Vivian Suzano Medeiros Alan Conci Kubrusly Raphael Lydia Bertoche Miguel de A. Freitas Claudio Camerini Jorge Luiz F. Brito Jean Pierre von der Weid Automatic tool with adaptive suspension system for high-quality inspection of underwater risers. 442-453 2021 48 Ind. Robot 3 https://doi.org/10.1108/IR-09-2020-0204 db/journals/irob/irob48.html#MedeirosKBFCBW21