diff --git a/Files_4_thesis/Different_angle/docking_different_angle.m b/Files_4_thesis/Different_angle/docking_different_angle.m
index 1417f0fe01da2041b56acdf318cdc9eedfc8f437..d90efb21642e530ec7aee84afc9b9a393a917653 100644
--- a/Files_4_thesis/Different_angle/docking_different_angle.m
+++ b/Files_4_thesis/Different_angle/docking_different_angle.m
@@ -202,6 +202,8 @@ Omega_Z_data_3 = Vel_Matrix_data_3(:,7);
 
 % marker position
 figure;
+set(gcf,'color','white');
+
 subplot(3,1,1);
 plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',3);
 hold on
@@ -209,14 +211,12 @@ 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('Marker Pose Along x_{mar} - axis');
-% set(t,'interpreter','latex');
-% xlabel('$ time [sec]$','interpreter','latex');
+title('Pose estimation in marker coordinate system');
 ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
-grid on
-% axis([0 45 -.01 .2]);
+
 l2 = legend('${Config. 3}$', '${Center}$','${Config. 4}$');
 set(l2,'interpreter','latex','FontSize',11);
+legend('boxoff');
 
 subplot(3,1,2);
 plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',3);
@@ -224,12 +224,7 @@ 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);
-
-title('Marker Pose Along y_{mar} - axis');
-% xlabel('$ time [sec]$','interpreter','latex');
 ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
-grid on
-% axis([0 46 -.2 .1]);
 
 subplot(3,1,3);
 plot(t_P_sec_data_1,Theta_data_1,'LineWidth',3);
@@ -238,14 +233,13 @@ 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);
 
-title('Marker Pose Along \theta_{mar} - axis');
 xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
 ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);
-grid on
-% axis([0 46 -.1 .15]);
 
 % control signals
 figure;
+set(gcf,'color','white');
+
 subplot(3,1,1);
 
 plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',3);
@@ -254,14 +248,11 @@ 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);
 
-title('Control Signal Along x_{Rob} - axis');
-% xlabel('$ time [sec]$','interpreter','latex');
+title('Control Signals');
 ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
-grid on
-axis([0 45 -.01 .2]);
 l2 = legend('${Config. 3}$', '${Center}$','${Config. 4}$');
 set(l2,'interpreter','latex','FontSize',11);
-
+legend('boxoff')
 
 subplot(3,1,2);
 plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',3);
@@ -269,13 +260,8 @@ hold on
 plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.7);
 hold on
 plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',1.6);
-
-
-title('Control Signal Along y_{Rob} - axis');
-% xlabel('$ time [sec]$','interpreter','latex');
 ylabel('$\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',3);
@@ -283,14 +269,8 @@ 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);
-
-title('Control Signal Along \theta_{Rob} - axis');
 xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
 ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
-grid on
-% axis([0 46 -.1 .15]);
-
-
 
 % Trajectory 
 
@@ -322,6 +302,8 @@ grid on
 % % quiver(y_arrow,x_arrow,Vy,Vx,'r--','LineWidth',1.5);
 % 
 figure;
+set(gcf,'color','white');
+
 subplot(1,3,1);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
 % hold on
@@ -340,11 +322,9 @@ plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
 hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
-title('Entire Area');
-xlabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
+title('Approach zone + SM zone + Target area');
 ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
 axis([-.4 .4 .18 1.4]);
-grid on
 
 subplot(1,3,2);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',1.6);
@@ -355,11 +335,9 @@ plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',1.6);
 hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
-title('SM zone');
+title('SM zone + Target area');
 xlabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
-% ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
 axis([-.01 0.02 .195 .32]);
-grid on
 
 subplot(1,3,3);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
@@ -370,11 +348,8 @@ 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');
-xlabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
-% ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
+title('Target area');
 axis([0.0125 .015 .1995 .2055]);
-grid on
 l = legend('${Config. 3}$', '${Center}$','${Config. 4}$','Target');
 set(l,'interpreter','latex','FontSize',11);
 
diff --git a/Files_4_thesis/Different_controllers/docking_with_PID_controller.m b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
index 597277d6a841376b2d354753588e8c3c5729a0ca..4c77bac4a54d5965e805e137625a7f3fa0209b6a 100644
--- a/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
+++ b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
@@ -309,6 +309,8 @@ Omega_Z_data_5 = Vel_Matrix_data_5(:,7);
 
