Patent ID: 8220541

Claim:
An apparatus, comprising: an anchor assembly configured to anchor the apparatus at a position within a wellbore; an intervention accessory selected from the group consisting of: a linear-actuated intervention accessory; and a rotary-actuated intervention accessory; an actuator configured to cause linear or rotary motion of the intervention accessory relative to the anchor assembly and the anchored position of the apparatus within the wellbore; a downhole hydraulic power module configured to power the anchor assembly and/or the actuator and comprising a sensor configured to measure, during the motion of the intervention accessory caused by the actuator, at least one of: an amount of pressure generated by the downhole hydraulic power module; and a temperature of the downhole hydraulic power module and/or one or more components of the downhole hydraulic power module; and a drive electronics module configured to: control the actuator to cause the motion; and adjust control of the actuator during the motion based on the measured pressure and/or temperature.