Patent Publication Number: US-2023161316-A1

Title: Systems and methods for positioning a shifting profile geometry

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     The present document is based on and claims priority to U.S. Provisional Application Ser. No. 63/019,266, filed May 2, 2020, which is incorporated herein by reference in its entirety. 
    
    
     BACKGROUND 
     This disclosure relates to systems and methods for performing mechanical operations within a wellbore and/or a casing using downhole mechanical service tools. 
     This section is intended to introduce the reader to various aspects of art that may be related to various aspects of the present techniques, which are described and/or claimed below. This discussion is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present disclosure. Accordingly, it should be understood that these statements are to be read in this light, and not as an admission of any kind. 
     Many types of mechanical operations are performed in the course of maintaining and optimizing production from wells. Performing some of these operations involve application of axial forces to a downhole tool located downhole in a completion assembly. For example, isolation valves located in production tubing may be opened or closed by pushing or pulling an internal feature. In other examples, axial forces are used in the retrieval of a plug or a gas valve and in various fishing operations. 
     To perform these mechanical operations, engineering specifications of the downhole completion elements, understanding of the interaction between a given key on a tool relative to a shifting profile that is geometrically compatible with the completion element, and data from a Surface Integration Test (SIT) aid in supporting mechanical operations, such as manipulating well completion elements. 
     SUMMARY 
     Systems and methods for performing mechanical operations within a wellbore and/or a casing using downhole mechanical service tools are disclosed herein. In one example, a method includes disposing an intervention service tool within a tubular. The intervention service tool includes an anchoring system, a shifting system, and a linear actuator system. The tubular includes a shifting profile geometry disposed within the tubular at a first location. The method also includes positioning the intervention service tool such that the shifting system is above or below the shifting profile geometry. One or more of the anchoring system, the shifting system, and the linear actuator system is actuated. One or more of shifter system pressure, linear actuator system force, linear actuator system pressure, and displacement of the shifting system is measured. A known graph of the shifting profile geometry is compared to one or more of a measured shifter system pressure, a measured linear actuator system force, or a measured displacement. A position of a key disposed on the shifting system is determined relative to the shifting profile geometry. The shifting profile geometry is engaged with the key based on the position of the key. The shifting profile geometry is positioned at a second location that is different from the first location. 
     In another example, a method includes disposing an intervention service tool within a tubular. The intervention service tool includes an anchoring system, a shifting system, and a linear actuator system. The tubular includes a shifting profile geometry disposed within the tubular at a first location. The method also includes positioning the intervention service tool such that the shifting system is above or below the shifting profile geometry. One or more of the anchoring system, the shifting system, and the linear actuator system is actuated. One or more of shifter system pressure, linear actuator system force, linear actuator system pressure, and displacement of the shifting system is measured. A known graph of the shifting profile geometry is compared to one or more of a measured shifter system pressure, a measured actuator system force, or a measured displacement. A malfunction of the intervention service tool or a completion component is identified based on a result of the known graph to measured value comparison. A remedial operation is performed to correct the malfunction. 
     In a further example, a system includes an intervention service tool and a control unit. The control unit is coupled to the intervention service tool. The intervention service tool includes an anchoring system, a shifting system, and a linear actuator system. The control unit is configured to: 1) position the intervention service tool such that the shifting system is above or below a shifting profile geometry disposed in a tubular; 2) actuate one or more of the anchoring system, the shifting system, and the linear actuator system; 3) measure one or more of shifter system pressure, linear actuator system force, linear actuator system pressure, and displacement of the shifting system; 4) compare a known graph of the shifting profile geometry to one or more of a measured shifter system pressure, a measured linear actuator system force, or a measured displacement; 5) determine a position of a key disposed on the shifting system relative to the shifting profile geometry based on the known graph; 6) engage the shifting profile geometry with the key based on the position of the key; and 7) position the shifting profile geometry at a second location that is different from the first location. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Certain embodiments of the disclosure will hereafter be described with reference to the accompanying drawings, wherein like reference numerals denote like elements. It should be understood, however, that the accompanying figures illustrate the various implementations described herein and are not meant to limit the scope of various technologies described herein, and: 
         FIG.  1    shows an example system that includes a shifting tool disposed in a well in accordance with the present disclosure; 
