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4340-70A_Conceptual-Design-Final.pdf

Conceptual Design for a LargeDiameter Natural Gas Pipeline Inspection Platform Derek Wadsworth Matthew Anderson Douglas Few Allen Anderson James Hanneman Conceptual Design for a Large-Diameter Natural Gas Pipeline Inspection Platform Derek Wadsworth Matthew Anderson Douglas Few Allen Anderson James Hanneman June 2005 Idaho National Engineering and Environmental Laboratory Robotics and Human Systems Idaho Falls, Idaho 83415 Prepared for the U.S. Department of Energy National Energy Technology Laboratory Under DOE Idaho Operations Office Contract DE-AC07-99ID13727