diff --git a/Files_4_thesis/Different_angle/Pose_right.txt b/Files_4_thesis/Different_angle/Pose_right.txt
index 0348b18a1aa2c56ef22f91b6e45cbaa0377a6fac..456e0abe7be164753d2cc750b6b5d42d59cc7ff4 100644
--- a/Files_4_thesis/Different_angle/Pose_right.txt
+++ b/Files_4_thesis/Different_angle/Pose_right.txt
@@ -1,452 +1,460 @@
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diff --git a/Files_4_thesis/Different_angle/Velocity_right.txt b/Files_4_thesis/Different_angle/Velocity_right.txt
index e6c7fa2b62ef2d45a62968fe49fb25e71abe0c00..7b201ef18ed5071ab7b741f9d26b4e45abce428c 100644
--- a/Files_4_thesis/Different_angle/Velocity_right.txt
+++ b/Files_4_thesis/Different_angle/Velocity_right.txt
@@ -1,451 +1,459 @@
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+1476102058957886455,0.006,0.0,0.0,0.0,0.0,0.0
+1476102059033397775,0.006,0.0,0.0,0.0,0.0,0.0
+1476102059116143894,0.006,0.0,0.0,0.0,0.0,0.0
+1476102059195920579,0.006,0.0,0.0,0.0,0.0,0.0
diff --git a/Files_4_thesis/Different_angle/docking_different_angle.m b/Files_4_thesis/Different_angle/docking_different_angle.m
index 02ee048bd131b4a9e17886a3eb17de307a86e23f..fb30237c89782a2ade95b4d32dc3313202662a6d 100644
--- a/Files_4_thesis/Different_angle/docking_different_angle.m
+++ b/Files_4_thesis/Different_angle/docking_different_angle.m
@@ -82,7 +82,7 @@ t_V_sec_data_3(:,size(t_V_sec_data_3,2)) = [];
 % when using marker pose ,,,,
 Pose_X_data_1 = Pose_Matrix_data_1(:,4);
 Pose_Y_data_1 = Pose_Matrix_data_1(:,3);
-Theta_data_1 = Pose_Matrix_data_1(:,5);
+Theta_data_1 = Pose_Matrix_data_1(:,7);
 
 
 % Extracting reference values when the robot is manually docked!
@@ -95,7 +95,7 @@ ref_Pose_data_1 =[ref_X_data_1;ref_Y_data_1];
 % when using marker pose ,,,,
 Pose_X_data_2 = Pose_Matrix_data_2(:,4);
 Pose_Y_data_2 = Pose_Matrix_data_2(:,3);
-Theta_data_2 = Pose_Matrix_data_2(:,5);
+Theta_data_2 = Pose_Matrix_data_2(:,7);
 
 
 % Extracting reference values when the robot is manually docked!
@@ -108,7 +108,7 @@ ref_Pose_data_2 =[ref_X_data_2;ref_Y_data_2];
 % when using marker pose ,,,,
 Pose_X_data_3 = Pose_Matrix_data_3(:,4);
 Pose_Y_data_3 = Pose_Matrix_data_3(:,3);
-Theta_data_3 = Pose_Matrix_data_3(:,5);
+Theta_data_3 = Pose_Matrix_data_3(:,7);
 
 % Extracting reference values when the robot is manually docked!
 ref_X_data_3 = Pose_X_data_3(size(Pose_X_data_3,1));
@@ -140,7 +140,7 @@ Omega_Z_data_2 = Vel_Matrix_data_2(:,7);
 
 % data 3:
 Vel_X_data_3 = Vel_Matrix_data_3(:,2);
-Vel_Y_data_3 = Vel_Matrix_data_3(:,3);
+Vel_Y_data_3 = abs(Vel_Matrix_data_3(:,3));
 Omega_Z_data_3 = Vel_Matrix_data_3(:,7);
 
 %% Plots
@@ -156,29 +156,29 @@ plot(t_P_sec_data_2,Pose_X_data_2,'r','LineWidth',1.7);
 % hold on
 % plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',1.6);
 
-title('Pose estimation in marker coordinate system');
+title('Camera Pose Estimation');
 ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
 
 l2 = legend('Left', 'Right');
 set(l2,'interpreter','latex','FontSize',11);
-legend('boxoff');
+% legend('boxoff');
 
 subplot(3,1,2);
 plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',3);
 hold on
 plot(t_P_sec_data_2,Pose_Y_data_2,'r','LineWidth',1.7);
-% hold on
-% plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',1.6);
+hold on
+plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',1.6);
 ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
 
 subplot(3,1,3);
 plot(t_P_sec_data_1,Theta_data_1,'LineWidth',3);
 hold on
 plot(t_P_sec_data_2,Theta_data_2,'r','LineWidth',1.7);
-% hold on
-% plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',1.6);
+hold on
+plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',1.6);
 
-xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
+xlabel('$ time [s]$','interpreter','latex','FontSize',14);
 ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);
 