         FIG.  2    shows an example shifting tool in accordance with the present disclosure; 
         FIGS.  3 A- 3 D  shows an example shifting tool operation in accordance with the present disclosure; 
         FIG.  4 A  shows various positions of a shifting tool in a shifting profile according to one or more embodiments of the present disclosure; 
         FIG.  4 B  shows an example completion profile measurement output of the shifting tool and profile shown in  FIG.  4 A  according to one or more embodiments of the present disclosure; 
         FIG.  5 A  shows various positions of a shifting tool in the shifting profile of  FIG.  4 A  according to one or more embodiments of the present disclosure; 
         FIG.  5 B  shows an example completion profile measurement output of the shifting tool and profile shown in  FIG.  5 A  according to one or more embodiments of the present disclosure; 
         FIG.  6    shows axial force plotted over displacement of a key as the key engages a sliding sleeve according to one or more embodiments of the present disclosure; 
         FIGS.  7 A and  7 B  show normalized visualization output graphs for the key and sliding sleeve shown in  FIG.  6    according to one or more embodiments of the present disclosure; 
         FIG.  8    shows a normalized visualization output graph for a shifting tool and sliding sleeve in closed and opened positions according to one or more embodiments of the present disclosure; 
         FIG.  9    shows portions of different normalized visualization output graphs of a key as the key engages a completion component according to one or more embodiments of the present disclosure; 
         FIG.  10    shows portions of different normalized visualization output graphs of a key as the key engages a completion component according to one or more embodiments of the present disclosure; and 
         FIG.  11    shows a flow diagram for a method for operating an intervention service tool using normalized visualization in accordance with the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     In the following description, numerous details are set forth to provide an understanding of some embodiments of the present disclosure. However, it will be understood by those of ordinary skill in the art that the system and/or methodology may be practiced without these details and that numerous variations or modifications from the described embodiments may be possible. 
     Certain terms have been used throughout this description and claims to refer to particular system components. As one skilled in the art will appreciate, different parties may refer to a component by different names. This document does not intend to distinguish between components that differ in name but not function. In this disclosure and claims, the terms “including” and “comprising” are used in an open-ended fashion, and thus should be interpreted to mean “including, but not limited to . . . .” Also, the terms “up” and “down,” “upper” and “lower,” “upwardly” and “downwardly,” “upstream” and “downstream,” “uphole” and “downhole,” “above” and “below,” “top” and “bottom,” and other like terms indicating relative positions above or below a given point or element are used in this description to more clearly describe some embodiments of the disclosure. In this description, a device that is “configured to” perform a task or function may be configured (e.g., programmed and/or hardwired) at a time of manufacturing by a manufacturer to perform the function and/or may be configurable (or reconfigurable) by a user after manufacturing to perform the function and/or other additional or alternative functions. The configuring may be through firmware and/or software programming of the device, through a construction and/or layout of hardware components and interconnections of the device, or a combination thereof. The recitation “based on” is intended to mean “based at least in part on.” Therefore, if X is based on Y, X may be a function of Y and any number of other factors. 
     As used herein, the term “completion element” may include a sliding sleeve or a valve or the like. For example, a “sliding sleeve” may refer to a downhole completion component used to change fluid flow. Actuation of a sliding sleeve may enable or disable fluid communication between tubing and annulus. Sliding sleeves are also applied in Formation Isolation Valves, Flow Control Valves and other downhole completion equipment that can be manipulated using a wireline shifting tool. Formation isolation valves are valves that are opened and closed by pushing or pulling a sliding sleeve that is mechanically connected to the ball valve. Flow control valves are valves that are used to control flow, and can be opened to a partially open position. The manipulation of a sliding sleeve back and forth controls the percentage of opening of the flow control valve. 
     Over the life of the well, as certain zones begin to become depleted, produce water or require some form of remediation, an intervention may be performed. For example, where a zone of concern is outfitted with a sliding sleeve, an intervention with a shifting tool may take place whereby the tool is directed to the sleeve to manipulate a closure of the sleeve. As such, the zone may be closed off in a manner that allows continued production to come from more productive, less contaminant prone, adjacent zones. 
     Shifting tools are used to exercise or shift downhole valves and sliding sleeves by utilizing an anchoring system, a pulling or pushing load provided by a linear actuator, tractor system, or wireline cable, and a shifter tool for latching onto a completion shifting profile. Shifting tools are expected to be compatible with numerous sliding sleeve and valve types with different latching profiles, making the operation of the tool a bit different from job to job. However, once characterized, a particular type of completion equipment shifting operation should be very repeatable. 
