can open the first and second grippers on the arm  244  of the HTHS  230  ( FIG. 70 ). At step  18912 , the system  100  can transfer the drill pipe  206  from the arm  244  of the HTHS  230  to the arm  430  of the LTH  420  of the VTHS  400 . At step  18914 , the system  100  can rotate the drill pipe  206  from a horizontal position to a vertical position using the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 71 ). At step  18916 , the system  100  can retract the arm  244  of the HTHS  230 . At step  18918 , the system  100  can return the HTHS  230  to a neutral or stand-by position. At step  18920 , the system  100  can rotate the arm on the UTH  422  of the VTHS  400  so that the lower end of the previous drill pipe  206  is aligned with a tool mounted on the vertical support member of the VTHS  400  ( FIG. 72 ). At step  18904 , the system  100  can rotate the arm on the LTH  420  of the VTHS  400  so that the upper end of the next drill pipe  206  is aligned with the tool mounted on the vertical support member of the VTHS  400  ( FIG. 72 ). 
     Proceeding to  FIG. 190 , at step  19002 , the system  100  can lower the UTH  422  on the VTHS  400  until the lower end of the next drill pipe  206  is within the tool mounted on the vertical support member of the VTHS  400  ( FIG. 73 ). At step  19004 , the system  100  can raise the LTH  420  on the VTHS  400  until the upper end of the previous drill pipe  206  is within the tool mounted on the vertical support member of the VTHS  400  ( FIG. 73 ). At step  19006 , the system  100 , using the grippers on the arm of the UTH  422  and the grippers on the arm  430  of the LTH  420 , can couple the previous drill pipe  206  to the next drill pipe  206  within the tool mounted on the vertical support member of the VTHS  400  ( FIG. 74 ). Further, at step  19008 , the system  100 , using the tool on mounted on the vertical support member of the VTHS  400 , can torque the previous drill pipe  206  and the next drill pipe  206  together to a predetermined torque value to form a double stack drill pipe  206  ( FIG. 76 ). 
     While the system  100  is performing steps  18920  through  19008  with the VTHS  400 , the system  100  can perform steps  19009  through  19011 . Specifically, at step  19009 , the system  100  can release the previous double stack from the TDS  800 . At step  19010 , the system  100  can raise the TDS  800  away from the well center area  508 . Further, at step  19011 , the system  100  can rotate the VTHS  400  toward the dopant container ( FIG. 78 ). At step  19012 , the system  100  can extend the arms of the LTH  420  and UTH  422  of the VTHS  400  away from the vertical support member of the VTHS  400  and into position with the double stack drill pipe  206  aligned with the dopant container ( FIG. 79 ). At step  19014 , the system  100  can dip the threads of the double stack drill pipe  206  into the dopant container. At step  19016 , the system  100  can raise the double stack drill pipe  206  out of the dopant container. Then, the method  16800  can move to step  19102  of  FIG. 191 . 
     At step  19102 , the system  100  can rotate the LTH  420  and the UTH  422  of the VTHS  400  and the double stack drill pipe  206  around the second vertical axis while extending the arms outwardly from the vertical support structure  402  ( FIG. 80 ). At step  19104 , the system  100  can align the double stack drill pipe  206  with the well center opening and the previous drill pipe  206  ( FIG. 80 ). At step  19106 , the system  100  can extend the iron roughneck  600  into the well center area  508  around the well center, the double stack drill pipe  206 , and the previous drill pipe  206  ( FIG. 81 ). At step  19108 , the system  100  can couple the double stack drill pipe  206  to the previous drill pipe  206  using the grippers on the arms of the LTH  420  and the UTH  422  of the VTHS  400  ( FIG. 82 ). It is to be understood that step  19106  can be performed by the system  100  with the iron roughneck  600 , while one or more of steps  19102 ,  19104 , and  19108  are being performed by the system  100  with the VTHS  400 . 
     At step  19110 , the system  100  can torque the drill pipes  206  together using the iron roughneck ( FIG. 83 ). While the system  100  torques the drill pipes  206  at step  19100 , the system  100  can perform one or more of steps  19112  through  19118  using the TDS  100 . At step  19112 , the system  100  can lower the TDS  800  toward the upper end of the next drill pipe  206  ( FIG. 84 ). At step  19114 , the system  100  can open the tubular clamp on the elevator  850  of the TDS  800  ( FIG. 84 ). At step  19116 , the system  100  can move the elevator  850  around an upper end of the BHA  210  ( FIG. 85 ). Moreover, at step  19118 , the system can close the tubular clamp on the elevator  850  of the TDS  800  around the upper end of the next drill pipe  206  ( FIG. 86 ). At step  19120 , the system  100  can verify that the elevator  850  of the TDS  800  is engaged with the next drill pipe  206 . At step  19122 , if the elevator  850  is not engaged with the next drill pipe  206 , the method  16800  can proceed to step  19124 , and the system  100  can re-engage the elevator  850  with the next drill pipe  206 . Then, the method  16800  may return to step  19120  and continue as described herein. Returning to step  19122 , if the elevator  850  is engaged with the next drill pipe  206 , the method  16800  can continue to step  19202  of  FIG. 192 . 
     At step  19202 , the system  100  can open the grippers on the LTH  420  and the UTH  422  of the VTHS  400  ( FIG. 85 ). At step  19204 , the system  100  can transfer the next drill pipe  206  to the elevator  850  of the TDS  800 . At step  19206 , the system  100  can retract the arms of the LTH  420  and the UTH  422  of the VTHS  400  ( FIG. 86 ). At step  19208 , the system  100  can return the iron roughneck  600  to a neutral or standby position ( FIG. 87 ). Thereafter, at step  19210 , the system  100  can lower the TDS  800  toward the well center area  508 . Then, the method  16800  can end. It is to be understood that the system  100  can lower the TDS  800 , at step  19210 , while returning the iron roughneck  600  to the neutral position, at step  19208 . 
       FIG. 193  through  FIG. 199  include a series of flowcharts that depict another method  19300  of conducting a subterranean operation. Throughout the description of these flowcharts, elements that appear in  FIG. 1  through  FIG. 167  are referenced. The elements referenced are capable of performing the particular operation or function mentioned in the flowchart step. Further, there are parenthetical notations with specific figures referenced. These parenthetical notations indicate the specific figure (in  FIG. 1  through  FIG. 167 ) in which the performance of a particular operation or function is depicted. It is to be understood that the elements and figures referenced are examples and the system  100  is not limited to only the particular element cited performing the operation or function. Moreover, any figures referenced provide examples of how the performance of a particular step may appear and are not intended to be limiting as to the only manner in which a step may be performed. Also, some steps may not appear in the figures. 
     Beginning at step  19302 , the system  100  can move the HTHS  230  in a first direction along a first horizontal axis to a position over a horizontal casing  214  storage rack ( FIG. 90 ). At step  19304 , the system  100  can move the transverse member  242  in the HTHS  230  along the bridge of the HTHS  230  in a second direction along a second horizontal axis perpendicular to the first horizontal axis. At step  19306 , the system  100  can rotate the arm  244  of the HTHS  230  down and outward from the bridge of the HTHS  230  ( FIG. 90 ). At step  19308 , the system  100  can open the first gripper  280  and the second gripper  282  on the arm  244  of the HTHS  230  ( FIG. 90 ). Further, at step  19310 , the system  100  can move the first and second grippers  280 ,  282  into position around the casing  214  so that the first gripper and the second gripper span the center of the casing  214  ( FIG. 91 ). At step  19312 , the system  100  can close the grippers  280 ,  282  around the casing  214 . Moreover, at step  19314 , the system  100  can verify that the casing  214  is engaged with the grippers  280 ,  282  on the arm  244  of the HTHS  230 . At step  19316 , if the casing  214  is engaged with grippers  280 ,  282 , the method  19300  can proceed to step  19318 , and the system  100  can adjust the grippers  280 ,  282 . Then, the method  19300  can return to step  19314  and continue as described herein. Returning to step  19316 , if the casing  214  is engaged with the grippers  280 ,  282 , the method  19300  can proceed to step  19320  and the system  100  can retrieve the casing  214  from the horizontal casing  214  storage rack  212  ( FIG. 92 ). At step  19322 , the system  100  can move the HTHS  230  in a second direction along the first horizontal axis away from the horizontal BHA storage rack  208  and toward the horizontal transfer position. 
