1. A micro snake-like robot for small pipe inspection;Wakimoto,2003
2. A miniature inspection robot negotiating pipes of widely varying diameter;Suzumori,2003
3. A robotic system for internal inspection of water pipelines;Moraleda;IEEE Robot. Automat. Mag.,1999
4. Actively steerable in-pipe inspection robots for underground urban gas pipelines;Roh,2001
5. An underwater robot for pipe inspection;Bradbeer,1997