| http://www.w3.org/ns/prov#value | - h enclosed spaces such as conduits or ducts using a mechanical propulsion system.In a preferred embodiment of the present invention, a robot for in-pipe inspection includes a drive module having a plurality of wheels inclined at an angle greater than zero degrees and less than ninety degrees to the longitudinal axis of the pipe, a driver module having a plurality of wheels aligned parallel to the
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