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ABSTRACTDrilling vibrations can cause inefficient drilling and accelerated damage to system components. Therefore, reducing or eliminating such vibrations is a major focus area for natural gas and geothermal drilling applications. One particularly important vibration mode is stick-slip. Stick-slip occurs when the bottom-hole angular velocity starts oscillating while the top hole angular velocity remains relatively constant. This not only causes poor drilling, it is also difficult to detect using surface sensors. In this work, we describe the development and testing of a benchtop drilling system for studying stick-slip dynamics and mitigation. We show how this system can produce stick-slip oscillations. Next, we use this data to formulate a data-driven rock-bit interaction model. This model can be combined with linear systems analysis to predict stick-slip and understand mitigation methods. We describe out instrumentation that enables closed-loop control under simulated communications constraints. We conclude by providing preliminary experimental data on bench-level stick-slip. INTRODUCTIONExploration via autonomous drilling processes for geothermal resources is an important focus area for drilling research. However, to fully realize the clean-energy promise of geothermal energy, key challenges still need to be resolved.Issues arising in the drilling process often originate from a drillstring's increased susceptibility to vibrational oscillations as depths increase. Some examples of drilling vibrations include stick-slip (Navarro-Lopez and Suarez, 2004), bit-bounce (Spanos et al., 1995), and whirl (Jansen, 1991). Torsional oscillations are the focus of this work.Torsional vibrations result in a destructive phenomenon known as stick-slip. Initiated at the bit-rock surface, the drillstring bit experiences large angular velocity oscillations not seen at the surface (Pavone and Desplans, 1994; Besselink et al., 2011; Kessai et al., 2020). Stick-slip results in premature bit wear and drillstring fracture.Stick-slip is a fundamentally nonlinear and unpredictable phenomena. Stick-slip results from the combination of bit-rock interactions and drillstring compliance. As a result, there is a key need for experimental studies of stick-slip dynamics and mitigation.