 % control signals
@@ -190,8 +190,8 @@ subplot(311);
 plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',3);
 hold on
 plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',1.7);
-% hold on
-% plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',1.6);
+hold on
+plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',1.6);
 
 title('Control Signals');
 ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
@@ -212,9 +212,9 @@ subplot(3,1,3);
 plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',3);
 hold on
 plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.7);
-% hold on
-% plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.6);
-xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
+hold on
+plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.6);
+xlabel('$ time [s]$','interpreter','latex','FontSize',14);
 ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
 
 % Trajectory 
@@ -231,9 +231,9 @@ hold on
 plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
 % hold on
 % quiver(Pose_Y_data_2,Pose_X_data_2,gradient(Pose_Y_data_2),gradient(Pose_X_data_2),'m--','LineWidth',.01);
-
-% hold on
-% plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
+% 
+hold on
+plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
 % hold on
 % quiver(Pose_Y_data_3,Pose_X_data_3,gradient(Pose_Y_data_3),gradient(Pose_X_data_3),'k--','LineWidth',.01);
 
@@ -248,8 +248,8 @@ subplot(1,3,2);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',1.6);
 hold on
 plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',1.6);
-% hold on
-% plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',1.6);
+hold on
+plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',1.6);
 hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
diff --git a/Files_4_thesis/Finding_X_dot_with_Pcontroller/CAM_x_dot_.1.txt b/Files_4_thesis/Finding_X_dot_with_Pcontroller/CAM_x_dot_.1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f8a3a019b5bb50f5b1cf656216c0c2a624ab04fd
--- /dev/null
+++ b/Files_4_thesis/Finding_X_dot_with_Pcontroller/CAM_x_dot_.1.txt
@@ -0,0 +1,426 @@
+%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
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diff --git a/Files_4_thesis/Finding_X_dot_with_Pcontroller/CAM_x_dot_.15.txt b/Files_4_thesis/Finding_X_dot_with_Pcontroller/CAM_x_dot_.15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..03abd8b1aa050d05447a334ae0056dcb982565d1
--- /dev/null
+++ b/Files_4_thesis/Finding_X_dot_with_Pcontroller/CAM_x_dot_.15.txt
@@ -0,0 +1,406 @@
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diff --git a/Files_4_thesis/Finding_X_dot_with_Pcontroller/CAM_x_dot_.16.txt b/Files_4_thesis/Finding_X_dot_with_Pcontroller/CAM_x_dot_.16.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b7977dacc0b033a5cccc6b1fdbe218571c1c86ea
--- /dev/null
+++ b/Files_4_thesis/Finding_X_dot_with_Pcontroller/CAM_x_dot_.16.txt
@@ -0,0 +1,357 @@
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diff --git a/Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.asv b/Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.asv
new file mode 100644
index 0000000000000000000000000000000000000000..d9043c11524d433f9a46329c9f72a846489f9d3f
--- /dev/null
+++ b/Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.asv
@@ -0,0 +1,398 @@
+clc;
+close all;
+clear all;
+%% Import data and time conversion
+
+% data 1: 556 ros messages for geometry_msgs/Twist 
+%         557 ros messages for geometry_msgs/PoseStamped
+% y-axis gains:
+% (010816_1718) best!!!
+% P = .4; I = 0; D = 0; 
+
+% y-axis gains:
+% (280716_2024) better!!!
+% P = .44; I = 0; D = 0; 
+
+% theta-axis gains:
+% P = .08; I = 0; D = 0;
+
+% y-axis gains:
+% (280716_2002)
+% P = .46; I = 0; D = 0; 
+
+% theta-axis gains:
+% P = .08; I = 0; D = 0;
