diff --git a/doc/dictionary.txt b/doc/dictionary.txt
index 1193d13b..4e12f067 100644
--- a/doc/dictionary.txt
+++ b/doc/dictionary.txt
@@ -87,7 +87,9 @@ CmdParse
 Config
 ConsoleReporter
 Ctrl
+DECAR
 DSL
+Dahdah
 Daniele
 DbmDB
 DelayedLoader
@@ -120,6 +122,7 @@ JSON
 JSONCodec
 KeyError
 KeyboardInterrupt
+Koopman
 Kubernetes
 L485
 Laperche
@@ -129,8 +132,10 @@ MD5
 MP3
 Makefile
 Makefiles
+McGill
 Metagenomics
 MetalK8s
+Modelling
 ModuleTaskLoader
 MyChecker
 MyCustomTask2
@@ -163,6 +168,7 @@ Segata
 SetupError
 SetupSample
 SkOink
+Snakemake
 Sorenson
 StackOverflow
 Subclassing
@@ -268,6 +274,7 @@ dir
 discoverable
 docstring
 dodoFile
+doesn
 doit
 dryrun
 dumbdbm
@@ -360,6 +367,7 @@ metavar
 microbiome
 minversion
 mkdir
+modelling
 modindex
 mortem
 msg
@@ -400,6 +408,7 @@ pos1
 pre
 preflight
 prem
+preprocessing
 prev
 printf
 procida
@@ -426,7 +435,9 @@ pythonic
 quickstart
 refactor
 regex
+repo
 repr
+reproducibility
 rst2s5
 runnable
 runtests
diff --git a/doc/stories.rst b/doc/stories.rst
index c18c44cf..0959e1b6 100644
--- a/doc/stories.rst
+++ b/doc/stories.rst
@@ -137,6 +137,41 @@ for my needs:
   multiple `doit` pipelines.
 
 
+`Data-Driven Modelling of Robots <https://github.com/decarsg/system_norm_koopman>`_ / McGill University, Canada
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+by `Steven Dahdah <https://github.com/sdahdah>`_ (2022-09-06)
+
+The `DECAR Systems Group <https://www.decar.ca/>`_ at McGill University
+conducts fundamental and applied research on state estimation, guidance, and
+control. We use ``doit`` to improve the reproducibility of our research.
+
+`One of our recent projects <https://github.com/decarsg/system_norm_koopman>`_
+involves modelling a soft robot arm from experimental data using the Koopman
+operator. Our pipeline consists of many small tasks like preprocessing data,
+profiling algorithms, and generating plots, along with a few large regression
+problems that must be run overnight.
+
+Organizing this pipeline was quite a challenge. First we tried ``Make``, which
+worked well in the beginning, but fell apart when we had to write our own
+macros to generate rules. It was also becoming a burden to serialize and
+deserialize tons of intermediate files, as well as to maintain compatibility
+with Windows. As others here have said, just because you *can* make it work
+doesn't mean that you *should*. We considered using ``CMake``, but ultimately
+decided it was the wrong tool for the job. ``Snakemake`` was also an option,
+but the non-Python dependencies did not sit well with us.
+
+This is when we discovered ``doit``, which was a real life-saver. Instead of
+having a convoluted plotting script with a ton of command line arguments, we
+just placed our plotting functions directly in ``dodo.py``. Same with the
+preprocessing functions. We no longer needed to generate as many temporary
+files, and we no longer had to worry about Windows compatibility. Generating
+multiple tasks was as simple as a ``for`` loop and a ``yield``.
+
+Now, all you have to do is clone our repo, install the dependencies, and run
+``doit`` to get all the plots, exactly as they appear in our paper!
+
+
 Build System
 ------------
 
@@ -146,7 +181,7 @@ Build System
 by `Mike Pagel <https://github.com/moltob>`_ (2019-02-06)
 
 We are responsible for the development of the next generation instrument
-cluster software at BMW. While we use CMake for the actual build of libraries
+cluster software at BMW. While we use ``CMake`` for the actual build of libraries
 and applications, we have learned in the past that you *can* do almost everything
 with ``CMake``, but probably you *shouldn’t*.
 
diff --git a/tests/test_runner.py b/tests/test_runner.py
index 1750b686..54132830 100644
--- a/tests/test_runner.py
+++ b/tests/test_runner.py
@@ -575,7 +575,7 @@ def testNonReporterMethod(self, reporter):
         assert not hasattr(mp_reporter, 'no_existent_method')
 
 
-def clouldpickle_installed():
+def cloudpickle_installed():
     try:
         import cloudpickle
         cloudpickle
@@ -585,7 +585,7 @@ def clouldpickle_installed():
         return True
 
 class TestJobTask(object):
-    @pytest.mark.skipif('not clouldpickle_installed()')
+    @pytest.mark.skipif('not cloudpickle_installed()')
     def test_closure_is_picklable(self):
         # can pickle because we use cloudpickle
         def non_top_function(): return 4
@@ -758,7 +758,7 @@ def non_pickable_creator():
 class TestMRunner_parallel_run_tasks(object):
 
     @pytest.mark.skipif('not runner.MRunner.available()')
-    @pytest.mark.skipif('not clouldpickle_installed()')
+    @pytest.mark.skipif('not cloudpickle_installed()')
     def test_task_cloudpicklabe_multiprocess(self, reporter, dep_manager):
         t1 = Task("t1", [(my_print, ["out a"] )] )
         t2 = Task("t2", None, loader=DelayedLoader(