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Pipe crawling inspection robots: an overview

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3 Author(s)
Roman, H.T. ; Public Service Electr. & Gas Co., Newark, NJ, USA ; Pellegrino, B.A. ; Sigrist, W.R.

Pipe crawling inspection robots (PCIRs) are playing an important and expanding role in remote testing and inspection of 4 in. to 8 ft. diameter pipes. PCIRs provide the power, process and pulp industries with an economical and time-saving approach to inspection of insulated, buried or inaccessible pipes. Three locomotive mechanisms of PCIRs, commonly-employed nondestructive testing (NDT) sensors and techniques, as well as field deployments are discussed in this paper

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Energy Conversion, IEEE Transactions on  (Volume:8 ,  Issue: 3 )