A compact, maneuverable, underwater robot for direct inspection of nuclear power piping systems. - Anirban Mazumdar; Martin Lozano; Aaron Fittery; H. Harry Asada (ICRA, 2012)

A ball-shaped underwater robot for direct inspection of nuclear reactors and other water-filled infrastructure. - Anirban Mazumdar; Aaron Fittery; Wyatt Ubellacker; H. Harry Asada (ICRA, 2013)