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
deleted file mode 100644
index d9043c11524d433f9a46329c9f72a846489f9d3f..0000000000000000000000000000000000000000
--- a/Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.asv
+++ /dev/null
@@ -1,398 +0,0 @@
-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/MSc_Thesis_Report_Alijani_Farid.pdf b/Files_4_thesis/MSc_Thesis_Report_Alijani_Farid.pdf
index 9cff5bc446c635a83f860359af57e27f1f6f609b..d2ab662d93533ebfb9711cebb183d0422a099a11 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/Popular_Science_Summary.docx b/Files_4_thesis/Popular_Science_Summary.docx
index e1841c11d7579a949fa2d7e1375ae9952964a915..1fa276aa2e26d2d9643502033301824cae3c6adb 100644
Binary files a/Files_4_thesis/Popular_Science_Summary.docx and b/Files_4_thesis/Popular_Science_Summary.docx differ
diff --git a/Files_4_thesis/Popular_Science_Summary.pdf b/Files_4_thesis/Popular_Science_Summary.pdf
index 9623fc93f515924155deadbb7ec664f528e7c266..31c6ab32a13044a85a683a8b98ec0ef997ae2781 100644
Binary files a/Files_4_thesis/Popular_Science_Summary.pdf and b/Files_4_thesis/Popular_Science_Summary.pdf differ
diff --git a/Files_4_thesis/Report_prev.docx b/Files_4_thesis/Report_prev.docx
index b89a8a196ab986f8236ffb4d52a216c394bb4055..02e55358c78ce70768deee3f1cbdc9522e7f240c 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
index 2b9c9283db2ed4df81f0eff1c4ca1c9a8a71ca76..59f5d2b71fa945d63da00284840656f56902585e 100644
Binary files a/Files_4_thesis/Report_with_updated_plots.docx 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
index ba995250c76345a7bd31bbb4259bea83ac9b5b16..f6d57b76914799e16140a7c9f738a522e9478023 100644
Binary files a/Files_4_thesis/UP_REP_Farid_Alijani.pdf and b/Files_4_thesis/UP_REP_Farid_Alijani.pdf differ