Name : Young Hoon OH

Robot Name : OPCR (Oh's Pipe Cleaning Robot)

Filename of the paper : opcr.doc

Summary of the Project : It automatically finds the obstacle, runs back, 
changes the pitch of the wheel and cleans it. When it does not find any more obstacles, 
then changes the pitch to the run mode again and runs until the end of the pipe. 
When the robot reaches the end of the pipe, its work is done