     Proceeding to step  19402 , depicted in  FIG. 194 , the system  100 , using the arm  244  of the HTHS  230 , can rotate the casing  214  approximately 180 degrees ( FIG. 95 ). At step  19404 , the system  100  can extend the casing  214  from the horizontal tubular storage area  200  to the well bore area  300  in along a third horizontal axis ( FIG. 96 ). 
     While performing one or more of steps  19302  through  19404  with the HTHS  230 , the system  100  can perform one or more of steps  19406  through  19420  with the VTHS  400 . Specifically, at step  19406 , the system  100  can lower the LTH  420  of the VTHS  400  along the first vertical axis ( FIG. 95 ). At step  19408 , the system  100  can rotate an arm  430  of the LTH  420  of the VTHS  400  to a horizontal transfer position ( FIG. 96 ). Further, at step  19410 , the system  100  can open a first gripper  482  and a second gripper  484  on the arm  430  of the LTH  420  of the VTHS  400 . At step  19412 , the system  100  can move the grippers  482 ,  484  around the casing  214  spanning the center of the casing  214  and one of the grippers  280 ,  282  on the arm  244  of the HTHS  230  ( FIG. 97 ). At step  19414 , the system  100  can close the first and second grippers  482 ,  484  on the arm  430  of the LTH  420  of the VTHS  400  around the casing  214 . At step  19416 , the system  100  can verify that the LTH  420  of the VTHS  400  is engaged with the casing  214 . At step  19418 , if the LTH  420  is not engaged with the casing  214 , the method  19300  can move to step  19420  and the system  100  can adjust the grippers  482 ,  284 . Thereafter, the method  19300  can return to step  19416  and continue as described. On the other hand, at step  19418 , if the LTH  420  is engaged with the casing  214 , the method  19300  can proceed to step  19422  and the system  100  can open the first  280  and second grippers  282  on the arm  244  of the HTHS  230  ( FIG. 98 ). 
     Moving to  FIG. 195 , at step  19502 , the system  100  can transfer the casing  214  from the arm  244  of the HTHS  230  to the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 99 ). At step  19504 , the system  100  can rotate the casing  214  from a horizontal position to a vertical position using the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 100 ). While rotating the casing  214  at step  19504 , the system  100  can retract the arm  244  of the HTHS  230  ( FIG. 100 ) at step  19506 , and at step  19508 , the system  100  can return the HTHS  230  to retrieve the next casing  214 . Further, at step  19510 , the system  100  can rotate the casing  214  and the LTH  420  of the VTHS  400  around a second vertical axis while extending the arm  430  of the LTH  420  outwardly from the vertical support structure  402  ( FIG. 101 ). At step  19512 , the system  100  can rotate the arm  430  of the LTH  420  of the VTHS  400  and the casing  214  into position over the well center ( FIG. 102 ). At essentially the same time, at step  19514 , the system  100  can extend the iron roughneck  600  into the well center area  508  around the well center and the casing  214 . At step  19516 , the system  100  can couple the casing  214  to the previous casing  214  using the grippers on the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 103 ). At step  19518 , the system  100  can torque the casing  214  using the iron roughneck  600  ( FIG. 105 ). While torqueing the casing  214 , the system  100  can lower the TDS  800  toward the well center area  508  ( FIG. 105 ) at step  19520 . Further, at step  19522 , the system  100  can open the tubular clamp on the elevator  850  of the TDS  800 . 
     Proceeding to  FIG. 196 , at step  19602 , the system  100  can move the elevator  850  around an upper end of the casing  214  ( FIG. 105 ). At step  19604 , the system  100  can open the grippers on the LTH  420  of the VTHS  400  ( FIG. 106 ). At step  19606 , the system  100  can release the casing  214  from the LTH  420  ( FIG. 106 ). At step  19608 , the system  100  can close the tubular clamp on the elevator  850  of the TDS  800  around the upper end of the casing  214  to engage the casing  214  ( FIG. 106 ). At step  19610 , the system  100  can return the iron roughneck  600  to a neutral or standby position ( FIG. 107 ). Further, at step  19612 , the system  100  can transfer casing  214  to the elevator  850  of the TDS  800  ( FIG. 107 ) and at step  1614 , the system  100  can retract the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 107 ). At step  19616 , the system  100  can lower the LTH  420  of the VTHS  400  along the first vertical axis ( FIG. 108 ). Further, at step  19618 , the system  100  can rotate an arm  430  of the LTH  420  of the VTHS  400  to a horizontal transfer position ( FIG. 108 ). At essentially the same time, at step  19620 , the system  100  can open a first gripper  482  and a second gripper  484  on the arm  430  of the LTH  420  of the VTHS  400  and at step  19622 , the system  100  can extend the casing  214  from the horizontal tubular storage area  200  to the well bore area  300  in along a third horizontal axis ( FIG. 108 ). Moreover, at step  19624 , the system  100  can move the grippers of the LTH  420  of the VTHS  400  around the casing  214  spanning the center of the casing  214  and one of the grippers on the arm  244  of the HTHS  230  ( FIG. 109 ). Thereafter, the method  19300  can move to step  19702  of  FIG. 197 . 
     At step  19702 , the system  100  can lower the TDS  800  toward to the well center area  508  ( FIG. 110 ). While lowering the TDS  800 , the system  100  can perform one or more of steps  19704  through  19710 . In particular, at step  19704 , the system  100  can close the first and second grippers  482 ,  484  on the arm  430  of the LTH  420  of the VTHS  400  around the next casing  214  ( FIG. 110 ). At step  19706 , the system  100  can verify that the LTH  420  of the VTHS  400  is engaged with the casing  214 . Further, at step  19708 , if the LTH  420  of the VTHS  400  is not engaged with the casing  214 , the method  19300  can proceed to step  19710 , and the system  100  can adjust the grippers  482 ,  484 . Thereafter, the method  19300  can return to step  19706  and continue as described herein. On the other hand, at step  19708 , if the LTH  420  of the VTHS  400  is engaged with the casing  214 , the method  19300  can proceed to step  19712  where the system  100  can open the first and second grippers  482 ,  484  on the arm  244  of the HTHS  230  ( FIG. 111 ). 
     Moving to step  19714 , the system  100  can transfer the next casing  214  from the arm  244  of the HTHS  230  to the arm  430  of the LTH  420  of the VTHS  400 . At step  19716 , the system  100  rotate the casing  214  from a horizontal position to a vertical position using the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 112 ). Further, at step  19718 , at essentially the same time, the system  100  can retract the arm  244  of the HTHS  230  ( FIG. 112 ) and at step  19720 , the system  100  can return the HTHS  230  to a neutral or standby position. At step  19722 , the system  100  can lock the casing  214  in the well center opening ( FIG. 112 ). Moreover, at step  19724 , the system  100  can open the tubular clamp on the elevator  850  ( FIG. 112 ). 
     Continuing to  FIG. 198 , at step  19802 , the system  100  can release the casing  214  ( FIG. 113 ). At step  19804 , the system  100  can raise the TDS  800  away from the well center area  508  ( FIG. 113 ). As the system  100  raises the TDS  800 , at step  19804 , the system  100  can perform one or more of steps  19806  through  19810 . Specifically, at step  19806 , the system  100  can rotate the next casing  214  and the LTH  420  of the VTHS  400  around a second vertical axis while extending the arm  430  of the LTH  420  outwardly from the vertical support structure  402  ( FIG. 114 ). At step  19808 , the system  100  can rotate the arm  430  of the LTH  420  of the VTHS  400  and the next casing  214  into position over the well center ( FIG. 114 ). At step  19810 , the system  100  can extend the iron roughneck  600  into the well center area  508  around the well center, the next casing  214 , and the previous casing  214  ( FIG. 115 ). At step  19812 , the system  100  can couple the next casing  214  to the previous casing  214  using the grippers on the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 115 ). Thereafter, at step  19814 , the system  100  can torque the casing  214  using the iron roughneck  600  ( FIG. 116 ). Further, at step  19816 , at essentially the same time as step  19814 , the system  100  can lower the TDS  800  toward the well center area  508  ( FIG. 115 ). At step  19818 , the system  100  can open the tubular clamp on the elevator  850  of the TDS  800  ( FIG. 115 ). At step  19820 , the system  100  can move the elevator  850  around an upper end of the casing  214  ( FIG. 116 ). Moreover, at step  19802 , the system  100  can open the grippers on the LTH  420  of the VTHS  400  ( FIG. 116 ). Then, the method  19300  can move to step  19902  of  FIG. 199 . 
