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Fig. 7 Schematic and stepwise (1 5) illustration of the principle mechanisms leading to scale-fragment development in pipes (vertical or horizontal) and finally resulting in heavy blockage of heat exchangers or other obstacles (e.g., filters).
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Based on above, this research work presents investigations into design issues pertaining to development of In-pipe inspection robotics and proposes a new model of an In-pipe inspection robot to overcome some critical design issues.
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Globally, the twenty-first century will require massive urban infrastructure development, in roads and pipes and power lines and schools.
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