+
+% Pose_Matrix_data_1 = csvread('Pose01_08_16_1718.txt',1,0);
+% Vel_Matrix_data_1 = csvread('Velocity01_08_16_1718.txt',1,0);
+
+Pose_Matrix_data_1 = csvread('CAM_x_dot_.1.txt',1,0);
+Vel_Matrix_data_1 = csvread('x_dot_.1.txt',1,0);
+
+% time in position
+TimeP_ros_data_1 = Pose_Matrix_data_1(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationP_data_1 = (TimeP_ros_data_1(size(TimeP_ros_data_1,1),:) - TimeP_ros_data_1(1,:))*10^(-9); 
+  
+t_P_sec_data_1 = 0:durationP_data_1/size(TimeP_ros_data_1,1):durationP_data_1;
+t_P_sec_data_1(:,size(t_P_sec_data_1,2)) = [];
+
+% time in vel
+TimeV_ros_data_1 = Vel_Matrix_data_1(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationV_data_1 = (TimeV_ros_data_1(size(TimeV_ros_data_1,1),:) - TimeV_ros_data_1(1,:))*10^(-9);
+
+t_V_sec_data_1 = 0:durationV_data_1/size(TimeV_ros_data_1,1):durationV_data_1;
+t_V_sec_data_1(:,size(t_V_sec_data_1,2)) = [];
+
+% -----------------------------------------------------------------------------------------------------
+% data 2: 
+% 
+% Pose_Matrix_data_2 = csvread('Pose01_08_16_1749.txt',1,0);
+% Vel_Matrix_data_2 = csvread('Velocity01_08_16_1749.txt',1,0);
+
+
+Pose_Matrix_data_2 = csvread('CAM_x_dot_.15.txt',1,0);
+Vel_Matrix_data_2 = csvread('x_dot_.15.txt',1,0);
+
+% time in position
+TimeP_ros_data_2 = Pose_Matrix_data_2(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationP_data_2 = (TimeP_ros_data_2(size(TimeP_ros_data_2,1),:) - TimeP_ros_data_2(1,:))*10^(-9); 
+  
+t_P_sec_data_2 = 0:durationP_data_2/size(TimeP_ros_data_2,1):durationP_data_2;
+t_P_sec_data_2(:,size(t_P_sec_data_2,2)) = [];
+
+% time in vel
+TimeV_ros_data_2 = Vel_Matrix_data_2(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationV_data_2 = (TimeV_ros_data_2(size(TimeV_ros_data_2,1),:) - TimeV_ros_data_2(1,:))*10^(-9);
+
+t_V_sec_data_2 = 0:durationV_data_2/size(TimeV_ros_data_2,1):durationV_data_2;
+t_V_sec_data_2(:,size(t_V_sec_data_2,2)) = [];
+
+% -----------------------------------------------------------------------------------------------------
+% data 3: 
+% Pose_Matrix_data_3 = csvread('Pose01_08_16_1831.txt',1,0);
+% Vel_Matrix_data_3 = csvread('Velocity01_08_16_1831.txt',1,0);
+
+
+Pose_Matrix_data_3 = csvread('CAM_x_dot_.16.txt',1,0);
+Vel_Matrix_data_3 = csvread('x_dot_.16.txt',1,0);
+
+% time in position
+TimeP_ros_data_3 = Pose_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationP_data_3 = (TimeP_ros_data_3(size(TimeP_ros_data_3,1),:) - TimeP_ros_data_3(1,:))*10^(-9); 
+  
+t_P_sec_data_3 = 0:durationP_data_3/size(TimeP_ros_data_3,1):durationP_data_3;
+t_P_sec_data_3(:,size(t_P_sec_data_3,2)) = [];
+
+% time in vel
+TimeV_ros_data_3 = Vel_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationV_data_3 = (TimeV_ros_data_3(size(TimeV_ros_data_3,1),:) - TimeV_ros_data_3(1,:))*10^(-9);
+
+t_V_sec_data_3 = 0:durationV_data_3/size(TimeV_ros_data_3,1):durationV_data_3;
+t_V_sec_data_3(:,size(t_V_sec_data_3,2)) = [];
+
+
+%% Pose estimation
+
+%data 1:
+% when using marker pose ,,,,
+Pose_X_data_1 = Pose_Matrix_data_1(:,4);
+Pose_Y_data_1 = Pose_Matrix_data_1(:,3);
+Theta_data_1 = Pose_Matrix_data_1(:,7);
+
+
+% Extracting reference values when the robot is manually docked!
+ref_X_data_1 = Pose_X_data_1(size(Pose_X_data_1,1));
+ref_Y_data_1 = Pose_Y_data_1(size(Pose_Y_data_1,1));
+ref_Theta_data_1 = Theta_data_1(size(Theta_data_1,1));
+ref_Pose_data_1 =[ref_X_data_1;ref_Y_data_1];
+
+%data 2:
+% when using marker pose ,,,,
+Pose_X_data_2 = Pose_Matrix_data_2(:,4);
+Pose_Y_data_2 = Pose_Matrix_data_2(:,3);
+Theta_data_2 = Pose_Matrix_data_2(:,7);
+
+% Extracting reference values when the robot is manually docked!
+ref_X_data_2 = Pose_X_data_2(size(Pose_X_data_2,1));
+ref_Y_data_2 = Pose_Y_data_2(size(Pose_Y_data_2,1));