     A wireline engineer is usually in charge of lowering the shifting tool into the wellbore and operating the shifting tool. This requires that the engineer be extensively trained (which increases the cost of operations), and even with proper training, shifting operations are complex and susceptible to human error. Implementations of the wireline shifting system disclosed herein include a normalized visualizer. The visualizer supports operation of the shifting tool to reduce reliance on a human operator, thereby reducing operational costs and improving operation outcomes. In various implementations of the wireline shifting system, the visualizer is disposed at the surface. In some implementations, a portion of the visualizer, e.g., a pattern comparison component, may be embedded in the shifting tool. Operations supported by the visualizer include seeking the location of the sleeve to be shifted. The seeking operation includes searching for and latching the shifting tool onto a shifting feature of a sleeve. The shifting operation includes moving the sleeve to a different position by pushing or pulling. 
       FIG.  1    shows an example system  10  that includes a shift tool in a well in accordance with the present disclosure. The well  180  traverses a formation  120  and extends into a horizontal section which includes a production region  190 . Due to the non-vertical architecture of the well  180 , tractor conveyance, provided by a tractor  104 , may be utilized in addition to the wireline  105  for positioning the shift tool  100 . The tractor  104  may be a wheeled or a reciprocating tractor or any other suitable conveyance mechanism known in the art. The shift tool  100  may be utilized in wells displaying a variety of different types of architectures and similarly conveyed through a host of different types of conveyances. While both wireline  105  and tractor  104  conveyances are depicted in  FIG.  1   , in other embodiments, one form of conveyance may be utilized in lieu of the other. For example, the shift tool  100  may be deployed via a wireline cable (with or without the tractor  104 ), via drill pipe or via a battery powered slickline embodiment. 
     Surface equipment  125  located at the oilfield  102  may include a wireline truck  101  accommodating a winch-operated wireline reel  103  and control unit  130  for directing the operation. Similarly, a mobile rig  115  is provided for supporting a conventional gooseneck injector  117  for receipt of the wireline  105 . Thus, the wireline  105  may be driven through standard pressure control equipment  119 , as it is advanced toward the production region  190 . In embodiments where the shift tool  100  is deployed on a wireline cable, drill pipe, or slickline, suitable surface equipment will be utilized. In the illustrated example, the production region  190  may be producing water or some other contaminant or may be having some other adverse impact on operations. 
     The shift tool  100  may be delivered to the site of the sliding sleeve  110  to close off or open production from the production region  190  by shifting the sliding sleeve  110  in one or other direction illustrated by the arrow  197 .  FIG.  2    shows an example of the shift tool  100  in accordance with the present disclosure. The shift tool  100  includes a shifting system  202 , a linear actuator  204 , and an anchoring system  206 . Some implementations of the shift tool  100  may also include the tractor  104 . The shifting system  202  includes radially expansive shifting arms  208  that radially extend from the body of the shifting system  202  and may include a key  218  to engage the sliding sleeve  110 . The anchoring system  206  includes radially expansive anchoring arms  210  (referred to generally as anchors  210 ) that radially extend from the body of the anchoring system  206  to engage casing or tubing disposed in the well  180 . The linear actuator  204  provides axial force to push or pull (by extending or retracting rod  212 ) the shifting system  202 . The anchoring arms  210  hold the anchoring system  206  in place while shifting arms  208  engage the sliding sleeve  110 , and the shifting system  202  is pushed or pulled by the linear actuator  204  to reposition the sliding sleeve  110 . 
     The shift tool  100  also includes a controller  214  that controls various functions of the shift tool  100 , including: the extension and retraction of the anchoring arms  210 , the extension and retraction of the shifting arms  208 , the extension and retraction of the rod  212 , and in some implementations of the shift tool  100 , the operation of the tractor  104 . The controller  214  may communicate with the control unit  130  and/or other surface control systems via the electrical conductors  216 , which extend from the surface to the shift tool  100 . 
     In some implementations of the shift tool  100 , the controller  214  autonomously controls identification of the sliding sleeve  110 , positioning of the shifting arms  208  in the sliding sleeve, actuation of the anchoring arms  210 , and repositioning of the sliding sleeve  110  by extension/retraction of the linear actuator  204  and/or operation of the tractor  104 . In some embodiments of the shift tool  100 , the control unit  130  disposed at the surface receives sensor measurements from the shift tool  100  and autonomously controls seeking and shifting the sliding sleeve  110  via communication with the controller  214 . 
