- Started working on DIS project - First draft due on Thursday.

- Limiting Case analysis Results

- Status: As k->0 Original J matrix and Stable J matrix are consistent up to some point.Original J matrix screws up at 1e -08. Stable J matrix screws up at 1e -158. At k=0 both cases fail.

- Problem: As k->0, stable J is expected to produce consistent results.

At k=0, stable J is still expected to be stable.

Cause: There is some error in one of the terms of J-matrix that doesn't cancel out.

Solution: I had put an if statement to check for k< 1e-158 and replace with some k=1e-150, and this allows the trunk to move smoothly for all the values of k.

But still need to think of the error(computed using interval analysis and plotted in Matlab), which remains the same as before.