Thanks to everyone who responded with recommendations for residential air duct cleaners!

Here are the tips I received:

We used Air Duct Maintenance - (800) 922-DUCT.  They did a great job and came extremely well recommended.

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Servicemaster of Greater Pgh.  I used to work there and they do a great job.  412 826-1010 tell them Debi from HP told you to call.  They do a much more thorough job than some of theses places that just vaccum the duct openings.  They send a device all throughout the duct cleaning it out.

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http://blogs.consumerreports.org/home/duct_cleaning/

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I haven't used one but just wanted to pass along that there are filters you can put on the inside of the vents.  You can get them at Home Depot, or a sheet of the material that you cut up yourself.

All best,

Ariana