       FIGS.  3 A- 3 D  show another example application of the shift tool  100  in various stages of operation in a well in accordance with the present disclosure. The shift tool  100  includes a shifting system  202 , a linear actuator  204 , and an anchoring system  206 , but without a tractor. Instead, the shifting system  202  moves through inch worming sequences (inching operation) through the shifting operations.  FIG.  3 A  shows the anchors  210  open and engaged, the linear actuator  204  retracted, and the shifting system  202  open and minimally engaged at a low pressure.  FIG.  3 B  shows the anchors  210  open, the linear actuator  204  extended to move the shifting system  202 , and the shifting system  202  open at a low pressure.  FIG.  3 C  shows the anchors  210  closed, the linear actuator  204  extended, and the shifting system  208  open at a low pressure.  FIG.  3 D  shows the anchors  210  closed, the linear actuator  204  retracted, and the shifting system  202  open at a low pressure to move the linear actuator  204  and anchoring system  206  the same distance that the shifting system  202  moved between  FIGS.  3 A and  3 B . 
     A Surface Integration Test (SIT) may be performed prior to operations where information such as minimum linear actuator axial force to shift open or close is captured by exercising all the valves and completion elements in all states as described above. 
     Information from the SIT provides the ability to recognize the responses of tool sensors or signature to the downhole geometry or profile and/or condition of the completion elements. However, the interpretation of the SIT results may be affected by several factors including, but not limited to, differing personnel and experience levels, job stoppage for crew changes or tool parameter updates, and inadequate or improper signature data collection. In embodiments of the methods of the present disclosure, the shift tool  100  may be disposed in a tubular that includes a sliding sleeve  110 . Interaction of the shift tool  100  with the sliding sleeve  110  (e.g., shifter system pressure, linear actuator force/pressure, shifting system displacement) are recorded to provide a graph (a shifting profile) of the shifting system. 
     Further, visualization of the interaction between a given key on a shift tool relative to a shifting profile of a completion element has traditionally been time based. However, the diagnostic is made using postprocessing and is not compatible with real time intervention workflow on costly deep-water environments and High Pressure/Temperature (HPHT) where tool exposure is a challenge. 
     In an implementation of the shift tool  100 , a normalized visualizer  135  ( FIG.  1   ) supports operation execution. The normalized visualizer  135  provides a high-resolution display of the shifting key displacement with resolution of 1.0 millimeter or less relative to the tool anchors and the completion. The visualizer combines the known specifications of completion components with the force and diameter related to the key engaging various portions of the completion components, or key pressure, to provide a visual signature or fingerprint (the shifting profile) of the completion components during all stages of engagement (e.g., a shifting procedure). For example, the normalized visualizer may provide a visual signature for a latch, a chamfer, a shear pin, or for indexing activation, equalization, and end of stroke for a sleeve mechanism. 
     The normalized visualizer is a powerful tool for graphically presenting SIT data for use during downhole operations in real time. The normalized visualizer shows pressure on the key along the entire shifting profile (i.e., displacement) including the starting and ending stroke as well as activation of the completion component. The normalized visualizer provides visual signature recognition that may guide the Field Engineer on the steps to perform and predict what response or pressure is expected for the completion component or be used as part of an automated shifting system. 
       FIG.  4 A  shows an example shifting profile  228  and the key portion  218  of the shifting system  202  in various positions P 1 -P 8  as the key  218  progresses across the shifting profile  228 .  FIG.  4 B  is an example completion profile measurement output with data obtained from a SIT and correlates to the position of the key  218  in the profile  228  shown in  FIG.  4 A .  FIG.  4 B  shows a graph of the axial force plotted over distance traveled or the displacement of the key  218  as the key progresses across the shifting profile  228 . The resolution of the graph is 23 data points per inch (0.04 in|1.1 mm). The plot shown in  FIG.  4 B  represents a map of the geometry of the shifting profile  228  or a signature of the shifting profile. During the SIT, low pressures are used to move the key  218 . P 1  is the position of key  218  ( FIG.  4 A ) before reaching the shifting profile  228 , where a constant force or pressure is used on the key as shown at P 1  in  FIG.  4 B . As the key expands outward and into an indentation of the profile  218 , the pressure or force drops as is represented by P 2  in  FIGS.  4 A and  4 B . Similar drops in pressure or force occur as the key  218  expands outward into other indentations of the profile  228  shown at P 4  and P 6  in  FIGS.  4 A and  4 B . The key  218  becomes squeezed or compressed back inward as it encounters a bump and comes out of an indentation resulting in an increase in pressure or force, shown by P 3  in  FIGS.  4 A and  4 B . Similar increases in pressure or force occur as the key  218  is compressed back by various bumps in the profile  228  shown at P 5  and P 7  in  FIGS.  4 A and  4 B . 
