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Given the two red flags that had been thrown up previously, one would have expected that as a precaution a cement plug would have been placed somewhere in the wellbore as a secondary pressure seal before this primary pressure control system (heavy mud) was evacuated from the wellbore.
WSJ: The Oil Disaster Is About Human, Not System, Failure
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Using a force control system reacting to the pressure on the feet, HyQ can navigate and traverse irregular surfaces and adjust its pace to overcome obstacles of different sizes and shapes.
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At 8:20 p.m. on the day of the explosion the pressure data suggest there was a constant flow of sea water being pumped into the drill pipe that was displacing the heavier mud system which was the primary pressure control for the well.
WSJ: The Oil Disaster Is About Human, Not System, Failure