diff --git a/Files_4_thesis/Different_controllers/Pose_with_Android.txt b/Files_4_thesis/Different_controllers/Pose_with_Android.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ff9b963bf07cb0163c0676f12dcb0be9fa4067c7
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/Pose_with_Android.txt
@@ -0,0 +1,235 @@
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diff --git a/Files_4_thesis/Different_controllers/USBvsAndroid.jpg b/Files_4_thesis/Different_controllers/USBvsAndroid.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c1a6e732be37ee03909348ef95875ed4c1791fd3
Binary files /dev/null and b/Files_4_thesis/Different_controllers/USBvsAndroid.jpg differ
diff --git a/Files_4_thesis/Different_controllers/Velocity_with_Android.txt b/Files_4_thesis/Different_controllers/Velocity_with_Android.txt
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index 0000000000000000000000000000000000000000..9afe6b8d5e5cbb4f4bd854ba6a63ac4e1e5caf6a
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/Velocity_with_Android.txt
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+1470584476502166702,0.0,-0.00310745073238,0.0,0.0,0.0,0.00347692567442
+1470584476608927352,0.0,-0.00236579345295,0.0,0.0,0.0,0.00306422170356
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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 165a4416e5b180b12a6a4a2ca34060224e3e5dbb..3c9139ebe503e4eaf864b115fcbd43aacca1e591 100644
--- a/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
+++ b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
@@ -135,6 +135,36 @@ TimeV_ros_data_4 = Vel_Matrix_data_4(:,1); % ros time, needs to be converted to
 t_V_sec_data_4 = 0:durationV_data_4/size(TimeV_ros_data_4,1):durationV_data_4;
 t_V_sec_data_4(:,size(t_V_sec_data_4,2)) = [];
 
+% -----------------------------------------------------------------------------------------------------
+% data 5: 450 ros messages for geometry_msgs/Twist 
+%         451 ros messages for geometry_msgs/PoseStamped
+% y-axis gains:
+% P = .86; I = 0; D = 0.1;
+
+% theta-axis gains:
+% P = .08; I = 0; D = 0;
+
+Pose_Matrix_data_5 = csvread('Pose_with_Android.txt',1,0);
+Vel_Matrix_data_5 = csvread('Velocity_with_Android.txt',1,0);
+
+% time in position
+TimeP_ros_data_5 = Pose_Matrix_data_5(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationP_data_5 = (TimeP_ros_data_5(size(TimeP_ros_data_5,1),:) - TimeP_ros_data_5(1,:))*10^(-9); 
+  
+t_P_sec_data_5 = 0:durationP_data_5/size(TimeP_ros_data_5,1):durationP_data_5;
+t_P_sec_data_5(:,size(t_P_sec_data_5,2)) = [];
+
+% time in vel
+TimeV_ros_data_5 = Vel_Matrix_data_5(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationV_data_5 = (TimeV_ros_data_5(size(TimeV_ros_data_5,1),:) - TimeV_ros_data_5(1,:))*10^(-9);
+
+t_V_sec_data_5 = 0:durationV_data_5/size(TimeV_ros_data_5,1):durationV_data_5;
+t_V_sec_data_5(:,size(t_V_sec_data_5,2)) = [];
+
 
 %% Pose estimation
 
@@ -208,13 +238,31 @@ ref_Theta_data_4 = Theta_data_4(size(Theta_data_4,1));
 ref_Pose_data_4 =[ref_X_data_4;ref_Y_data_4];
 
 
+%data 5:
+% when using marker pose ,,,,
+Pose_X_data_5 = Pose_Matrix_data_5(:,4);
+Pose_Y_data_5 = Pose_Matrix_data_5(:,3);
+Theta_data_5 = Pose_Matrix_data_5(:,5);
+
+% 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_5 = Pose_X_data_5(size(Pose_X_data_5,1));
+ref_Y_data_5 = Pose_Y_data_5(size(Pose_Y_data_5,1));
+ref_Theta_data_5 = Theta_data_5(size(Theta_data_5,1));
+ref_Pose_data_5 =[ref_X_data_5;ref_Y_data_5];
+
+
+
+% Reference Circle 
 thresh_X = .001;
 theta = 0:.001:2*pi;
-
 % needs to be adjusted manually if docking platform is replaced!
 ref_x = .20095;
 ref_y = .0081;
-
 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
 