     While  FIG.  4 A  showed the key  218  move from a right side or end of the profile  228  to a left side or end, the same data may be collected during a SIT with the key  218  moving from the left side or end of the profile  228  to the right side or end as shown in  FIG.  5 A .  FIG.  5 A  shows shifting profile  228  and key  218  of the shifting system  202  in various positions  1 P- 6 P as the key  218  progresses across the shifting profile  228 .  FIG.  5 B  shows data obtained from a SIT. For example,  FIG.  5 B  shows a graph of the axial force plotted over distance traveled or the displacement of the key  218  as the key progresses across the shifting profile  228  with a resolution of 23 data points per inch (0.04 in|1.1 mm). The plot shown in  FIG.  5 B  represents a map of the geometry of the shifting profile  228  or a signature of the shifting profile.  1 P is the position of key  218  expanded outward and into an indentation of the profile  218 , the pressure or force drops as is represented by  1 P in  FIGS.  5 A and  5 B . Similar drops in pressure or force occur as the key  218  expands outward into other indentations of the profile  228  shown at  3 P and  5 P in  FIGS.  5 A and  5 B . The key  218  becomes squeezed or compressed back inward as it encounters a bump and comes out of an indentation resulting in an increase in pressure or force, shown by  2 P in  FIGS.  5 A and  5 B . A similar increase in pressure or force occurs as the key  218  is compressed back by another bump in the profile  228  shown at  4 P in  FIGS.  5 A and  5 B . 
     As demonstrated in  FIGS.  4 A and  4 B  showing manipulation of the shifting profile in a leftward direction and  FIGS.  5 A and  5 B  showing manipulation of the same shifting profile in a rightward direction, a map of the geometry of a shifting profile or a signature of the shifting profile may be achieved by moving an engaging key in either direction “uphole” to “downhole” and vice versa or left hand to right hand and vice versa. For example, the characteristics of P 5  ( FIGS.  4 A,  4 B ) are similar to those of  2 P ( FIGS.  5 A,  5 B ), P 6  ( FIGS.  4 A,  4 B ) to  3 P ( FIGS.  5 A,  5 B ), P 7  ( FIGS.  4 A,  4 B ) to  4 P ( FIGS.  5 A,  5 B ), and P 8  ( FIGS.  4 A,  4 B ) to  5 P ( FIGS.  5 A,  5 B ). 
       FIG.  6    shows axial force plotted over distance traveled or the displacement of a key  318  as the key engages a sliding sleeve  328 . The various stages of the key  318  and sliding sleeve  328  are shown in the bottom half of  FIG.  6    below a displacement ruler D. In the operational stages illustrated in  FIG.  6   , with the key  318  in position  1 , the location of the key  318  relative to an engagement feature of the sliding sleeve  328  may be initially unknown. Travel of the key  318  from position  1  to position  2 , and from position  2  to position  3  may be undertaken to log the profile of the tubular inner surface and to confirm engagement of the key  318  with an engagement feature of the sliding sleeve  328 . A drop in pressure applied to the key  318  indicates that the inner diameter of the tubular has increased, and that the key  318  has engaged the engagement feature of the sliding sleeve  328 . The distance from position  3  to position  4  corresponds to the total travel distance of the sliding sleeve  328  and the key  318  engaged therewith. A repeat pass of the key  318  from position  5  to position  6  confirms the change in inner diameter of the tubular based on pressure applied to the key  318 , and confirms the fully-shifted position of the sliding sleeve  328  based on an increase in axial force applied to the key  318 . 