 % marker position
 figure;
+set(gcf,'color','white');
+
 subplot(3,1,1);
 plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',3);
 hold on
@@ -317,16 +319,12 @@ hold on
 plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',2.3);
 hold on
 plot(t_P_sec_data_4,Pose_X_data_4,'m','LineWidth',1.6);
+title('Pose estimation in marker coordinate system');
+ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
 
-
-title('Marker Pose Along X_{mar} - Axis');
-% set(t,'interpreter','latex');
-% xlabel('$ time [sec]$','interpreter','latex');
-ylabel('${X_{mar}}$ [m]','interpreter','latex','FontSize',12);
-grid on
-% axis([0 45 -.01 .2]);
 l2 = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$');
 set(l2,'interpreter','latex','FontSize',11);
+legend('boxoff');
 
 subplot(3,1,2);
 plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',3);
@@ -337,11 +335,7 @@ plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',2.3);
 hold on
 plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.6);
 
-title('Marker Pose Along Y_{mar} - Axis');
-% xlabel('$ time [sec]$','interpreter','latex');
-ylabel('${Y_{mar}}$ [m]','interpreter','latex','FontSize',12);
-grid on
-% axis([0 46 -.2 .1]);
+ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
 
 subplot(3,1,3);
 plot(t_P_sec_data_1,Theta_data_1,'LineWidth',3);
@@ -352,14 +346,13 @@ plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',2.3);
 hold on
 plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.6);
 
-title('Marker Pose Along \theta_{mar} - Axis');
-xlabel('$ time [sec]$','interpreter','latex','FontSize',12);
-ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',12);
-grid on
-% axis([0 46 -.1 .15]);
+xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
+ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);
 
 % control signals
 figure;
+set(gcf,'color','white');
+
 subplot(3,1,1);
 
 plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',3);
@@ -370,13 +363,13 @@ plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',2.3);
 hold on
 plot(t_V_sec_data_4,Vel_X_data_4,'m','LineWidth',1.6);
 
-title('Control Signal Along X_{rob} - Axis');
-% xlabel('$ time [sec]$','interpreter','latex');
-ylabel('$\dot{X_{rob}}$ [m/s]','interpreter','latex','FontSize',12);
-grid on
+title('Control Signals');
+ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
 axis([0 45 -.01 .2]);
+
 l2 = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$');
 set(l2,'interpreter','latex','FontSize',11);
+legend('boxoff');
 
 
 subplot(3,1,2);
@@ -387,13 +380,7 @@ hold on
 plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',2.3);
 hold on
 plot(t_V_sec_data_4,Vel_Y_data_4,'m','LineWidth',1.6);
-
-
-title('Control Signal Along Y_{rob} - Axis');
-% xlabel('$ time [sec]$','interpreter','latex');
-ylabel('$\dot{Y_{rob}}$ [m/s]','interpreter','latex','FontSize',12);
-grid on
-% axis([0 46 -.2 .1]);
+ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
 
 subplot(3,1,3);
 plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',3);
@@ -403,13 +390,8 @@ hold on
 plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',2.3);
 hold on
 plot(t_V_sec_data_4,Omega_Z_data_4,'m','LineWidth',1.6);
-
-title('Control Signal Along \theta_{rob} - Axis');
-xlabel('$ time [sec]$','interpreter','latex','FontSize',12);
-ylabel('$\dot{\theta_{rob}}$ [rad/s]','interpreter','latex','FontSize',12);
-grid on
-% axis([0 46 -.1 .15]);
-
+xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
+ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
 
