The WHOI Tunnel Inspection Vehicle (TIV) was built in 2004 to inspect a 45 mile section of the Delaware Aqueduct and to, ultimately, find its leaks. This was the first time that the tunnel was inspected while in use.
What where the challenges?
TIV contained 5 high resolution digital cameras and four strobe lights for illumination. Approximately 186,000 digital still images were taken, each containing telemetry information to indicate the exact position of the image to facilitate finding the location of any leaks.