2David,Reid. Varco international Inc. The Development of Automated Drilling Rigs[R]. Dallas: IADC/SPE Drilling Conference, 1998.
3Hansen M D, Egill Abrahamsen. Improving Safety Per formance Through Rig Mechanization[R]. Amsterdam, The Netherlands: SPE/IADC Drilling Confer ence,2001.
4Gluch D P. Automation: An Evolution in Drilling Technology[J]. Drilling, 1986,47 (3):24-30.
5Woelfel S R. Breakthroughs in Casing Running Efficiency Utilizing Modern Pipe Handling Technology[J].SPE/IADC Drilling Conference, 2001.
6Woelfel S R, Vollands P T. Breakthroughs in casing running efficiency utilizing modern pipe handling technology [C]. SPE/IADC 67511, 2001.
7Reid D. The development of automated drilling rigs [C]. SPE/IADC 39373, 1998.
8Richard D. The next major step in total hands - free pipe handling- no derrickman in the derrick racking and unracking pipe [C]. SPE/IADC 105438, 2007.
9David, Reid, Varcointernational, et al. Th Development of Drilling Rigs[R]. Dallas: IADC/SPE Drilling Con- ference, 1998.
10Gluch D P. Automation.. An Evolution in Drilling Tech nology[J]. Drilling, 1986 : 24-30.