 
 % Trajectory 
@@ -442,6 +424,8 @@ grid on
 % quiver(Pose_Y_data_1,Pose_X_data_1,Vy,Vx,'r--','LineWidth',.1);
 
 figure;
+set(gcf,'color','white');
+
 subplot(1,3,1);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
 hold on
@@ -465,11 +449,9 @@ quiver(Pose_Y_data_4,Pose_X_data_4,gradient(Pose_Y_data_4),gradient(Pose_X_data_
 hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
-title('Entire Area');
-xlabel('${Y}$ [m]','interpreter','latex','FontSize',11);
-ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
+title('Approach zone + SM zone + Target area');
+ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',14);
 axis([-.1 .4 .18 1.4]);
-grid on
 
 subplot(1,3,2);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',1.6);
@@ -482,11 +464,9 @@ plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',1.6);
 hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
-title('SM zone');
-xlabel('${Y}$ [m]','interpreter','latex','FontSize',11);
-% ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
+title('SM zone + Target area');
+xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
 axis([-.005 0.045 .195 .32]);
-grid on
 
 subplot(1,3,3);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
@@ -499,17 +479,18 @@ plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
 hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
-title('Target');
-xlabel('${Y}$ [m]','interpreter','latex','FontSize',11);
-% ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
+title('Target area');
 axis([0.0065 .0095 .1995 .2055]);
-grid on
+
 l = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$' ,'Target');
 set(l,'interpreter','latex','FontSize',11);
+% legend('boxoff');
 
 
 % sampling time
 figure;
+set(gcf,'color','white');
+
 subplot(2,2,1);
 plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',1.4)
 hold on
@@ -527,10 +508,11 @@ hold on;
 plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
 
 title({'Android Camera';'Position'});
-% ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
 axis([0 234 .068 .3]);
+
 l4 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
 set(l4,'interpreter','latex','FontSize',13);
+legend('boxoff');
 
 subplot(2,2,3);
 plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',1.4);
@@ -553,8 +535,9 @@ xlabel('samples','interpreter','latex','FontSize',13);
 axis([0 234 .068 .3]);
 
 
-
 figure;
+set(gcf,'color','white');
+
 subplot(2,1,1);
 pa1 = plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',2.1);
 hold on
@@ -566,13 +549,14 @@ pa4 = plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
 hold off;
 axis([0 234 0 .3]);
 title('Position');
-ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
-
-l5 = legend([pa1 pa2],'$USB Camera {Time_{ROS}}$','$ USB Camera {Time_{Real}} [sec]$','Orientation','horizontal');
-set(l5,'interpreter','latex','FontSize',12);
-% legend('boxoff');
-
+% ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
+% 
+% l5 = legend([pa1 pa2],'$USB Camera {Time_{ROS}}$','$ USB Camera {Time_{Real}} [sec]$','Orientation','horizontal');
+% set(l5,'interpreter','latex','FontSize',11);
 
+% leg = 
+legend('ROS Time, USB camera','Real Time, USB camera [sec]','ROS Time, IP camera','Real Time, IP camera [sec]','Location','northwest');
+legend('boxoff');
 
 subplot(2,1,2);
 p1 = plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',2.1);
@@ -585,11 +569,11 @@ p4 = plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
 hold off;
 axis([0 234 0 .3]);
 title('Velocity');
-ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
-xlabel('Sample','interpreter','latex','FontSize',13);
-
-l6 = legend([p3 p4],'$ Android Camera {Time_{ROS}}$','$ Android Camera {Time_{Real}} [sec]$','Orientation','horizontal');
-set(l6,'interpreter','latex','FontSize',12);
+% ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
+% xlabel('Sample','interpreter','latex','FontSize',13);
+% 
+% l6 = legend([p3 p4],'$ Android Camera {Time_{ROS}}$','$ Android Camera {Time_{Real}} [sec]$','Orientation','horizontal');
+% set(l6,'interpreter','latex','FontSize',12);
 
