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H. Yaguchi and T. Izumikawa, “Cableless Magnetic Ac tuator Capable of Locomotion in a Thin Pipe by Means of a New Motion Principle,” IEEE Transactions on Magnetics, Vol. 47, No. 10, 2011, pp. 4290-4293. doi:10.1109/TMAG.2011.2151272

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