{HEAD ~ The present invention} may be embodied in {TAIL ~ a pipe coring unit} that is adapted to be engaged to an articulated arm 
embodied in
{ HEAD ~ The present invention } may be embodied in { TAIL ~ a pipe coring unit } that is adapted to be engaged to an articulated arm
HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH REL REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH