06820653 is referenced by 70 patents and cites 5 patents.

A multi-module pipe inspection and repair device. The device includes a base module, a camera module, a sensor module, an MFL module, a brush module, a patch set/test module, and a marker module. Each of the modules may be interconnected to construct one of an inspection device, a preparation device, a marking device, and a repair device.

Title
Pipe inspection and repair system
Application Number
9/547281
Publication Number
6820653 (B1)
Application Date
April 12, 2000
Publication Date
November 23, 2004
Inventor
William Crowley
Pgh
PA, US
Scott Boehmke
Pittsburgh
PA, US
Brian Chemel
Salem
MA, US
Edward Mutschler
Wexford
PA, US
Hagen Schempf
Pgh
PA, US
Agent
Kirkpatrick & Lockhart
US
Assignee
Carnegie Mellon University
PA, US
IPC
F16I 55/16
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