for navigating in T‐branch pipes efficiently. Design/methodology/approach – For high mobility, this robot is developed … pipe to a T‐branch pipe. Findings – With this navigation strategy, the robot can avoid collisions and enter T‐branch pipes … also describes navigation strategy that enables a robot to avoid collisions and enter T‐branch pipes effectively. This …

probabilities of failure involved corrosion, pipes aged between 20‐30 years, 8″ pipes, and pipes in fill material. The pipe types … pipes were shown to have the highest probability of failing. As such, attention should be given to replace segments of cast … iron pipes as they reach the end of their service lives. Practical implications – This study serves to address a major …