A portable programmable machine configured to perform one or more tasks within a confined space , the portable programmable machine comprising: a prismatic joint comprising a telescoping arm ; a base configured to support the telescoping arm , a distal end region of the telescoping arm being unsupported by the base and having an articulating wrist configured to hold and manipulate a tool for performing the one or more tasks within the confined space , wherein the distal end region of the telescoping arm is configured to be translated with respect to the base , wherein the wrist comprises a plurality of joints (45/47) configured to rotate and translate the tool with respect to the telescoping arm ; a revolute joint configured to rotate the telescoping arm ; and a vision system configured to facilitate positioning of the tool and performance of the one or more tasks within the confined space ; wherein the portable programmable machine is configured to position the tool and perform the task at least one of autonomously and semi-autonomously via selectively moving the telescoping arm and the wrist with respect to the base ; and wherein the base includes a power source and a programmable computer configured to process numerical data and to communicate with and control movements of the telescoping arm and the wrist , the portable programmable machine further comprising an insert that is configured to be selectively secured with respect to an access port to the confined space while the tool performs the one or more tasks within the confined space , wherein the insert is configured to remain substantially stationary with respect to the access port while the insert is secured with respect to the access port , wherein the telescoping arm is configured to be rotated and translated with respect to the insert via the prismatic joint and the revolute joint, and wherein the portable programmable machine is configured to utilize the access port as a reference location for determining positions within the confined space . a prismatic joint comprising a telescoping arm ; a base configured to support the telescoping arm , a distal end region of the telescoping arm being unsupported by the base and having an articulating wrist configured to hold and manipulate a tool for performing the one or more tasks within the confined space , wherein the distal end region of the telescoping arm is configured to be translated with respect to the base , wherein the wrist comprises a plurality of joints (45/47) configured to rotate and translate the tool with respect to the telescoping arm ; a revolute joint configured to rotate the telescoping arm ; and a vision system configured to facilitate positioning of the tool and performance of the one or more tasks within the confined space ; wherein the portable programmable machine is configured to position the tool and perform the task at least one of autonomously and semi-autonomously via selectively moving the telescoping arm and the wrist with respect to the base ; and wherein the base includes a power source and a programmable computer configured to process numerical data and to communicate with and control movements of the telescoping arm and the wrist , the portable programmable machine further comprising an insert that is configured to be selectively secured with respect to an access port to the confined space while the tool performs the one or more tasks within the confined space , wherein the insert is configured to remain substantially stationary with respect to the access port while the insert is secured with respect to the access port , wherein the telescoping arm is configured to be rotated and translated with respect to the insert via the prismatic joint and the revolute joint, and wherein the portable programmable machine is configured to utilize the access port as a reference location for determining positions within the confined space . <EOS>