+ref_Theta_data_2 = Theta_data_2(size(Theta_data_2,1));
+ref_Pose_data_2 =[ref_X_data_2;ref_Y_data_2];
+
+%data 3:
+% when using marker pose ,,,,
+Pose_X_data_3 = Pose_Matrix_data_3(:,4);
+Pose_Y_data_3 = Pose_Matrix_data_3(:,3);
+Theta_data_3 = Pose_Matrix_data_3(:,7);
+
+
+% Extracting reference values when the robot is manually docked!
+ref_X_data_3 = Pose_X_data_3(size(Pose_X_data_3,1));
+ref_Y_data_3 = Pose_Y_data_3(size(Pose_Y_data_3,1));
+ref_Theta_data_3 = Theta_data_3(size(Theta_data_3,1));
+ref_Pose_data_3 =[ref_X_data_3;ref_Y_data_3];
+
+thresh_X = .001;
+theta = 0:.001:2*pi;
+
+% needs to be adjusted manually if docking platform is replaced!
+ref_x = -.203;
+ref_y = -.019;
+
+x_circle = thresh_X*cos(theta) + ref_x; % ref_X needs to be recorded
+y_circle = thresh_X*sin(theta) + ref_y; % ref_Y needs to be recorded
+
+
+%% Velocity estimation
+
+% data 1:
+Vel_X_data_1 = Vel_Matrix_data_1(:,2);
+Vel_Y_data_1 = Vel_Matrix_data_1(:,3);
+Omega_Z_data_1 = Vel_Matrix_data_1(:,7);
+
+% data 2:
+Vel_X_data_2 = Vel_Matrix_data_2(:,2);
+Vel_Y_data_2 = Vel_Matrix_data_2(:,3);
+Omega_Z_data_2 = Vel_Matrix_data_2(:,7);
+
+% data 3:
+Vel_X_data_3 = Vel_Matrix_data_3(:,2);
+Vel_Y_data_3 = Vel_Matrix_data_3(:,3);
+Omega_Z_data_3 = Vel_Matrix_data_3(:,7);
+
+
+%% Plots
+
+
+% marker position
+figure;
+subplot(3,1,1);
+plot(t_P_sec_data_1,Pose_X_data_1);
+hold on
+plot(t_P_sec_data_2,Pose_X_data_2,'r');
+hold on
+plot(t_P_sec_data_3,Pose_X_data_3,'g');
+
+title('Marker X-axis','Color','r');
+% xlabel('Time [sec]');
+ylabel('X [m]');
+grid on
+
+subplot(3,1,2);
+plot(t_P_sec_data_1,Pose_Y_data_1);
+hold on
+plot(t_P_sec_data_2,Pose_Y_data_2,'r');
+hold on
+plot(t_P_sec_data_3,Pose_Y_data_3,'g');
+
+title('Marker Y-axis');
+% xlabel('Time [sec]');
+ylabel('Y [m]');
+grid on
+
+subplot(3,1,3);
+plot(t_P_sec_data_1,Theta_data_1);
+hold on
+plot(t_P_sec_data_2,Theta_data_2,'r');
+hold on
+plot(t_P_sec_data_3,Theta_data_3,'g');
+
+title('Marker \theta-axis');
+xlabel('Time [s]');
+ylabel('\theta [rad]');
+grid on
+
+
+
+% control signals
+figure;
+set(gcf,'color','white');
+
+subplot(3,1,1);
+plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',2);
+hold on
+plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',1.6);
+hold on
+plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',2);
+
+title('Control Signals');
+% xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
+ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
+% grid on
+% axis([0 60 -.01 .2]);
+l = legend('$\dot{x}_{Rob}$ = 0.1 [m/s]','$\dot{x}_{Rob}$ = 0.15[m/s]','$\dot{x}_{Rob}$ = 0.16[m/s]');
+set(l,'interpreter','latex','FontSize',12);
+legend('boxoff');
+
+subplot(3,1,2);
+plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',2.5);
+hold on
+plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.5);
+hold on
+plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',2.1);
+
+% title('Control Signal  y_{Rob} - axis');
+ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
+% grid on
+% axis([0 46 -.2 .1]);
+
+subplot(3,1,3);
+plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',2.5);
+hold on
+plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.45);
+hold on
+plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',2.1);
+
+% title('Control Signal  \theta_{Rob} - axis');
+xlabel('$ time [s]$','interpreter','latex','FontSize',14);
+ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
+% grid on
+
+% axis([0 46 -.1 .15]);
+
+
+
+% Trajectory 
+
+% figure;
+% plot(Pose_Y_data_1,Pose_X_data_1,'b',ref_Y_data_1,ref_X_data_1,'k*');
+% hold on
+% plot(Pose_Y_data_2,Pose_X_data_2,'r',ref_Y_data_2,ref_X_data_2,'k*');
+% 
+% hold on
+% plot(Pose_Y_data_3,Pose_X_data_3,'g',ref_Y_data_3,ref_X_data_3,'k*');
+% 
+
+% 
+% for k = Pose_X_data_1(1):Pose_X_data_1(size(Pose_X_data_1,1))
