WASET
    Yoon Koo Kang and  Jung wan Park and  Hyun Seok Yang,  Analytical Approach of the In-Pipe Robot on Branched Pipe Navigation and Its Solution.   journal   = {International Journal of Mechanical and Mechatronics Engineering}, [online]. World Academy of Science, Engineering and Technology.
    May 2013, vol. 77(5). 907 - 911
    [viewed 25 April 2024]. Available from: https://publications.waset.org/pdf/9505.