 MaxOvershoot_1 = -ref_y + min(Pose_Y_data_1)
 MaxOvershoot_2 = -ref_y + min(Pose_Y_data_2)
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 2ece986a4c6486a42065f6ebb32088be75643f75..fa7151f6bd9902bc1762ef75e9eab270d83c609f 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
@@ -239,46 +239,51 @@ xlabel('Time [sec]');
 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',2);
+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 Signal X -axis');
-ylabel('$\dot{X}$ [m/s]','interpreter','latex');
-grid on
+title('Control Signals');
+ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
+% grid on
 axis([0 60 -.01 .2]);
-l = legend('$\dot{X}$ = 0.15 [m/sec]','$\dot{X}$ = 0.1 [m/sec]','$\dot{X}$ = 0.16 [m/sec]');
-set(l,'interpreter','latex');
+l = legend('$\dot{x}_{Rob}$ = 0.15 [m/s]','$\dot{x}_{Rob}$ = 0.1[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',1.8);
+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 -axis');
-ylabel('$\dot{Y}$ [m/s]','interpreter','latex');
-grid on
+% 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',1.8);
+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 -axis');
-xlabel('$ time [sec]$','interpreter','latex');
-ylabel('$\dot{\theta}$ [rad/s]','interpreter','latex');
-grid on
+% title('Control Signal  \theta_{Rob} - axis');
+xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
+ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
+% grid on
 
 % axis([0 46 -.1 .15]);
 
@@ -310,8 +315,9 @@ grid on
 % % quiver(y_arrow,x_arrow,Vy,Vx,'r--','LineWidth',1.5);
 % 
 
-
 figure;
+set(gcf,'color','white');
+
 subplot(1,3,1);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
 hold on
@@ -321,11 +327,14 @@ plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
 hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4)
 
-title('Docking Trajectroy (Whole area)');
-xlabel('${Y}$ [m]','interpreter','latex');
-ylabel('${X}$ [m]','interpreter','latex');
+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]);
-grid on
+% 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');
+legend('boxoff');
 
 subplot(1,3,2);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
@@ -335,11 +344,11 @@ 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('Docking Trajectroy (SM zone)');
-xlabel('${Y}$ [m]','interpreter','latex');
+title('SM zone + Target area');
+xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
 % ylabel('${X}$ [m]','interpreter','latex');
 axis([-.01 0.06 .195 .32]);
-grid on
+% grid on
 
 subplot(1,3,3);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
@@ -349,17 +358,16 @@ 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('Docking Trajectroy (reference area)');
-xlabel('${Y}$ [m]','interpreter','latex');
+title('Target area');
+xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
 % ylabel('${X}$ [m]','interpreter','latex');
 axis([0.006 .011 .198 .204]);
-grid on
+% grid on
 % l2 = legend('x_dot = 0.15','x_dot = 0.1','x_dot = 0.16','Reference Position');
-l2 = legend('$\dot{X}$ = 0.15 [m/sec]','$\dot{X}$ = 0.1 [m/sec]','$\dot{X}$ = 0.16 [m/sec]','Reference Position');
-set(l2,'interpreter','latex');
-
 