@@ -236,11 +284,15 @@ 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);
 
-% data 3:
+% data 4:
 Vel_X_data_4 = Vel_Matrix_data_4(:,2);
 Vel_Y_data_4 = Vel_Matrix_data_4(:,3);
 Omega_Z_data_4 = Vel_Matrix_data_4(:,7);
 
+% data 5:
+Vel_X_data_5 = Vel_Matrix_data_5(:,2);
+Vel_Y_data_5 = Vel_Matrix_data_5(:,3);
+Omega_Z_data_5 = Vel_Matrix_data_5(:,7);
 
 %% Plots
 
@@ -446,24 +498,86 @@ set(l,'interpreter','latex','FontSize',11);
 
 % sampling time
 figure;
-subplot(2,1,1);
-plot(diff(TimeP_ros_data_1)/1e9,'g','LineWidth',1.6)
+subplot(2,2,1);
+plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',1.4)
 hold on
-plot (diff(t_P_sec_data_1),'r--','LineWidth',1.6)
-title('Position');
+plot (diff(t_P_sec_data_3),'k--','LineWidth',1.8);
+% hold on
+title({'USB Camera';'Position'});
 ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
-axis([0 480 .05 .14]);
+axis([0 450 .068 .11]);
 l3 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
-set(l3,'interpreter','latex','FontSize',11);
+set(l3,'interpreter','latex','FontSize',13);
+
+subplot(2,2,2);
+plot(diff(TimeP_ros_data_5)/1e9,'g','LineWidth',1.4)
+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);
+
+subplot(2,2,3);
+plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',1.4);
+hold on;
+plot (diff(t_V_sec_data_3),'k--','LineWidth',1.8);
+% hold on;
+title('Velocity');
+xlabel('samples','interpreter','latex','FontSize',13);
+ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
+axis([0 450 .068 .11]);
 
-subplot(2,1,2);
-plot(diff(TimeV_ros_data_1)/1e9,'g','LineWidth',1.6);
+subplot(2,2,4);
+plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
+hold on;
+plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
+
+title('Velocity');
+xlabel('samples','interpreter','latex','FontSize',13);
+% ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
+axis([0 234 .068 .3]);
+
+
+
+figure;
+subplot(2,1,1);
+pa1 = plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',2.1);
 hold on
-plot (diff(t_V_sec_data_1),'r--','LineWidth',1.6)
+pa2 = plot (diff(t_P_sec_data_3),'k--','LineWidth',1.5);
+hold on
+pa3 = plot(diff(TimeP_ros_data_5)/1e9,'g','LineWidth',1.4);
+hold on;
+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]$','Orientation','horizontal');
+set(l5,'interpreter','latex','FontSize',12);
+% legend('boxoff');
+
+
+
+subplot(2,1,2);
+p1 = plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',2.1);
+hold on;
+p2 = plot (diff(t_V_sec_data_3),'k--','LineWidth',1.5);
+hold on;
+p3 = plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
+hold on;
+p4 = plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
+hold off;
+axis([0 234 0 .3]);
 title('Velocity');
-xlabel('samples','interpreter','latex','FontSize',12);
-ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
-axis([0 480 .05 .14]);
+ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
+xlabel('Sample','interpreter','latex','FontSize',13);
+
+l6 = legend([p3 p4],'$ 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/Report.docx b/Files_4_thesis/Report.docx
index 37d3084b12186041c4da55dba2f39b22b6a11ddf..126a7853e0918c470b057eb5d96109397eaa6888 100644
Binary files a/Files_4_thesis/Report.docx and b/Files_4_thesis/Report.docx differ