Robot cleaning of underground liquid sto
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Anil Mital; Mangesh Kulkarni; Ronald Huston; Sam Anand
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Article
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1997
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Elsevier Science
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English
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This paper presents a feasibility study and design considerations for robotic cleaning and maintenance of underground liquid storage tanks. The paper also p~'esents a model of a cleansing robot and a conceptual design of the robot geometry and its actuators. The governing kinematic and cljnamic equ