+%     x_arrow(k) = 
+%     
+% end
+% 
+% x_arrow = linspace(Pose_X_data_1(1),Pose_X_data_1(size(Pose_X_data_1,1)),150);
+% y_arrow = linspace(Pose_Y_data_1(1),Pose_Y_data_1(size(Pose_Y_data_1,1)),150);
+% 
+% Vx = gradient(x_arrow,.01);
+% Vy = gradient(y_arrow,.01);
+% 
+% figure;
+% plot(y_arrow,x_arrow,'b--','LineWidth',.5);
+% % hold on
+% % quiver(y_arrow,x_arrow,Vy,Vx,'r--','LineWidth',1.5);
+% 
+
+figure;
+set(gcf,'color','white');
+
+subplot(131);
+plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
+hold on
+plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
+hold on
+plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
+hold on
+plot(y_circle,x_circle,'k--','LineWidth',3.4)
+
+title('Approach zone + SM zone + Target area');
+% xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
+ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',16);
+axis([-.65 .01 -1.47 -.185]);
+% grid on
+l2 = legend('$\dot{x}_{Rob}$ = 0.1[m/s]','$\dot{x}_{Rob}$ = 0.15[m/s]','$\dot{x}_{Rob}$ = 0.16[m/s]','Target','Location','northwest');
+set(l2,'interpreter','latex','FontSize',14);
+legend('boxoff');
+
+subplot(1,3,2);
+plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
+hold on
+plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
+hold on
+plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
+hold on
+plot(y_circle,x_circle,'k--','LineWidth',3.4);
+title('SM zone + Target area');
+xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',16);
+% ylabel('${X}$ [m]','interpreter','latex');
+axis([-.033 -.01 -.26 -.195]);
+% grid on
+
+subplot(133);
+plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
+hold on
+plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
+hold on
+plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
+hold on
+plot(y_circle,x_circle,'k--','LineWidth',3.4);
+title('Target area');
+% xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
+% ylabel('${X}$ [m]','interpreter','latex');
+axis([-.0205 -.0175 -.206 -.20]);
+% grid on
+% l2 = legend('x_dot = 0.15','x_dot = 0.1','x_dot = 0.16','Reference Position');
+
+figure;
+set(gcf,'color','white');
+
+subplot(2,1,1);
+plot(diff(TimeP_ros_data_1)/1e9,'g')
+hold on
+plot (diff(t_P_sec_data_1),'k--')
+title('Position sampling time');
+ylabel('Sampling time');
+legend('ROS calc.','Real time calc. [sec]','Orientation','horizontal');
+% grid on
+% axis([0 428 .05 .15]);
+
+subplot(2,1,2);
+plot(diff(TimeV_ros_data_1)/1e9,'g');
+hold on
+plot (diff(t_V_sec_data_1),'k--')
+title('Velocity sampling time');
+xlabel('samples');
+ylabel('Sampling time');
+% legend('ROS calc.','Ordinary calc.','Orientation','horizontal');
+% grid on
+% axis([0 428 -.005 .025]);
+% 
+% subplot(3,1,3);
+% plot(diff(TimeV_ros_data_1)/1e9,'g')
+% hold on
+% plot (diff(t_V_sec_data_1),'k--')
+% xlabel('samples');
+% ylabel('time step');
+% axis([150 250 0 .02]);
+% figure;
+% set(gcf,'color','white');
+% 
+% subplot(3,1,1);
+% plot(diff(Pose_X_data_1));
+% title('X-Pose diff');
+% xlabel('samples');
+% ylabel('X difference [m]');
+% grid on
+% 
+% subplot(3,1,2);
+% plot(diff(Pose_X_data_1));
+% title('Y-Pose diff');
+% xlabel('samples');
+% ylabel('Y difference [m]');
+% grid on
+% 
+% subplot(3,1,3);
+% plot(diff(Theta_data_1));
+% title('\theta-Pose diff');
+% xlabel('samples');
+% ylabel('\theta difference [rad]');
+% grid on
\ No newline at end of file
diff --git a/Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.m b/Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.m
index 5bbf33bc6a1d3e2241b2cafa42385481672047ad..5fcf78754af1775985773cb8259488356f2b573a 100644
--- a/Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.m
+++ b/Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.m
@@ -23,8 +23,11 @@ clear all;
 % theta-axis gains:
 % P = .08; I = 0; D = 0;
 
