diff --git a/Files_4_thesis/Laser Scanner Results/ROStime_sectime.jpg b/Files_4_thesis/Laser Scanner Results/ROStime_sectime.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1903b0f199b0b67b6508feeac71758f1b59b8a1c
Binary files /dev/null and b/Files_4_thesis/Laser Scanner Results/ROStime_sectime.jpg differ
diff --git a/Files_4_thesis/Laser Scanner Results/control_signals.jpg b/Files_4_thesis/Laser Scanner Results/control_signals.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ac6583f1bf96a5f39de666cb6a34a8d8160f3f2c
Binary files /dev/null and b/Files_4_thesis/Laser Scanner Results/control_signals.jpg differ
diff --git a/Files_4_thesis/Report.docx b/Files_4_thesis/Report.docx
index 062819deff13b36f76789f97ecb717bd3ddf386a..a2886c4ee3724aed57dafb4162e522446d1db6b2 100644
Binary files a/Files_4_thesis/Report.docx and b/Files_4_thesis/Report.docx differ
diff --git a/Files_4_thesis/docking_1.m b/Files_4_thesis/docking_1.m
index 81d1530d76954e5d77e0509db58cfb0703e62675..cbfac9869ee05bd1d0f07f38371faeb5a03fe4d5 100644
--- a/Files_4_thesis/docking_1.m
+++ b/Files_4_thesis/docking_1.m
@@ -105,27 +105,26 @@ grid on
 
 figure;
 subplot(3,1,1);
-plot(t_V_sec,Vel_X);
+plot(t_V_sec,Vel_X,'LineWidth',1.5);
 title('Control Signal X-axis');
-xlabel('Time [sec]');
+% xlabel('Time [sec]');
 ylabel('V_x [m/s]');
 grid on
 
 subplot(3,1,2);
-plot(t_V_sec,Vel_Y);
+plot(t_V_sec,Vel_Y,'LineWidth',1.5);
 title('Control Signal Y-axis');
-xlabel('Time [sec]');
+% xlabel('Time [sec]');
 ylabel('V_y [m/s]');
 grid on
+
 subplot(3,1,3);
-plot(t_V_sec,Omega_Z);
+plot(t_V_sec,Omega_Z,'LineWidth',1.5);
 title('Control Signal \theta-axis');
 xlabel('Time [sec]');
 ylabel('\omega [rad/s]');
 grid on
 
-
-
 figure;
 plot(Pose_Y,Pose_X,'m',ref_Y,ref_X,'k*');
 title('Docking Trajectroy');
@@ -137,25 +136,39 @@ grid on
 
 
 figure;
-subplot(2,1,1);
+subplot(3,1,1);
 plot(diff(TimeP_ros)/1e9,'g')
 hold on
-plot (diff(t_P_sec),'k')
+plot (diff(t_P_sec),'k--')
 title('Position time step');
 xlabel('samples');
 ylabel('time step');
 legend('ROS calc.','Ordinary calc.','Orientation','horizontal');
 % grid on
+axis([0 428 .05 .15]);
 
-subplot(2,1,2);
-plot(diff(TimeV_ros)/1e9,'g--')
+subplot(3,1,2);
+plot(diff(TimeV_ros)/1e9,'g')
 hold on
-plot (diff(t_V_sec),'k')
+plot (diff(t_V_sec),'k--')
 title('Velocity time step');
 xlabel('samples');
 ylabel('time step');
-legend('ROS calc.','Ordinary calc.','Orientation','horizontal');
+% legend('ROS calc.','Ordinary calc.','Orientation','horizontal');
 % grid on
+axis([0 428 -.005 .025]);
+
+subplot(3,1,3);
+plot(diff(TimeV_ros)/1e9,'g')
+hold on
+plot (diff(t_V_sec),'k--')
+xlabel('samples');
+ylabel('time step');
+axis([150 250 0 .02]);
+
+
+
+
 
 figure;
 subplot(3,1,1);