Neural Comput & Applic (2012) 21:763–770
DOI 10.1007/s00521-010-0457-6
ORIGINAL ARTICLE
An intelligent approach to evaluate drilling performance
A. Bhatnagar • Manoj Khandelwal
Received: 21 April 2010 / Accepted: 2 October 2010 / Published online: 20 October 2010
Ó Springer-Verlag London Limited 2010
Abstract In this paper, an attempt has been made to
predict the rate of penetration (ROP) of rocks by incor-
porating thrust, revolutions per minute (rpm), flushing
media and compressive strength of rocks using artificial
neural network (ANN) technique. A three-layer feed-
forward back-propagation neural network with 4-7-1
architecture was trained using 472 experimental data sets
of sandstone, limestone, rock phosphate, dolomite, marble
and quartz-chlorite-schist rocks. A total of 146 new data
sets were used for the testing and comparison of the ROP
by ANN. Multivariate regression analysis (MVRA) has
also been done with same data sets of ANN. ANN and
MVRA results were compared based on coefficient of
determination (CoD) and mean absolute error (MAE)
between experimental and predicted values of ROP. The
coefficient of determination by ANN was 0.985, while
coefficient of determination was 0.629 for rate of pene-
tration. The mean absolute error (MAE) for rate of pene-
tration by ANN was 0.3547, whereas MAE by MVRA was
1.7499.
Keywords Thrust  RPM  Flushing media  Compressive
strength  Multivariate regression analysis (MVRA) 
Artificial neural network (ANN)  Mean absolute error
A. Bhatnagar  M. Khandelwal (&)
Department of Mining Engineering, College of Technology
and Engineering, Maharana Pratap University of Agriculture
and Technology, Udaipur 313001, India
e-mail: mkhandelwal1@gmail.com
1 Introduction
Drilling is one of the most common operations in exca-
vation industry, starting from exploration stage and
continuing at every phase of production till completion of
mining activity. Of the various purposes for which the rock
is drilled, diamond drilling takes a unique place in the
sense that its application, until recent times, was limited to
exploratory drilling. Of late, the importance of intact core
recovery to find out the physico-mechanical behavior of
rock strata as well as the classification of rock mass has
highlighted the importance of diamond core drilling.
A rotary drilling is a three-dimensional cutting operation
involving a combination of one or several cutting processes
commonly known as indentation [16, 17, 24], cutting and
crushing [19], and plowing, grinding and shearing [4].
However, the rock fragmentation at the bit–rock interface is
a combined action of vertical thrust force as well as hori-
zontal torque compound, which is due to the rotation of drill
steel.
The diamond drilling with core bits in exploratory
investigations and diamond cutting in dimensional stone
industry are unproductive and costly work. The improve-
ment in performance of diamond drilling and cutting can
improve the overall economics of mining. This includes
improvement in penetration rate and life of bit or decrease in
bit wear rate. In order to reduce the drilling cost, investi-
gations in the past have been carried out to arrive at a suitable
working level of machine parameters for particular rock
type. Since most of the investigations are empirical in nat-
ure, their application has not become universal.
In order to know the greater applicability of these
characteristics in the drilling, a lot of work has been carried
out to find and suggest a definite model that can be rock
friendly. On the basis of detailed investigation, a viable
123
764
approach for the prediction is necessary, and an artificial
intelligence (AI) comes in handy to fulfill this approach.
The artificial neural network (ANN) model has been one
of the attractive tools used in geo-engineering applications
due to its high performance in the modeling of non-linear
multivariate problems [27]. The artificial neural network
(ANN) is a new branch of intelligence science and has
developed rapidly since the 1980s. Nowadays, ANN is
considered to be one of the intelligent tools to understand
the complex problems. Neural network has the ability to
learn from the pattern acquainted before. Once the network
has been trained, with sufficient number of sample data
sets, it can make predictions, on the basis of its previous
learning, about the output related to new input data set of
similar pattern [10]. Due to its multidisciplinary nature,
ANN is becoming popular among the researchers, planners,
designers, etc. as an effective tool for the accomplishment
of their work. Therefore, ANN is being successfully used in
many industrial areas as well as in research also. ANN
model has superiority in solving problems in which many
complex parameters influence the process and results,
when process and results are not fully understood and
where historical or experimental data are available. The
prediction of ROP is also of this type.
In the present investigation, different drilling and rock
parameters have been used to predict the rate of penetration
(ROP) using artificial neural network and multivariate
regression analysis, and predicted results are compared
with actual field data. The basic idea is to find the scope
and suitability of the ANN for prediction of ROP.
2 Factors influencing drilling performance
Drilling is an operation in which rock is fragmented under
the influence of drilling forces like thrust and torque while
the broken chips are flushed out of the hole through cir-
culating water. The drill performance depends upon the
following:
1. the physico-mechanical properties of rock,
2. the shape of cutting tool,
3. the magnitude of drilling forces acting at bit–rock
interface and
4. the flushing rate.
The detailed study of the relationship between the rate
of penetration and various rock as well as machine
parameters is carried out by several researchers [7, 16, 17,
19, 20]. Studies of the effect of polymer mixed in flushing
water on the performance of the diamond drilling show a
substantial increase in performance. However, the work in
this regard has not considered all machine parameters and
has been confined to laboratory tests only.
123
Neural Comput & Applic (2012) 21:763–770
To study the influence of various parameters on the
performance of diamond drilling, work done by various
researchers has been reviewed [7, 21, 22, 24]. The rate of
penetration increases linearly with the increase in thrust on
bit for each rotational speed. However, for each rpm, there
exists an optimum thrust on bit and beyond which there is
no appreciable increase in rate of penetration [3]. The
magnitude of torque developed at the bit–rock interface
increases linearly with the increase in the thrust on bit at
each rotational speed.
3 The philosophy of artificial neural network
Artificial neural network (ANN) is a branch of the ‘artificial
intelligence’, which also includes case-based reasoning,
expert systems and genetic algorithms. The classical statis-
tics, fuzzy logic and chaos theory are also considered to be
related fields. ANN is an information-processing system
simulating the structure and functions of the human brain. It
is a highly interconnected structure that consists of many
simple processing elements (called neurons) capable of
performing massively parallel computation for data pro-
cessing and knowledge representation. The neural network
is first trained by processing a large number of input patterns
and the corresponding output. After proper training, the
neural network is able to recognize similarities and predict
the output pattern, when presented with a new input pattern.
Neural networks are able to detect similarities in inputs
even though a particular input may never have been known
previously. This property allows its excellent interpolation
capabilities, especially when the input data are noisy (not
exact). Neural networks may be used as an alternative for
autocorrelation, multivariable regression, linear regression,
trigonometric and other statistical analysis techniques.
A particular network can be defined using three funda-
mental components: transfer function, network architecture
and learning law [11, 26]. One has to define these com-
ponents depending upon the problem to be solved.
3.1 Network training
A network first needs to be trained before interpreting new
information. A number of algorithms are available for
training of neural networks, but the back-propagation
algorithm is the most versatile and robust technique. It
provides the most efficient learning procedure for multi-
layer neural networks. Also, the fact that back-propagation
algorithms are especially capable of solving predictive
problems makes them so popular [15]. The feed-forward
back-propagation neural network (BPNN) always consists
of at least three layers: input layer, hidden layer and output
layer. Each layer consists of a number of elementary
Neural Comput & Applic (2012) 21:763–770 765