-Pose_Matrix_data_1 = csvread('Pose01_08_16_1718.txt',1,0);
-Vel_Matrix_data_1 = csvread('Velocity01_08_16_1718.txt',1,0);
+% Pose_Matrix_data_1 = csvread('Pose01_08_16_1718.txt',1,0);
+% Vel_Matrix_data_1 = csvread('Velocity01_08_16_1718.txt',1,0);
+
+Pose_Matrix_data_1 = csvread('CAM_x_dot_.1.txt',1,0);
+Vel_Matrix_data_1 = csvread('x_dot_.1.txt',1,0);
 
 % time in position
 TimeP_ros_data_1 = Pose_Matrix_data_1(:,1); % ros time, needs to be converted to sec...
@@ -45,16 +48,17 @@ t_V_sec_data_1 = 0:durationV_data_1/size(TimeV_ros_data_1,1):durationV_data_1;
 t_V_sec_data_1(:,size(t_V_sec_data_1,2)) = [];
 
 % -----------------------------------------------------------------------------------------------------
-% data 2: 588 ros messages for geometry_msgs/Twist 
-%         589 ros messages for geometry_msgs/PoseStamped
-% y-axis gains:
-% P = .5; I = 0.001; D = 0.03;
+% data 2: 
+% py = .25;     ptheta = .25;
+% iy = 0;       itheta = 0;
+% dy = 0;       dtheta = 0;
 
-% theta-axis gains:
-% P = .28; I = 0.1; D = 0.15;
+% Pose_Matrix_data_2 = csvread('Pose01_08_16_1749.txt',1,0);
+% Vel_Matrix_data_2 = csvread('Velocity01_08_16_1749.txt',1,0);
 
-Pose_Matrix_data_2 = csvread('Pose01_08_16_1749.txt',1,0);
-Vel_Matrix_data_2 = csvread('Velocity01_08_16_1749.txt',1,0);
+
+Pose_Matrix_data_2 = csvread('CAM_x_dot_.15.txt',1,0);
+Vel_Matrix_data_2 = csvread('x_dot_.15.txt',1,0);
 
 % time in position
 TimeP_ros_data_2 = Pose_Matrix_data_2(:,1); % ros time, needs to be converted to sec...
@@ -75,16 +79,13 @@ t_V_sec_data_2 = 0:durationV_data_2/size(TimeV_ros_data_2,1):durationV_data_2;
 t_V_sec_data_2(:,size(t_V_sec_data_2,2)) = [];
 
 % -----------------------------------------------------------------------------------------------------
-% data 3: 538 ros messages for geometry_msgs/Twist 
-%         539 ros messages for geometry_msgs/PoseStamped
-% y-axis gains:
-% P = .44; I = .0005; D = 0.15;
+% data 3: 
+% Pose_Matrix_data_3 = csvread('Pose01_08_16_1831.txt',1,0);
+% Vel_Matrix_data_3 = csvread('Velocity01_08_16_1831.txt',1,0);
 
-% theta-axis gains:
-% P = .08; I = 0; D = 0;
 
-Pose_Matrix_data_3 = csvread('Pose01_08_16_1831.txt',1,0);
-Vel_Matrix_data_3 = csvread('Velocity01_08_16_1831.txt',1,0);
+Pose_Matrix_data_3 = csvread('CAM_x_dot_.16.txt',1,0);
+Vel_Matrix_data_3 = csvread('x_dot_.16.txt',1,0);
 
 % time in position
 TimeP_ros_data_3 = Pose_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
@@ -111,13 +112,8 @@ t_V_sec_data_3(:,size(t_V_sec_data_3,2)) = [];
 % when using marker pose ,,,,
 Pose_X_data_1 = Pose_Matrix_data_1(:,4);
 Pose_Y_data_1 = Pose_Matrix_data_1(:,3);
-Theta_data_1 = Pose_Matrix_data_1(:,5);
-
+Theta_data_1 = Pose_Matrix_data_1(:,7);
 
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
 
 % Extracting reference values when the robot is manually docked!
 ref_X_data_1 = Pose_X_data_1(size(Pose_X_data_1,1));
@@ -129,12 +125,7 @@ ref_Pose_data_1 =[ref_X_data_1;ref_Y_data_1];
 % when using marker pose ,,,,
 Pose_X_data_2 = Pose_Matrix_data_2(:,4);
 Pose_Y_data_2 = Pose_Matrix_data_2(:,3);
-Theta_data_2 = Pose_Matrix_data_2(:,5);
-
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
+Theta_data_2 = Pose_Matrix_data_2(:,7);
 
 % Extracting reference values when the robot is manually docked!
 ref_X_data_2 = Pose_X_data_2(size(Pose_X_data_2,1));
@@ -146,12 +137,8 @@ ref_Pose_data_2 =[ref_X_data_2;ref_Y_data_2];
 % when using marker pose ,,,,
 Pose_X_data_3 = Pose_Matrix_data_3(:,4);
 Pose_Y_data_3 = Pose_Matrix_data_3(:,3);
-Theta_data_3 = Pose_Matrix_data_3(:,5);
+Theta_data_3 = Pose_Matrix_data_3(:,7);
 
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
 
 % Extracting reference values when the robot is manually docked!
 ref_X_data_3 = Pose_X_data_3(size(Pose_X_data_3,1));
@@ -163,8 +150,8 @@ thresh_X = .001;
 theta = 0:.001:2*pi;
 
 % needs to be adjusted manually if docking platform is replaced!
-ref_x = .2;
-ref_y = .0085;
+ref_x = -.203;
+ref_y = -.019;
 
 x_circle = thresh_X*cos(theta) + ref_x; % ref_X needs to be recorded
 y_circle = thresh_X*sin(theta) + ref_y; % ref_Y needs to be recorded
@@ -190,16 +177,6 @@ Omega_Z_data_3 = Vel_Matrix_data_3(:,7);
 