     At step  19902 , the system  100  can release the casing  214  from the LTH  420  of the VTHS  400  ( FIG. 116 ). At step  19904 , the system  100  can close the tubular clamp on the elevator  850  of the TDS  800  around the upper end of the casing  214  to engage the casing  214  ( FIG. 116 ). Additionally, at step  19906 , the system  100  can return the iron roughneck  600  to a neutral or standby position ( FIG. 117 ). At step  19908 , the system  100  can transfer casing  214  to the elevator  850  of the TDS  800  ( FIG. 117 ). At step  19910 , the system  100  can retract the arm  430  of the LTH  420  of the VTHS  400 . It is to be understood that steps  19906  through  19910  can be performed at essentially the same time. Further, at step  19912 , they system  100  can return the arm  430  of the LTH  420  of the VTHS  400  to a neutral or standby position ( FIG. 117 ). Then, at step  19914 , the system  100  can lower the TDS  800  toward to the well center area  508  ( FIG. 118 ). Thereafter, the method  19300  can end. 
     Referring to  FIG. 200  through  FIG. 205 , another series of flowcharts are illustrated that depict still another method of conducting a subterranean operation, generally designated  20000 . Throughout the description of these flowcharts elements that appear in the  FIG. 1  through  FIG. 167  are referenced. The referenced elements are capable of performing the particular operation or function mentioned in the flowchart step. Also, there may be parenthetical notations with specific figures referenced. These parenthetical notations indicate the specific figure (in  FIG. 1  through  FIG. 167 ) in which the performance of a particular operation or function is depicted. It is to be understood that the elements and figures referenced are examples and the system  100  is not limited to only the particular element cited performing the operation or function. Moreover, any figures referenced provide examples of how the performance of a particular step may appear and are not intended to be limiting as to the only manner in which a step may be performed. Also, some steps may not appear in the figures. 
     At step  20002 , the system  100  can rotate the arm  430  of the UTH  422  of the VTHS  400  to the vertical transfer position. At step  20004 , the system  100  can rotate the arm  430  of the LTH  420  of the VTHS  400  to the vertical transfer position. At step  20006 , the system  100  can rotate the VTHS  400  toward the vertical storage rack  702 . Further, at step  20008 , the system  100  can open the first gripper  482  and second gripper  484  on the arm of the UTH  422  of the VTHS  400 . At step  20010 , the system  100  can open the first gripper and second gripper on the arm  430  of the LTH  420  of the VTHS  400 . At step  20012 , the system  100  can extend the arm of the UTH  422  of the VTHS  400  until the grippers  482 ,  484  on the arm  430  are at least partially disposed around a casing stack in the vertical storage rack  702  ( FIG. 120 ). Further, at step  20014 , the system  100  can extend the arm  430  of the LTH  420  of the VTHS  400  until the grippers  482 ,  484  on the arm  430  are at least partially disposed around a casing stack in the vertical storage rack  702  ( FIG. 120 ). At step  20016 , the system  100  can close the grippers  482 ,  484  around the casing  214 . Moving to step  20018 , the system  100  can verify that the casing stack is engaged with grippers  482 ,  484  on the arms  430  of the VTHS  400 . At step  20020 , if the casing  214  is not engaged with the grippers  482 ,  484  on the arms  430  of the VTHS  400 , the method  20000  can proceed to step  20022  and the system  100  can adjust the grippers  482 ,  484 . Then, the method  20000  may return to step  20018  and continue as described herein. Returning to step  20020 , if the casing stack is engaged with the grippers  482 ,  484  on the arms  430  of the VTHS  400 , the method  20000  can move to step  20024  and the system  100  can retrieve the casing stack from the vertical storage rack  702 . 
     Proceeding to  FIG. 201 , at step  20102 , the system  100  can rotate the casing stack and the LTH  420  and UTH  422  of the VTHS  400  around a second vertical axis while extending the arm  430  of the LTH  420  and the arm of the UTH  422  outwardly from the vertical support structure  402 . At step  20104 , the system  100  can rotate the arm  430  of the LTH  420  and the arm of the UTH  422  of the VTHS  400 , and the casing stack into position over the well center ( FIG. 124 ). At step  20106 , at essentially the same time, the system  100  can extend the iron roughneck  600  into the well center area  508  around the well center, the next casing  214  and the previous casing  214  ( FIG. 124 ). At step  20108 , the system  100  can couple the casing stack to the previous casing  214  using the grippers  482 ,  484  on the arms of the LTH  420  and UTH  422  of the VTHS  400  ( FIG. 125 ). Thereafter, at step  20110 , the system  100  can torque the casing  214  using the iron roughneck  600  ( FIG. 127 ). At step  20112 , at essentially the same time, the system  100  can lower the TDS  800  toward the well center area  508 . At step  20114 , the system  100  can open the tubular clamp on the elevator  850  of the TDS  800 . At step  20116 , the system  100  can move the elevator  850  around an upper end of the casing  214 . Further, at step  20118 , the system  100  can open the grippers on the arms of the LTH  420  and UTH  422  of the VTHS  400 . At step  20120 , the system  100  can release the casing stack. At essentially the same time, at step  20121 , the system  100  can return the iron roughneck  600  to a neutral or standby position ( FIG. 129 ). The method  20000  may then proceed to  FIG. 202 . 
     Referring now to  FIG. 202 , at step  20202 , the system  100  can close the tubular clamp on the elevator  850  of the TDS  800  around the upper end of the casing  214  to engage the casing  214 . At step  20206 , the system  100  can transfer casing  214  to the elevator  850  of the TDS  800 . Further, at step  20208 , the system  100  can retract the arms of the LTH  420  and UTH  422  of the VTHS  400  ( FIG. 128 ). 
     While performing one or more of steps  20002  through  20208  with the VTHS  400 , the iron roughneck  600 , and the TDS  800 , the system  100  may perform one or more of steps  20210  through  20314 , with the HTHS  230 . In particular, at step  20210 , the system  100  can move the HTHS  230  in a first direction along a first horizontal axis to a position over a horizontal casing  214  storage rack  212  ( FIG. 121 ). At step  20212 , the system  100  can move the transverse member  242  in the HTHS  230  along the bridge of the HTHS  230  in a second direction along a second horizontal axis perpendicular to the first horizontal axis ( FIG. 121 ). Further, at step  20214 , the system  100  can rotate the arm  244  of the HTHS  230  down and outward from the bridge of the HTHS  230  ( FIG. 121 ). At step  20216 , the system  100  can open the first gripper  280  and the second gripper  282  on the arm  244  of the HTHS  230  ( FIG. 121 ). At step  20218 , the system  100  can move the first and second grippers  280 ,  282  into position around the casing  214  so that the first gripper and the second gripper span the center of the casing  214  ( FIG. 122 ). At step  20220 , the system  100  can close the grippers around the casing  214 . 
     Moving to step  20302  of  FIG. 203 , the system  100  can verify that the casing  214  is engaged with grippers on the arm  244  of the HTHS  230 . Further, at step  20304 , if the system  100  determines that the casing  214  is not engaged with the grippers  280 ,  282  on the arm  244  of the HTHS  230 , the method  20000  can proceed to step  20306 , and the system  100  can adjust the grippers  280 ,  282 . Then, the method  20000  can return to step  20302  and continue as described. Returning to step  20304 , if the system  100  determines that the casing  214  is engaged with the grippers  280 ,  282  on the arm  244  of the HTHS  230 , the method can continue to step  20308  and the system  100  can retrieve the casing  214  from the horizontal casing  214  storage rack  212  ( FIG. 123 ). At step  20310 , the system  100  can move the HTHS  230  in a second direction along the first horizontal axis away from the horizontal BHA storage rack  208  and toward the horizontal transfer position ( FIG. 124 ). 
     At step  20312 , the system  100 , using the arm  244  of the HTHS  230 , can rotate the casing  214  approximately 180 degrees, i.e., end over end around a central axis ( FIG. 124 ). At step  20314 , the system  100  can extend the casing  214  from the horizontal tubular storage area  200  to the well bore area  300  along a third horizontal axis ( FIG. 126 ). At step  20316 , the system  100  can open a first gripper and a second gripper on the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 128 ). At step  20316 , the system  100  can lower the LTH  420  of the VTHS  400  along the first vertical axis ( FIG. 129 ). At step  20318 , the system  100  can rotate an arm  430  of the LTH  420  of the VTHS  400  to a horizontal transfer position ( FIG. 130 ). 
