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diff --git a/.gitignore b/.gitignore
index a8eaeea..ef9b6c6 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
 *-backups
 *-bak
 *.FCStd[1-9]*
+*.ipynb_checkpoints
diff --git a/doc/quick-tech-report/.gitignore b/doc/paper/.gitignore
index c49262e..c49262e 100644
--- a/doc/quick-tech-report/.gitignore
+++ b/doc/paper/.gitignore
diff --git a/doc/quick-tech-report/Makefile b/doc/paper/Makefile
index 8a4bc75..8a4bc75 100644
--- a/doc/quick-tech-report/Makefile
+++ b/doc/paper/Makefile
diff --git a/doc/quick-tech-report/circuits.ipynb b/doc/paper/circuits.ipynb
index 2e78b30..2e78b30 100644
--- a/doc/quick-tech-report/circuits.ipynb
+++ b/doc/paper/circuits.ipynb
diff --git a/doc/quick-tech-report/concept_vis_one_axis.pdf b/doc/paper/concept_vis_one_axis.pdf
index ea37280..ea37280 100644
--- a/doc/quick-tech-report/concept_vis_one_axis.pdf
+++ b/doc/paper/concept_vis_one_axis.pdf
diff --git a/doc/quick-tech-report/concept_vis_one_axis.svg b/doc/paper/concept_vis_one_axis.svg
index f3e909b..f3e909b 100644
--- a/doc/quick-tech-report/concept_vis_one_axis.svg
+++ b/doc/paper/concept_vis_one_axis.svg
diff --git a/doc/quick-tech-report/goette_inertial_hsms_v1_5_eprint.pdf b/doc/paper/goette_inertial_hsms_v1_5_eprint.pdf
index 8fdb2b9..8fdb2b9 100755
--- a/doc/quick-tech-report/goette_inertial_hsms_v1_5_eprint.pdf
+++ b/doc/paper/goette_inertial_hsms_v1_5_eprint.pdf
diff --git a/doc/quick-tech-report/ir_tx_schema.pdf b/doc/paper/ir_tx_schema.pdf
index 0e44ca5..0e44ca5 100644
--- a/doc/quick-tech-report/ir_tx_schema.pdf
+++ b/doc/paper/ir_tx_schema.pdf
diff --git a/doc/quick-tech-report/ir_tx_schema.svg b/doc/paper/ir_tx_schema.svg
index 5d54c2b..5d54c2b 100644
--- a/doc/quick-tech-report/ir_tx_schema.svg
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diff --git a/doc/quick-tech-report/mesh_gen_viz.pdf b/doc/paper/mesh_gen_viz.pdf
index 7ded2fc..7ded2fc 100644
--- a/doc/quick-tech-report/mesh_gen_viz.pdf
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diff --git a/doc/quick-tech-report/mesh_gen_viz.svg b/doc/paper/mesh_gen_viz.svg
index 59a31b9..59a31b9 100644
--- a/doc/quick-tech-report/mesh_gen_viz.svg
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diff --git a/doc/quick-tech-report/mesh_scan_crop.jpg b/doc/paper/mesh_scan_crop.jpg
index baa8e6c..baa8e6c 100644
--- a/doc/quick-tech-report/mesh_scan_crop.jpg
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diff --git a/doc/quick-tech-report/photolink_schematic.pdf b/doc/paper/photolink_schematic.pdf
index 3284427..3284427 100644
--- a/doc/quick-tech-report/photolink_schematic.pdf
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diff --git a/doc/quick-tech-report/photolink_schematic.pro b/doc/paper/photolink_schematic.pro
index 02a2ddf..02a2ddf 100644
--- a/doc/quick-tech-report/photolink_schematic.pro
+++ b/doc/paper/photolink_schematic.pro
diff --git a/doc/quick-tech-report/photolink_schematic.sch b/doc/paper/photolink_schematic.sch
index b5c6a64..b5c6a64 100644
--- a/doc/quick-tech-report/photolink_schematic.sch
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diff --git a/doc/quick-tech-report/photolink_schematic.svg b/doc/paper/photolink_schematic.svg
index a24a7ec..a24a7ec 100644
--- a/doc/quick-tech-report/photolink_schematic.svg
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diff --git a/doc/quick-tech-report/proto_3d_design.jpg b/doc/paper/proto_3d_design.jpg
index f527828..f527828 100644
--- a/doc/quick-tech-report/proto_3d_design.jpg
+++ b/doc/paper/proto_3d_design.jpg
diff --git a/doc/quick-tech-report/prototype_early_comms_small.jpg b/doc/paper/prototype_early_comms_small.jpg
index 506da48..506da48 100644
--- a/doc/quick-tech-report/prototype_early_comms_small.jpg
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diff --git a/doc/quick-tech-report/rotohsm.bib b/doc/paper/rotohsm.bib
index 1092c3a..1092c3a 100644
--- a/doc/quick-tech-report/rotohsm.bib
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diff --git a/doc/quick-tech-report/rotohsm_paper.pdf b/doc/paper/rotohsm_paper.pdf
index f0ad0b6..f0ad0b6 100644
--- a/doc/quick-tech-report/rotohsm_paper.pdf
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diff --git a/doc/quick-tech-report/rotohsm_paper.tex b/doc/paper/rotohsm_paper.tex
index e2f3928..e2f3928 100644
--- a/doc/quick-tech-report/rotohsm_paper.tex
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diff --git a/doc/quick-tech-report/rotohsm_tech_report.pdf b/doc/paper/rotohsm_tech_report.pdf
index d87bc8e..d87bc8e 100644
--- a/doc/quick-tech-report/rotohsm_tech_report.pdf
+++ b/doc/paper/rotohsm_tech_report.pdf
diff --git a/doc/quick-tech-report/rotohsm_tech_report.tex b/doc/paper/rotohsm_tech_report.tex
index e9d571f..e9d571f 100644
--- a/doc/quick-tech-report/rotohsm_tech_report.tex
+++ b/doc/paper/rotohsm_tech_report.tex