A. Yusupov

Proof-of-concept prototype development of the self-propelled capsule system for pipeline inspection

Yao Yan, Joseph Páez Chávez, Yang Liu, 2017, Meccanica.

Development of a self-propelled capsule robot for pipeline inspection

Yang Liu, Azat Yusupov, Yang Liu, 2016, 2016 22nd International Conference on Automation and Computing (ICAC).

Optimization and experimental verification of the vibro-impact capsule system in fluid pipeline

James Williamson, Yao Yan, Zhike Peng, 2019 .