{
  "abstract": "A system for removing debris from one or more internal structures of a work piece including a robotic cleaner sized to fit within the one or more internal structures of the work piece. The robotic cleaner includes a robotic cleaner frame, two or more rotatable members coupled with the robotic cleaner frame and a debris collecting substrate coupled with at least one of the two or more rotatable members. The debris reducing substrate is configured to perform a debris collecting operation.",
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    "RAYTHEON CO"
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    "AGUILAR LAURA J"
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  "title": "Micro cleaning robots",
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