This paper introduces the epicyclic reduction arrangement applied in cutting drive mechanism in pipe jacking, analyses the construction and characteristics of epicyclic reduction arrangement.

介绍顶管掘进机截割传动装置所采用的行星齿轮减速器，论述行星齿轮减速器的结构特点。

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The paper gives the whole control system design of the in-pipe robot, which includes electro-magnet drive module, CPLD patulous module, wireless communications module, power module.

介绍了机器人控制系统的总体设计方案，包括电磁铁驱动模块、CPLD扩展模块、无线通信模块、电源模块等。

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Two hours drive away in Kulgaon, TU Shenava faces similar problems at his pipe-making factory.

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