A pipe Installation Machine (PIM) was designed and fabricated for the first pump storage hydroelectric power plant in Iran, under supervision of Dr. Durali. PIM is designed to carry pipes (weighing about 35 tons) in an inclined tunnel (with a slope of 90% ). It has 5 degrees of freedom and is controlled by hydraulic power. It can align pipes inside the tunnel and adjust them for welding. In this project, I was in charge of hydraulic and electrical systems.The main specifications and features of the designed and built PIM are as follows:

• 5 degrees of freedom
• High precision pipe adjusting for welding
• Hydraulic rounding fixture for maintaining the shape of the pipes in the welding region.
• Mechanical fixture for keeping pipes in the inclined tunnel with high reliability
• Ability to carry pipes along the curved area of the tunnel
• Having two types of wheel to make movement along both pipes and railroads possible