 figure;
+set(gcf,'color','white');
+
 subplot(2,1,1);
 plot(diff(TimeP_ros_data_1)/1e9,'g')
 hold on
@@ -388,8 +396,9 @@ 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');
diff --git a/Files_4_thesis/Laser Scanner Results/scanner_rob.jpg b/Files_4_thesis/Laser Scanner Results/scanner_rob.jpg
index 4e05664b153d663ecda989c77bf5f8102e3ed5ae..7b91c0195edb69ce954ff9045cb19bb0ca9a108d 100644
Binary files a/Files_4_thesis/Laser Scanner Results/scanner_rob.jpg and b/Files_4_thesis/Laser Scanner Results/scanner_rob.jpg differ
diff --git a/Files_4_thesis/MSc_Thesis_Report_Alijani_Farid.pdf b/Files_4_thesis/MSc_Thesis_Report_Alijani_Farid.pdf
index f1bb1e9fe7ac33d0bf220e60715f97ec8b6a945a..9482eed4c3668edf976c549d00f271ee4bc8a789 100644
Binary files a/Files_4_thesis/MSc_Thesis_Report_Alijani_Farid.pdf and b/Files_4_thesis/MSc_Thesis_Report_Alijani_Farid.pdf differ
diff --git a/Files_4_thesis/Report.docx b/Files_4_thesis/Report.docx
index 68422bfcbe897c0e6bd6c9575f20919b94e58cda..8d5215ad4f1d3b355f850637be8cfc9c366e8853 100644
Binary files a/Files_4_thesis/Report.docx and b/Files_4_thesis/Report.docx differ
diff --git a/Files_4_thesis/scanner_analysis.m b/Files_4_thesis/scanner_analysis.m
index 28ca11bc1bdeffef725b5ab0eb19676eb688819d..ab6d932682c343857b31b061afffd5e242fde072 100644
--- a/Files_4_thesis/scanner_analysis.m
+++ b/Files_4_thesis/scanner_analysis.m
@@ -67,14 +67,14 @@ plot(angle,s_exp_2,'m--','LineWidth',1.9);
 hold on;
 plot(angle,s_exp_3,'b--','LineWidth',1.9);
 hold on;
-plot(angle,s_exp_4,'c--','LineWidth',1.5);
+plot(angle,s_exp_4,'g--','LineWidth',1.1);
 hold on;
 % plot(angle,s_exp_5,'b--','LineWidth',.8);
 % hold on;
 plot(angle,dist_to_obst,'rx','LineWidth',.05);
 title('');
 xlabel('${Angle}$ [rad]','interpreter','latex','FontSize',14);
-ylabel('${Obstacle [m]}$','interpreter','latex','FontSize',14);
+ylabel('${Distance [m]}$','interpreter','latex','FontSize',14);
 axis([-.09 .42 .08 .2]);
 % legend('Experiment 1','Experiment 2','Experiment 3','Safety Curve');
 subplot(1,2,2);
@@ -84,7 +84,7 @@ plot(X_exp_2,Y_exp_2,'m--','LineWidth',1.9);
 hold on
 plot(X_exp_3,Y_exp_3,'b--','LineWidth',1.9);
 hold on
-plot(X_exp_4,Y_exp_4,'c--','LineWidth',1.5);
+plot(X_exp_4,Y_exp_4,'g--','LineWidth',1.1);
 hold on
 % plot(X_exp_5,Y_exp_5,'b--','LineWidth',.1);
 % hold on
@@ -93,7 +93,7 @@ title('');
 xlabel('${X}$ [m]','interpreter','latex','FontSize',14);
 ylabel('${Y}$ [m]','interpreter','latex','FontSize',14);
 axis([-.1 .16 -.18 .18]);
-l = legend('Experiment 1','Experiment 2','Experiment 3','Safety Curve');
+l = legend('Experiment 1','Experiment 2','Experiment 3','Safety Curve','Orientation','horizontal');
 set(l,'interpreter','latex','FontSize',13);
 
 %% docked robot with marker vs. docked robot without marker!
@@ -146,10 +146,10 @@ plot(X_DockedwithNOmar,Y_DockedwithNOmar);
 hold on;
 plot(X_obst_DockedwithNOmar,Y_obst_DockedwithNOmar,'r','LineWidth',3);
 % xlabel('$ X [m] $','interpreter','latex','FontSize',14);
-ylabel('$ Y [m] $','interpreter','latex','FontSize',14);
-title('Scanner Analysis WITHOUT marker, Top View');
+% ylabel('$ Y [m] $','interpreter','latex','FontSize',14);
+title('No marker in docking platform');
 legend('Obstacles','Laser scanner safety curve (r = 10 cm)');
-grid on
+% grid on
 axis([-2.5 4 -4 1]);
 
 subplot(3,1,2);
@@ -157,8 +157,8 @@ plot(X_DockedwithMar,Y_DockedwithMar,'b');
 hold on;
 plot(X_obst_DockedwithMar,Y_obst_DockedwithMar,'r','LineWidth',3);
 ylabel('$ Y [m] $','interpreter','latex','FontSize',14);
-title('Scanner Analysis WITH marker, Top View');
-grid on
+title('Marker �circular bottle� in docking platform');
+% grid on
 axis([-2.5 4 -4 1]);
 