     Continuing to  FIG. 204 , at step  20402 , the system  100  can move the grippers  482 ,  484  of the LTH  420  of the VTHS  400  around the casing  214  spanning the center of the casing  214  and one of the grippers  280 ,  282  on the arm  244  of the HTHS  230  ( FIG. 130 ). At step  20404 , the system  100  can close the first and second grippers  482 ,  484  on the arm  430  of the LTH  420  of the VTHS  400  around the casing  214  ( FIG. 130 ). At step  20406 , the system  100  can verify that the LTH  420  of the VTHS  400  is engaged with the casing  214 . At step  20408 , if the LTH  420  of the VTHS  400  is not engaged with the casing  214 , the method  20000  can move to step  20410 , and the system  100  can adjust the grippers  482 ,  484 . Thereafter, the method  20000  may return to step  20406  and continue as described herein. Returning to step  20408 , if the LTH  420  of the VTHS  400  is engaged with the casing  214 , the method  20000  can move to step  20412 , and the system  100  can open the first and second grippers on the arm  244  of the HTHS  230  ( FIG. 131 ). At step  20414 , the system  100  can transfer the casing  214  from the arm  244  of the HTHS  230  to the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 132 ). At step  20416 , the system  100  can rotate the casing  214  from a horizontal position to a vertical position using the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 133 ). Further, at step  20418 , the system  100  can retract the arm  244  of the HTHS  230 . At step  20420 , the system  100  can return the HTHS  230  to a retrieve the next casing  214 . At step  20422 , the system  100  can lower the TDS ( FIG. 133 ). Moreover, at step  20416 , the system  100  can open the tubular clamp on the elevator  850  ( FIG. 134 ). It is to be understood that steps  20416  through  20420  can be performed at essentially the same time. After these steps are performed, the method  20000  can proceed to  FIG. 205 . 
     At step  20502 , the system  100  can release the casing  214 . At step  20504 , the system  100  can raise the TDS  800  away from the well center area  508  ( FIG. 135 ). Further, at step  20506 , the system  100  can rotate the casing  214  and the LTH  420  of the VTHS  400  around a second vertical axis while extending the arm  430  of the LTH  420  outwardly from the vertical support structure  402  ( FIG. 136 ). At step  20508 , the system  100  can rotate the arm  430  of the LTH  420  of the VTHS  400  and the casing  214  into position over the well center ( FIG. 136 ). Thereafter, at step  20510 , at essentially the same time as step  20508  is performed, the system  100  can extend the iron roughneck  600  into the well center area  508  around the well center and the casing  214  ( FIG. 137 ). At step  20512 , the system  100  can couple the casing  214  to the previous casing  214  using the grippers on the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 138 ). At step  20514 , the system  100  can engage the TDS  800  with the casing  214  ( FIG. 138 ). Further, at step  20516 , the system  100  can torque the casing  214  using the iron roughneck  600  ( FIG. 139 ). Then, at step  20518 , at essentially the same time, the system  100  can retract the LTH of the VTHS from the casing ( FIG. 140 ). At step  20520 , the system  100  can lower the TDS  800  toward the well center area  508  ( FIG. 141 ). At step  20521 , at essentially the same time as the system  100  lowers the TDS  800 , the system  100  can return the iron roughneck  600  to a neutral or standby position. Thereafter, the method  20000  may end. 
     Referring now to  FIG. 206  through  FIG. 212 , another series of flowcharts are illustrated that depict yet another method of conducting a subterranean operation, designated  20600 . Throughout the description of these flowcharts elements that appear in  FIG. 1  through  FIG. 167  are referenced. The elements referenced are capable of performing the particular operation or function mentioned in the flowchart step. Further, there may be parenthetical notations with specific figures referenced. These parenthetical notations indicate the specific figure (in  FIG. 1  through  FIG. 167 ) in which the performance of a particular operation or function is depicted. 
     Beginning at step  20601  of  FIG. 206 , the system  100  can engage the TDS  800  with a drill pipe. At step  20602 , the system  100  can lower the TDS toward the well bore area  506 . While the system  100  lowers the TDS  800 , the system  100  can perform steps  20603  through  21220  with the HTHS  230  and the VTHS  400 . Specifically, at step  20603 , the system  100  can move the HTHS  230  in a first direction along a first horizontal axis to a position over a horizontal casing  214  rack ( FIG. 142 ). At step  20604 , the system  100  can move the transverse member  242  in the HTHS  230  along the bridge of the HTHS  230  in a second direction along a second horizontal axis perpendicular to the first horizontal axis ( FIG. 143 ). At step  20606 , the system  100  can rotate the arm  244  of the HTHS  230  down and outward from the bridge of the HTHS  230  ( FIG. 143 ). Further, at step  20608 , the system  100  can open the first gripper and the second gripper on the arm  244  of the HTHS  230  ( FIG. 143 ). At step  20610 , the system  100  can move the first and second grippers into position around the casing  214  so that the grippers span a center of the casing  214  ( FIG. 144 ). At step  20612 , the system  100  can close the grippers around the casing  214  ( FIG. 144 ). At step  20614 , the system  100  can verify that the casing  214  is engaged with the grippers  280 ,  282  on the arm  244  of the HTHS  230 . At step  20616 , if the casing  214  is not engaged with the grippers  280 ,  282  on the arm  244  of the HTHS  230 , the method  20600  can move to step  20618 , and the system  100  can adjust the grippers  280 ,  282 . Then, the method  20600  can return to step  20614  and continue as described. Conversely, at step  20616 , if the casing  214  is engaged with the grippers  280 ,  282  on the arm  244  of the HTHS  230 , the method  20600  can move to step  20620  and the system  100  can retrieve the casing  214  from the horizontal casing  214  storage rack ( FIG. 145 ). Further, at step  20622 , the system  100  can move the HTHS  230  in a second direction along the first horizontal axis away from the horizontal casing  214  storage rack  212  ( FIG. 146 ). The method  20600  can then proceed to  FIG. 207 . 
     At step  20702 , the system  100 , using the arm  244  of the HTHS  230 , can rotate the casing  214  approximately 180 degrees ( FIG. 146 ). At step  20704 , the system  100  can extend the casing  214  from the tubular storage area  200  to the well bore area  300  in along a third horizontal axis ( FIG. 147 ). At step  20706 , the system  100  can lower the LTH  420  of the VTHS  400  along the first vertical axis ( FIG. 147 ). Further, at step  20708 , the system  100  can rotate the arm  430  of the LTH  420  of the VTHS  400  to a horizontal transfer position ( FIG. 147 ). At step  20710 , the system  100  can open the first gripper  482  and the second gripper  484  on the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 147 ). Moreover, at step  20712 , the system  100  can move the grippers  482 ,  484  around the casing  214  spanning one of the grippers  280 ,  282  on the arm  244  of the HTHS  230  ( FIG. 148 ). At step  20714 , the system  100  can close the first and second grippers  482 ,  484  on the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 148 ). 
     Moving to step  20716 , the system  100  can verify that the LTH  420  of the VTHS  400  is engaged with the casing  214 . Further, at step  20718 , if the system  100  determines that the LTH  420  of the VTHS  400  is not engaged with the casing  214 , the method  20600  can move to step  20720 , and the system  100  can adjust the grippers  482 ,  480 . Thereafter, the method  20600  can return to step  20716  and continue as described. Returning to step  20718 , if the system  100  determines that the LTH  420  of the VTHS  400  is engaged with the casing  214 , the method  20600  can move to step  20722  and the system  100  can open the first and second grippers  280 ,  282  on the arm  244  of the HTHS  230  ( FIG. 149 ). Further, at step  20724 , the system  100  can transfer the casing  214  from the arm  244  of the HTHS  230  to the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 150 ). 
