| http://www.w3.org/ns/prov#value | - Clearly, there is a need for an improved robotic arm for effecting a plugging operation which is capable of smoothly and reliably plugging the open ends of heat exchanger tubes in the tube sheets of steam generators without the generation of binding or excessive stresses between the tube plugs and the heat exchanger tubes being plugged, and without the scratching of the plugs as they are withdrawn
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