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Abstract
Research into the development of robotic modules is discussed in the context of cost-effective, small bore, non-man entry (NME) sewer renovation. Following an introduction to the engineering problem or task and the respective task-associated sensing system, interest is centred upon suitably robust task kinematics and control, where predictive modelling is implemented employing the GRASP robotic simulation software package. The physical prototype and its accompanying environment are discussed and general conclusions drawn.
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