 %% Plots
 
-% for the presenation all pose estimation(x,y,theta) in one plot
-
-% figure;
-% plot(t_P_sec,Pose_X,'b',t_P_sec,Pose_Y,'r',t_P_sec,Theta,'g');
-% 
-% title('Marker Pose');
-% xlabel('Time [sec]');
-% ylabel('Pose');
-% legend('X [m]','Y [m]','\theta [rad]');
-% grid on
 
 % marker position
 figure;
@@ -235,7 +212,7 @@ hold on
 plot(t_P_sec_data_3,Theta_data_3,'g');
 
 title('Marker \theta-axis');
-xlabel('Time [sec]');
+xlabel('Time [s]');
 ylabel('\theta [rad]');
 grid on
 
@@ -253,11 +230,11 @@ hold on
 plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',2);
 
 title('Control Signals');
-xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
+% xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
 ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
 % grid on
-axis([0 60 -.01 .2]);
-l = legend('$\dot{x}_{Rob}$ = 0.15 [m/s]','$\dot{x}_{Rob}$ = 0.1[m/s]','$\dot{x}_{Rob}$ = 0.16[m/s]');
+axis([0 35 -.01 .2]);
+l = legend('$\dot{x}_{Rob}$ = 0.1 [m/s]','$\dot{x}_{Rob}$ = 0.15[m/s]','$\dot{x}_{Rob}$ = 0.16[m/s]');
 set(l,'interpreter','latex','FontSize',12);
 legend('boxoff');
 
@@ -281,13 +258,16 @@ hold on
 plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',2.1);
 
 % title('Control Signal  \theta_{Rob} - axis');
-xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
+xlabel('$ time [s]$','interpreter','latex','FontSize',14);
 ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
 % grid on
 
 % axis([0 46 -.1 .15]);
 
+
+
 % Trajectory 
+
 % figure;
 % plot(Pose_Y_data_1,Pose_X_data_1,'b',ref_Y_data_1,ref_X_data_1,'k*');
 % hold on
@@ -318,7 +298,7 @@ ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
 figure;
 set(gcf,'color','white');
 
-subplot(1,3,1);
+subplot(131);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
 hold on
 plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
@@ -328,12 +308,12 @@ hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4)
 
 title('Approach zone + SM zone + Target area');
-xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
-ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',14);
-axis([-.3 .4 .18 1.4]);
+% xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
+ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',16);
+axis([-.65 .01 -1.47 -.185]);
 % grid on
-l2 = legend('$\dot{x}_{Rob}$ = 0.15[m/s]','$\dot{x}_{Rob}$ = 0.1[m/s]','$\dot{x}_{Rob}$ = 0.16[m/s]','Target','Location','northwest');
-set(l2,'interpreter','latex');
+l2 = legend('$\dot{x}_{Rob}$ = 0.1[m/s]','$\dot{x}_{Rob}$ = 0.15[m/s]','$\dot{x}_{Rob}$ = 0.16[m/s]','Target','Location','northwest');
+set(l2,'interpreter','latex','FontSize',14);
 legend('boxoff');
 
 subplot(1,3,2);
@@ -345,12 +325,12 @@ plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
 hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 title('SM zone + Target area');
-xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
+xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',16);
 % ylabel('${X}$ [m]','interpreter','latex');
-axis([-.01 0.06 .195 .32]);
+axis([-.033 -.01 -.26 -.195]);
 % grid on
 
-subplot(1,3,3);
+subplot(133);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
 hold on
 plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
@@ -359,9 +339,9 @@ plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
 hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 title('Target area');
-xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
+% xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
 % ylabel('${X}$ [m]','interpreter','latex');
-axis([0.006 .011 .198 .204]);
+axis([-.0205 -.0175 -.206 -.20]);
 % grid on
 % l2 = legend('x_dot = 0.15','x_dot = 0.1','x_dot = 0.16','Reference Position');
 