     At step  20802  of  FIG. 208 , the system  100  can rotate the casing  214  from a horizontal position to a vertical position using the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 151 ). At step  20804 , the system  100  can retract the arm  244  of the HTHS  230 . At step  20806 , the system  100  can return the HTHS  230  to retrieve the next casing  214  from the horizontal casing  214  storage rack. Further, at step  20808 , the system  100  can rotate the arm  430  on the UTH  422  of the VTHS  400  to a vertical transfer position ( FIG. 151 ). At step  20810 , the system  100  can vertically align the arm  430  of the UTH  422  with the arm  430  of the LTH  420 . At step  20812 , the system  100  can open the first gripper  482  and the second gripper  484  on the arm  430  of the UTH  422  of the VTHS  400 . At step  20814 , the system  100  can lower the UTH  422  of the VTHS  400 . Moreover, at step  20816 , the system  100  can extend the arm  430  of the UTH  422  until the grippers  482 ,  484  are around the casing  214  above the grippers  482 ,  484  on the arm  430  of the LTH  420 . ( FIG. 152 ). At step  20818 , the system  100  can close the grippers  482 ,  484  on the arm  430  of the UTH  422  around the casing  214 . At step  20820 , the system  100  can verify that the UTH  422  of the VTHS  400  is engaged with the casing  214 . Further, at step  20822 , if the system  100  determines that the UTH  422  of the VTHS  400  is not engaged with the casing  214 , the method  20600  can move to step  20824 , and the system  100  can adjust the grippers  482 ,  484  of the UTH  422 . Then, the method  20600  can return to step  20820  and continue as described. On the other hand, at step  20822 , if the UTH  422  of the VTHS  400  is engaged with the casing  214 , the method  20600  can continue to step  20902  of  FIG. 209 . 
     At step  20902 , the system  100  can transfer the casing  214  from the arm  430  of the LTH  420  of the VTHS  400  to the arm of the UTH  422  of the VTHS  400  ( FIG. 153 ). Further, at step  20904 , the system  100  can release the grippers  482 ,  484  on the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 153 ), and at step  20906 , the system  100  can lower the LTH  420  of the VTHS  400  along the casing  214  ( FIG. 153 ). At step  20908 , the system  100  can close the grippers on the arm  430  of the LTH  420  around the casing  214 . Moreover, at step  20910 , the system  100  can verify that the LTH  420  of the VTHS  400  is engaged with the casing  214 . If the system  100  determines that the LTH  420  of the VTHS  400  is not engaged with the casing  214  at step  20912 , the method  20600  can move to step  20914 , and the system  100  can adjust the grippers  482 ,  484  on the LTH  420 . Then, the method  20600  can return to step  20910  and continue as described herein. Returning to step  20912 , if the LTH  420  of the VTHS  400  is engaged with the casing  214 , the method  20600  can move to step  20916  and the system  100  can release the grippers on the arm of the UTH  422  of the VTHS  400  ( FIG. 154 ). At step  20918 , the system  100  can raise the LTH  420  and the casing  214  along the vertical axis toward the UTH  422  ( FIG. 154 ). Further, at step  20920 , the system  100  can close the grippers on the arm of the UTH  422  around the casing  214 . 
     Moving to step  20922 , the system  100  can verify that the UTH  422  of the VTHS  400  is engaged with the casing  214 . If the system  100  determines that the UTH  422  of the VTHS  400  is not engaged with the casing  214  at step  20924 , the method  20600  can move to step  20926 , and the system  100  can adjust the grippers  482 ,  484  on the UTH  422 . Then, the method  20600  can return to step  20924  and continue as described herein. Returning to step  20924 , if the UTH  422  of the VTHS  400  is engaged with the casing  214 , the method  20600  can move to step  20102  of  FIG. 210 . 
     At step  20102 , the system  100  can raise the UTH  422  and the casing  214  along the vertical support of the VTHS  400  ( FIG. 155 ). At step  20104 , the system  100 , using the HTHS  230 , can extend the next casing  214  from the tubular storage area  200  to the well bore area  300  along the third horizontal axis ( FIG. 155 ). Further, at step  20106 , the system  100  can lower the LTH  420  of the VTHS  400  along the first vertical axis ( FIG. 155 ). At step  20108 , the system  100  can rotate the arm  430  of the LTH  420  of the VTHS  400  to the horizontal transfer position. Moreover, at step  20110 , the system  100  can open the first gripper and the second gripper on the arm  430  of the LTH  420  of the VTHS  400 . At step  20112 , the system  100  can move the grippers  482 ,  484  of the LTH  420  around the casing  214  spanning one of the grippers  280 ,  282  on the arm  244  of the HTHS  230  ( FIG. 156 ). At step  20114 , the system  100  can close the first and second grippers on the arm  430  of the LTH  420  of the VTHS  400  around the next casing  214  ( FIG. 156 ). 
     Moving to step  21016 , the system  100  can verify that the LTH  420  of the VTHS  400  is engaged with the casing  214 . At step  21018 , if the LTH  420  is not engaged with the casing  214 , the method  20600  can move to step  21020 , and the system  100  can adjust the grippers  482 ,  284 . Thereafter, the method  20600  can return to step  21016  and continue as described. On the other hand, at step  21018 , if the LTH  420  is engaged with the casing  214 , the method  20600  can proceed to step  21022  and the system  100  can open the first  280  and second grippers  282  on the arm  244  of the HTHS  230  ( FIG. 157 ). Thereafter, at step  21024 , the system  100  can transfer the casing  214  from the arm  244  of the HTHS  230  to the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 158 ). The method  20600  can then move to  FIG. 211 . 
     At step  21102  of  FIG. 211 , the system  100  can rotate the casing  214  from a horizontal position to a vertical position using the arm  430  of the LTH  420  of the VTHS  400  ( FIG. 159 ). Moreover, at step  21104 , the system  100  can retract the arm  244  of the HTHS  230  ( FIG. 159 ). At step  21106 , the system  100  can return the HTHS  230  to a neutral or stand-by position. Moving to step  21108 , the system  100  can rotate the arm on the UTH  422  of the VTHS  400  so that the lower end of the previous casing  214  is aligned with a tool mounted on the vertical support member of the VTHS  400  ( FIG. 159 ). Further, at step  21110 , the system  100  can rotate the arm on the LTH  420  of the VTHS  400  so that the upper end of the next casing  214  is aligned with the tool mounted on the vertical support member of the VTHS  400  ( FIG. 160 ). At step  21112 , the system  100  can lower the UTH  422  on the VTHS  400  until the lower end of the previous casing  214  is within the tool mounted on the vertical support member of the VTHS  400  ( FIG. 161 ). At step  21114 , the system  100  can raise the LTH  420  on the VTHS  400  until the upper end of the next casing  214  is within the tool mounted on the vertical support member of the VTHS  400  ( FIG. 161 ). Thereafter, at step  21116 , the system  100 , using the grippers  482 ,  484  on the arm  430  of the UTH  422  and the grippers  482 ,  484  on the arm  430  of the LTH  420 , can couple the previous casing  214  to the next casing  214  within the tool mounted on the vertical support member of the VTHS  400  ( FIG. 162 ). Further, at step  21118 , the system  100 , using the tool mounted on the vertical support member of the VTHS  400 , can torque the previous casing  214  and the next casing  214  together to a predetermined torque value to form a casing stack ( FIG. 163 ). 
     Continuing to  FIG. 212 , at step  21202 , the system  100  can extend the arms of the LTH  420  and the UTH  422  of the VTHS  400  away from the vertical support member of the VTHS  400  and move the casing stack out of and away from the tool mounted on the VTHS  400  ( FIG. 164 ). At step  21204 , the system  100  can rotate the VTHS  400  toward the vertical storage rack ( FIG. 164 ). Further, at step  21206 , the system  100  can extend the arms of the LTH  420  and UTH  422  of the VTHS  400  away from the vertical support member of the VTHS  400  and move the casing stack into the vertical storage rack ( FIG. 165 ). Then, at step  21208 , the system  100  can lower the casing stack into the vertical storage rack  702  ( FIG. 166 ). Moving to step  21110 , the system  100  can verify that the casing stack is engaged with the vertical storage rack. Thereafter, if the system  100  determines that the casing stack is not engaged with the vertical storage rack at step  21112 , the method  20600  can proceed to step  21114  and the system  100  can adjust the casing stack within the vertical storage rack. Then, the method  20600  can return to step  21110  and continue as described herein. Returning to step  21112 , if the casing stack is engaged with the vertical storage rack, the method  20600  can proceed to step  21116 . At step  21116 , the system  100  can open the grippers on the arms of the LTH  420  and UTH  422  of the VTHS  400  ( FIG. 167 ). Further, at step  21118 , the system  100  can retract the arms of the LTH  420  and UTH  422  of the VTHS  400  ( FIG. 167 ). Finally, at step  21120 , the system  100  can return the LTH  420  and the UTH  422  of the VTHS  400  to a neutral or standby position. Then, the method  20600  may end. 
