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Proceedings of the 2003 IEEE International Conference 0. Robotics Automation Taipei, Taiwan, September 14.19, 2003 Experiments using a Laser-based Transducer and Automated Analysis Techniques for Pipe Inspection Olga Duran, Kaspar Althoefer and L a h a l D. Seneviratne email :{olga.duran,k,althoefer,la~al.seneviratne/@kcl.ac.uk Depamnent of Mechanical Engineering