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    A Study of In-pipe Robots for Maintenance of Large-Diameter Sewerage Tunnel by Law, Wei-Chuan, Chen, I-Ming, Yeo, Song-Huat, Seet, Gim-Lee, Low, Kin-Huat

    Published 2016
    “…In order to identify available technologies that can perform maintenance of large-diameter sewerage tunnel, a study aimed to review existing pipeline and tunnel robots is then carried out. This kind of robots can be classified into 9 types of robotic system, namely PIG, Wheels, Crawler, Cylindrical, Legs, Inchworm, Helical, Snake and VVPIG type. …”
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    Conference Paper
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