This paper presents the plan of an in-pipe climbing robot that works utilizing an astute transmission part to investigate complex relationship of lines. Standard wheeled/proceeded in-pipe climbing robots are inclined to slip and take while investigating in pipe turns. The instrument helps in accomplishing the main inevitable result of getting out slip and drag in the robot tracks during advancement. The proposed transmission appreciates the practical furthest reaches of the standard two-yield transmission, which is developed the basic time for a transmission with three results. The instrument conclusively changes the track speeds of the robot considering the powers applied on each track inside the line relationship, by getting out the essential for any remarkable control. The amusement of the robot crossing in the line network in various orientation and in pipe-turns without slip shows the proposed game plan's adequacy.

This paper presents the arrangement of an in-pipe climbing robot that works using a clever differential part to explore complex associations of lines. Standard wheeled/continued in-pipe climbing robots are leaned to slip and take while exploring in pipe turns. The mechanism helps in achieving the first eventual outcome of clearing out slip and drag in the robot tracks during development. The proposed differential comprehends the down to earth limits of the standard two-yield differential, which is cultivated the underlying time for a differential with three outcomes. The mechanism definitively changes the track paces of the robot considering the powers applied on each track inside the line association, by clearing out the prerequisite for any unique control. The entertainment of the robot crossing in the line network in different bearings and in pipe-turns without slip shows the proposed arrangement's ampleness.

Salivary gland tumors are one of the rare entities having the annual incidence rate of 0.5 to 2 per 100,000 persons[7]. Majority of them are benign, only 20% cases are malignant. They usually present as painless mass in the oral cavity or close to their anatomical location. The main challenge is to differentiate between the benign and the malignant ones. Thus, various imaging modalities are used. Investigations such as ne needle aspiration cytology and MRI scans provide some useful information, but most cases will require tissue diagnosis to come to a denitive conclusion. Hence, biopsy or histopathological study of the surgically excised tissue is the gold standard for diagnosis. Benign tumour and early low-grade malignancies can be adequately treated with surgery alone, while more advanced and high-grade tumour with regional lymph node metastasis will require postoperative radiotherapy[11]. The role of chemotherapy remains largely palliative. In this article, we have presented a series of cases with uncommon tumors involving the various salivary glands.