     Aligned with the displacement ruler D are graphs  325   a  and  325   b  showing the axial force and pressure (y-axis) plotted over displacement (x-axis) of the key  318 . As shown by the displacement ruler D, there is a direct correlation between graphs  325   a  and  325   b  and actual displacement of the key  318 . In comparison to the graphs  325   a  and  325   b , a conventional log having time as the x-axis and displaying displacement axial force and key pressure may be difficult to read due to variation in shifting speed, time to enter parameters, crew change at wellsite, and other factors. Such a log may be multiple pages in length, which increases the difficulty in identifying a meaningful signature. The use of displacement, and removal of time from the log (as in the graphs  325   a  and  325   b ), allows for comparison of travel distance (e.g., in inches or other convenient units) with an engineering drawing or a previously acquired log, thereby allowing the engineer to immediately see stiffness, spacing, and/or latch abnormalities that are obscured by a conventional time-based log. 
     With data obtained from the SIT, the normalized visualizer may provide a data collection or library of known events and expected behaviors for the completion components in a wellbore in a visual format that may be used in real time during downhole operations such as manipulation of completion components. 
     For example,  FIG.  7 A  shows a normalized visualization output graph  350  of the axial force (y-axis) plotted over distance traveled or the displacement (x-axis) of a key as the key engages the sliding sleeve based on output from a SIT of a completion component similar to sliding sleeve  328  and key  318  shown in  FIG.  6   . The normalized visualization output graph  350  provides a visual signature or fingerprint of the key  318  during all stages of engagement with the sliding sleeve  328 , and thus may guide the Field Engineer on the steps to perform and predict what response or pressure is expected during the manipulation of sliding sleeve  328  or be used to automatically manipulate the sliding sleeve (by the control unit  130 ). 
       FIG.  7 B  shows a normalized visualization output graph  355  of actual axial forces plotted over actual distance traveled or the actual displacement of key  318  as the key engages the sliding sleeve  328  during manipulation of the sliding sleeve  328  with the key  318  at a depth of approximately 4,500 meters. The normalized visualization output graph  350  of the SIT accurately predicts the expected pressures during the sliding sleeve  328  manipulation as shown in the actual normalized visualization graph  355  during all stages of manipulation of the sliding sleeve  328 . 
       FIG.  8    shows a normalized visualization output graph  450  that may be derived from a SIT of a completion component (e.g., a sliding sleeve) or may represent actual axial forces plotted over actual distance traveled or the actual displacement of a key as the key engages the sliding sleeve during manipulation of the sliding sleeve in a wellbore. The normalized visualization output graph  450  provides the visual signature or fingerprint of the sliding sleeve during closing and opening the sleeve. During the closing of the sleeve (indicated by  405 ), normalized visualization output graph  450  identifies confirmation of various steps including, but not limited to: confirming latching of the key to a bottom end of the sleeve (indicated by  405   a ); positioning the key at the top end of the sleeve (indicated by  405   b ); engaging the top of the sleeve with the key (indicated by  405   c ); C-ring pop out (indicated by  405   d ); and reaching an end of the stroke (indicated by  405   e ). During the opening of the sleeve (indicated by  415 ), the normalized visualization output graph  450  identifies confirmation of various steps including, but not limited to: confirming latching of the key to a bottom end of the sleeve (indicated by  415   a ); retracting for a full stroke (indicated by  415   b ); retracting with no pressure to confirm the pass (indicated by  415   c ); and confirming the pass (indicated by  415   d ). 
       FIG.  9    shows portions of different normalized visualization output graphs  550 ,  555 ,  560  of the axial force (y-axis) plotted over distance traveled or the displacement (x-axis) of a key as the key engages a completion component. The normalized visualization output graph  550  represents actual pressure and displacement data that matches a SIT-based visual signature or fingerprint of a sliding sleeve door during stages of engagement with a key (not shown). The normalized visualization output graph  555  represents actual pressure and displacement data that does not match the SIT-based visual signature or fingerprint of during stages of engagement of the key with the sliding sleeve door. A deviation from the normalized visualization output  550  may indicate an issue during manipulation of the sliding sleeve door such as anchor  210  slip (see  FIGS.  2 ,  3 A ) possibly due to insufficient pressure. The addition of pressure to the anchoring system  206  may resolve the issue to manipulate the sleeve into the desired position, which is shown in the portion of normalized visualization output graph  560 . The data collection or library of known events and expected behaviors for the completion components in a wellbore in a visual format may be expanded to further include slip events and other aberrations or malfunctions for future identification and guidance on the steps to perform and predict what response or pressure is expected for the aberration. 
