Cool Robots Thayer School CRREL Mission Science Papers and Publications Pictures Team and Acknowledgements
Papers and Publications
  L.R. Ray, D. Brande, J.H. Lever, Estimation of Net Traction for Differential-Steered Wheeled Robots, J. Terramechanics Special Issue on Robotics, in press.
  E. Trautmann, L. Ray, Mobility Characterization for Autonomous Mobile Robots Using Machine Learning, Autonomous Robot 30: 369-383, 2011, DOI 10.1007/s10514-011-9224-5 (Abstract)
  L. Ray, Estimation of Terrain Forces and Parameters for Autonomous Robots, IEEE Trans. on Robotics, 25(3), 717-726, 2009. 10.1109/TRO.2009.201897 (Abstract)
  L.R. Ray, D. Brande, J.H. Lever, Estimation of Net Traction for Differential-Steered Wheeled Robots, J. Terramechanics Special Issue on Robotics, 46, 75-87, 2009, doi:10.1016/j.jterra.2008.03.003 (Abstract)
  J.H. Lever and L.R. Ray, Revised Solar-Power Budget for Cool Robot Polar Science Campaigns, Cold Regions Science and Technology, 52(2), 177-190, 2008 (Abstract)
  L. Ray, A. Streeter, J. Lever, A. Price, Design and Power Management for a Solar-Powered 'Cool Robot' for Polar Instrument Networks, J. Field Robotics, 24(7), pp. 581-599, July 2007 (Abstract)
BBC BBC Science and Nature News - After presenting some of our work at a meeting of the European Geosciences Union in Vienna, Jim Lever was approached by the BBC to do this piece for their website. The article explains not only some of the work that has been done so far, but highlights the future goals of the project.
PDF icon Crobots_ICRA_2006.pdf (0.4 MB) - A followup to our 2005 paper, to be presented at the next International Conference on Robotics and Automation (ICRA 2006) in Orlando, FL. This paper contains results gathered from our time on the Ice.
tower NASA interested in Thayer-designed robot - An article that appeared on March 2, 2006 in the college's newspaper, The Dartmouth. The article highlights our work in Greenland, and the potential for future collaborations with NASA biologists.
PDF icon ADS_thesis_text.pdf (9.1 MB) - Alex Streeter's Master of Science thesis from the spring of 2005, which describes the design, construction, and control of the solar power system. Chapter 1 also provides a useful summary of the Cool Robot's project. The appendices are a separate file, available upon request.
PDF icon diet_zett_diplom.pdf (5.8 MB) - The Diploma-Thesis (masters thesis) by Götz Dietrich and Toni Zettl. This document provides in-depth information regarding the GPS navigation system, radio and satellite communications, and an overview of the rest of the robot's operation. Based on work performed 9/2004 through 3/2005.
PDF icon Crobots_ICRA2005_A4.pdf (416 KB) - from the IEEE's International Conference on Robotics and Automation, April 18-22, 2005 in Barcelona.
Powerpoint icon ADP_thesis.ppt (5.3 MB) - Alex Price's Honors Senior Thesis presentation from the spring of 2004. This gives some additional information about the mechanical design and the implementation of the CAD model. Best to download it to disk and then open it locally. Unfortunately, Alex Price's written thesis is not available as a single file.
PDF icon Crobots_Frontiers.pdf (1.9 MB) - from the National Academy of Engineering's "Frontiers of Engineering" Symposium, Sept 8-11, 2004
PDF icon grav_hamm_diplom.pdf (2.5 MB) - The Diploma-Thesis (masters thesis) from team members Guido Gravenkötter and Gunnar Hamman. A more in-depth development of the early mechanical and control work done 9/2003 - 3/2004
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