1. Current works Working on optimization loop – Completed stand alone program that allows modification of: Mass Moment of Inertia Position controlled friction coefficient Support point radial distance Surface Friction Coefficient

2. Current works In completing the stand alone program, I found a bug in dVC, though I have not yet updated the code at Sourceforge Manufactured most of a new end effecter for actuator – Need to thread (tap) it to allow mounting, will check for right tools at student machine shop, possibly need to buy a 10x1.25 tap.

3. What next? Work on matlab.m files for optimization loop – Calculate error using integral approximation – Call fminsearch to find best values of parameters Finish manufacture of end effecter