processing units, called neurons, and each neuron is con- In Fig. 1, the jth neuron, in the hidden layer, is con-
nected to the next layer through weights, i.e., neurons in the nected to a number of inputs
input layer will send their output as input to neurons in the xi ¼ ðx1 ; x2 ; x3 ; . . .; xn Þ: ð1Þ
hidden layer and similar is the connection between hidden
The net input values in the hidden layer will be as
and output layer. The number of hidden layers and neurons
follows:
in the hidden layer changes according to the problem to be
solved. The number of input and output neurons is the same X n
Netj ¼ xi wij þ hj ð2Þ
as the number of input and output variables. i¼1
To differentiate between the various processing units,
values called biases are introduced into the transfer func- where xi = input units, wij = weight on the connection of
tions. Except for the input layer, all neurons in the back- ith input and jth neuron, hj = bias neuron (optional) and
propagation network are associated with a bias neuron and n = number of input units.
a transfer function. The bias is much like a weight, except So, the net output from hidden layer is calculated using a
that it has a constant input of 1, while the transfer function logarithmic sigmoid function
filters the summed signals received from this neuron. These Oj ¼ f ðNetj Þ ¼ 1=1 þ eðNetj þhj Þ : ð3Þ
transfer functions are designed to map the net output of a
The total input to the kth unit is as follows:
neuron or layer to its actual output. The application of these
Xn
transfer functions depends on the purpose of the neural Netk ¼ wjk Oj þ hk ð4Þ
network. The output layer produces the computed output j¼1
vectors corresponding to the solution [9].
where hk = bias neuron, wjk = weight between jth neuron
During training of the network, data are processed
and kth output.
through the input layer to hidden layer until it reaches the
So, the total output from kth unit will be
output layer (forward pass). In this layer, the output is
compared to the measured values (i.e., the ‘‘true’’ output). Ok ¼ f ðNetk Þ: ð5Þ
The difference or error between both is propagated back In the learning process, the network is presented with a
through the network (backward pass) updating the indi- pair of patterns, an input pattern and a corresponding
vidual weights of the connections and the biases of the output pattern. The network computes its own output
individual neurons. The input and output data are mostly pattern using its (mostly incorrect) weights and thresholds.
represented as vectors called training pairs. The process as Now, the actual output is compared with the desired output.
mentioned above is repeated for all the training pairs in the Hence, the error at any output in layer k is
data set until the network error converges to a threshold
el ¼ tk  Ok ð6Þ
defined by a corresponding function: usually the root mean
squared error (RMS) or summed squared error (SSE). where tk = desired output, and Ok = actual output.

