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A. dolly wheel steering system includes a dolly wheel, a dolly wheel spindle in communication with the dolly wheel such that the dolly wheel and the dolly wheel spindle are fixedly secured to one another and are rotatable as a single unit. The dolly wheel spindle is in communication with a coupling

A. dolly wheel steering system includes a dolly wheel, a dolly wheel spindle in communication with the dolly wheel such that the dolly wheel and the dolly wheel spindle are fixedly secured to one another and are rotatable as a single unit. The dolly wheel spindle is in communication with a coupling device and a steering control system. The steering control system and the coupling device are each in communication with a controller to regulate actuation of each. When a signal from the controller requests utilization of steering control, the coupling device applies a restraining force to the dolly wheel spindle to limit free rotation of the dolly wheel. When the rotation of the dolly wheel spindle is thus restrained, the steering control system can effectuate direct steering control of the dolly wheels to provide precise directional control. When the control indicates the normal dolly wheel capability is desired, the restraining force applied to the dolly wheel spindle by the coupling device is relieved and the steering control system is overridden. The coupling device by its characteristics can provide varying resistance to free dolly wheel spindle rotation for restriction of dolly wheel shimmying and oscillation and where otherwise advantageous to reduce free rotation.

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A. dolly wheel steering system includes a dolly wheel, a dolly wheel spindle in communication with the dolly wheel such that the dolly wheel and the dolly wheel spindle are fixedly secured to one another and are rotatable as a single unit. The dolly wheel spindle is in communication with a coupling

A. dolly wheel steering system includes a dolly wheel, a dolly wheel spindle in communication with the dolly wheel such that the dolly wheel and the dolly wheel spindle are fixedly secured to one another and are rotatable as a single unit. The dolly wheel spindle is in communication with a coupling device and a steering control system. The steering control system and the coupling device are each in communication with a controller to regulate actuation of each. When a signal from the controller requests utilization of steering control, the coupling device applies a restraining force to the dolly wheel spindle to limit free rotation of the dolly wheel. When the rotation of the dolly wheel spindle is thus restrained, the steering control system can effectuate direct steering control of the dolly wheels to provide precise directional control. When the control indicates the normal dolly wheel capability is desired, the restraining force applied to the dolly wheel spindle by the coupling device is relieved and the steering control system is overridden. The coupling device by its characteristics can provide varying resistance to free dolly wheel spindle rotation for restriction of dolly wheel shimmying and oscillation and where otherwise advantageous to reduce free rotation. ubstrate comprises drill cuttings. 43. The method of claim 41, wherein the substrate comprises drilling mud. 44. The method of claim 40 wherein the mineral acid is introduced at a rate of from 2 to 13 parts by weight per 100 parts of substrate. 45. The method of claim 44, wherein the substrate comprises drill cuttings. 46. The method of claim 44, wherein the substrate comprises drilling mud. 47. The method of claim 23 wherein the proportion of water added to the first reactor with any emulsion breaker and mineral acid totals from 0 to 40 parts by weight per 100 parts of substrate. 48. The method of claim 47, wherein the substrate comprises drill cuttings. 49. The method of claim 47, wherein the substrate comprises drilling mud. 50. The method of claim 23 wherein the alkaline earth comprises lime. 51. The method of claim 50 wherein the lime is introduced in a proportion of from 1 to 16 parts by weight per 100 parts of substrate. 52. The method of claim 51, wherein the substrate comprises drill cuttings. 53. The method of claim 51, wherein the substrate comprises drilling mud. 54. The method of claim 50 wherein the lime is introduced in a proportion of from 2 to 10 parts by weight per 100 parts of substrate. 55. The method of claim 54, wherein the substrate comprises drill cuttings. 56. The method of claim 54, wherein the substrate comprises drilling mud. 57. The method of claim 23, further comprising recovering vapor generated from the first and second reactors, scrubbing the recovered vapor and exhausting non-condensed gases from the recovered vapor into the atmosphere. 58. A method for drilling a subterranean well with the circulation of oil-based mud without discharging oil-contaminated drill cuttings, comprising: operating a drilling rig including a rotary drill string to drill the well; circulating oil-based mud through the drill string to remove drill cuttings from the well; recovering the drill cuttings from the mud; treating the drill cuttings according to the method of claim 23. 59. The method of claim 23, wherein the substrate comprises clay. 60. The method of claim 1, wherein the admixture from (a) has an aqueous phase with a pH less than 0. 61. The method of claim 1, wherein the admixture from (a) is preheated. 62. The method of claim 1, wherein the substrate comprises oil-based drilling mud. 63. The method of claim 1, wherein the substrate comprises drilling mud. 64. The method of claim 1, wherein the substrate comprises clay. 65. A method for treating drill cuttings contaminated with oil, comprising: continuously introducing the drill cuttings into an inlet end of a first reactor comprising at least one rotatable shaft disposed longitudinally in a housing and a plurality of impellors spaced along the shaft; continuously introducing from 1 to 3 parts by weight per 100 parts drill cuttings of dodecylbenzenesulfonic acid into the first reactor at a first location adjacent the inlet end; continuously introducing from 2 to 13 parts by weight per 100 parts drill cuttings of sulfuric acid into the first reactor downstream from the first location; rotating the at least one shaft of the first reactor to continuously maintain high shear conditions in the first reactor and discharge an acidified intermediate product; continuously introducing the acidified intermediate product into an inlet end of a second reactor comprising at least one shaft disposed longitudinally in a housing and a plurality of impellors spaced along the shaft; continuously in