@misc{indiciae4d6303c7236f,
  title = {Pipe inspection and repair system},
  author = {Schempf, Hagen and Mutschler, Edward and Chemel, Brian and Boehmke, Scott and Crowley, William},
  year = {2004},
  url = {https://ntrs.nasa.gov/citations/20080005142},
  note = {Source identifier: 20080005142}
}