Input Layer Hidden Layer I Hidden Layer II Output Layer

i = 1…..n j = 1…..q k = 1…..q O

1 u 1 v 1 w

I J K E = 0.5(t – O)2

O t
I J K
. . .
O Compare Target

I J K
. . .

I J K

Feed Forward
Error Back propagation

Fig. 1 Back-propagation neural network [18]

123
766 Neural Comput & Applic (2012) 21:763–770

The total error function is given by following equation: 4 Data set

Xn
E ¼ 0:5 ðtk  Ok Þ2 : ð7Þ
k¼1
Training of the network is basically a process of arriving
at an optimum weight space for the network. The steepest
descent error surface is made using the following rule:
rWjk ¼ gðdE=dWjk Þ ð8Þ
where g = learning rate parameter and E = error function.
The update of weights for the (n ? 1)th pattern is given
as follows:
Wjk ðn þ 1Þ ¼ Wjk ðnÞ þ rWjk ðnÞ: ð9Þ
Similar logic applies to the connections between the
hidden and output layers [9]. This procedure is repeated
with each pair of training case. Each pass through all the
training patterns is called a cycle or epoch. The process is
then repeated as many epochs as needed until the error is
within the user-specified goal. A schematic representation
of the whole process is shown in Fig. 2 [18].
Start
Data gathering
Incomplete data filtering
One of the most important stages in the ANN technique is
data collection. The data were divided into training and
testing data sets using sorting method to maintain statistical
consistency. Data sets for testing were extracted at regular
intervals from the sorted database, and the remaining data
sets were used for the training and testing. In the present
study, 618 drilling data were measured at different thrust,
RPM and flushing media on six different types of rock.
Among them, 472 data sets were used for the training and
testing of the ANN network, whereas 146 data sets were
chosen for testing of the network. The thrust was kept at
seven different levels, viz. 325, 410, 490, 560, 641, 728 and
820 N, whereas RPM was kept constant at four different
levels 285, 471.1, 687.1 and 1122.2 for each rock type.
Plain tap water with poly-ethylene-oxide (PEO) mixed
with different ppm was used for the measurement of ROP.
PEO mixed with water was kept at five different levels, viz.
0, 10, 15, 20 and 30 ppm. In this, plain tap water is con-
sidered as a zero ppm. Flushing rate of 285 l/min was kept
constant for the whole study.
Six different rock types were used for this analysis,
namely sandstone, limestone, rock phosphate, dolomite,
marble and quartz-chlorite-schist. In this study, 120 drilling
data sets were measured on sandstone, 124 on limestone,
128 on rock phosphate, 139 on dolomite, 56 on marble and
51 on quartz-chlorite-schist. Table 1 shows the range of
input and output parameters. A list of sample data for
training and testing of the ANN and MVRA model is given
in Tables 2 and 3, respectively.

