OC Robotics - BBC Points West - Sellafield nuclear snake arm robot

This video demonstrates the capabilities of a snake-arm robot within a jungle of pipework. It was aired on Points West on 27th September 2011. More information on the project can be found at www.ocrobotics.com/application...
From the BBC: "A team of Bristol engineers have created a robotic snake which can wriggle into inaccessible and dangerous places."
Sellafield requires a dextrous remote handling capability to conduct safe, cost efficient exploration and characterisation of nuclear facilities. Snake-arm robots are general purpose delivery tools for confined space working in hazardous areas.
Filming credits: BBC. Dave Harvey (www.bbc.co.uk/blogs/daveharvey/) and Ross James (www.rosscam.co.uk/)
OC Robotics designs and manufactures snake-arm robots, which are specifically designed to perform remote handling operations in confined and hazardous spaces. OC Robotics has delivered robots for industries spanning - amongst others - nuclear, aerospace, medical and security. It has also provided consultancy and analysis services for these sectors.
Snake-arm robots have a long, slender and flexible design, fitting effortlessly through small openings and around obstacles. Snake-arm robots do not need support from the environment, which means that they can navigate through an open space, avoiding obstacles, carrying tools and conducting work.

[@OCRobotics]

@QwertyTSecond None of our snake-arm robots have motors within the actual snake - all our snakes are cable-actuated, with the motors, actuators and electronics housed in an actuator pack at the base of the snake-arm. This means the arm remains light (thus can be long), and purely mechanical. So, no design change! Have a look at our Explorer catalogue for a bit more detail...

[@rawwad]

Look at her, how excited she is :D try imagine why

[@QwertyTSecond]

I'm currently studying robotics at Plymouth Uni and I'm really interested in building something similar to this for my final year project. From your site I've seen previous snakes that use actuators and have a hollow core, whereas this one seems to have universal motor joints on each segment. Why the design change? I don't suppose you have any publications detailing the workings behind these robots?