     While the methods above outline a prescribed series of steps for handling tubulars, it can be appreciated that the steps may be performed in reverse order (e.g., for retrieving pipes and casings from the well and transferring them to the horizontal storage areas.) Further, steps may be omitted or performed in different orders as prescribed. Moreover, in certain instances the HTHS  230  may position pipes or casings directly to the well center and spin them into the previous drill pipe or casing. In other instances, the HTHS  230  can spin tubulars (e.g., drill pipes, casings, subs, BHA components, etc.) directly out of well center and return those tubulars to the appropriate horizontal storage rack or vertical storage rack in the tubular storage area. Further, the HTHS  230  can hand tubulars directly to the UTH  422  of the VTHS  400  or receive tubulars directly from the UTH  422 . 
     It is to be understood that the system  100  described herein can relatively quickly move drill pipes, casings, subs, BHA components, and other tubulars via the various subsystems, e.g., the HTHS  230 , the VTHS  400 , the track mounted robotic arm  500 , the iron roughneck  600 , and the TDS  800 . For example, the VTHS  400  can retrieve a pipe, pipe stack, casing, or casing stack, from one of the vertical storage racks and place it over well center in an amount of time that is less than or equal to sixty (60) seconds. In another aspect, the VTHS  400  can perform this operation in an amount of time that is less than or equal to fifty-five (55) seconds, less than or equal to fifty (50) seconds, less than or equal to forty-five (45) seconds, less than or equal to forty (40) seconds, less than or equal to thirty-five (35) seconds, less than or equal to thirty (30) seconds, or less than or equal to twenty-five (25) seconds. In another aspect, the VTHS  400  can perform this task in an amount of time that is greater than or equal to ten (10) seconds, such as greater than or equal to fifteen (15) seconds, or greater than or equal to twenty (20) seconds. It is to be understood that the VTHS  400  can perform this task in an amount of time that is with a range between, and including, any of the maximum and minimum times described herein. 
     In another aspect, the VTHS  400  can stab and spin a tubular (e.g., a pipe, pipe stack, casing, casing stack, sub, or BHA component) to a previous tubular (stick-up) in a time that is less than or equal to forty-five (45) seconds. In another aspect, the VTHS  400  can perform this operation in an amount of time that is less than or equal to forty (40) seconds, such as less than or equal to thirty-five (35) seconds, less than or equal to thirty (30) seconds, less than or equal to twenty-five (25) seconds, less than or equal to twenty (20) seconds, or less than or equal to fifteen (15) seconds. In another aspect, the VTHS  400  can perform this task in an amount of time that is greater than or equal to five (5) seconds, such as greater than or equal to seven (7) seconds, greater than or equal to ten (10) seconds, or greater than or equal to twelve (12) seconds. It is to be understood that the VTHS  400  can perform this task in an amount of time that is with a range between, and including, any of the maximum and minimum times described herein. 
     In still another aspect, the VTHS  400  can retrieve a pipe, pipe stand, casing, or casing stand from the vertical storage rack and stab and spin the pipe, pipe stand, casing, or casing stand to a previous pipe, pipe stand, casing, or casing stand (stick-up) in a time that is less than or equal to ninety (90) seconds. In another aspect, the VTHS  400  can perform this operation in an amount of time that is less than or equal to eighty (80) seconds, such as less than or equal to seventy (70) seconds, less than or equal to sixty (60) seconds, less than or equal to fifty (50) seconds, or less than or equal to forty (40) seconds. In another aspect, the VTHS  400  can perform this task in an amount of time that is greater than or equal to twenty (20) seconds, such as greater than or equal to twenty-five (25) seconds, greater than or equal to thirty (30) seconds, or greater than or equal to thirty-five (35) seconds. It is to be understood that the VTHS  400  can perform this task in an amount of time that is with a range between, and including, any of the maximum and minimum times described herein. 
     In yet another aspect, the VTHS  400  can build a stand of drill pipes, or casings, in a time that is less than or equal to one-hundred and twenty (120) seconds. In another aspect, the VTHS  400  can perform this operation in an amount of time that is less than or equal to one-hundred and ten (110) seconds, such as less than or equal to one-hundred (100) seconds, less than or equal to ninety (90) seconds, or less than or equal to eighty (80) seconds. In another aspect, the VTHS  400  can perform this task in an amount of time that is greater than or equal to forty (40) seconds, such as greater than or equal to forty-five (45) seconds, greater than or equal to fifty (50) seconds, greater than or equal to fifty-five (55) seconds, greater than or equal to sixty (60) seconds, greater than or equal to sixty-five (65) seconds, greater than or equal to seventy (70) seconds, or greater than or equal to seventy-five (75) seconds. It is to be understood that the VTHS  400  can perform this task in an amount of time that is with a range between, and including, any of the maximum and minimum times described herein. 
     In another aspect, the VTHS  400  can build a stand of drill pipes, or casings, and place it in the vertical storage rack in a time that is less than or equal to one-hundred and eighty (180) seconds. In another aspect, the VTHS  400  can perform this operation in an amount of time that is less than or equal to one-hundred and seventy (170) seconds, such as less than or equal to one-hundred and sixty (160) seconds, less than or equal to one-hundred and fifty (150) seconds, less than or equal to one-hundred and forty (140) seconds, less than or equal to one-hundred and thirty (130) seconds, less than or equal to one-hundred and twenty (120) seconds, or less than or equal to one-hundred and ten (110) seconds. In another aspect, the VTHS  400  can perform this task in an amount of time that is greater than or equal to seventy-five (75) seconds, such as greater than or equal to eighty (80) seconds, greater than or equal to eighty-five (85) seconds, greater than or equal to ninety (90) seconds, greater than or equal to ninety-five (55) seconds, greater than or equal to one-hundred (100) seconds, or greater than or equal to one-hundred and five (105). It is to be understood that the VTHS  400  can perform this task in an amount of time that is with a range between, and including, any of the maximum and minimum times described herein. 
     In yet still another aspect, the HTHS  230  can retrieve a pipe, pipe stand, casing, or casing stand from a horizontal storage rack and transfer that pipe, pipe stand, casing, or casing stand to the VTHS  400  in a time that is less than or equal to one-hundred (100) seconds. In another aspect, the VTHS  400  can perform this operation in an amount of time that is less than or equal to ninety (90) seconds, such as less than or equal to eighty (80) seconds, as less than or equal to seventy (70) seconds, less than or equal to sixty (60) seconds. In another aspect, the VTHS  400  can perform this task in an amount of time that is greater than or equal to twenty (20) seconds, such as greater than or equal to twenty-five (25) seconds, greater than or equal to thirty (30) seconds, greater than or equal to thirty-five (35) seconds, greater than or equal to forty (40) seconds, greater than or equal to forty-five (45) seconds, greater than or equal to fifty (50) seconds, or greater than or equal to fifty-five (55) seconds. It is to be understood that the VTHS  400  can perform this task in an amount of time that is with a range between, and including, any of the maximum and minimum times described herein. 
     In another aspect, the HTHS  230  can retrieve a pipe, pipe stand, casing, or casing stand from a horizontal storage rack and transfer that pipe, pipe stand, casing, or casing stand to a previous pipe, pipe stand, casing, or casing stand in the well center (stick-up) and spin it into the stick-up in a time that is less than or equal to one-hundred (100) seconds. In another aspect, the VTHS  400  can perform this operation in an amount of time that is less than or equal to ninety (90) seconds, such as less than or equal to eighty (80) seconds, as less than or equal to seventy (70) seconds, less than or equal to sixty (60) seconds. In another aspect, the VTHS  400  can perform this task in an amount of time that is greater than or equal to twenty (20) seconds, such as greater than or equal to twenty-five (25) seconds, greater than or equal to thirty (30) seconds, greater than or equal to thirty-five (35) seconds, greater than or equal to forty (40) seconds, greater than or equal to forty-five (45) seconds, greater than or equal to fifty (50) seconds, or greater than or equal to fifty-five (55) seconds. It is to be understood that the VTHS  400  can perform this task in an amount of time that is with a range between, and including, any of the maximum and minimum times described herein. 
     Drill Pipe Storage System 
     Referring now to  FIG. 213  through  FIG. 216 , a drill pipe storage system is shown and is generally designated  21300 .  FIG. 213  is a top view of the drill pipe storage system  21300 . As shown, the drill pipe storage system  21300  can include a generally rectangular housing  21302  having a central opening  21304 . It can be appreciated that central opening  21304  can be sized and shaped to receive a tubular handling system therein, e.g., the VTHS  400  described herein. 
