Fig. 4
From: Development of an actuation system based on water jet propulsion for a slim long-reach robot
Concept of the proposed device. The concept establishes an inspection system slender enough to move through the piping and pass the grating inside the PVC and move inside the water. The propulsion of the device is located at the tip of the system and is based on the water-jet propulsion. However, we also consider the implementation of intermediate water-jets to improve the motion