Normalization of data
5 Network architecture

Data selection for training

Baheer [1] and Hecht-Neilsen [5] indicated that one hidden
and testing layer may be sufficient for most problems. Two hidden
layers may be necessary for a learning function with dis-
continuities [14]. Lippmann [12] and Rumelhart et al. [25]
Training indicated that there is rarely an advantage in using more than
one hidden layer. Therefore, one hidden layer was preferred

Testing
Table 1 Input and output parameters with their range, mean and
standard deviation
S. no. Input parameter Range Mean Standard
If the error of deviation
Yes testing is declined
1. Thrust (N) 325–820 546.914 151.858
2. RPM 285–1122.2 631.404 308.09
No
3. Flushing media 0–30 13.605 10.092
Finish 4. Compressive 24.5–77.8 45.354 11.022
strength (MPa)
5. ROP 0.244–18.111 6.136 4.09
Fig. 2 ANN process flowchart [18]

123
Neural Comput & Applic (2012) 21:763–770 767

in this study. However, the number of neurons is the most
critical task in the ANN structure. The heuristics proposed
for this purpose are summarized in Table 4. As can be seen
from Table 4, the number of neurons that may be used in the
hidden layer varies between 2 and 12, depending on the
proposed heuristics in the literature. The ANN structures
were trained by using number of hidden neurons defined
above. By considering the findings obtained from different
trials, the ANN structure consisting of one hidden layer with
seven neurons (Fig. 3) was selected for the given problem.
The data sets were normalized between zero and one con-
sidering the maximum values of input parameters.
Feed-forward back-propagation neural network archi-
tecture (4-7-1) is adopted due to its appropriateness for the
identification problem. Pattern matching is basically an
input/output mapping problem. The closer the mapping,
better the performance of the network is.
A three-layer feed-forward back-propagation neural
network was developed to predict the ROP. The input layer
has four input neurons and the output layer has one neuron,
while the hidden layer comprises seven hidden neurons
(Fig. 3). Training of the network was carried out using 472
cases, whereas testing of the network was performed using
146 different cases.
The number of training cycles is important to obtain
proper generalization of the ANN structure. Theoretically,
excessive training, which is also known as over-learning, can
result in near-zero error on predicting training data. How-
ever, this over-learning may result in loss of the ability of the
ANN to generalize from the test data, as shown in Fig. 4 [2].
The increasing point in the error of the test data or the closest

Table 2 Sample data set used for the training of ANN and MVRA
model
S. no. Thrust RPM Flushing Compressive ROP
(N) media strength (MPa) Thrust

1. 728 471.1 0 45.9 7.8947

2. 820 285 10 48.7 10 RPM
3. 325 687.1 30 30.1 1.7543
ROP
4. 325 1122.2 20 50.9 1.4285
Flushing
5. 560 687.1 15 46.5 5.8823 Media

Compressive
Table 3 Sample data set used for the testing of ANN and MVRA Strength
model
S. no. Thrust RPM Flushing Compressive ROP
(N) media strength (MPa) Fig. 3 Suggested architecture for the case study

1. 820 1122.2 0 47.8 9.0909

2. 490 471.1 15 49.1 3.5714
3. 820 285 10 50.2 11.1111
4. 560 687.1 30 45.5 8.3333
5. 325 687.1 20 33.5 1.8518

Table 4 The heuristics proposed for the number of neurons to be

used in hidden layer(s)
Heuristic Calculated number of Reference
neurons for this study

B2 9 Ni ? 1 9 Hecht-Nielsen [5]
3Ni 12 Hush [6]
(Ni ? N0)/2 3 Ripley [23]
2Ni/3 3 Wang [28]
H(Ni 9 N0) 2 Masters [14]
2Ni 8 Kanellopoulas
and Wilkinson [8]
Fig. 4 Criteria for the termination of training and selection of
Ni number of input neurons, N0 number of output neurons optimum network architecture [2]

