WASET
    Sergey N. Sayapin and  Anatoly P. Karpenko and  Suan H. Dang,  Self-Propelled Intelligent Robotic Vehicle Based on Octahedral Dodekapod to Move in Active Branched Pipelines with Variable Cross-Sections.   journal   = {International Journal of Mechanical and Mechatronics Engineering}, [online]. World Academy of Science, Engineering and Technology.
    January 2015, vol. 108(12). 2166 - 2172
    [viewed 26 April 2024]. Available from: https://publications.waset.org/pdf/10003562.