@@ -396,26 +376,26 @@ ylabel('Sampling time');
 % xlabel('samples');
 % ylabel('time step');
 % axis([150 250 0 .02]);
-figure;
-set(gcf,'color','white');
-
-subplot(3,1,1);
-plot(diff(Pose_X_data_1));
-title('X-Pose diff');
-xlabel('samples');
-ylabel('X difference [m]');
-grid on
-
-subplot(3,1,2);
-plot(diff(Pose_X_data_1));
-title('Y-Pose diff');
-xlabel('samples');
-ylabel('Y difference [m]');
-grid on
-
-subplot(3,1,3);
-plot(diff(Theta_data_1));
-title('\theta-Pose diff');
-xlabel('samples');
-ylabel('\theta difference [rad]');
-grid on
\ No newline at end of file
+% figure;
+% set(gcf,'color','white');
+% 
+% subplot(3,1,1);
+% plot(diff(Pose_X_data_1));
+% title('X-Pose diff');
+% xlabel('samples');
+% ylabel('X difference [m]');
+% grid on
+% 
+% subplot(3,1,2);
+% plot(diff(Pose_X_data_1));
+% title('Y-Pose diff');
+% xlabel('samples');
+% ylabel('Y difference [m]');
+% grid on
+% 
+% subplot(3,1,3);
+% plot(diff(Theta_data_1));
+% title('\theta-Pose diff');
+% xlabel('samples');
+% ylabel('\theta difference [rad]');
+% grid on
\ No newline at end of file
diff --git a/Files_4_thesis/Finding_X_dot_with_Pcontroller/x_dot_.1.txt b/Files_4_thesis/Finding_X_dot_with_Pcontroller/x_dot_.1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6e6a0929b6ebf4a00193df94a2611f27901b602a
--- /dev/null
+++ b/Files_4_thesis/Finding_X_dot_with_Pcontroller/x_dot_.1.txt
@@ -0,0 +1,425 @@
+%time,field.linear.x,field.linear.y,field.linear.z,field.angular.x,field.angular.y,field.angular.z
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diff --git a/Files_4_thesis/Finding_X_dot_with_Pcontroller/x_dot_.15.txt b/Files_4_thesis/Finding_X_dot_with_Pcontroller/x_dot_.15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..283fe452e3094047958fae2587b4585f302c914c
--- /dev/null
+++ b/Files_4_thesis/Finding_X_dot_with_Pcontroller/x_dot_.15.txt
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diff --git a/Files_4_thesis/Finding_X_dot_with_Pcontroller/x_dot_.16.txt b/Files_4_thesis/Finding_X_dot_with_Pcontroller/x_dot_.16.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d0b7b72401dc42af7031ed80ed2908c14319c335
--- /dev/null
+++ b/Files_4_thesis/Finding_X_dot_with_Pcontroller/x_dot_.16.txt
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diff --git a/Files_4_thesis/Report_prev.docx b/Files_4_thesis/Report_prev.docx
index 0260e383eb8b9d334d2d357c0525858c54a3a53f..b89a8a196ab986f8236ffb4d52a216c394bb4055 100644
Binary files a/Files_4_thesis/Report_prev.docx and b/Files_4_thesis/Report_prev.docx differ
diff --git a/Files_4_thesis/Report_with_updated_plots.docx b/Files_4_thesis/Report_with_updated_plots.docx
new file mode 100644
index 0000000000000000000000000000000000000000..2b9c9283db2ed4df81f0eff1c4ca1c9a8a71ca76
Binary files /dev/null and b/Files_4_thesis/Report_with_updated_plots.docx differ
diff --git a/Files_4_thesis/UP_REP_Farid_Alijani.pdf b/Files_4_thesis/UP_REP_Farid_Alijani.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..ba995250c76345a7bd31bbb4259bea83ac9b5b16
Binary files /dev/null and b/Files_4_thesis/UP_REP_Farid_Alijani.pdf differ
diff --git a/Files_4_thesis/x_tANDy_t/CAM_POSE_Est.jpg b/Files_4_thesis/x_tANDy_t/CAM_POSE_Est.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2ceab6effc0d1adcf9a7c00bc3ca735d91f83180
Binary files /dev/null and b/Files_4_thesis/x_tANDy_t/CAM_POSE_Est.jpg differ
diff --git a/Files_4_thesis/x_tANDy_t/y_tANDx_t.m b/Files_4_thesis/x_tANDy_t/y_tANDx_t.m
index 80ce6b79207a8081919a1077425df187da96932f..aaa5bc5aae3cbd13a2722083049e3bc40257c22b 100644
--- a/Files_4_thesis/x_tANDy_t/y_tANDx_t.m
+++ b/Files_4_thesis/x_tANDy_t/y_tANDx_t.m
@@ -198,12 +198,12 @@ hold on
 plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',1.8);
 hold on
 plot(t_P_sec_data_4,Pose_X_data_4,'m','LineWidth',1.3);
-title('Pose estimation in marker coordinate system');
+title('Camera Pose Estimation');
 ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
 
 l2 = legend('${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$', '${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$');
-set(l2,'interpreter','latex','FontSize',11);
-legend('boxoff');
+set(l2,'interpreter','latex','FontSize',9);
+% legend('boxoff');
 
 subplot(312);
 plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',1.8);
@@ -224,7 +224,7 @@ plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',1.6);
 hold on
 plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.4);
 
-xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
+xlabel('$ time [s]$','interpreter','latex','FontSize',14);
 ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);
 
 
@@ -269,7 +269,7 @@ hold on
 plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.6);
 hold on
 plot(t_V_sec_data_4,Omega_Z_data_4,'m','LineWidth',1.4);
-xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
+xlabel('$ time [s]$','interpreter','latex','FontSize',14);
 ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
 
 % Trajectory
diff --git a/Files_4_thesis/~$port_with_updated_plots.docx b/Files_4_thesis/~$port_with_updated_plots.docx
new file mode 100644
index 0000000000000000000000000000000000000000..838085220196cbf817e19ea319719ff5ac10c715
Binary files /dev/null and b/Files_4_thesis/~$port_with_updated_plots.docx differ