“…Factors identified in oilfield drilling that impact upon the control of steering Previous research undertaken in positional control of downhole assemblies tends to refer to oilfield applications and focus upon the use of PDC bits, which is not felt to be directly relevant to the HDD industry. However, a number of factors have been identified that may be relevant to HDD installations and include; the compressive strength of the rock (Lesso et al, 1999;Hareland et al, 2000); changes in rock strength (both laminations and interbedding within the strata, Boualleg et al, 2006); the dip of the formation (Stockhausen and Lesso, 2003b); the type of down-hole assembly used (Lesso et al, 1999;Studer et al, 2007); the ROP (Ernst et al, 2007;Lesso et al, 1999), the WOB (Lesso et al, 1999;Studer et al, 2007); bit-walk (Liu and Shi, 2002); tool face angle (Lesso et al, 1999;Studer et al, 2007); stabilisers (that amplify the size of dog-legs created by migration away from line and level). Lesso et al (1999) and Studer et al (2007) both developed approaches to investigate the relationship between the apparatus used (within the oilfield industry) and steering response.…”