123
768 Neural Comput & Applic (2012) 21:763–770

point to the training curve is considered to represent the variables and a dependent or criterion variable. The goal of
optimal number of cycles for the ANN architecture. regression analysis is to determine the values of parameters
All the input and output parameters were normalized for a function that cause the function to best fit a set of data
between 0 and 1. Equation 10 was used for the scaling of observations provided. In linear regression, the function is
input and output parameters. a linear (straight line) equation. When there is more than
Normalized value ¼ ðmax :value  unnormalized valueÞ= one independent variable, multivariate regression analysis
is used to get the best-fit equation. Multiple regression
ðmax :value  min :valueÞ ð10Þ
analysis solves the data sets by performing least squares fit.
The architecture of the network is tabulated below: It constructs and solves the simultaneous equations by
forming the regression matrix and solving for the coeffi-
1. Number of input neurons: 4 cient using the backslash operator. The MVRA has been
2. Number of output neurons: 1 done by same data sets and same input parameters which
3. Number of hidden layers: 1 we used in ANN.
4. Number of hidden neurons: 7 The equation for prediction of ROP by MVRA is
5. Number of training datasets: 472
6. Number of testing datasets: 146 ROP ¼ 8:1649 þ 0:02  Thrust þ 0:0045  RPM
7. Error goal: 0.0 þ 0:0617  Flushing media  0:0093  Comp St:

Figure 6 shows the measured and predicted ROP on 1:1

6 Testing of ANN technique slope line with CoD. Here, CoD between measured and
predicted ROP is 0.629, whereas MAE is 1.7499. From the
To test and validate the ANN model, a data set that was not figure, it can be said that predicted ROP by MVRA is
used while training the network was employed. showing high error. Most of the predicted ROP points are
The results are presented in this section to demonstrate in very scattered manner.
the performance of the networks. Coefficient of determi-
nation (CoD) is taken as the measure of performance.
8 Results and discussion
As Bayesian interpolation [13] has been used, there was
no danger of over-fitting or under-fitting problems. Figure 5
Figure 7 shows a bar chart of measured and predicted ROP
illustrates the measured and predicted ROP on 1:1 slope line.
by ANN and MVRA, whereas Fig. 8 shows the comparison
All predicted data points were well within the 1:1 slope line.
of ROP by ANN and MVRA on 1:1 slope line. Here,
This clearly indicates the ability of ANN to predict ROP.
prediction by ANN is closer to the measured ROP, whereas
Here, CoD is as high as 0.985, whereas MAE is 0.3547.
prediction by MVRA has wide variation.
It can be seen that ANN demonstrates superiority over
MVRA. Table 5 shows the CoD and MAE of ROP pre-
7 Prediction of ROP by multivariate regression
dicted by ANN and MVRA. It can be said that prediction
analysis
capability of ANN is quite remarkable and compares well
to measured values. This shows superiority of ANN over
The purpose of multiple regressions is to learn more about
MVRA.
the relationship between several independent or predictor

Fig. 5 Measured versus ANN-predicted ROP Fig. 6 Measured versus MVRA-predicted ROP

