@article{Alborz2016MSe, title = {Dynamic Modeling of an Out-Pipe Inspection Robot and Experimental Validation of the Proposed Model using Image Processing Technique}, author = {Sarvestani, Alborz Aghamaleki and Eghtesad, Mohammad and Fazlollahi, Farimah and Goshtasbi, Alireza and Mokhtari, Kasra}, journal = {Iranian Journal of Science and Technology, Transactions of Mechanical Engineering}, volume = {40}, pages = { 77–85}, publisher = {Springer International Publishing}, month = mar, year = {2016}, doi = {https://doi.org/10.1007/s40997-016-0012-x}, url = {https://link.springer.com/article/10.1007/s40997-016-0012-x}, month_numeric = {3} }