As a part of a project with Croatian company HRID-NDT d.d, specialized in non-destructive testing, LARICS has developed motion control and visual supervision systems for the HRID steam-generator tube inspection manipulator. The developed systems were put to the test during an inspection of the Tianwan nuclear power plant in Lianyungang, China, and passed with flying colors. Bruno Birgmajer, who carried out most of the job, will present the results in his Master Thesis scheduled for defense in September, as well as in the conference paper accepted for presentation at the IEEE International Symposium on Intelligent Control 2006 in Munich, Germany.