123
Neural Comput & Applic (2012) 21:763–770
Fig. 7 Comparison of measured and predicted ROP
Fig. 8 Comparison of measured and predicted ROP on 1:1 slope line
Table 5 CoD and MAE of ROP by ANN and MVRA
Model CoD MAE
ANN 0.984 0.3254
MVRA 0.769 1.2993
9 Conclusions
Based on the study, it is established that the feed-forward
back-propagation neural network approach seems to be the
better option for close and appropriate prediction of rate of
penetration. ANN results indicate very close agreement for
the ROP with the field data sets, whereas MVRA shows
high error and it was not able to predict the ROP up to the
mark. By adopting ANN technique, ROP can be predicted
prior to the drilling. The drilling system can be modified
accordingly so that drilling loses can be minimized as well
as higher utilization of energy can also be achieved.
Considering the complexity of the relationship between
the inputs and outputs, the results obtained by ANN are
769
highly encouraging and satisfactory. ANN can learn new
patterns that are not previously available in the training
data set. ANN can also update knowledge over time as long
as more training data sets are presented and can process
information in parallel way. Therefore, the technique
results in a greater degree of accuracy than any other
analysis techniques. Hence, the technique proves to be
economical and easier in comparison with tedious expen-
sive experimental work.
References
1. Baheer I (2000) Selection of methodology for modeling hyster-
esis behavior of soils using neural networks. J Comput Aided
Civil Infrastruct Eng 5(6):445–463
2. Basheer IA, Hajmeer M (2000) Artificial neural networks: fun-
damentals, computing, design, and application. J Microbiol Meth
43:3–31
3. Bhatnagar A, Khandelwal M, Rao KUM (2010) Performance
enhancement by addition of non-ionic polymer in flushing media
for diamond drilling in rock phosphate. Min Sci Technol
20(3):400–405
4. Chugh CP (1992) High technology in drilling and exploration.
Oxford and IBH, India
5. Hecht-Nielsen R (1987) Kolmogorov’s mapping neural network
existence theorem, Proceedings of the first IEEE international
conference on neural networks, San Diego CA, USA, pp 11–14
6. Hush DR (1989) Classification with neural networks: a perfor-
mance analysis. Proceedings of the IEEE international conference
on systems engineering Dayton OH, USA, 277–280
7. John LP (1994) Influence of RPM and flushing media on the
performance of diamond drilling, B. Tech. Thesis, Department of
Mining Engineering, I.I.T Kharagpur India
8. Kanellopoulas I, Wilkinson GG (1997) Strategies and best
practice for neural network image classification. Int J Remote
Sens 18:711–725
9. Khandelwal M, Kumar DL, Mohan Y (2009) Application of soft
computing to predict blast-induced ground vibration, Engineering
with computers (Online Published)
10. Khandelwal M, Singh TN (2009) Prediction of blast-induced
ground vibrations using artificial neural network. Int J Rock
Mech Min Sci 46:1214–1222
11. Kosko B (1994) Neural networks and fuzzy systems: a dynamical
systems approach to machine intelligence. Prentice Hall, New
Delhi
12. Lippmann RP (1987) An introduction to computing with neural
nets. IEEE ASSP Mag 4:4–22
13. MacKay DJC (1992) Bayesian interpolation. Neural Comput
4:415–447
14. Masters T (1994) Practical neural network recipes in C??.
Academic Press, Boston MA
15. Maulenkamp F, Grima MA (1999) Application of neural net-
works for the prediction of the unconfined compressive strength
(UCS) from Equotip hardness. Int J Rock Mech Min Sci
36:29–39
16. Miller D, Ball A (1990) Rock drilling with impregnated diamond
micro bits-an experimental study. Int J Rock Mech Min Sci
27:363–371
17. Miller D, Ball A (1991) The wear of diamonds in impregnated
diamond bit drilling. Wear 141:311–320
123
770
18. Monjezi M, Dehghani H (2008) Evaluation of effect of blasting
pattern parameters on back break using neural networks. Int J
Rock Mech Min Sci 45(8):1446–1453
19. Paone J, Bruce WE (1963) Drillability studies-diamond drilling.
RI-USBM 6324, US Bureau of Mines
20. Paone J, Madson D (1966) Drillability studies-impregnated dia-
mond bits. RI-USBM 6776, US Bureau of Mines
21. Rao KUM, Misra B (1994) Design of spoked wheel dynamometer
for simultaneous monitoring of thrust and torque developed at bit
rock interface during drilling. Int J Surf Min Reclam Environ
8:146–147
22. Rao KUM (1993) Experimental and theoretical investigations of
drilling of rocks by impregnated diamond core bits, Ph.D. Thesis,
Department of Mining Engineering, I.I.T. Kharagpur
23. Ripley BD (1993) Statistical aspects of neural networks. In:
Barndoff-Neilsen OE, Jensen JL, Kendall WS (eds) Networks and
123
Neural Comput & Applic (2012) 21:763–770
chaos-statistical and probabilistic aspects. Chapman & Hall,
London, pp 40–123
24. Rowlands D (1975) Rock fracture by diamond drilling. Ph.D.
Thesis. University of Melbourne, Australia
25. Rumelhart DE, Hinton GE, Williams RJ (1986) Learning internal
representation by error propagation. In: Rumelhart DE, McClel-
land JL (eds) Parallel distributed processing, vol 1, pp 318–362
26. Simpson PK (1990) Artificial neural system—foundation, paradigm,
application and implementations. Pergamon Press, New York
27. Sonmez H, Gokceoglu C, Nefeslioglu HA, Kayabasi A (2006)
Estimation of rock modulus: for intact rocks with an artificial
neural network and for rock masses with a new empirical equa-
tion. Int J Rock Mech Min Sci 43:224–235
28. Wang C (1994) A theory of generalization in learning machines
with neural application. Ph.D. thesis, The University of Penn-
sylvania, USA