Pipe and cable inspection in the AIRSUB project context Instrumentation Viewpoint Authors: Gabriel Oliver Codina; Javier Antich Tobaruela; Alberto Ortiz Rodriguez. Category: Journals Publication Date: December, 2005 Number/Issue: 4 Pages: 28--29 Citekey: Oliver-ea:2005 Associated Project(s) Ultrasonic Navigation and Obstacle Avoidance