     As further shown in  FIG.  10   , the normalization visualizer may identify a malfunction during manipulation of a completion element such as valve malfunction during a shifting operation.  FIG.  10    shows portions of different normalized visualization output graphs  650 ,  655  of the axial force (y-axis) plotted over distance traveled or the displacement (x-axis) of a key as the key engages a completion component. The normalized visualization output graph  650  represents actual pressure and displacement data that matches a SIT-based visual signature or fingerprint of a sliding sleeve for a valve during stages of engagement with a key (not shown). The normalized visualization output graph  655  represents actual pressure and displacement data that does not match the SIT-based visual signature or fingerprint during stages of engagement of the key with the sliding sleeve valve, and instead shows a force approximately five times the normal predicted force (indicated by  655   a ) without the last portion of displacement being achieved (indicated by  655   b ) to complete the shift (i.e., the manipulation of the sliding sleeve). A deviation from the normalized visualization output  650  may indicate an issue preventing manipulation of the sliding sleeve such as debris caught in the shifting profile that prevents the keys from properly and completely expanding outward and into the indentation of the shifting profile. Use of a debris removal tool may clear the debris blocking the key and resolve the issue to manipulate the sleeve into the desired position. 
       FIG.  11    shows a flow diagram for a method  1100  for operating an intervention service tool using normalized visualization in accordance with the present disclosure. Though depicted sequentially as a matter of convenience, at least some of the actions shown can be performed in a different order and/or performed in parallel. Additionally, some implementations may perform only some of the actions shown. Operations of the method  1100  may be performed by an implementation of the system  10 . For example, the control unit  130  may be configured to control the shift tool  100 , the winch operated wireline reel  103 , the tractor  104 , the normalized visualizer  135  and other components of the system  10  to perform the operations of the method  1100 . The control unit  130  may include a computer having a processor and memory encoded with instructions for performing the operations of the method  1100 . 
     In block  1102 , a signature for a completion component disposed in a tubular is acquired. The completion component may be the sliding sleeve  110 , and the signature may be a graph of a shifting profile geometry of the sliding sleeve. The signature may be acquired using a SIT in which the key  218  is moved across the shifting profile  228  and pressure, force, and displacement values are recorded. Alternatively, the signature may be acquired by executing a simulation of key  218  and shifting profile  228  interaction and recording pressure, force, and displacement values generated by the simulation. 
     In block  1104 , an intervention service tool that includes the key  218  is disposed in a tubular, such as casing or tubing disposed in the well  180 . The tubular includes the sliding sleeve  110 . The intervention service tool may be the shift tool  100  and include the shifting system  202 , the linear actuator  204 , and the anchoring system  206 . The intervention service tool may be disposed in the tubular by the winch operated wireline reel  103  controlled by the control unit  130 . 
     In block  1106 , the intervention service tool is positioned within the tubular relative to the sliding sleeve and the shifting profile geometry thereof. For example, the intervention service tool may be positioned above or below the shifting profile geometry within the tubular. Positioning of the intervention service tool may be provided by the winch operated wireline reel  103 , the tractor  104 , and/or inching operation of the intervention service tool. 
     In block  1108 , one or more of the shifting system  202 , linear actuator  204 , or the anchoring system  206  is actuated. For example, the anchoring system  206  may be actuated to cause the anchoring arms  210  to engage a wall of the tubular. The shifting system  202  may be actuated to extend the shifting arms  208 . The linear actuator  204  may be actuated to move the shifting system  202  relative to the anchoring system  206 , and move the key  218  across the shifting profile  228  of the sliding sleeve  110 . Actuation of the shifting system  202 , linear actuator  204 , or the anchoring system  206  may be controlled by the controller  214  and/or or the control unit  130 . Actuation of the shifting system  202 , linear actuator  204 , or the anchoring system  206  may also be provided in conjunction operations of various blocks of the method  1100 . 
     In block  1110 , pressure, force, and/or displacement of the key  218  are measured as the key  218  moves across the shifting profile  228  of the sliding sleeve  110 . The measurements may be transmitted to the control unit  130 . The winch operated wireline reel  103 , the tractor  104 , and/or inching operation of the intervention service tool may be applied to move the key  218  across the shifting profile  228  of the sliding sleeve  110 . 
     In block  1112 , the measurements of block  1110  are compared to the signature acquired in block  1102 . For example, in the control unit  130 , the normalized visualizer  135  displays or presents (in graphical or other form) the measurements relative to the corresponding measurements of the signature for analysis by a user, the control unit  130 , or other analysis system. In some implementations, the normalized visualizer  135  may analyze the measurements of block  1110  relative to the corresponding measurements of the signature. 