     As shown in  FIG. 213 , the drill pipe storage system  21300  can include a plurality of pipe support arms  21306  that can extend in a generally inward direction from an inner wall  21308  of the housing  21302  toward a center  21310  of the central opening  21304 . A plurality of pipe storage bays  21312  can be established between adjacent pipe support arms  21306 . 
       FIG. 214  is a detailed view of the drill pipe storage system  21300  taken at circle  214  in  FIG. 213 . As illustrated in  FIG. 214 , each pipe support arm  21306  can include a first surface  21314  and a second surface  21316 . A first corrugated structure  21318  can be affixed to the first surface  21314  of each pipe support arm  21306 . Moreover, a second corrugated structure  21320  can be affixed to the second surface  21316  of each pipe support arm  21306 . Each corrugated structure  21318 ,  21320  can be alternatingly formed with a series of protrusions  21322  and channels  21324 . The protrusions  21322  can extend along the entire height of the drill pipe storage system  21300  (i.e., into the page) and the protrusions  21322  and the channels  21324  therebetween can be vertical and substantially parallel to each other and a longitudinal axis of the drill pipe storage system  21300 . Further, the protrusions  21322  can extend away from the surfaces  21314 ,  21316  of each pipe support arm  21306  and into a respective pipe storage bay  21312 . 
     As illustrated in  FIG. 213  and  FIG. 214 , each pipe support arm  21306  of the drill pipe storage system  2130  can include a series of latches  21326  that can extend into a respective pipe storage bay  21312  from an area overlapping with the channels  21324  formed in the corrugated structures  21318 ,  21320 . In a particular aspect, each latch  21326  can be moved between an extended position and a retracted position. Further, each latch  21326  can move in unison between the extended position and the retraction position. Specifically, as shown in  FIG. 215  and  FIG. 216 , the latches  21326  can be connected to, or otherwise coupled to, an actuator link  21328 , and the actuator link  21328  can move linearly as indicated by arrow  21330 . The actuator link  21328  can be connected to an actuator (not shown). The actuator can be a mechanical actuator, an electrical actuator, or a combination thereof. When the actuator link  21328  moves in a first direction, each latch  21326  can rotate about a pivot  21332  into the extended position, as illustrated in  FIG. 215 . The actuator link  21328  moves in a second direction, opposite the first, each latch  21326  can move into the retracted position, as illustrated in  FIG. 216 . In one aspect, the latches  21326  can move in unison. In another aspect, the latches  21326  can move independently from each other. Further, the latches  21326  can be spring actuated. 
     Referring back to  FIG. 213  and  FIG. 214 , when the latches  21326  are in the retracted position, the pipe storage bay  21312  can receive a first size of drill pipes  21334 , and each of the first size of drill pipes  21334  can be stored in a series of first storage openings  21336  that are established between opposite channels  21324  formed on adjacent pipe support arms  21306  flanking a particular pipe storage bay  21312 . The opposing protrusions  21322  flanking each channel  21324  can be separated by a first distance, D 1 , that is smaller than the diameter of each of the first size of drill pipes  21334  and each of the first size of drill pipes  21334  remain in its respective first storage opening  21336 . 
     When the latches  21326  are in the extended position, the pipe storage bay  21312  can receive a second size of drill pipes  21338 , and each of the second size of drill pipes  21338  can be stored in a series of second storage openings  21340  that are established between opposite protrusions  21322  formed on adjacent pipe support arms  21306  flanking a particular pipe storage bay  21312 . The first distance, D 1 , separating the opposing protrusions  21322  can be larger than the diameter of each of the second size of drill pipes  21338  and each of the second storage openings  21340  can be flanked by a pair of latches  21326  that maintain each of the second size of drill pipes  21338  in its respective second storage opening  21340 . Accordingly, the pipe storage system  23100  can receive and store pipes of varying sizes depending on whether the latches  212326  are extended or retracted. 
     Many different aspects and embodiments are possible. Some of those aspects and embodiments are described herein. After reading this specification, skilled artisans will appreciate that those aspects and embodiments are only illustrative and do not limit the scope of the present invention. Embodiments may be in accordance with any one or more of the items as listed below. 
     EMBODIMENTS 
     Embodiment 1. A system for conducting subterranean operations comprising: a support structure; a first tubular handler coupled to the support structure; a second tubular handler coupled to the support structure and distinct from the first tubular handler; and a tool system coupled to the support structure and adapted to perform an operation on a first tubular. 
     Embodiment 2. A system for conducting subterranean operations comprising: a support structure rotatable about a first rotational axis; and a first tubular handler coupled to the support structure, the first tubular handler being moveable along a vertical axis of the support structure, wherein the first tubular handler comprises at least three different pivot points. 
     Embodiment 3. A system for conducting subterranean operations comprising: a support structure; a first tubular handler coupled to the support structure; and a second tubular handler coupled to the support structure and distinct from the first tubular handler, wherein the first tubular handler is vertically adjustable with respect to the support structure, and wherein the first tubular handler is adapted to reorient a first tubular between a generally horizontal orientation and a generally vertical orientation. 
     Embodiment 4. The system of any one of embodiments 2 and 3, further comprising a tool system coupled to the support structure and adapted to perform an operation on the first tubular. 
     Embodiment 5. The system of any one of embodiments 1 and 4, wherein the tool system comprises at least one of a torque wrench, a robotic arm, an electric motor, a pipe rack system, or any combination thereof. 
     Embodiment 6. The system of any one of embodiments 1 and 5, wherein the first torque wrench is statically coupled with the support structure. 
     Embodiment 7. The system of any one of embodiments 1, 5, and 6, wherein the pipe handler further comprises a second torque wrench coupled to the support structure. 
     Embodiment 8. The system of embodiment 7, wherein the first tubular handler is disposed circumferentially between the first and second torque wrenches. 
     Embodiment 9. The system of any one of embodiments 7 and 8, wherein the first torque wrench is disposed at a first location along the support structure and the second torque wrench is disposed at a second location along the support structure, and wherein the first and second locations are disposed at a same vertical elevation. 
     Embodiment 10. The system of any one of embodiments 7 and 8, wherein the first torque wrench is disposed at a first location along the support structure and the second torque wrench is disposed at a second location along the support structure, and wherein the first and second locations are disposed at different vertical elevations. 
     Embodiment 11. The system of any one of embodiments 7-10, wherein the first torque wrench is adapted to receive the first tubular of a first diameter and the second torque wrench is adapted to receive a second tubular of a second diameter, and wherein the first diameter is different than the second diameter. 
     Embodiment 12. The system of any one of embodiments 1, 2, and 4-11, further comprising a second tubular handler. 
     Embodiment 13. The system of any one of embodiments 3 and 12, wherein the second tubular handler is disposed at a vertical elevation above the first tubular handler. 
     Embodiment 14. The system of any one of embodiments 3, 12, and 13, wherein the second tubular handler is adapted to move independent of the first tubular handler. 
     Embodiment 15. The system of any one of embodiments 3 and 12-14, wherein at least one of the first and second tubular handlers is adapted to rotate about the support structure. 
     Embodiment 16. The system of any one of embodiments 1 and 3-15, wherein the support structure is rotatable about a rotational axis. 
     Embodiment 17. The system of any one of embodiments 3 and 12-16, wherein the second tubular handler comprises at least three different pivot points. 
     Embodiment 18. The system of any one of the preceding embodiments, wherein the first tubular handler comprises: a first portion coupled to the support structure; a second portion coupled to the first portion; a third portion coupled to the second portion; a fourth portion coupled to the third portion; and a gripper coupled with the fourth portion, wherein the gripper is adapted to engage with the first tubular. 
     Embodiment 19. The system of embodiment 18, wherein the gripper is pivotally coupled to the fourth portion. 
     Embodiment 20. The system of embodiment 18, wherein the first portion is rotatably coupled to the second portion. 
     Embodiment 21. The system of embodiment 20, wherein the second portion of the first tubular handler rotates about a second rotational axis. 
     Embodiment 22. The system of embodiment 21, wherein the second rotational axis is generally parallel with a length of the support structure, or wherein the second rotational axis is generally vertical, or a combination thereof. 
     Embodiment 23. The system of any one of embodiments 21 and 22, wherein the second portion of the first tubular handler is rotatable by at least 10°, at least 25°, at least 45°, at least 60°, at least 90°, at least 120°, at least 150°, or at least 180° about the first rotational axis. 