 subplot(3,1,3);
@@ -166,8 +166,9 @@ plot(X_DockedwithMar,Y_DockedwithMar,'b');
 hold on;
 plot(X_obst_DockedwithMar,Y_obst_DockedwithMar,'r','LineWidth',.3);
 xlabel('$ X [m] $','interpreter','latex','FontSize',14);
-ylabel('$ Y [m] $','interpreter','latex','FontSize',14);
-grid on
+% ylabel('$ Y [m] $','interpreter','latex','FontSize',14);
+% grid on
+title('Detected marker');
 axis([.04 .16 -.12 .12]);
 
 % 
@@ -176,9 +177,9 @@ subplot(3,1,1);
 plot(s_angle_DockedwithNOmar,s_val_DockedwithNOmar);
 hold on
 plot(s_angle_DockedwithNOmar,dist_to_obst,'r','LineWidth',.2);
-xlabel('Angle [rad]');
-ylabel('Distance to Obstacle [m]');
-title('Scanner Analysis; docked robot WITHOUT a marker');
+% xlabel('Angle [rad]');
+% ylabel('Distance to Obstacle [m]');
+title('No marker in docking platform');
 
 l2 = legend('${Obstacles}$', '${Safety Margin (r = 10 cm)}$');
 set(l2,'interpreter','latex','FontSize',12);
@@ -190,17 +191,18 @@ subplot(3,1,2);
 plot(s_angle_DockedwithMar,s_val_DockedwithMar);
 hold on
 plot(s_angle_DockedwithMar,dist_to_obst,'r','LineWidth',.2);
-xlabel('Angle [rad]');
+% xlabel('Angle [rad]');
 ylabel('Distance to objects [m]');
-title('Scanner Analysis; docked robot WITH a marker');
+title('Marker �circular bottle� in docking platform');
 axis([-2.2 2.2 -.5 5]);
 
 subplot(3,1,3);
 plot(s_angle_DockedwithMar,s_val_DockedwithMar);
 hold on
 plot(s_angle_DockedwithMar,dist_to_obst,'r','LineWidth',10);
+title('Detected marker');
 xlabel('Angle [rad]');
-ylabel('Distance to Obstacle [m]');
+% ylabel('Distance to Obstacle [m]');
 axis([-.15 .35 .08 .15]);
 
 %% The robot is moving Towards docking...!
@@ -295,22 +297,22 @@ subplot(2,1,1);
 plot(s_angle_DockedwithBOX,s_val_DockedwithBOX,'b','LineWidth',.01);
 hold on
 plot(s_angle_DockedwithBOX,dist_to_obst, 'r','LineWidth',5);
-xlabel('Angle [rad]');
-ylabel('Distance to Obstacle [m]');
-title('Scanner Analysis; docked robot with a BOX marker');
+% xlabel('Angle [rad]');
+% ylabel('Distance to Obstacle [m]');
+title('Marker, e.g., Box in docking platform');
 legend('Surrounding objects','Laser scanner safety line (r = 10 cm)');
-axis([-2.2 2.2 0 5]);
+axis([-2.2 2.2 -.5 5]);
 
 subplot(2,1,2);
 plot(s_angle_DockedwithBOX,s_val_DockedwithBOX,'b','LineWidth',.01);
 hold on
 plot(s_angle_DockedwithBOX,dist_to_obst, 'r','LineWidth',5);
-xlabel('Angle [rad]');
-ylabel('Distance to Obstacle [m]');
+% xlabel('Angle [rad]');
+% ylabel('Distance to Obstacle [m]');
 axis([-1.9 0 .08 .22]);
+title('Detected marker');
 
 
-
-
-figure;
-plot(X_DockedwithBOX,Y_DockedwithBOX);
\ No newline at end of file
+% 
+% figure;
+% plot(X_DockedwithBOX,Y_DockedwithBOX);
\ No newline at end of file