     In block  1114 , comparison of the measurements of block  1110  to the signature acquired in block  1102  may determine that a malfunction of the intervention service tool or the sliding sleeve  110  has occurred. For example, if the measurements of block  1110  deviate by more than a predetermined amount from the corresponding measurements of the signature of block  1102 , then a malfunction may have occurred. The nature of the malfunction may be determined by comparing the measurements of block  1110  to malfunction signatures stored in or provided to the control unit  130 . The malfunction signatures may be similar to the signature of block  1102 , but acquired when a specific defect or condition is present in the intervention service tool or the sliding sleeve  110 . 
     If a malfunction is detected in block  1114 , then a remedial operation may be performed in block  1116  to correct the malfunction. The particular action taken may be based on the identified malfunction. For example, if the identified malfunction indicates that debris caught in the shifting profile  228  prevents the key  218  from properly and completely expanding outward and into the indentation of the shifting profile  228 , then a remedial operation may use a debris removal tool to clear the debris blocking the key  218 . 
     In block  1118 , the position of the key  218  relative to the shifting profile  228  is determined based on the comparison of block  1114 . 
     Having determined the position of the key  218  relative to the shifting profile  228  in block  1118 , the key  218  is moved to engage the shifting profile  228  in block  1120 . For example, the key  218  is moved to a position of an engagement feature of the shifting profile  228 , and the pressure applied to the shifting arms  208  is increased. 
     In block  1122 , the key  218  has engaged the shifting profile  228 , and the shifting system  202  is moved (e.g., by operation of the linear actuator  204 ), to move the shifting profile  228  from a first position to a second position. Moving the shifting profile  228  from the first position to the second position may, for example, open or close a valve. Movement of the key  218  and the shifting profile  228  to the second position may be verified by comparing the measurements of block  1110  to the signature acquired in block  1102 . That is, the operations of blocks  1110  and  1112  may be repetitively performed in conjunction with the operations of blocks  1118 ,  1120 , and  1122  to determine the location and state of the key  218  and the shifting profile  228 . 
     An accurate visual representation with a high degree of resolution provided by the normalized visualizer allows any engineer or automated system to have a visual signature for each stage and/or expected event with explanations or meanings of each event available in real time during downhole operations. The normalized visualization output graphs may provide improved depth correlation through the key engaging expected downhole geometry or profiles with known parameters and locations and may be accurate within inches of a desired location or profile compared to standard gamma ray winch conveyed correlation that may only be accurate to within ten to twenty feet. The normalized visualizer may also assist in quality assurance and quality control of a downhole shifting job for example. 
     The normalized visualizer may support diagnostics as well as latching and shifting operations. Completion component signatures with unique axial shifting distances plotted against force can be defined theoretically (by simulation of key and sliding sleeve interaction) and/or by using a SIT. The normalized visualizer may support identification of a position of a completion element (e.g., a sliding sleeve) targeted for manipulation including fully opened, fully closed, and any intermediate position between fully opened and fully closed. The normalized visualizer may also support immediate recognition of an abnormal response such as, but not limited to, downhole valve malfunctioning, anchor slip, stuck sleeve, popped out key, and/or abnormal latch due to debris. The normalized visualizer may further enable confirmation of downhole completion component or element behavior including tool latching and anchoring through surface controlled downhole movement. 
     The normalized visualizer may also enable the measurement and confirmation of inner completion component profiles using direct shifter inner diameter measurements and/or shifter pressure changes and/or linear actuator force/pressure changes while operating the shifting system open and minimally engaged at a low pressure. 
     The normalized visualizer further enables bringing a key to an exact position of a shifting profile to support latching and shifting confirmation because shifting distance and force versus displacement behavior are known. The normalized visualizer also enables taking corrective action for off depth stroking because completion component geometries and expected correlated pressures or forces are known. The normalized visualizer further allows for a reduced expertise requirement for latching using inchworm or tractor conveyance by providing visual signatures for each stage and/or expected event with explanations or meanings of each the event available in real time during downhole operations. 
     Although a few embodiments of the disclosure have been described in detail above, those of ordinary skill in the art will readily appreciate that many modifications are possible without materially departing from the teachings of this disclosure. Accordingly, such modifications are intended to be included within the scope of this disclosure as defined in the claims.