Neptune: above-ground storage tank inspection robot system. - Hagen Schempf; Brian Chemel; Nathan Everett (IEEE Robotics Autom. Mag., 1995)

BOA II and PipeTaz: robotic pipe-asbestos insulation abatement systems. - Hagen Schempf; Edward Mutschler; Brian Chemel; Scott K. Boehmke (ICRA, 1997)

Cyclops: Miniature Robotic Reconnaissance System. - Brian Chemel; Edward Mutschler; Hagen Schempf (ICRA, 1999)

Pandora: Autonomous Urban Robotic Reconnaissance System. - Hagen Schempf; Edward Mutschler; C. Piepgras; J. Warwick; Brian Chemel; Scott K. Boehmke; William Crowley; Robert Fuchs; J. Guyot (ICRA, 1999)