     Embodiment 24. The system of embodiment 20, wherein the third portion is rotatably coupled to the second portion of the first tubular handler about a third rotational axis. 
     Embodiment 25. The system of embodiment 24, wherein the third rotational axis is generally perpendicular to the second rotational axis. 
     Embodiment 26. The system of any one of embodiments 24 and 25, wherein the third portion of the first tubular handler is rotatable by at least 10°, at least 25°, at least 45°, at least 60°, at least 90°, at least 120°, at least 150°, or at least 180° about the second rotational axis. 
     Embodiment 27. The system of any one of embodiments 18-26, wherein the gripper is rotatably coupled to the fourth portion of the first tubular handler about a fourth rotational axis. 
     Embodiment 28. The system of embodiment 27, wherein the fourth rotational axis is generally perpendicular to the first rotational axis. 
     Embodiment 29. The system of any one of embodiments 27 and 28, wherein the first rotational axis and the second rotational axis are generally parallel. 
     Embodiment 30. The system of any one of embodiments 27-29, wherein the gripper is rotatable by at least 10°, at least 25°, at least 45°, at least 60°, at least 90°, at least 120°, at least 150°, or at least 180° about the fourth rotational axis. 
     Embodiment 31. The system of any one of embodiments 18-30, wherein the first portion is disposed at a vertical elevation above the second portion. 
     Embodiment 32. The system of any one of embodiments 18-31, wherein the first portion is adapted to translate along a length of the support structure. 
     Embodiment 33. The system of any one of embodiments 18-32, wherein the gripper comprises a first gripper and a second gripper spaced apart from one another. 
     Embodiment 34. The system of embodiment 33, wherein at least one of the first and second grippers comprises a powered drive element adapted to urge the first tubular in at least one of a radial direction and a longitudinal direction. 
     Embodiment 35. The system of embodiment 34, wherein the powered drive element comprises at least one powered roller. 
     Embodiment 36. A method of handling tubulars comprising: engaging a first tubular disposed in a generally horizontal orientation with a first tubular handler, the first tubular handler being vertically adjustable with respect to a support structure; reorienting the first tubular to a generally vertical orientation; and engaging the first tubular with a second tubular handler coupled to the support structure. 
     Embodiment 37. The method of embodiment 36, further comprising: releasing the first tubular from the first tubular handler; engaging the first tubular handler with a second tubular disposed in a generally horizontal orientation; reorienting the second tubular to a generally vertical orientation; and axially aligning the first and second tubulars with respect to one another. 
     Embodiment 38. The method of embodiment 37, further comprising: threadably engaging the first and second tubulars together to form a stand of tubulars. 
     Embodiment 39. The method of embodiment 38, wherein threadably engaging the first and second tubulars is performed with the first tubular engaged with the second tubular handler and the second tubular engaged with the first tubular handler. 
     Embodiment 40. The method of embodiment 38, wherein at least one of the first and second tubular handlers comprises a motorized roller adapted to bias the first or second tubular in at least one of a radial direction and a longitudinal direction. 
     Embodiment 41. The method of embodiment 38, further comprising: moving the stand of tubulars to a first torque wrench coupled to the support structure; and engaging the first torque wrench to secure the first and second tubulars together. 
     Embodiment 42. The method of embodiment 41, wherein moving the stand of tubulars to the first torque wrench is performed such that a threaded interface of the stand of tubulars is at a same vertical elevation as the first torque wrench. 
     Embodiment 43. The method of embodiment 37, wherein reorienting the first tubular to the generally vertical orientation is performed by rotating the first tubular no greater than 120°, or no greater than 110°, or no greater than 100°, or no greater than 90°. 
     Embodiment 44. The method of embodiment 37, wherein engaging the first tubular with the first tubular handler is performed when a first longitudinal half of the first tubular is closer to the support structure than a second longitudinal half of the first tubular, and wherein reorienting the first tubular is performed such that the first longitudinal half of the first tubular is disposed at a vertical elevation above the second longitudinal half of the first tubular. 
     Embodiment 45. The method of embodiment 36, wherein the first tubular handler comprises a gripper comprising at least two spaced apart gripping elements, and wherein engaging the first tubular with the first tubular handler is performed with only one of the at least two gripping elements. 
     Embodiment 46. The method of embodiment 36, wherein reorienting the first tubular to the generally vertical orientation comprises pivoting portions of the first tubular handler along three or more rotational pivot axis. 
     Embodiment 47. The method of embodiment 36, wherein reorienting the first tubular to the generally vertical orientation is performed while moving the first tubular handler vertically along the support structure. 
     Embodiment 48. The method of embodiment 36, wherein reorienting the first tubular to the generally vertical orientation is performed while moving the first tubular handler upward along the support structure. 
     Embodiment 49. The method of embodiment 36, further comprising repositioning the second tubular handler relative to the support structure prior to engaging the first tubular with the second tubular handler. 
     Embodiment 50. The method of embodiment 36, wherein engaging the first tubular with the second tubular handler is performed when the first tubular is in a generally vertical orientation. 
     Embodiment 51. The system of any one of embodiments 1-3 or method of embodiment 36, wherein the first tubular handler is adapted to engage with tubulars having lengths in a range between and including 36 inches and 480 inches. 
     Embodiment 52. The system of any one of embodiments 1-3 or method of embodiment 36, wherein the first tubular handler is adapted to engage with tubulars having a diameter in a range between and including 5 inches and 80 inches. 
     Embodiment 53. The system of any one of embodiments 1-3 or method of embodiment 36, wherein the first tubular handler is adapted to engage with tubular segments, casing, subs, or any combination thereof. 
     The specification and illustrations of the embodiments described herein are intended to provide a general understanding of the structure of the various embodiments. The specification and illustrations are not intended to serve as an exhaustive and comprehensive description of all of the elements and features of apparatus and systems that use the structures or methods described herein. Separate embodiments may also be provided in combination in a single embodiment, and conversely, various features that are, for brevity, described in the context of a single embodiment, may also be provided separately or in any subcombination. Further, reference to values stated in ranges includes each and every value within that range. Many other embodiments may be apparent to skilled artisans only after reading this specification. Other embodiments may be used and derived from the disclosure, such that a structural substitution, logical substitution, or another change may be made without departing from the scope of the disclosure. Accordingly, the disclosure is to be regarded as illustrative rather than restrictive. Benefits, other advantages, and solutions to problems have been described above with regard to specific embodiments. However, the benefits, advantages, solutions to problems and any feature(s) that may cause any benefit, advantage, or solution to occur or become more pronounced are not to be construed as a critical, required, or essential feature of any or all the claims. 
     The description in combination with the figures is provided to assist in understanding the teachings disclosed herein. The following discussion will focus on specific implementations and embodiments of the teachings. This focus is provided to assist in describing the teachings and should not be interpreted as a limitation on the scope or applicability of the teachings. However, other teachings can certainly be used in this application. 
     As used herein, the terms “comprises,” “comprising,” “includes,” “including,” “has,” “having” or any other variation thereof, are intended to cover a non-exclusive inclusion. For example, a method, article, or apparatus that comprises a list of features is not necessarily limited only to those features but may include other features not expressly listed or inherent to such method, article, or apparatus. Further, unless expressly stated to the contrary, “or” refers to an inclusive-or and not to an exclusive-or. For example, a condition A or B is satisfied by any one of the following: A is true (or present) and B is false (or not present), A is false (or not present) and B is true (or present), and both A and B are true (or present). 
     Also, the use of “a” or “an” is employed to describe elements and components described herein. This is done merely for convenience and to give a general sense of the scope of the invention. This description should be read to include one or at least one and the singular also includes the plural, or vice versa, unless it is clear that it is meant otherwise. For example, when a single item is described herein, more than one item may be used in place of a single item. Similarly, where more than one item is described herein, a single item may be substituted for that more than one item. 
     Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The materials, methods, and examples are illustrative only and not intended to be limiting. To the extent not described herein, many details regarding specific materials and processing acts are conventional and may be found in reference books and other sources within the structural arts and corresponding manufacturing arts. 
     The above-disclosed subject matter is to be considered illustrative, and not restrictive, and the appended claims are intended to cover all such modifications, enhancements, and other embodiments, which fall within the true scope of the present invention. Thus, to the maximum extent allowed by law, the scope of the present invention is to be determined by the broadest permissible interpretation of the following claims and their equivalents, and shall not be restricted or limited by the foregoing detailed description.