Epoxy resin or mortar is typically used for providing this type of structural repair in a localized defect. To accomplish the repair, a robot or sealing device is positioned at the repair site. The resin or mortar is inserted into the defect by injection, troweling or a combination. The intention is to allow the repair material to extend through the defect and lock in place on the outside of the pipe or joint. In some cases, this will require grinding or drilling out the defect before the grout is inserted and, in badly damaged joints or sections, some interior forming device is required to recreate the interior surface profile.